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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binürfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulüssig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausützen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder verüffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder Medien verüffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewühr auf Fehlerfreiheit, Vollstündigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschüden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulüssig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include <avr/wdt.h>
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#include <avr/pgmspace.h>
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#include <avr/pgmspace.h>
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#include <stdarg.h>
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#include <stdarg.h>
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                "-               ",
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                "-               ",
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                "Pitch Term      ",
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                "Pitch Term      ",
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                "Roll Term       ",
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                "Roll Term       ",
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                "Yaw Term        ",
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                "Yaw Term        ",
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                "Throttle Term   ", //15
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                "Throttle Term   ", //15
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                "gyroP           ",
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                "-               ",
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                "ControlAct/10   ",
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                "ControlAct/10   ",
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        "Acc. Vector     ",
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        "Acc. Vector     ",
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        "targetheight    ",
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                "var0            ", //20
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                "dHeightThrottle ",
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                "heightTrottleIn ",
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                "M1              ",
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                "M2              ",
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                "M3              ",
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                "M4              ", //25
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                "HeightdThrottle ", //20
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                "Height          ",
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                "Height          ",
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                "HeightI",
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                "TargetHeight    ",
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                "DriftCompPitch  ",
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                "heightError     ",
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                "HeightPdThrottle",
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                "HeightIdThrottle", //25
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                "HeightDdThrottle",
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                "HeightPFactor   ",
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                "DriftCompRoll   ",
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                "HeightIFactor   ",
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                "HeightDFactor   ",
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                "Altitude        ", //30
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                "Altitude        ", //30
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                "AirpressADC     " };
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                "AirpressADC     " };
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/****************************************************************/
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/****************************************************************/
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                        break;
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                        break;
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558 
 
 506 
 
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                case 's': // save settings
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                case 's': // save settings
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                        if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off
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                        if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off
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                        {
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                                if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1]
 509 
                        {
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                                                == EEPARAM_REVISION)) // check for setting to be in range and version of settings
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                                if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings
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                                {
 511 
                                {
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                                        memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams));
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                                        memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams));
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                                        paramSet_writeToEEProm(pRxData[0]);
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                                        paramSet_writeToEEProm(pRxData[0]);
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                                        tempchar[0] = getActiveParamSet();
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                                        tempchar[0] = getActiveParamSet();
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        rxDataLen = 0;
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        rxDataLen = 0;
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        rxd_buffer_locked = FALSE;
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        rxd_buffer_locked = FALSE;
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}
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}
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/************************************************************************/
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/************************************************************************/
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/* Routine für die Serielle Ausgabe                                     */
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/* Routine f�r die Serielle Ausgabe                                     */
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/************************************************************************/
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/************************************************************************/
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int16_t uart_putchar(int8_t c) {
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int16_t uart_putchar(int8_t c) {
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        if (c == '\n')
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        if (c == '\n')
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                uart_putchar('\r');
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                uart_putchar('\r');
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                sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem,
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                sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem,
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                                sizeof(maxMenuItem), displayBuff, sizeof(displayBuff));
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                                sizeof(maxMenuItem), displayBuff, sizeof(displayBuff));
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                request_display1 = FALSE;
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                request_display1 = FALSE;
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        }
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        }
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        if (request_debugLabel != 0xFF) { // Texte für die Analogdaten
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        if (request_debugLabel != 0xFF) { // Texte f�r die Analogdaten
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                uint8_t label[16]; // local sram buffer
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                uint8_t label[16]; // local sram buffer
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                memcpy_P(label, ANALOG_LABEL[request_debugLabel], 16); // read lable from flash to sram buffer
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                memcpy_P(label, ANALOG_LABEL[request_debugLabel], 16); // read lable from flash to sram buffer
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                sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_debugLabel,
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                sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_debugLabel,
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                                sizeof(request_debugLabel), label, 16);
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                                sizeof(request_debugLabel), label, 16);
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                request_debugLabel = 0xFF;
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                request_debugLabel = 0xFF;
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        }
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        }
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        if (confirmFrame && txd_complete) { // Datensatz ohne checksum bestätigen
 640 
        if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen
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                sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame));
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                sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame));
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                confirmFrame = 0;
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                confirmFrame = 0;