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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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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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// +  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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// +  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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// +  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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// +  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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// +  POSSIBILITY OF SUCH DAMAGE.    
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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#include "main.h"
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unsigned char EEPromArray[E2END+1] EEMEM;
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unsigned char EEPromArray[E2END+1] EEMEM;
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// number [0..5]  
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// number [0..5]  
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void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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{
 60 
{
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   if (number > 5) number = 5;
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   if (number > 5) number = 5;
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   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
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   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
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 - 
 
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}
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}
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// -- Parametersatz ins EEPROM schreiben ---
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// -- Parametersatz ins EEPROM schreiben ---
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// number [0..5]  
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// number [0..5]  
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void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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{
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{
71 
   if(number > 5) number = 5;  
 - 
 
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   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
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   if(number > 5) number = 5;  
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   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
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   eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                              // diesen Parametersatz als aktuell merken
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   eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                              // diesen Parametersatz als aktuell merken
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}
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}
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//Hauptprogramm
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//Hauptprogramm
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int main (void)
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int main (void)
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//############################################################################
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//############################################################################
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{
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{
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        unsigned int timer;
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        unsigned int timer;
- 
 
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        unsigned int timer2 = 0;
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        //unsigned int timer2 = 0;
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    DDRB  = 0x00;
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    DDRB  = 0x00;
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    PORTB = 0x00;
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    PORTB = 0x00;
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    for(timer = 0; timer < 1000; timer++); // verzögern
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    for(timer = 0; timer < 1000; timer++); // verzögern
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    if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10;
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    if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10;
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    DDRC  = 0x81; // SCL
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    DDRC  = 0x81; // SCL
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    Timer_Init();
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    Timer_Init();
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        UART_Init();
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        UART_Init();
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    rc_sum_init();
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    rc_sum_init();
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        ADC_Init();
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        ADC_Init();
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        i2c_init();
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        i2c_init();
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//      SPI_MasterInit();
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        sei();
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        sei();
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    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
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    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
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    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
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    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
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    VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
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    VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
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        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION);
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        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a');
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        printf("\n\r==============================");
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        printf("\n\r==============================");
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        GRN_ON;
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        GRN_ON;
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#define EE_DATENREVISION 62 // wird angepasst, wenn sich die EEPROM-Daten geändert haben
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#define EE_DATENREVISION 68 // wird angepasst, wenn sich die EEPROM-Daten geändert haben
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    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
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    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
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        {
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        {
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          printf("\n\rInit. EEPROM: Generiere Default-Parameter...");
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          printf("\n\rInit. EEPROM: Generiere Default-Parameter...");
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          DefaultKonstanten1();
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          for (unsigned char i=0;i<6;i++)  
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          DefaultKonstanten1();
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      {
141 
          for (unsigned char i=0;i<6;i++)  
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       if(i==2) DefaultKonstanten2(); // Kamera
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      {
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       if(i==3) DefaultKonstanten3(); // Beginner
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       if(i==2) DefaultKonstanten2();
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       if(i>3)  DefaultKonstanten2(); // Kamera
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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 147 
      }
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 148 
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
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 150 
        }
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      }
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    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 2);
 153 
     {
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    I2CTimeout = 5000;
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    I2CTimeout = 5000;
180 
        while (1)
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        while (1)
181 
        {
 188 
        {
182 
        if (UpdateMotor)      // ReglerIntervall
 189 
        if (UpdateMotor)      // ReglerIntervall
183 
            {
 190 
            {
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 191 
//            SPI_TransmitByte();
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            UpdateMotor=0;
 192 
                        UpdateMotor=0;
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//PORTD |= 0x08;
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            MotorRegler();  
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            MotorRegler();  
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//PORTD &= ~0x08;
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            SendMotorData();
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            SendMotorData();
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            ROT_OFF;
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            ROT_OFF;
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            if(PcZugriff) PcZugriff--;
 198 
            if(PcZugriff) PcZugriff--;
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             else
- 
 
 200 
              {
- 
 
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               DubWiseKeys[0] = 0;
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               DubWiseKeys[1] = 0;
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               ExternStickNick = 0;
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               ExternStickRoll = 0;
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               ExternStickGier = 0;
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              }
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            if(SenderOkay)  SenderOkay--;
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            if(SenderOkay)  SenderOkay--;
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            if(!I2CTimeout)
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            if(!I2CTimeout)
191 
                {
 209 
                {
192 
                 I2CTimeout = 5;
 210 
                 I2CTimeout = 5;
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                 i2c_reset();
 211 
                 i2c_reset();
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                   {
 235 
                   {
218 
                    beeptime = 6000;
 236 
                    beeptime = 6000;
219 
                    BeepMuster = 0x0300;
 237 
                    BeepMuster = 0x0300;
220 
                   }
 238 
                   }
221 
                }
 239 
                }
- 
 
 240 
       //      SPI_StartTransmitPacket();
222 
             timer = SetDelay(100);  
 241 
                         timer = SetDelay(100);  
223 
            }
 242 
            }
224 
    }
 243 
    }
225 
 return (1);
 244 
 return (1);
226 
}
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}