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| 13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| 14 | */ |
14 | */ |
| Line 15... | Line 15... | ||
| 15 | 15 | ||
| Line 16... | Line 16... | ||
| 16 | #include "main.h" |
16 | #include "main.h" |
| Line 17... | Line 17... | ||
| 17 | 17 | ||
| 18 | MM3_working_struct MM3; |
18 | struct MM3_calib_struct ee_calib EEMEM; |
| Line 19... | Line 19... | ||
| 19 | 19 | ||
| 20 | MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
20 | struct MM3_working_struct MM3; |
| 21 | MM3_calib_struct MM3_calib; |
21 | struct MM3_calib_struct MM3_calib; |
| Line 35... | Line 35... | ||
| 35 | 35 | ||
| 36 | MM3.AXIS = MM3_X; |
36 | MM3.AXIS = MM3_X; |
| Line 37... | Line 37... | ||
| 37 | MM3.STATE = MM3_RESET; |
37 | MM3.STATE = MM3_RESET; |
| 38 | 38 | ||
| 39 | // Kalibrierung aus dem EEprom lesen |
39 | // Kalibrierung aus dem EEprom lesen |
| Line 40... | Line 40... | ||
| 40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| 41 | } |
41 | } |
| Line 166... | Line 166... | ||
| 166 | 166 | ||
| 167 | if (!beeper) |
167 | if (!beeper) |
| 168 | { |
168 | { |
| 169 | ROT_FLASH; |
169 | ROT_FLASH; |
| - | 170 | GRN_FLASH; |
|
| 170 | GRN_FLASH; |
171 | //beeptime = 50; |
| 171 | beeper = 50; |
172 | beeper = 50; |
| 172 | } |
173 | } |
| Line 173... | Line 174... | ||
| 173 | beeper--; |
174 | beeper--; |
| 174 | 175 | ||
| 175 | // Schleife mit 100 Hz voll ausreichend |
176 | // Schleife mit 100 Hz |
| Line 176... | Line 177... | ||
| 176 | timer = SetDelay(10); |
177 | timer = SetDelay(10); |
| 177 | while(!CheckDelay(timer)); |
178 | while(!CheckDelay(timer)); |
| 178 | 179 | ||
| Line 179... | Line 180... | ||
| 179 | // Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden |
180 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
| 180 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
181 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
| 181 | } |
182 | } |
| 182 | 183 | ||
| Line 183... | Line 184... | ||
| 183 | // Offset der Achsen berechnen |
184 | // Offset der Achsen berechnen |
| 184 | MM3_calib.X_off = (x_max + x_min) / 2; |
185 | MM3_calib.X_off = (x_max + x_min) / 2; |
| Line 185... | Line 186... | ||
| 185 | MM3_calib.Y_off = (y_max + y_min) / 2; |
186 | MM3_calib.Y_off = (y_max + y_min) / 2; |
| Line 186... | Line 187... | ||
| 186 | MM3_calib.Z_off = (z_max + z_min) / 2; |
187 | MM3_calib.Z_off = (z_max + z_min) / 2; |