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| Rev 688 | Rev 693 | ||
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | //#define MCLK96MHZ |
56 | //#define MCLK96MHZ |
| 57 | const unsigned long _Main_Crystal = 25000; |
57 | const unsigned long _Main_Crystal = 25000; |
| 58 | //#include <stdio.h> |
58 | //#include <stdio.h> |
| - | 59 | #include <string.h> |
|
| 59 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 60 | #include "led.h" |
61 | #include "led.h" |
| 61 | #include "uart0.h" |
62 | #include "uart0.h" |
| 62 | #include "uart1.h" |
63 | #include "uart1.h" |
| 63 | #include "uart2.h" |
64 | #include "uart2.h" |
| Line 439... | Line 440... | ||
| 439 | FC.Error[4] = 0; |
440 | FC.Error[4] = 0; |
| 440 | ErrorGpsFixLost = 0; |
441 | ErrorGpsFixLost = 0; |
| 441 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
442 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| 442 | } |
443 | } |
| Line -... | Line 444... | ||
| - | 444 | ||
| - | 445 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
|
| - | 446 | { |
|
| - | 447 | u8 crc = 0xAA; |
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| - | 448 | u16 i; |
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| - | 449 | for(i=0; i<len; i++) crc += pBuffer[i]; |
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| - | 450 | return crc; |
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| Line 443... | Line 451... | ||
| 443 | 451 | } |
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| 444 | 452 | ||
| 445 | 453 | ||
| Line 474... | Line 482... | ||
| 474 | UART1_TransmitTxData(); // PC send answer |
482 | UART1_TransmitTxData(); // PC send answer |
| 475 | UART2_TransmitTxData(); // FC send answer |
483 | UART2_TransmitTxData(); // FC send answer |
| Line 476... | Line 484... | ||
| 476 | 484 | ||
| Line -... | Line 485... | ||
| - | 485 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
|
| - | 486 | ||
| - | 487 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
|
| - | 488 | { |
|
| - | 489 | u8 crc1, crc2; |
|
| - | 490 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
|
| - | 491 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
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| - | 492 | if(crc1 == crc2) |
|
| - | 493 | { |
|
| - | 494 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
|
| - | 495 | RequestConfigFromFC = 0; |
|
| - | 496 | } |
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| - | 497 | HugeBlockFromFC.WhoAmI = 0; |
|
| 477 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
498 | } |
| 478 | 499 | ||
| 479 | if(FCCalibActive) |
500 | if(FCCalibActive) |
| 480 | { |
501 | { |
| 481 | count5sec = 0; |
502 | count5sec = 0; |