WebSVN - FlightCtrl - Rev 2506 - /branches/V2.08a_Rens_Testversion/FlightCtrl

/*
* FlightCtrl.c
*
* Created: 03.02.2015 06:32:39
* Author: SIE-AV
*/

#include <avr/io.h>

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char DisableRcOffBeeping = 0;
unsigned char PlatinenVersion = 10;
unsigned char BattLowVoltageWarning = 94;
unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
unsigned int FlugSekunden = 0;
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
unsigned char FoundMotors = 0;
unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
unsigned char ActiveParamSet = 3;
unsigned char LipoCells = 4;

void PrintLine(void)
{
printf("\n\r===================================");
}

void CalMk3Mag(void)
{
static unsigned char stick = 1;
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
{
stick = 1;
WinkelOut.CalcState++;
if(WinkelOut.CalcState > 4)
{
// WinkelOut.CalcState = 0; // in Uart.c
beeptime = 1000;
}
else Piep(WinkelOut.CalcState,150);
}
}

void LipoDetection(unsigned char print)
{
#define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
if(print)
{
printf("\n\rBatt:");
LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;
if(LipoCells > 6) LipoCells = 6;
}

if(EE_Parameter.UnterspannungsWarnung < 50)
{
BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;
if(print)
{
Piep(LipoCells, 200);
printf(" %d Cells ", LipoCells);
}
}
else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;

// automatische Zellenerkennung
if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;
if(EE_Parameter.ComingHomeVoltage < 50) BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;

if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;
if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1;
if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;

if(print)
{
printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
}

}

//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
unsigned int timer,i,timer2 = 0, timerPolling;
unsigned char update_spi = 1;
DDRB = 0x00;
PORTB = 0x00;
DDRD = 0x0A; // UART & J3 J4 J5
PORTD = 0x5F; // PPM-Input & UART
for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
unsigned char AccZ_ErrorCnt = 0;
if(PINB & 0x02)
{
if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
}
else
{
PlatinenVersion = 25; ACC_AltitudeControl = 1;
}
#else
if(PINB & 0x01)
{
if(PINB & 0x02) PlatinenVersion = 13;
else PlatinenVersion = 11;
}
else
{
if(PINB & 0x02) PlatinenVersion = 20;
else
{
PlatinenVersion = 10;
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
PORTD = 0x47; //
}
}
#endif

DDRC = 0x81; // I2C, Spaker
DDRC |=0x40; // HEF4017 Reset
PORTC = 0xff; // Pullup SDA
DDRB = 0x1B; // LEDs und Druckoffset
PORTB = 0x01; // LED_Rot

HEF4017Reset_ON;
MCUSR &=~(1<<WDRF);
WDTCSR |= (1<<WDCE)|(1<<WDE);
WDTCSR = 0;

beeptime = 2500;
StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
ROT_OFF;
GRN_ON;

Timer_Init();
TIMER2_Init();
UART_Init();
rc_sum_init();
ADC_Init();
I2C_Init(1);
SPI_MasterInit();
Capacity_Init();
LIBFC_Init(LIB_FC_COMPATIBLE);
GRN_ON;
sei();
ParamSet_Init();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PlatinenVersion < 20)
{
wdt_enable(WDTO_250MS); // Reset-Commando
while(1) printf("\n\rOld FC Hardware not supported by this Firmware!");
}
#ifndef REDUNDANT_FC_SLAVE
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Check connected BL-Ctrls
BLFlags |= BLFLAG_READ_VERSION;
motor_read = 0; // read the first I2C-Data
for(i=0; i < 500; i++)
{
SendMotorData();
timer = SetDelay(5);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}
printf("\n\rFound BL-Ctrl: ");
// timer = SetDelay(1000);
for(i=0; i < MAX_MOTORS; i++)
{
// SendMotorData();
// while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
{
while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
{
SendMotorData();
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
}
}
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
{
unsigned char vers;
printf("%d",(i+1)%10);
FoundMotors++;
vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04
if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers;
// if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");
// else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");
// printf(":V%03d\n\r",vers);
}
}
for(i=0; i < MAX_MOTORS; i++)
{
if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
{
printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
ServoActive = 2; // just in case the FC would be used as camera-stabilizer
}
Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
}
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(VersionInfo.BL_Firmware != 255)
{
printf("\n\rBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100);
if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!");
}
#endif

PrintLine();// ("\n\r===================================");
if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;
#else
printf("\n\r\n\r--> REDUNDANT SLAVE <---\n\r");
#endif

#ifdef REDUNDANT_FC_MASTER
printf("\n\r\n\r--> REDUNDANT MASTER <---\n\r");
#endif

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Calibrating altitude sensor
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
printf("\n\rCalibrating pressure sensor..");
timer = SetDelay(1000);
SucheLuftruckOffset();
while (!CheckDelay(timer));
printf("OK\n\r");
}

#ifdef REDUNDANT_FC_SLAVE
VersionInfo.HardwareError[0] = 0;
VersionInfo.HardwareError[1] = 0;
#endif

SetNeutral(0);

ROT_OFF;

beeptime = 2000;
ExternControl.Digital[0] = 0x55;

FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);

if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
{
FlugMinuten = 0;
FlugMinutenGesamt = 0;
}
printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
LcdClear();
I2CTimeout = 5000;
WinkelOut.Orientation = 1;
LipoDetection(1);
LIBFC_ReceiverInit(EE_Parameter.Receiver);
PrintLine();// ("\n\r===================================");
//SpektrumBinding();
timer = SetDelay(2000);
timerPolling = SetDelay(250);

Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);

DebugOut.Status[0] = 0x01 | 0x02;
JetiBeep = 0;
if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
ReadBlSize = 3; // don't read the version any more
#ifdef REDUNDANT_FC_SLAVE
timer = SetDelay(2500);
while(!CheckDelay(timer));
printf("\n\rStart\n\r");
#endif
while(1)
{
EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
if(UpdateMotor && AdReady) // ReglerIntervall
{
cli();
UpdateMotor--;
sei();
if(WinkelOut.CalcState) CalMk3Mag();
else MotorRegler();
SendMotorData();
ROT_OFF;
if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ }
else
{
TIMSK1 |= _BV(ICIE1); // enable PPM-Input
PPM_in[0] = 0; // set RSSI to zero on data timeout
VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
// Now clear the channel values - they would be wrong
PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!--I2CTimeout || MissingMotor)
{
if(!I2CTimeout)
{
I2C_Reset();
I2CTimeout = 5;
DebugOut.Analog[28]++; // I2C-Error
VersionInfo.HardwareError[1] |= FC_ERROR1_I2C;
DebugOut.Status[1] |= 0x02; // BL-Error-Status
}
if((BeepMuster == 0xffff) && MotorenEin)
{
beeptime = 25000;
BeepMuster = 0x0080;
}
}
else
{
ROT_OFF;
}
LIBFC_Polling();

if(!UpdateMotor)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(NewSBusData) ProcessSBus();
else
#endif
{
if(BytegapSPI == 0) SPI_TransmitByte();
if(CalculateServoSignals) CalculateServo();
DatenUebertragung();
BearbeiteRxDaten();
if(CheckDelay(timer))
{
static unsigned char second;
timer += 20; // 20 ms interval
CalcNickServoValue();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
else
if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
// ++++++++++++++++++++++++++++
// + check the ACC-Z range
if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
{
if(++AccZ_ErrorCnt > 50)
{
if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP;
else CalibrationDone = 0;
}
}
else AccZ_ErrorCnt = 0;
// ++++++++++++++++++++++++++++
#endif
if(MissingMotor || Capacity.MinOfMaxPWM < 30)
{
if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
DebugOut.Status[1] |= 0x02; // BL-Error-Status
}
else
{
if(!beeptime)
{
if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
}
}
if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
if(PcZugriff) PcZugriff--;
else
{
ExternControl.Config = 0;
ExternStickNick = 0;
ExternStickRoll = 0;
ExternStickGier = 0;
if(!SenderOkay)
{
if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
{
beeptime = 15000;
BeepMuster = 0x0c00;
if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
}
}
}
if(NaviDataOkay > 200)
{
NaviDataOkay--;
VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT;
}
else
{
if(NC_Version.Compatible)
{
VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
NC_ErrorCode = 9; // "ERR: no NC communication"
if(BeepMuster == 0xffff && MotorenEin)
{
beeptime = 15000;
BeepMuster = 0xA800;
}
}
GPS_Nick = 0;
GPS_Roll = 0;
GPS_Aid_StickMultiplikator = 0;
GPSInfo.Flags = 0;
FromNaviCtrl_Value.Kalman_K = -1;
FromNaviCtrl.AccErrorN = 0;
FromNaviCtrl.AccErrorR = 0;
FromNaviCtrl.CompassValue = -1;
FromNC_AltitudeSpeed = 0;
FromNC_AltitudeSetpoint = 0;
VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
NaviDataOkay = 0;
}
if(UBat <= BattLowVoltageWarning)
{
FC_StatusFlags |= FC_STATUS_LOWBAT;
if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)
{
beeptime = 6000;
BeepMuster = 0x0300;
}
}
// +++++++++++++++++++++++++++++++++
// Sekundentakt
if(++second == 49)
{
second = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ShowSettingNameTime) ShowSettingNameTime--;
#endif
if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
else timer2 = 1450; // 0,5 Minuten aufrunden
if(modell_fliegt < 1024)
{
if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
else
if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
}
if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
}
// +++++++++++++++++++++++++++++++++
if(++timer2 == 2930) // eine Minute
{
timer2 = 0;
FlugMinuten++;
FlugMinutenGesamt++;
SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
}
}
LED_Update();
Capacity_Update();
}
} //else DebugOut.Analog[18]++;
if(update_spi) update_spi--;
} // 500Hz
if(update_spi == 0) // 41Hz
{
if(SPI_StartTransmitPacket()) update_spi = 12;
else
if(BytegapSPI == 0) SPI_TransmitByte();
}
else if(BytegapSPI == 0) SPI_TransmitByte();
}
}
//DebugOut.Analog[16]

Subversion Repositories FlightCtrl

(root)/branches/V2.08a_Rens_Testversion/FlightCtrl_AS6.2/FlightCtrl/FlightCtrl/FlightCtrl.c @ 2507 - Rev 2506