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Line 17... Line 17...
17 
unsigned volatile char NeueKoordinateEmpfangen = 0;
 17 
unsigned volatile char NeueKoordinateEmpfangen = 0;
18 
unsigned volatile char UebertragungAbgeschlossen = 1;
 18 
unsigned volatile char UebertragungAbgeschlossen = 1;
19 
unsigned volatile char CntCrcError = 0;
 19 
unsigned volatile char CntCrcError = 0;
20 
unsigned volatile char AnzahlEmpfangsBytes = 0;
 20 
unsigned volatile char AnzahlEmpfangsBytes = 0;
21 
unsigned volatile char PC_DebugTimeout = 0;
 21 
unsigned volatile char PC_DebugTimeout = 0;
- 
 
 22 
unsigned char RemotePollDisplayLine = 0;
22 
unsigned char NurKanalAnforderung = 0;
 23 
unsigned char NurKanalAnforderung = 0;
- 
 
 24 
unsigned char DebugTextAnforderung = 255;
23 
unsigned char PcZugriff = 100;
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unsigned char PcZugriff = 100;
24 
unsigned char MotorTest[4] = {0,0,0,0};
 26 
unsigned char MotorTest[4] = {0,0,0,0};
25 
unsigned char DubWiseKeys[3] = {0,0,0};
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unsigned char DubWiseKeys[3] = {0,0,0};
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unsigned char MeineSlaveAdresse;
 28 
unsigned char MeineSlaveAdresse;
27 
struct str_DebugOut    DebugOut;
 29 
struct str_DebugOut    DebugOut;
28 
struct str_Debug       DebugIn;
 30 
struct str_Debug       DebugIn;
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struct str_VersionInfo VersionInfo;
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struct str_VersionInfo VersionInfo;
30 
int Debug_Timer;
 32 
int Debug_Timer;
Line -... Line 33...
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 33 
 
- 
 
 34 
const unsigned char ANALOG_TEXT[32][16] =
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 35 
{
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 36 
   //1234567890123456
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    "IntegralNick    ", //0
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 38 
    "IntegralRoll    ",
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    "AccNick         ",
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 40 
    "AccRoll         ",
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 41 
    "GyroGier        ",
- 
 
 42 
    "HoehenWert      ", //5
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 43 
    "AccZ            ",
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 44 
    "Gas             ",
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 45 
    "KompassValue    ",
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    "MesswertNick    ",
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 47 
    "10_SenderOkay   ", //10
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 48 
    "11_MesswertRoll ",
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 49 
    "Motor_Vorne     ",
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 50 
    "Motor_Hinten    ",
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 51 
    "Motor_Links     ",
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 52 
    "Motor_Rechts    ", //15
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 53 
    "16_Acc_Z        ",
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 54 
    "17MittelAccNick ",
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 55 
    "18_MittelAccRoll",
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 56 
    "Analog19        ",
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    "IntegralErrRoll ", //20
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    "Analog21        ",
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    "22_MittelGIngR  ",
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 60 
    "Analog23        ",
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 61 
    "24RollOffset    ",
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 62 
    "25IntRoll*Fakt  ", //25
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 63 
    "Analog26        ",
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 64 
    "DirektAusglRoll ",
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 65 
    "28MesswertRoll  ",
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 66 
    "29AusgleichRoll ",
- 
 
 67 
    "30_I-LageRoll   ", //30
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 68 
    "31_StickRoll    "
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 69 
};
- 
 
 70 
 
- 
 
 71 
 
31 
 
 72 
 
32 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 73 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33 
//++ Sende-Part der Datenübertragung
 74 
//++ Sende-Part der Datenübertragung
34 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 75 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
35 
SIGNAL(INT_VEC_TX)
 76 
SIGNAL(INT_VEC_TX)
Line 188... Line 229...
188 
// unsigned char tmp_char_arr4[4];
 229 
// unsigned char tmp_char_arr4[4];
189 
 //if(!MotorenEin)
230 
 //if(!MotorenEin)
190 
 PcZugriff = 255;
 231 
 PcZugriff = 255;
191 
  switch(RxdBuffer[2])
 232 
  switch(RxdBuffer[2])
192 
  {
 233 
  {
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 234 
   case 'a':// Texte der Analogwerte
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 235 
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
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 236 
            DebugTextAnforderung = tmp_char_arr2[0];
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 237 
                        break;
193 
   case 'c':// Debugdaten incl. Externe IOs usw
238 
   case 'c':// Debugdaten incl. Externe IOs usw
194 
                        Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes);
 239 
                        Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes);
195 
/*              for(unsigned char i=0; i<4;i++)
 240 
/*              for(unsigned char i=0; i<4;i++)
196 
                         {
 241 
                         {
197 
              EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2],     DebugIn.Analog[i]);
 242 
              EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2],     DebugIn.Analog[i]);
Line 300... Line 345...
300 
}
 345 
}
Line 301... Line 346...
301 
 
 346 
 
302 
//---------------------------------------------------------------------------------------------
 347 
//---------------------------------------------------------------------------------------------
303 
void DatenUebertragung(void)  
 348 
void DatenUebertragung(void)  
304 
{
 - 
 
305 
 static char dis_zeile = 0;
 349 
{
Line 306... Line 350...
306 
 if(!UebertragungAbgeschlossen) return;
 350 
 if(!UebertragungAbgeschlossen) return;
307 
 
 351 
 
308 
   if(DebugGetAnforderung && UebertragungAbgeschlossen)               // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
 352 
   if(DebugGetAnforderung && UebertragungAbgeschlossen)               // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
Line 315... Line 359...
315 
         {
 359 
         {
316 
          SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
 360 
          SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
317 
          DebugDataAnforderung = 0;
 361 
          DebugDataAnforderung = 0;
318 
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);  
 362 
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);  
319 
         }
 363 
         }
- 
 
 364 
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
- 
 
 365 
     {
- 
 
 366 
      SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16);
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 367 
      DebugTextAnforderung = 255;
- 
 
 368 
         }
Line 320... Line 369...
320 
 
 369 
 
321 
     if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
 370 
     if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
322 
         {
 371 
         {
323 
      Menu();
 372 
      Menu();
324 
          DebugDisplayAnforderung = 0;
 373 
          DebugDisplayAnforderung = 0;
325 
      if(++dis_zeile == 4 || NurKanalAnforderung)
 374 
      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)
326 
      {
 375 
      {
327 
       SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
 376 
       SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
328 
       dis_zeile = -1;
 377 
       RemotePollDisplayLine = -1;
329 
      }
 378 
      }
330 
      else  SendOutData('0' + dis_zeile,0,(unsigned char *)&DisplayBuff[20 * dis_zeile],20);   // DisplayZeile übertragen
 379 
      else  SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
331 
         }
 380 
         }
332 
    if(GetVersionAnforderung && UebertragungAbgeschlossen)
 381 
    if(GetVersionAnforderung && UebertragungAbgeschlossen)
333 
     {
 382 
     {
334 
      SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
 383 
      SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));