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| Rev 1638 | Rev 1639 | ||
|---|---|---|---|
| Line 196... | Line 196... | ||
| 196 | } |
196 | } |
| 197 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
197 | Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| 198 | } |
198 | } |
| 199 | printf("\n\r==================================="); |
199 | printf("\n\r==================================="); |
| 200 | SendMotorData(); |
200 | SendMotorData(); |
| - | 201 | TransmitBlConfig = 1; |
|
| 201 | 202 | motorread = 0; |
|
| 202 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
203 | //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| 203 | { |
204 | { |
| 204 | printf("\n\rCalibrating pressure sensor.."); |
205 | printf("\n\rCalibrating pressure sensor.."); |
| 205 | timer = SetDelay(1000); |
206 | timer = SetDelay(1000); |
| 206 | SucheLuftruckOffset(); |
207 | SucheLuftruckOffset(); |
| Line 244... | Line 245... | ||
| 244 | 245 | ||
| Line 245... | Line 246... | ||
| 245 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
246 | Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| 246 | 247 | ||
| 247 | while (1) |
- | |
| 248 | { |
248 | while (1) |
| 249 | 249 | { |
|
| 250 | if(CheckDelay(timerPolling)) |
250 | if(CheckDelay(timerPolling)) |
| 251 | { |
251 | { |
| 252 | timerPolling = SetDelay(100); |
252 | timerPolling = SetDelay(100); |
| 253 | LIBFC_Polling(); |
- | |
| 254 | } |
253 | LIBFC_Polling(); |
| 255 | 254 | } |
|
| 256 | if(UpdateMotor && AdReady) // ReglerIntervall |
255 | if(UpdateMotor && AdReady) // ReglerIntervall |
| - | 256 | { |
|
| 257 | { |
257 | UpdateMotor=0; |
| 258 | UpdateMotor=0; |
258 | J4High; |
| 259 | if(WinkelOut.CalcState) CalMk3Mag(); |
259 | if(WinkelOut.CalcState) CalMk3Mag(); |
| - | 260 | else MotorRegler(); |
|
| - | 261 | SendMotorData(); |
|
| 260 | else MotorRegler(); |
262 | if(UpdateMotor) DebugOut.Analog[17]++; |
| 261 | SendMotorData(); |
263 | J4Low; |
| 262 | ROT_OFF; |
264 | ROT_OFF; |
| 263 | if(SenderOkay) SenderOkay--; |
265 | if(SenderOkay) SenderOkay--; |
| 264 | else |
266 | else |
| Line 289... | Line 291... | ||
| 289 | else |
291 | else |
| 290 | { |
292 | { |
| 291 | ROT_OFF; |
293 | ROT_OFF; |
| 292 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
294 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
| 293 | } |
295 | } |
| 294 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
296 | if(!UpdateMotor) |
| 295 | { |
297 | { |
| 296 | DatenUebertragung(); |
298 | DatenUebertragung(); |
| 297 | BearbeiteRxDaten(); |
299 | BearbeiteRxDaten(); |
| 298 | } |
- | |
| 299 | else BearbeiteRxDaten(); |
- | |
| 300 | if(CheckDelay(timer)) |
300 | if(CheckDelay(timer)) |
| 301 | { |
301 | { |
| 302 | static unsigned char second; |
302 | static unsigned char second; |
| 303 | timer += 20; // 20 ms interval |
303 | timer += 20; // 20 ms interval |
| 304 | if(PcZugriff) PcZugriff--; |
304 | if(PcZugriff) PcZugriff--; |
| Line 356... | Line 356... | ||
| 356 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
356 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 357 | } |
357 | } |
| 358 | } |
358 | } |
| 359 | LED_Update(); |
359 | LED_Update(); |
| 360 | Capacity_Update(); |
360 | Capacity_Update(); |
| - | 361 | } |
|
| 361 | } |
362 | } |
| 362 | if(!SendSPI) { SPI_TransmitByte(); } |
363 | if(!SendSPI) { SPI_TransmitByte(); } |
| 363 | } |
364 | } |
| 364 | return (1); |
365 | return (1); |
| 365 | } |
366 | } |