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Rev 2183 Rev 2230
Line 126... Line 126...
126 
    "Gyro Compass    ",
 126 
    "Gyro Compass    ",
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    "Motor 1         ",
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    "Motor 1         ",
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    "Motor 2         ",
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    "Motor 2         ",
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    "Motor 3         ",
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    "Motor 3         ",
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    "Motor 4         ", //15
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    "Motor 4         ", //15
131 
    "16 Vario        ",
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    "16              ",
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    "17 HightDeviatio",
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    "17              ",
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    "18 I Gas        ",
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    "18              ",
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    "19 ACC Gas      ",
 134 
    "19              ",
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    "20 Vario Gas    ", //20 servo
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    "Servo           ", //20
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    "Hovergas        ",
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    "Hovergas        ",
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    "22 Setp.trimm   ",    //"Current [0.1A]  ",
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    "Current [0.1A]  ",
138 
    "Capacity [mAh]  ",
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    "Capacity [mAh]  ",
139 
    "Height Setpoint ",
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    "Height Setpoint ",
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    "25 ACC-Integral ", //25
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    "25              ", //25
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    "26 Gasreduction ", //"26 CPU OverLoad ",
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    "26              ", //"26 CPU OverLoad ",
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    "27 fileter      ",//"Compass Setpoint",
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    "Compass Setpoint",
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    "I2C-Error       ",
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    "I2C-Error       ",
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    "29 I            ",//    "BL Limit        ",
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    "BL Limit        ",
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    "GPS_Nick        ", //30
 145 
    "GPS_Nick        ", //30
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    "GPS_Roll        "
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    "GPS_Roll        "
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};
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};
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 329 
 
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// --------------------------------------------------------------------------
 330 
// --------------------------------------------------------------------------
331 
void Decode64(void)  // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
 331 
void Decode64(void)  // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
332 
{
 332 
{
- 
 
 333 
 unsigned char a,b,c,d;
333 
 unsigned char a,b,c,d;
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 unsigned char x,y,z;
334 
 unsigned char ptrIn = 3; // start at begin of data block
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 unsigned char ptrIn = 3; // start at begin of data block
335 
 unsigned char ptrOut = 3;
 336 
 unsigned char ptrOut = 3;
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 unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers  ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab.
 - 
 
337 
 
 337 
 unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers  ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab.
338 
 len/=4;
 338 
 
339 
 while(len--)
 339 
 while(len)
340 
  {
 340 
  {
341 
   a = RxdBuffer[ptrIn++] - '=';
 341 
   a = RxdBuffer[ptrIn++] - '=';
342 
   b = RxdBuffer[ptrIn++] - '=';
 342 
   b = RxdBuffer[ptrIn++] - '=';
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   c = RxdBuffer[ptrIn++] - '=';
 343 
   c = RxdBuffer[ptrIn++] - '=';
344 
   d = RxdBuffer[ptrIn++] - '=';
 344 
   d = RxdBuffer[ptrIn++] - '=';
345 
 
 345 
 
- 
 
 346 
   x = (a << 2) | (b >> 4);
- 
 
 347 
   y = ((b & 0x0f) << 4) | (c >> 2);
- 
 
 348 
   z = ((c & 0x03) << 6) | d;
- 
 
 349 
 
346 
   RxdBuffer[ptrOut++] = (a << 2) | (b >> 4);
 350 
   if(len--) RxdBuffer[ptrOut++] = x; else break;
347 
   RxdBuffer[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2);
 351 
   if(len--) RxdBuffer[ptrOut++] = y; else break;
348 
   RxdBuffer[ptrOut++] = ((c & 0x03) << 6) | d;
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   if(len--) RxdBuffer[ptrOut++] = z;   else break;
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349 
  }
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  }
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    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
 748 
    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
745 
         {
 749 
         {
746 
                  CopyDebugValues();
 750 
                  CopyDebugValues();
747 
          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
 751 
          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
748 
          DebugDataAnforderung = 0;
 752 
          DebugDataAnforderung = 0;
749 
DebugOut.Analog[16] = 0;
 - 
 
750 
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
 753 
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
751 
 
 - 
 
752 
         }
 754 
         }
753 
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
 755 
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
754 
         {
 756 
         {
755 
                  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 757 
                  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
756 
                  Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 758 
                  Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad