Rev 1420 | Rev 1424 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1420 | Rev 1423 | ||
|---|---|---|---|
| Line 382... | Line 382... | ||
| 382 | SendMotorData(); |
382 | SendMotorData(); |
| 383 | ROT_OFF; |
383 | ROT_OFF; |
| 384 | if(SenderOkay) SenderOkay--; |
384 | if(SenderOkay) SenderOkay--; |
| 385 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
385 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| 386 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
386 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 387 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
387 | if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| 388 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
388 | if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| 389 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
389 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 390... | Line 390... | ||
| 390 | 390 | ||
| 391 | if(!--I2CTimeout || MissingMotor) |
391 | if(!--I2CTimeout || MissingMotor) |
| 392 | { |
392 | { |
| 393 | if(!I2CTimeout) |
393 | if(!I2CTimeout) |
| 394 | { |
394 | { |
| 395 | i2c_reset(); |
395 | i2c_reset(); |
| 396 | I2CTimeout = 5; |
396 | I2CTimeout = 5; |
| - | 397 | DebugOut.Analog[28]++; // I2C-Error |
|
| 397 | DebugOut.Analog[28]++; // I2C-Error |
398 | FCFlags |= FCFLAG_I2CERR; |
| 398 | } |
399 | } |
| 399 | if((BeepMuster == 0xffff) && MotorenEin) |
400 | if((BeepMuster == 0xffff) && MotorenEin) |
| 400 | { |
401 | { |
| 401 | beeptime = 10000; |
402 | beeptime = 10000; |
| 402 | BeepMuster = 0x0080; |
403 | BeepMuster = 0x0080; |
| 403 | } |
404 | } |
| 404 | } |
405 | } |
| 405 | else |
406 | else |
| 406 | { |
407 | { |
| - | 408 | ROT_OFF; |
|
| 407 | ROT_OFF; |
409 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
| 408 | } |
- | |
| 409 | 410 | } |
|
| 410 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
411 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
| 411 | { |
412 | { |
| 412 | DatenUebertragung(); |
413 | DatenUebertragung(); |
| 413 | BearbeiteRxDaten(); |
414 | BearbeiteRxDaten(); |
| 414 | } |
415 | } |
| 415 | else BearbeiteRxDaten(); |
- | |
| 416 | - | ||
| 417 | 416 | else BearbeiteRxDaten(); |
|
| 418 | if(CheckDelay(timer)) |
417 | if(CheckDelay(timer)) |
| 419 | { |
- | |
| 420 | 418 | { |
|
| 421 | timer += 20; // 20 ms interval |
- | |
| 422 | 419 | timer += 20; // 20 ms interval |
|
| 423 | if(PcZugriff) PcZugriff--; |
420 | if(PcZugriff) PcZugriff--; |
| 424 | else |
421 | else |
| 425 | { |
422 | { |
| 426 | ExternControl.Config = 0; |
423 | ExternControl.Config = 0; |
| Line 440... | Line 437... | ||
| 440 | } |
437 | } |
| 441 | else |
438 | else |
| 442 | { |
439 | { |
| 443 | GPS_Nick = 0; |
440 | GPS_Nick = 0; |
| 444 | GPS_Roll = 0; |
441 | GPS_Roll = 0; |
| 445 | FCFlags |= FCFLAG_SPI_RX_ERR; |
442 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
| 446 | } |
443 | } |
| 447 | if(UBat < BattLowVoltageWarning) |
444 | if(UBat < BattLowVoltageWarning) |
| 448 | { |
445 | { |
| 449 | FCFlags |= FCFLAG_LOWBAT; |
446 | FCFlags |= FCFLAG_LOWBAT; |
| 450 | if(BeepMuster == 0xffff) |
447 | if(BeepMuster == 0xffff) |
| 451 | { |
448 | { |
| 452 | beeptime = 6000; |
449 | beeptime = 6000; |
| 453 | BeepMuster = 0x0300; |
450 | BeepMuster = 0x0300; |
| 454 | } |
451 | } |
| 455 | } |
452 | } |
| 456 | else FCFlags &= ~FCFLAG_LOWBAT; |
453 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
| Line 457... | Line 454... | ||
| 457 | 454 | ||
| 458 | SPI_StartTransmitPacket(); |
455 | SPI_StartTransmitPacket(); |
| Line 459... | Line 456... | ||
| 459 | SendSPI = 4; |
456 | SendSPI = 4; |