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| Rev 2416 | Rev 2418 | ||
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| Line 570... | Line 570... | ||
| 570 | 570 | ||
| Line 571... | Line 571... | ||
| 571 | default: // any Slave Address |
571 | default: // any Slave Address |
| 572 | 572 | ||
| - | 573 | switch(RxdBuffer[2]) |
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| - | 574 | { |
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| - | 575 | static unsigned int clear_I; |
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| - | 576 | case '?':// Serielle Antwort eines BL-Reglers |
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| - | 577 | tempchar1 = RxdBuffer[1] - ('a'+11); |
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| - | 578 | if(tempchar1 >= MAX_MOTORS) break; |
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| - | 579 | memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
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| - | 580 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
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| - | 581 | ||
| - | 582 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
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| - | 583 | { |
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| - | 584 | if(clear_I == 0) |
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| - | 585 | { |
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| - | 586 | PORTB |= 0x02; |
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| - | 587 | SummeNick = 0; |
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| - | 588 | SummeRoll = 0; |
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| - | 589 | Mess_Integral_Gier = 0; |
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| - | 590 | } |
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| - | 591 | clear_I = 500; |
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| - | 592 | } |
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| - | 593 | else PORTB &=~0x02; |
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| - | 594 | //DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate; |
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| - | 595 | //DebugOut.Analog[17]++; |
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| 573 | switch(RxdBuffer[2]) |
596 | //DebugOut.Analog[18] = tempchar1; |
| 574 | { |
597 | break; |
| 575 | // 't' comand placed here only for compatibility to BL |
598 | // 't' comand placed here only for compatibility to BL |
| 576 | case 't':// Motortest |
599 | case 't':// Motortest |
| 577 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
600 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| Line 697... | Line 720... | ||
| 697 | } |
720 | } |
| Line 698... | Line 721... | ||
| 698 | 721 | ||
| 699 | //--------------------------------------------------------------------------------------------- |
722 | //--------------------------------------------------------------------------------------------- |
| 700 | void DatenUebertragung(void) |
723 | void DatenUebertragung(void) |
| - | 724 | { |
|
| 701 | { |
725 | |
| Line 702... | Line 726... | ||
| 702 | if(!UebertragungAbgeschlossen) return; |
726 | if(!UebertragungAbgeschlossen) return; |
| 703 | 727 | ||
| 704 | if(CheckDelay(AboTimeOut)) |
728 | if(CheckDelay(AboTimeOut)) |
| Line 775... | Line 799... | ||
| 775 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
799 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 776 | { |
800 | { |
| 777 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
801 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 778 | GetPPMChannelAnforderung = 0; |
802 | GetPPMChannelAnforderung = 0; |
| 779 | } |
803 | } |
| - | 804 | #ifndef REDUNDANT_FC |
|
| 780 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
805 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 781 | { |
806 | { |
| 782 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
807 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 783 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
808 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 784 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
809 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| Line 786... | Line 811... | ||
| 786 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
811 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 787 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
812 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 788 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
813 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
| 789 | else Kompass_Timer = SetDelay(999); |
814 | else Kompass_Timer = SetDelay(999); |
| 790 | } |
815 | } |
| - | 816 | #endif |
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| - | 817 | ||
| - | 818 | #ifdef REDUNDANT_FC |
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| - | 819 | if(UebertragungAbgeschlossen || MotorenEin) |
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| - | 820 | { |
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| - | 821 | static unsigned char who; |
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| - | 822 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
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| - | 823 | who = (who+1) % RequiredMotors; |
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| - | 824 | for(i=0; i<RequiredMotors; i++) |
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| - | 825 | { |
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| - | 826 | SendRedundantMotor[0] = who+1; |
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| - | 827 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
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| - | 828 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
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| - | 829 | } |
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| - | 830 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
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| - | 831 | } |
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| - | 832 | #endif |
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| - | 833 | ||
| 791 | #ifdef DEBUG // only include functions if DEBUG is defined |
834 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 792 | if(SendDebugOutput && UebertragungAbgeschlossen) |
835 | if(SendDebugOutput && UebertragungAbgeschlossen) |
| 793 | { |
836 | { |
| 794 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
837 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| 795 | SendDebugOutput = 0; |
838 | SendDebugOutput = 0; |