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| Rev 2427 | Rev 2437 | ||
|---|---|---|---|
| Line 137... | Line 137... | ||
| 137 | "Current [0.1A] ", |
137 | "Current [0.1A] ", |
| 138 | "Capacity [mAh] ", |
138 | "Capacity [mAh] ", |
| 139 | "Height Setpoint ", |
139 | "Height Setpoint ", |
| 140 | "25 ", //25 |
140 | "25 ", //25 |
| 141 | "26 ", //"26 CPU OverLoad ", |
141 | "26 ", //"26 CPU OverLoad ", |
| 142 | "Compass Setpoint", |
142 | "27 ", |
| 143 | "I2C-Error ", |
143 | "I2C-Error ", |
| 144 | "BL Limit ", |
144 | "BL Limit ", |
| 145 | "GPS_Nick ", //30 |
145 | "GPS_Nick ", //30 |
| 146 | "GPS_Roll " |
146 | "GPS_Roll " |
| 147 | }; |
147 | }; |
| 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]) |
|
| 573 | switch(RxdBuffer[2]) |
574 | { |
| 574 | { |
575 | #ifdef REDUNDANT_FC_SLAVE |
| 575 | static unsigned int clear_I; |
576 | static unsigned int clear_I; |
| 576 | case '?':// Serielle Antwort eines BL-Reglers |
577 | case '?':// Serielle Antwort eines BL-Reglers |
| 577 | tempchar1 = RxdBuffer[1] - ('a'+11); |
578 | tempchar1 = RxdBuffer[1] - ('a'+11); |
| 578 | if(tempchar1 >= MAX_MOTORS) break; |
579 | if(tempchar1 >= MAX_MOTORS) break; |
| - | 580 | memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
|
| 579 | memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
581 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
| 580 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
582 | if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH; |
| 581 | 583 | GRN_FLASH; |
|
| - | 584 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
|
| 582 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
585 | { |
| 583 | { |
586 | ROT_ON; |
| 584 | if(clear_I == 0) |
- | |
| 585 | { |
587 | if(clear_I == 0) |
| 586 | PORTB |= 0x02; |
588 | { |
| 587 | SummeNick = 0; |
589 | SummeNick = 0; |
| 588 | SummeRoll = 0; |
590 | SummeRoll = 0; |
| 589 | Mess_Integral_Gier = 0; |
591 | Mess_Integral_Gier = 0; |
| 590 | } |
592 | } |
| 591 | clear_I = 500; |
- | |
| 592 | } |
593 | clear_I = 500; |
| 593 | else PORTB &=~0x02; |
594 | } |
| 594 | //DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate; |
595 | //DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate; |
| 595 | //DebugOut.Analog[17]++; |
596 | //DebugOut.Analog[17]++; |
| - | 597 | //DebugOut.Analog[18] = tempchar1; |
|
| 596 | //DebugOut.Analog[18] = tempchar1; |
598 | break; |
| 597 | break; |
599 | #endif |
| 598 | // 't' comand placed here only for compatibility to BL |
600 | // 't' comand placed here only for compatibility to BL |
| 599 | case 't':// Motortest |
601 | case 't':// Motortest |
| 600 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
602 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |