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| Rev 2443 | Rev 2452 | ||
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| Line 822... | Line 822... | ||
| 822 | #endif |
822 | #endif |
| Line 823... | Line 823... | ||
| 823 | 823 | ||
| 824 | #ifdef REDUNDANT_FC_SLAVE |
824 | #ifdef REDUNDANT_FC_SLAVE |
| 825 | if(UebertragungAbgeschlossen || MotorenEin) |
825 | if(UebertragungAbgeschlossen || MotorenEin) |
| 826 | { |
826 | { |
| 827 | static unsigned char who; |
827 | static unsigned char who, request; |
| - | 828 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
|
| 828 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
829 | if(!request) { who = (who+1) % RequiredMotors; request = 1;} // nur in jedem 2. Zykus abfragen, weil die Antwort zu lang ist |
| 829 | who = (who+1) % RequiredMotors; |
830 | else request = 0; |
| 830 | for(i=0; i<RequiredMotors; i++) |
831 | for(i=0; i<RequiredMotors; i++) |
| - | 832 | { |
|
| 831 | { |
833 | if(request) SendRedundantMotor[0] = who+1; |
| 832 | SendRedundantMotor[0] = who+1; |
834 | else SendRedundantMotor[0] = 0; |
| 833 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
835 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
| 834 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
836 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
| 835 | } |
837 | } |
| 836 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
838 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |