Rev 2380 | Rev 2390 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2380 | Rev 2386 | ||
|---|---|---|---|
| Line 276... | Line 276... | ||
| 276 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
276 | if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| 277 | //GRN_ON; |
277 | //GRN_ON; |
| 278 | if(UpdateMotor && AdReady) // ReglerIntervall |
278 | if(UpdateMotor && AdReady) // ReglerIntervall |
| 279 | { |
279 | { |
| 280 | //GRN_OFF; |
280 | //GRN_OFF; |
| - | 281 | cli(); |
|
| 281 | UpdateMotor=0; |
282 | UpdateMotor--; |
| - | 283 | sei(); |
|
| 282 | if(WinkelOut.CalcState) CalMk3Mag(); |
284 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 283 | else MotorRegler(); |
285 | else MotorRegler(); |
| 284 | SendMotorData(); |
286 | SendMotorData(); |
| 285 | ROT_OFF; |
287 | ROT_OFF; |
| 286 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
288 | if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| Line 417... | Line 419... | ||
| 417 | beeptime = 6000; |
419 | beeptime = 6000; |
| 418 | BeepMuster = 0x0300; |
420 | BeepMuster = 0x0300; |
| 419 | } |
421 | } |
| 420 | } |
422 | } |
| 421 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
423 | else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| 422 | SendSPI = SPI_BYTEGAP; |
424 | // SendSPI = SPI_BYTEGAP; |
| 423 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
425 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| 424 | // +++++++++++++++++++++++++++++++++ |
426 | // +++++++++++++++++++++++++++++++++ |
| 425 | // Sekundentakt |
427 | // Sekundentakt |
| 426 | if(++second == 49) |
428 | if(++second == 49) |
| 427 | { |
429 | { |
| Line 451... | Line 453... | ||
| 451 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
453 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| 452 | } |
454 | } |
| 453 | } |
455 | } |
| 454 | LED_Update(); |
456 | LED_Update(); |
| 455 | Capacity_Update(); |
457 | Capacity_Update(); |
| - | 458 | } |
|
| 456 | } //else DebugOut.Analog[26]++; |
459 | } //else DebugOut.Analog[18]++; |
| 457 | } |
- | |
| 458 | if(update_spi) update_spi--; |
460 | if(update_spi) update_spi--; |
| 459 | } // 500Hz |
461 | } // 500Hz |
| - | 462 | if(update_spi == 0) // 41Hz |
|
| - | 463 | { |
|
| 460 | if(update_spi == 0) { SPI_StartTransmitPacket(); update_spi = 12;} // 41Hz |
464 | if(SPI_StartTransmitPacket()) update_spi = 12; |
| - | 465 | else |
|
| - | 466 | if(BytegapSPI == 0) SPI_TransmitByte(); |
|
| - | 467 | } |
|
| 461 | else if(!SendSPI) { SPI_TransmitByte(); } |
468 | else if(BytegapSPI == 0) SPI_TransmitByte(); |
| 462 | } |
469 | } |
| 463 | } |
470 | } |
| 464 | //DebugOut.Analog[16] |
471 | //DebugOut.Analog[16] |