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Rev | Author | Line No. | Line |
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886 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
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4 | // + www.MikroKopter.com |
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5 | // + see the File "License.txt" for further Informations |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | |||
886 | killagreg | 8 | #include <avr/io.h> |
9 | #include <avr/interrupt.h> |
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10 | #include <avr/wdt.h> |
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11 | |||
12 | #include "eeprom.h" |
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1 | ingob | 13 | #include "main.h" |
886 | killagreg | 14 | #include "menu.h" |
15 | #include "timer0.h" |
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1 | ingob | 16 | #include "uart.h" |
886 | killagreg | 17 | #include "fc.h" |
18 | #include "_Settings.h" |
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19 | #include "rc.h" |
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20 | #ifdef USE_KILLAGREG |
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21 | #include "ubx.h" |
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22 | #endif |
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23 | #if !defined(USE_KILLAGREG) && !defined (USE_NAVICTRL) |
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24 | #include "mk3mag.h" |
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25 | #endif |
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1 | ingob | 26 | |
27 | |||
693 | hbuss | 28 | |
886 | killagreg | 29 | #define FALSE 0 |
30 | #define TRUE 1 |
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31 | |||
32 | //int8_t test __attribute__ ((section (".noinit"))); |
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33 | uint8_t RequestVerInfo = FALSE; |
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34 | uint8_t RequestExternalControl = FALSE; |
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35 | uint8_t RequestDisplay = FALSE; |
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36 | uint8_t RequestDebugData = FALSE; |
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37 | uint8_t RequestDebugLabel = 255; |
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38 | uint8_t RequestChannelOnly = FALSE; |
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39 | uint8_t RemotePollDisplayLine = 0; |
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40 | |||
41 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
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42 | volatile uint8_t rxd_buffer_locked = FALSE; |
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43 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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44 | volatile uint8_t txd_complete = TRUE; |
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45 | volatile uint8_t ReceivedBytes = 0; |
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46 | |||
47 | |||
48 | uint8_t PcAccess = 100; |
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49 | uint8_t MotorTest[4] = {0,0,0,0}; |
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50 | uint8_t DubWiseKeys[4] = {0,0,0,0}; |
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51 | uint8_t MySlaveAddr = 0; |
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52 | uint8_t ConfirmFrame; |
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53 | |||
54 | DebugOut_t DebugOut; |
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55 | ExternControl_t ExternControl; |
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56 | VersionInfo_t VersionInfo; |
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57 | |||
58 | int16_t Debug_Timer; |
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59 | |||
60 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
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61 | int16_t Compass_Timer; |
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62 | #endif |
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63 | |||
64 | |||
65 | const uint8_t ANALOG_LABEL[32][16] = |
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499 | hbuss | 66 | { |
886 | killagreg | 67 | //1234567890123456 |
68 | "IntegralPitch ", //0 |
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499 | hbuss | 69 | "IntegralRoll ", |
886 | killagreg | 70 | "AccPitch ", |
499 | hbuss | 71 | "AccRoll ", |
886 | killagreg | 72 | "GyroYaw ", |
73 | "ReadingHeight ", //5 |
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499 | hbuss | 74 | "AccZ ", |
886 | killagreg | 75 | "Thrust ", |
76 | "CompassHeading ", |
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77 | "Voltage ", |
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78 | "Receiver Level ", //10 |
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79 | "YawGyroHeading ", |
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80 | "Motor_Front ", |
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81 | "Motor_Rear ", |
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82 | "Motor_Right ", |
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83 | "Motor_Left ", //15 |
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513 | hbuss | 84 | "Acc_Z ", |
886 | killagreg | 85 | "SPI Error ", |
86 | "SPI Ok ", |
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87 | " ", |
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854 | hbuss | 88 | "Servo ", //20 |
886 | killagreg | 89 | "Pitch ", |
854 | hbuss | 90 | "Roll ", |
720 | ingob | 91 | " ", |
92 | " ", |
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93 | " ", //25 |
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94 | " ", |
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95 | " ", |
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96 | " ", |
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97 | " ", |
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886 | killagreg | 98 | "GPS_Pitch ", //30 |
720 | ingob | 99 | "GPS_Roll " |
499 | hbuss | 100 | }; |
101 | |||
102 | |||
103 | |||
886 | killagreg | 104 | /****************************************************************/ |
105 | /* Initialization of the USART0 */ |
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106 | /****************************************************************/ |
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107 | void USART0_Init (void) |
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1 | ingob | 108 | { |
886 | killagreg | 109 | uint8_t sreg = SREG; |
110 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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111 | |||
112 | // disable all interrupts before configuration |
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113 | cli(); |
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114 | |||
115 | // disable RX-Interrupt |
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116 | UCSR0B &= ~(1 << RXCIE0); |
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117 | // disable TX-Interrupt |
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118 | UCSR0B &= ~(1 << TXCIE0); |
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119 | |||
120 | // set direction of RXD0 and TXD0 pins |
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121 | // set RXD0 (PD0) as an input pin |
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122 | PORTD |= (1 << PORTD0); |
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123 | DDRD &= ~(1 << DDD0); |
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124 | // set TXD0 (PD1) as an output pin |
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125 | PORTD |= (1 << PORTD1); |
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126 | DDRD |= (1 << DDD1); |
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127 | |||
128 | // USART0 Baud Rate Register |
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129 | // set clock divider |
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130 | UBRR0H = (uint8_t)(ubrr >> 8); |
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131 | UBRR0L = (uint8_t)ubrr; |
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132 | |||
133 | // USART0 Control and Status Register A, B, C |
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134 | |||
135 | // enable double speed operation in |
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136 | UCSR0A |= (1 << U2X0); |
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137 | // enable receiver and transmitter in |
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138 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
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139 | // set asynchronous mode |
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140 | UCSR0C &= ~(1 << UMSEL01); |
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141 | UCSR0C &= ~(1 << UMSEL00); |
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142 | // no parity |
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143 | UCSR0C &= ~(1 << UPM01); |
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144 | UCSR0C &= ~(1 << UPM00); |
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145 | // 1 stop bit |
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146 | UCSR0C &= ~(1 << USBS0); |
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147 | // 8-bit |
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148 | UCSR0B &= ~(1 << UCSZ02); |
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149 | UCSR0C |= (1 << UCSZ01); |
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150 | UCSR0C |= (1 << UCSZ00); |
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151 | |||
152 | // flush receive buffer |
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153 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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154 | |||
155 | // enable interrupts at the end |
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156 | // enable RX-Interrupt |
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157 | UCSR0B |= (1 << RXCIE0); |
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158 | // enable TX-Interrupt |
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159 | UCSR0B |= (1 << TXCIE0); |
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160 | |||
161 | rxd_buffer_locked = FALSE; |
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162 | txd_complete = TRUE; |
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163 | |||
164 | Debug_Timer = SetDelay(200); |
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165 | |||
166 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
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167 | Compass_Timer = SetDelay(220); |
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168 | #endif |
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169 | |||
170 | // restore global interrupt flags |
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171 | SREG = sreg; |
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1 | ingob | 172 | } |
173 | |||
886 | killagreg | 174 | /****************************************************************/ |
175 | /* USART0 transmitter ISR */ |
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176 | /****************************************************************/ |
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177 | ISR(USART0_TX_vect) |
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1 | ingob | 178 | { |
886 | killagreg | 179 | static uint16_t ptr_txd_buffer = 0; |
180 | uint8_t tmp_tx; |
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181 | if(!txd_complete) // transmission not completed |
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182 | { |
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183 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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184 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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185 | // if terminating character or end of txd buffer was reached |
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186 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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187 | { |
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188 | ptr_txd_buffer = 0; // reset txd pointer |
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189 | txd_complete = 1; // stop transmission |
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190 | } |
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191 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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192 | } |
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193 | // transmission completed |
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194 | else ptr_txd_buffer = 0; |
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195 | } |
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1 | ingob | 196 | |
886 | killagreg | 197 | /****************************************************************/ |
198 | /* USART0 receiver ISR */ |
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199 | /****************************************************************/ |
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200 | ISR(USART0_RX_vect) |
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201 | { |
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202 | static uint16_t crc; |
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203 | static uint8_t ptr_rxd_buffer = 0; |
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204 | uint8_t crc1, crc2; |
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205 | uint8_t c; |
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206 | |||
207 | c = UDR0; // catch the received byte |
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208 | |||
209 | #ifdef USE_KILLAGREG |
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210 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
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211 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
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212 | #if defined (__AVR_ATmega644P__) |
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213 | if(BoardRelease == 10) ubx_parser(c); |
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214 | #else |
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215 | ubx_parser(c); |
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216 | #endif |
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217 | #endif // USE_KILLAGREG |
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218 | |||
219 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
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220 | |||
221 | // the rxd buffer is unlocked |
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222 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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223 | { |
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224 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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225 | crc = c; // init crc |
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226 | } |
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227 | #if 0 |
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228 | else if (ptr_rxd_buffer == 1) // handle address |
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229 | { |
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230 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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231 | crc += c; // update crc |
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232 | } |
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233 | #endif |
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234 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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235 | { |
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236 | if(c != '\r') // no termination character |
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237 | { |
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238 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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239 | crc += c; // update crc |
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240 | } |
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241 | else // termination character was received |
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242 | { |
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243 | // the last 2 bytes are no subject for checksum calculation |
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244 | // they are the checksum itself |
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245 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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246 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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247 | // calculate checksum from transmitted data |
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248 | crc %= 4096; |
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249 | crc1 = '=' + crc / 64; |
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250 | crc2 = '=' + crc % 64; |
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251 | // compare checksum to transmitted checksum bytes |
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252 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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253 | { // checksum valid |
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254 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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255 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
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256 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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257 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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258 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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259 | } |
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260 | else |
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261 | { // checksum invalid |
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262 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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263 | } |
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264 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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265 | } |
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266 | } |
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267 | else // rxd buffer overrun |
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268 | { |
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269 | ptr_rxd_buffer = 0; // reset rxd buffer |
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270 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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271 | } |
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272 | |||
1 | ingob | 273 | } |
274 | |||
275 | |||
276 | // -------------------------------------------------------------------------- |
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886 | killagreg | 277 | void AddCRC(uint16_t datalen) |
1 | ingob | 278 | { |
886 | killagreg | 279 | uint16_t tmpCRC = 0, i; |
280 | for(i = 0; i < datalen; i++) |
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281 | { |
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282 | tmpCRC += txd_buffer[i]; |
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283 | } |
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284 | tmpCRC %= 4096; |
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285 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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286 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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287 | txd_buffer[i++] = '\r'; |
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288 | txd_complete = FALSE; |
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289 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
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1 | ingob | 290 | } |
291 | |||
292 | |||
293 | |||
294 | // -------------------------------------------------------------------------- |
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886 | killagreg | 295 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
1 | ingob | 296 | { |
886 | killagreg | 297 | uint16_t pt = 0; |
298 | uint8_t a,b,c; |
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299 | uint8_t ptr = 0; |
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1 | ingob | 300 | |
886 | killagreg | 301 | txd_buffer[pt++] = '#'; // Start character |
302 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
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303 | txd_buffer[pt++] = cmd; // Command |
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1 | ingob | 304 | |
886 | killagreg | 305 | while(len) |
306 | { |
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307 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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308 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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309 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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310 | txd_buffer[pt++] = '=' + (a >> 2); |
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311 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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312 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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313 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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314 | } |
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315 | AddCRC(pt); // add checksum after data block and initates the transmission |
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1 | ingob | 316 | } |
317 | |||
318 | |||
319 | // -------------------------------------------------------------------------- |
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886 | killagreg | 320 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
1 | ingob | 321 | { |
886 | killagreg | 322 | uint8_t a,b,c,d; |
323 | uint8_t ptr = 0; |
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324 | uint8_t x,y,z; |
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325 | while(len) |
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326 | { |
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327 | a = rxd_buffer[ptrIn++] - '='; |
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328 | b = rxd_buffer[ptrIn++] - '='; |
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329 | c = rxd_buffer[ptrIn++] - '='; |
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330 | d = rxd_buffer[ptrIn++] - '='; |
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331 | if(ptrIn > max - 2) break; |
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1 | ingob | 332 | |
886 | killagreg | 333 | x = (a << 2) | (b >> 4); |
334 | y = ((b & 0x0f) << 4) | (c >> 2); |
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335 | z = ((c & 0x03) << 6) | d; |
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1 | ingob | 336 | |
886 | killagreg | 337 | if(len--) ptrOut[ptr++] = x; else break; |
338 | if(len--) ptrOut[ptr++] = y; else break; |
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339 | if(len--) ptrOut[ptr++] = z; else break; |
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340 | } |
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1 | ingob | 341 | } |
342 | |||
886 | killagreg | 343 | |
1 | ingob | 344 | // -------------------------------------------------------------------------- |
886 | killagreg | 345 | void USART0_ProcessRxData(void) |
1 | ingob | 346 | { |
886 | killagreg | 347 | // if data in the rxd buffer are not locked immediately return |
348 | if(!rxd_buffer_locked) return; |
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1 | ingob | 349 | |
886 | killagreg | 350 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
351 | uint16_t tmp_int_arr1[1]; // local int buffer |
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352 | #endif |
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353 | uint8_t tmp_char_arr2[2]; // local char buffer |
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354 | |||
355 | |||
356 | switch(rxd_buffer[2]) |
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357 | { |
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358 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
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359 | case 'K':// Compass value |
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360 | Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
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361 | CompassHeading = tmp_int_arr1[0]; |
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362 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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693 | hbuss | 363 | break; |
886 | killagreg | 364 | #endif |
365 | case 'a':// Labels of the Analog Debug outputs |
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366 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
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367 | RequestDebugLabel = tmp_char_arr2[0]; |
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368 | PcAccess = 255; |
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499 | hbuss | 369 | break; |
886 | killagreg | 370 | case 'b': // extern control |
371 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
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372 | RemoteButtons |= ExternControl.RemoteButtons; |
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373 | ConfirmFrame = ExternControl.Frame; |
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1 | ingob | 374 | break; |
886 | killagreg | 375 | case 'c': // extern control with debug request |
376 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
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377 | RemoteButtons |= ExternControl.RemoteButtons; |
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378 | ConfirmFrame = ExternControl.Frame; |
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379 | RequestDebugData = TRUE; |
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380 | PcAccess = 255; |
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1 | ingob | 381 | break; |
886 | killagreg | 382 | case 'h':// x-1 display columns |
383 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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384 | RemoteButtons |= tmp_char_arr2[0]; |
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385 | if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE; |
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386 | else RequestChannelOnly = FALSE; // keine Displaydaten |
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387 | RequestDisplay = TRUE; |
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388 | break; |
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389 | case 't':// motor test |
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390 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
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391 | PcAccess = 255; |
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392 | break; |
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393 | case 'k':// keys from DubWise |
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394 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
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595 | hbuss | 395 | ConfirmFrame = DubWiseKeys[3]; |
886 | killagreg | 396 | PcAccess = 255; |
492 | hbuss | 397 | break; |
886 | killagreg | 398 | case 'v': // get version and board release |
399 | RequestVerInfo = TRUE; |
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400 | break; |
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401 | case 'g':// get external control data |
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402 | RequestExternalControl = TRUE; |
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403 | break; |
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404 | case 'q':// get settings |
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405 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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406 | while(!txd_complete); |
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407 | if(tmp_char_arr2[0] != 0xff) |
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408 | { |
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409 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
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410 | // load requested parameter set |
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411 | ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
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412 | SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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413 | } |
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414 | else // send active parameter set |
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415 | SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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416 | |||
417 | break; |
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418 | |||
419 | case 'l': |
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420 | case 'm': |
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421 | case 'n': |
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422 | case 'o': |
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423 | case 'p': // save parameterset |
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424 | Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
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425 | ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
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426 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
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427 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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428 | Beep(GetActiveParamSet()); |
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429 | break; |
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430 | |||
431 | |||
432 | } |
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433 | // unlock the rxd buffer after processing |
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434 | rxd_buffer_locked = FALSE; |
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1 | ingob | 435 | } |
436 | |||
437 | //############################################################################ |
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438 | //Routine für die Serielle Ausgabe |
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886 | killagreg | 439 | int16_t uart_putchar (int8_t c) |
1 | ingob | 440 | //############################################################################ |
441 | { |
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442 | if (c == '\n') |
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443 | uart_putchar('\r'); |
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886 | killagreg | 444 | // wait until previous character was send |
445 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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1 | ingob | 446 | //Ausgabe des Zeichens |
886 | killagreg | 447 | UDR0 = c; |
1 | ingob | 448 | return (0); |
449 | } |
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450 | |||
451 | |||
886 | killagreg | 452 | //--------------------------------------------------------------------------------------------- |
453 | void USART0_TransmitTxData(void) |
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1 | ingob | 454 | { |
886 | killagreg | 455 | if(!txd_complete) return; |
1 | ingob | 456 | |
886 | killagreg | 457 | if(RequestExternalControl && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
458 | { |
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459 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
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460 | RequestExternalControl = FALSE; |
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461 | } |
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1 | ingob | 462 | |
886 | killagreg | 463 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
464 | if((CheckDelay(Compass_Timer)) && txd_complete) |
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465 | { |
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466 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
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467 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
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468 | ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
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469 | ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
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470 | ToMk3Mag.CalState = CompassCalState; |
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471 | SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
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472 | // the last state is 5 and should be send only once to avoid multiple flash writing |
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473 | if(CompassCalState > 4) CompassCalState = 0; |
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474 | Compass_Timer = SetDelay(99); |
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475 | } |
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476 | #endif |
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1 | ingob | 477 | |
886 | killagreg | 478 | if((CheckDelay(Debug_Timer) || RequestDebugData) && txd_complete) |
479 | { |
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480 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
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481 | RequestDebugData = FALSE; |
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482 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
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483 | } |
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1 | ingob | 484 | |
886 | killagreg | 485 | if(RequestDebugLabel != 255) // Texte für die Analogdaten |
499 | hbuss | 486 | { |
886 | killagreg | 487 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
488 | RequestDebugLabel = 255; |
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499 | hbuss | 489 | } |
886 | killagreg | 490 | if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
595 | hbuss | 491 | { |
886 | killagreg | 492 | txd_buffer[0] = '#'; |
493 | txd_buffer[1] = ConfirmFrame; |
||
494 | txd_buffer[2] = '\r'; |
||
495 | txd_complete = 0; |
||
595 | hbuss | 496 | ConfirmFrame = 0; |
886 | killagreg | 497 | UDR0 = txd_buffer[0]; |
595 | hbuss | 498 | } |
886 | killagreg | 499 | if(RequestDisplay && txd_complete) |
1 | ingob | 500 | { |
886 | killagreg | 501 | LCD_PrintMenu(); |
502 | RequestDisplay = FALSE; |
||
503 | if(++RemotePollDisplayLine == 4 || RequestChannelOnly) |
||
173 | holgerb | 504 | { |
886 | killagreg | 505 | SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
499 | hbuss | 506 | RemotePollDisplayLine = -1; |
886 | killagreg | 507 | } |
508 | else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
||
509 | } |
||
510 | if(RequestVerInfo && txd_complete) |
||
511 | { |
||
512 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
||
513 | RequestVerInfo = FALSE; |
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1 | ingob | 514 | } |
515 | |||
516 | } |
||
517 |