| 1,28 → 1,28 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur f�r den privaten Gebrauch |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binürfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulüssig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausützen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder verüffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + auf anderen Webseiten oder Medien verüffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
| // + Keine Gewühr auf Fehlerfreiheit, Vollstündigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschüden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zul�ssig |
| // + mit unserer Zustimmung zulüssig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 77,30 → 77,30 |
|---|
| #define FALSE 0 |
| #define TRUE 1 |
| //int8_t test __attribute__ ((section (".noinit"))); |
| uint8_t request_VerInfo = FALSE; |
| uint8_t request_ExternalControl = FALSE; |
| uint8_t request_Display = FALSE; |
| uint8_t request_Display1 = FALSE; |
| uint8_t request_DebugData = FALSE; |
| uint8_t request_Data3D = FALSE; |
| uint8_t request_DebugLabel = 255; |
| uint8_t request_verInfo = FALSE; |
| uint8_t request_externalControl = FALSE; |
| uint8_t request_display = FALSE; |
| uint8_t request_display1 = FALSE; |
| uint8_t request_debugData = FALSE; |
| uint8_t request_data3D = FALSE; |
| uint8_t request_debugLabel = 255; |
| uint8_t request_PPMChannels = FALSE; |
| uint8_t request_MotorTest = FALSE; |
| uint8_t request_motorTest = FALSE; |
| uint8_t request_variables = FALSE; |
| |
| uint8_t DisplayLine = 0; |
| uint8_t displayLine = 0; |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| volatile uint8_t receivedBytes = 0; |
| volatile uint8_t *pRxData = 0; |
| volatile uint8_t RxDataLen = 0; |
| volatile uint8_t rxDataLen = 0; |
| |
| uint8_t motorTestActive = 0; |
| uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
| uint8_t ConfirmFrame; |
| uint8_t confirmFrame; |
| |
| typedef struct { |
| int16_t Heading; |
| 107,16 → 107,15 |
|---|
| }__attribute__((packed)) Heading_t; |
| |
| DebugOut_t debugOut; |
| Data3D_t Data3D; |
| UART_VersionInfo_t UART_VersionInfo; |
| Data3D_t data3D; |
| |
| uint16_t DebugData_Timer; |
| uint16_t Data3D_Timer; |
| uint16_t DebugData_Interval = 0; // in 1ms |
| uint16_t Data3D_Interval = 0; // in 1ms |
| uint16_t debugData_timer; |
| uint16_t data3D_timer; |
| uint16_t debugData_interval = 0; // in 1ms |
| uint16_t data3D_interval = 0; // in 1ms |
| |
| #ifdef USE_MK3MAG |
| int16_t Compass_Timer; |
| int16_t compass_timer; |
| #endif |
| |
| // keep lables in flash to save 512 bytes of sram space |
| 158,7 → 157,7 |
|---|
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void usart0_Init(void) { |
| void usart0_init(void) { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1); |
| |
| 213,25 → 212,25 |
|---|
| UCSR0B |= (1 << TXCIE0); |
| |
| // initialize the debug timer |
| DebugData_Timer = setDelay(DebugData_Interval); |
| debugData_timer = setDelay(debugData_interval); |
| |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| rxDataLen = 0; |
| |
| // no bytes to send |
| txd_complete = TRUE; |
| |
| #ifdef USE_MK3MAG |
| Compass_Timer = setDelay(220); |
| compass_timer = setDelay(220); |
| #endif |
| |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| versionInfo.SWMajor = VERSION_MAJOR; |
| versionInfo.SWMinor = VERSION_MINOR; |
| versionInfo.SWPatch = VERSION_PATCH; |
| versionInfo.protoMajor = VERSION_SERIAL_MAJOR; |
| versionInfo.protoMinor = VERSION_SERIAL_MINOR; |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| 240,8 → 239,7 |
|---|
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) |
| { |
| ISR(USART0_TX_vect) { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if (!txd_complete) { // transmission not completed |
| 262,8 → 260,7 |
|---|
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) |
| { |
| ISR(USART0_RX_vect) { |
| static uint16_t checksum; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t checksum1, checksum2; |
| 303,7 → 300,7 |
|---|
| == rxd_buffer[ptr_rxd_buffer - 1])) { |
| // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if (rxd_buffer[2] == 'R') { |
| 336,9 → 333,9 |
|---|
| |
| // -------------------------------------------------------------------------- |
| // application example: |
| // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
| // sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
| /* |
| void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| va_list ap; |
| uint16_t txd_bufferIndex = 0; |
| uint8_t *currentBuffer; |
| 385,7 → 382,7 |
|---|
| } |
| */ |
| |
| void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| va_list ap; |
| uint16_t pt = 0; |
| uint8_t a, b, c; |
| 456,7 → 453,7 |
|---|
| uint8_t x, y, z; |
| uint8_t ptrIn = 3; |
| uint8_t ptrOut = 3; |
| uint8_t len = ReceivedBytes - 6; |
| uint8_t len = receivedBytes - 6; |
| |
| while (len) { |
| a = rxd_buffer[ptrIn++] - '='; |
| 483,11 → 480,11 |
|---|
| break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| rxDataLen = ptrOut - 3; |
| } |
| |
| // -------------------------------------------------------------------------- |
| void usart0_ProcessRxData(void) { |
| void usart0_processRxData(void) { |
| // We control the motorTestActive var from here: Count it down. |
| if (motorTestActive) |
| motorTestActive--; |
| 508,7 → 505,7 |
|---|
| break; |
| #endif |
| case 't': // motor test |
| if (RxDataLen > 20) { |
| if (rxDataLen > 20) { |
| memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
| } else { |
| memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
| 520,7 → 517,7 |
|---|
| case 'n':// "Get Mixer Table |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
| sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
| break; |
| |
| case 'm':// "Set Mixer Table |
| 533,7 → 530,7 |
|---|
| } else { |
| tempchar[0] = 0; |
| } |
| SendOutData('M', FC_ADDRESS, 1, &tempchar, 1); |
| sendOutData('M', FC_ADDRESS, 1, &tempchar, 1); |
| break; |
| |
| case 'p': // get PPM channels |
| 556,7 → 553,7 |
|---|
| tempchar[2] = sizeof(staticParams); |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
| sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
| break; |
| |
| case 's': // save settings |
| 574,7 → 571,7 |
|---|
| } |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
| sendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
| } |
| break; |
| |
| 586,31 → 583,31 |
|---|
| default: // any Slave Address |
| switch (rxd_buffer[2]) { |
| case 'a':// request for labels of the analog debug outputs |
| request_DebugLabel = pRxData[0]; |
| if (request_DebugLabel > 31) |
| request_DebugLabel = 31; |
| request_debugLabel = pRxData[0]; |
| if (request_debugLabel > 31) |
| request_debugLabel = 31; |
| break; |
| |
| case 'b': // submit extern control |
| memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
| ConfirmFrame = externalControl.frame; |
| confirmFrame = externalControl.frame; |
| externalControlActive = 255; |
| break; |
| |
| case 'h':// request for display columns |
| RemoteKeys |= pRxData[0]; |
| if (RemoteKeys) |
| DisplayLine = 0; |
| request_Display = TRUE; |
| remoteKeys |= pRxData[0]; |
| if (remoteKeys) |
| displayLine = 0; |
| request_display = TRUE; |
| break; |
| |
| case 'l':// request for display columns |
| MenuItem = pRxData[0]; |
| request_Display1 = TRUE; |
| menuItem = pRxData[0]; |
| request_display1 = TRUE; |
| break; |
| |
| case 'v': // request for version and board release |
| request_VerInfo = TRUE; |
| request_verInfo = TRUE; |
| break; |
| |
| case 'x': |
| 618,19 → 615,19 |
|---|
| break; |
| |
| case 'g':// get external control data |
| request_ExternalControl = TRUE; |
| request_externalControl = TRUE; |
| break; |
| |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if (DebugData_Interval > 0) |
| request_DebugData = TRUE; |
| debugData_interval = (uint16_t) pRxData[0] * 10; |
| if (debugData_interval > 0) |
| request_debugData = TRUE; |
| break; |
| |
| case 'c': // request for the 3D data |
| Data3D_Interval = (uint16_t) pRxData[0] * 10; |
| if (Data3D_Interval > 0) |
| request_Data3D = TRUE; |
| data3D_interval = (uint16_t) pRxData[0] * 10; |
| if (data3D_interval > 0) |
| request_data3D = TRUE; |
| break; |
| |
| default: |
| 641,12 → 638,12 |
|---|
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| |
| /************************************************************************/ |
| /* Routine f�r die Serielle Ausgabe */ |
| /* Routine für die Serielle Ausgabe */ |
| /************************************************************************/ |
| int16_t uart_putchar(int8_t c) { |
| if (c == '\n') |
| 659,69 → 656,68 |
|---|
| } |
| |
| //--------------------------------------------------------------------------------------------- |
| void usart0_TransmitTxData(void) { |
| void usart0_transmitTxData(void) { |
| if (!txd_complete) |
| return; |
| |
| if (request_VerInfo && txd_complete) { |
| SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, |
| sizeof(UART_VersionInfo)); |
| request_VerInfo = FALSE; |
| if (request_verInfo && txd_complete) { |
| sendOutData('V', FC_ADDRESS, 1, (uint8_t *) &versionInfo, sizeof(versionInfo)); |
| request_verInfo = FALSE; |
| } |
| |
| if (request_Display && txd_complete) { |
| LCD_PrintMenu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), |
| &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if (DisplayLine >= 4) |
| DisplayLine = 0; |
| request_Display = FALSE; |
| if (request_display && txd_complete) { |
| LCD_printMenu(); |
| sendOutData('H', FC_ADDRESS, 2, &displayLine, sizeof(displayLine), |
| &displayBuff[displayLine * 20], 20); |
| displayLine++; |
| if (displayLine >= 4) |
| displayLine = 0; |
| request_display = FALSE; |
| } |
| |
| if (request_Display1 && txd_complete) { |
| LCD_PrintMenu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, |
| sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
| request_Display1 = FALSE; |
| if (request_display1 && txd_complete) { |
| LCD_printMenu(); |
| sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem, |
| sizeof(maxMenuItem), displayBuff, sizeof(displayBuff)); |
| request_display1 = FALSE; |
| } |
| |
| if (request_DebugLabel != 0xFF) { // Texte f�r die Analogdaten |
| if (request_debugLabel != 0xFF) { // Texte für die Analogdaten |
| uint8_t label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
| SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, |
| sizeof(request_DebugLabel), label, 16); |
| request_DebugLabel = 0xFF; |
| memcpy_P(label, ANALOG_LABEL[request_debugLabel], 16); // read lable from flash to sram buffer |
| sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_debugLabel, |
| sizeof(request_debugLabel), label, 16); |
| request_debugLabel = 0xFF; |
| } |
| |
| if (ConfirmFrame && txd_complete) { // Datensatz ohne checksum bestätigen |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*) &ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| if (confirmFrame && txd_complete) { // Datensatz ohne checksum bestätigen |
| sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame)); |
| confirmFrame = 0; |
| } |
| |
| if (((DebugData_Interval && checkDelay(DebugData_Timer)) || request_DebugData) |
| if (((debugData_interval && checkDelay(debugData_timer)) || request_debugData) |
| && txd_complete) { |
| SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
| DebugData_Timer = setDelay(DebugData_Interval); |
| request_DebugData = FALSE; |
| sendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
| debugData_timer = setDelay(debugData_interval); |
| request_debugData = FALSE; |
| } |
| |
| if (((Data3D_Interval && checkDelay(Data3D_Timer)) || request_Data3D) |
| if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
| && txd_complete) { |
| SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D.AngleNick = (int16_t) ((10 * angle[PITCH]) |
| sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
| data3D.anglePitch = (int16_t) ((10 * angle[PITCH]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
| data3D.angleRoll = (int16_t) ((10 * angle[ROLL]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| Data3D_Timer = setDelay(Data3D_Interval); |
| request_Data3D = FALSE; |
| data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| data3D_timer = setDelay(data3D_interval); |
| request_data3D = FALSE; |
| } |
| |
| if (request_ExternalControl && txd_complete) { |
| SendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
| if (request_externalControl && txd_complete) { |
| sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
| sizeof(externalControl)); |
| request_ExternalControl = FALSE; |
| request_externalControl = FALSE; |
| } |
| |
| #ifdef USE_MK3MAG |
| 731,25 → 727,25 |
|---|
| toMk3Mag.UserParam[0] = dynamicParams.userParams[0]; |
| toMk3Mag.UserParam[1] = dynamicParams.userParams[1]; |
| toMk3Mag.CalState = compassCalState; |
| SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag)); |
| sendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(compassCalState > 4) compassCalState = 0; |
| Compass_Timer = setDelay(99); |
| compass_timer = setDelay(99); |
| } |
| #endif |
| |
| if (request_MotorTest && txd_complete) { |
| SendOutData('T', FC_ADDRESS, 0); |
| request_MotorTest = FALSE; |
| if (request_motorTest && txd_complete) { |
| sendOutData('T', FC_ADDRESS, 0); |
| request_motorTest = FALSE; |
| } |
| |
| if (request_PPMChannels && txd_complete) { |
| SendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
| sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
| request_PPMChannels = FALSE; |
| } |
| |
| if (request_variables && txd_complete) { |
| SendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
| sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
| request_variables = FALSE; |
| } |
| } |