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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + 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 sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "main.h"

u8 DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char SendGPSPosAnforderung = 0;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned volatile char PC_DebugTimeout = 0;
volatile unsigned char DebugTextAnforderung = 255;
unsigned char NurKanalAnforderung = 0;

UART_TypeDef *DebugUART = UART1;    

unsigned char RemotePollDisplayLine = 0;
u8 PcZugriff = 100;
u8 MotorTest[4] = {0,0,0,0};
u8 MeineSlaveAdresse;
volatile struct str_DebugOut    DebugOut;
struct str_ExternControl  ExternControl;
struct str_GPSPosition  GPS_Position;
struct str_VersionInfo VersionInfo;
struct str_PCTargetGPSPosition PCTargetGPSPosition;
s32 Debug_Timer;
static u16 ptr = 0;
unsigned char ConfirmFrame;

#define FIFO_TX_LEVEL  2

UART_InitTypeDef UART_InitStructure;

const unsigned char ANALOG_TEXT[32][16] =
{
   //1234567890123456
    "WinkelNick      ", //0
    "WinkelRoll      ",
    "AccNick         ",
    "AccRoll         ",
    "AN4             ",
    "AN5             ", //5
    "GPS-Data Counter",
    "7               ",
    "8               ",
    "9               ",
    "10              ", //10
    "Poti1           ",
    "SPI Error       ",
    "SPI Okay        ",
    "Poti2           ",
    "Poti3           ", //15
    "I2C_ReadByte    ",
    "ACC_Speed_N     ",
    "ACC_Speed_E     ",
    "                ",
    "                ", //20
//    "Distance_N      ",
//    "Distance_E      ", //20
    "N_Speed         ",
    "E_Speed             ",
    "I_North         ",
    "I_East          ",
    "GyroKompass     ", //25
    "Heading         ",
//    "Distance2Target ",
//    "Direction2Target",
    "Distance N      ",
    "Distance E      ",
    "GPS_NICK        ",
    "GPS_ROLL        ", //30
    "Used_Sat        "
};


//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende- und Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
void UART1_IRQHandler(void)
{
 // ---------------------------- Receive ------------------------------------
 
 if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET)|| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
 {
  static u16 crc;
  static u8 crc1,crc2,buf_ptr;
  static u8 UartState = 0;
  u8 CrcOkay = 0;

  if (DebugUART != UART1)
  {
    while (UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
          UART_SendData(DebugUART, UART_ReceiveData(UART1));
  }
  else
  while ((UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)&& (!NeuerDatensatzEmpfangen))
 {
 
     SioTmp = UART_ReceiveData(UART1);
 

  if(buf_ptr >= MAX_EMPFANGS_BUFF)    UartState = 0;
  if(SioTmp == '\r' && UartState == 2)
  {
   UartState = 0;
   crc -= RxdBuffer[buf_ptr-2];
   crc -= RxdBuffer[buf_ptr-1];
   crc %= 4096;
   crc1 = '=' + crc / 64;
   crc2 = '=' + crc % 64;
   CrcOkay = 0;
   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
    {
     NeuerDatensatzEmpfangen = 1;
                 
//     GPIO_ToggleBit(GPIO6, GPIO_Pin_2);

         AnzahlEmpfangsBytes = buf_ptr;
     RxdBuffer[buf_ptr] = '\r';
         if(RxdBuffer[2] == 'R')
         {
           PowerOff();
           VIC_DeInit();
           Execute_Bootloader(); // Reset-Commando - Bootloader starten
         }
        // while (UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) SioTmp = UART_ReceiveData(UART1);
 
         //BearbeiteRxDaten();
         break;
        }                                
  }
  else
  switch(UartState)
  {
   case 0:
          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet
                  buf_ptr = 0;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc = SioTmp;
          break;
   case 1: // Adresse auswerten
                  UartState++;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc += SioTmp;
                  break;
   case 2: //  Eingangsdaten sammeln
                  RxdBuffer[buf_ptr] = SioTmp;
                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
                  else UartState = 0;
                  crc += SioTmp;
                  break;
   default:
          UartState = 0;
          break;
   }
   
     
  }
   
  }

   UART_ClearITPendingBit(UART1, UART_IT_Receive);
   UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
 
}

// --------------------------------------------------------------------------
void UART1_Transmit(void)
{
    u8 tmp_tx;

  if((!UebertragungAbgeschlossen) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET))  
  {
   
   tmp_tx = SendeBuffer[ptr];  
 
   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
     {
       ptr = 0;
       UebertragungAbgeschlossen = 1;
     }
   
   UART_SendData(UART1, tmp_tx);

   ptr++;
  }
}
 
// --------------------------------------------------------------------------
void AddCRC(u16 wieviele)
{
 u16 tmpCRC = 0,i;
 //u8 count = FIFO_TX_LEVEL + 2 ;

 for(i = 0; i < wieviele;i++)
  {
   tmpCRC += SendeBuffer[i];
  }
   tmpCRC %= 4096;
   SendeBuffer[i++] = '=' + tmpCRC / 64;
   SendeBuffer[i++] = '=' + tmpCRC % 64;
   SendeBuffer[i++] = '\r';

   
  ptr = 0;
 
 
 // USB_Send_Data((u8 *) SendeBuffer,i);
 
  {
    UART_SendData(UART1,SendeBuffer[ptr++]);
    UebertragungAbgeschlossen = 0;
 
  }
}



// --------------------------------------------------------------------------
void SendOutData(u8 cmd,u8 modul, u8 *snd, u8 len)
{
 u16 pt = 0;
 u8 a,b,c;
 u8 ptr = 0;

 SendeBuffer[pt++] = '#';               // Startzeichen
 SendeBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)
 SendeBuffer[pt++] = cmd;                       // Commando

 while(len)
  {
   if(len) { a = snd[ptr++]; len--;} else a = 0;
   if(len) { b = snd[ptr++]; len--;} else b = 0;
   if(len) { c = snd[ptr++]; len--;} else c = 0;
   SendeBuffer[pt++] = '=' + (a >> 2);
   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
   SendeBuffer[pt++] = '=' + ( c & 0x3f);
  }
 AddCRC(pt);
}


// --------------------------------------------------------------------------
void Decode64(u8 *ptrOut, u8 len, u8 ptrIn,u8 max)  // Wohin mit den Daten; Wie lang; Wo im RxdBuffer
{
 u8 a,b,c,d;
 u8 ptr = 0;
 u8 x,y,z;
 while(len)
  {
   a = RxdBuffer[ptrIn++] - '=';
   b = RxdBuffer[ptrIn++] - '=';
   c = RxdBuffer[ptrIn++] - '=';
   d = RxdBuffer[ptrIn++] - '=';
   if(ptrIn > max - 2) break;     // nicht mehr Daten verarbeiten, als empfangen wurden

   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;

   if(len--) ptrOut[ptr++] = x; else break;
   if(len--) ptrOut[ptr++] = y; else break;
   if(len--) ptrOut[ptr++] = z; else break;
  }

}

// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
 if(!NeuerDatensatzEmpfangen) return;
 
// u16 tmp_int_arr1[1];
// u16 tmp_int_arr2[2];
// u16 tmp_int_arr3[3];
 u8  tmp_char_arr2[2];
 s32 tmp_long_arr2[2];
// u8 tmp_char_arr3[3];
// u8 tmp_char_arr4[4];
 //if(!MotorenEin)
 PcZugriff = 255;
  switch(RxdBuffer[2])
  {
    case 'a':// Texte der Analogwerte
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            DebugTextAnforderung = tmp_char_arr2[0];
                        break;
   case 'b':
                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
                        RemoteTasten |= ExternControl.RemoteTasten;
            ConfirmFrame = ExternControl.Frame;
            break;
   case 'c':
                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
                        RemoteTasten |= ExternControl.RemoteTasten;
            ConfirmFrame = ExternControl.Frame;
            DebugDataAnforderung = 1;
            break;
   case 'h':// x-1 Displayzeilen
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            RemoteTasten |= tmp_char_arr2[0];
                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten
                        DebugDisplayAnforderung = 1;
                        break;
   case 't':// Motortest
            Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
                        break;
   case 's'://  neue PCTargetGPSPosition
            Decode64((unsigned char *) &tmp_long_arr2[0],sizeof(tmp_long_arr2),3,AnzahlEmpfangsBytes);
            PCTargetGPSPosition.Longitude = tmp_long_arr2[0];
            PCTargetGPSPosition.Latitude = tmp_long_arr2[1];
                    NewPCTargetGPSPosition = 1;
                        break;
   case 'k':// Keys von DubWise
    //        Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes);
                        ConfirmFrame = 1;
                        break;
   case 'v': // Version-Anforderung     und Ausbaustufe
            GetVersionAnforderung = 1;
            break;                                                               
   case 'g':// "Get"-Anforderung für Debug-Daten
            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
            DebugGetAnforderung = 1;
            break;
       
   case 'l':
   case 'm':
   case 'n':
   case 'o':
   case 'p': // Parametersatz speichern
/*            Decode64((u8 *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes);
                        WriteParameterSet(RxdBuffer[2] - 'l' + 1, (u8 *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
            eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1);  // aktiven Datensatz merken
            Piep(GetActiveParamSetNumber());*/

         break;
               
         
  }
// DebugOut.AnzahlZyklen =  Debug_Timer_Intervall;
 NeuerDatensatzEmpfangen = 0;
 
}

                   
//############################################################################
//Routine für die Serielle Ausgabe
s16 uart_putchar (char c)
//############################################################################
{
        if (c == '\n')
                uart_putchar('\r');
       
        while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET);
        UART_SendData(UART1, c);
   
        return (0);
}
// --------------------------------------------------------------------------
void SerialPutString(u8 *s)
{
    while (*s != '\0')
    {
        uart_putchar(*s);
        s ++;
    }
}

//############################################################################
//Init der Seriellen Schnittstelle
void Debug_UART1_Init (void)
//############################################################################
{
    GPIO_InitTypeDef GPIO_InitStructure;

    SCU_APBPeriphClockConfig(__UART1, ENABLE);  // Enable the UART1 Clock
    SCU_APBPeriphClockConfig(__GPIO3, ENABLE);  // Enable the GPIO3 Clock

    /*Configure UART1_Rx pin GPIO3.2*/
    GPIO_DeInit(GPIO3);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
    GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Enable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
    GPIO_Init(GPIO3, &GPIO_InitStructure);

    /*Configure UART1_Tx pin GPIO3.3*/
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2  ;
    GPIO_Init(GPIO3, &GPIO_InitStructure);

  /* UART1 configured as follow:
          - Word Length = 8 Bits
          - One Stop Bit
          - No parity
          - BaudRate = 57600 baud
          - Hardware flow control Disabled
          - Receive and transmit enabled
          - Receive and transmit FIFOs are Disabled
    */

    UART_InitStructure.UART_WordLength =                        UART_WordLength_8D;
    UART_InitStructure.UART_StopBits =                          UART_StopBits_1;
    UART_InitStructure.UART_Parity =                            UART_Parity_No ;
    UART_InitStructure.UART_BaudRate =                          BAUD_RATE ;
    UART_InitStructure. UART_HardwareFlowControl =      UART_HardwareFlowControl_None;
    UART_InitStructure.UART_Mode =                                      UART_Mode_Tx_Rx;
    //UART_InitStructure.UART_FIFO =                                    UART_FIFO_Disable;
    UART_InitStructure.UART_FIFO =                                      UART_FIFO_Enable;
    UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
    UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;

        UART_DeInit(UART1);
    UART_Init(UART1, &UART_InitStructure);

    UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_Transmit */, ENABLE);
    //UART_ITConfig(UART1, UART_IT_Receive , ENABLE);    

   

        UART_Cmd(UART1, ENABLE);

    VIC_Config(UART1_ITLine, VIC_IRQ, 4);
    VIC_ITCmd(UART1_ITLine, ENABLE);  

  Debug_Timer = SetDelay(3000);  
  //----------------------------------------
   

}


//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)  
{
 
 if(!UebertragungAbgeschlossen) return;

   if(DebugGetAnforderung && UebertragungAbgeschlossen)               // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
   {
      SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl));
          DebugGetAnforderung = 0;
   }

    if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen)  
         {
          SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
          DebugDataAnforderung = 0;
          Debug_Timer = SetDelay(2000);  
         }
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
     {
      SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16);
      DebugTextAnforderung = 255;
         }
     if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
         {
      Menu();
          DebugDisplayAnforderung = 0;
      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)
      {
       SendOutData('4',0,(unsigned char *) &VersionInfo,sizeof(VersionInfo));   // DisplayZeile übertragen
       RemotePollDisplayLine = -1;
      }
      else  SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
         }
    if(GetVersionAnforderung && UebertragungAbgeschlossen)
     {
      SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
          GetVersionAnforderung = 0;
     }
    if(SendGPSPosAnforderung && UebertragungAbgeschlossen)
     {
      SendOutData('Q',MeineSlaveAdresse,(unsigned char *) &GPS_Position,sizeof(GPS_Position));
          SendGPSPosAnforderung = 0;
     }

}