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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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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 | |||
687 | 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" |
685 | killagreg | 14 | #include "menu.h" |
15 | #include "timer0.h" |
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1 | ingob | 16 | #include "uart.h" |
685 | killagreg | 17 | #include "fc.h" |
18 | #include "_Settings.h" |
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19 | #include "rc.h" |
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1 | ingob | 20 | |
735 | killagreg | 21 | #define FALSE 0 |
22 | #define TRUE 1 |
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685 | killagreg | 23 | |
735 | killagreg | 24 | uint8_t DebugGetAnforderung = 0, DebugDisplayAnforderung = 0, DebugDataAnforderung = 0, GetVersionAnforderung = 0; |
683 | killagreg | 25 | |
735 | killagreg | 26 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
27 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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1 | ingob | 28 | |
735 | killagreg | 29 | volatile uint8_t RxDataProcessed = 0; |
30 | volatile uint8_t txd_complete = 1; |
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31 | volatile uint8_t ReceivedBytes = 0; |
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32 | |||
33 | uint8_t RemotePollDisplayLine = 0; |
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34 | uint8_t NurKanalAnforderung = 0; |
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35 | uint8_t DebugTextAnforderung = 255; |
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36 | uint8_t PcAccess = 100; |
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37 | uint8_t MotorTest[4] = {0,0,0,0}; |
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38 | uint8_t DubWiseKeys[4] = {0,0,0,0}; |
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39 | uint8_t MySlaveAddr; |
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40 | uint8_t ConfirmFrame; |
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41 | |||
42 | DebugOut_t DebugOut; |
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43 | ExternControl_t ExternControl; |
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44 | VersionInfo_t VersionInfo; |
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45 | |||
46 | const uint8_t ANALOG_TEXT[32][16] = |
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499 | hbuss | 47 | { |
683 | killagreg | 48 | //1234567890123456 |
701 | killagreg | 49 | "IntegralPitch ", //0 |
499 | hbuss | 50 | "IntegralRoll ", |
701 | killagreg | 51 | "AccPitch ", |
499 | hbuss | 52 | "AccRoll ", |
701 | killagreg | 53 | "GyroYaw ", |
54 | "ReadingHight ", //5 |
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499 | hbuss | 55 | "AccZ ", |
707 | killagreg | 56 | "Thrust ", |
701 | killagreg | 57 | "CompassHeading ", |
58 | "Voltage ", |
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59 | "Receiver Level ", //10 |
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513 | hbuss | 60 | "Analog11 ", |
701 | killagreg | 61 | "Motor_Front ", |
62 | "Motor_Rear ", |
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63 | "Motor_Left ", |
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64 | "Motor_Right ", //15 |
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513 | hbuss | 65 | "Acc_Z ", |
701 | killagreg | 66 | "MeanAccPitch ", |
67 | "MeanAccRoll ", |
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68 | "IntegralErrPitch", |
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499 | hbuss | 69 | "IntegralErrRoll ", //20 |
701 | killagreg | 70 | "MeanIntPitch ", |
711 | killagreg | 71 | "MeanIntRoll ", |
701 | killagreg | 72 | "NeutralPitch ", |
513 | hbuss | 73 | "RollOffset ", |
701 | killagreg | 74 | "IntRoll*Factor ", //25 |
712 | killagreg | 75 | "ReadingGyroPitch", |
701 | killagreg | 76 | "DirectCorrRoll ", |
712 | killagreg | 77 | "ReadingGyroRoll ", |
701 | killagreg | 78 | "CorrectionRoll ", |
79 | "I-AttRoll ", //30 |
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513 | hbuss | 80 | "StickRoll " |
499 | hbuss | 81 | }; |
82 | |||
83 | |||
84 | |||
683 | killagreg | 85 | /****************************************************************/ |
86 | /* Initialization of the USART0 */ |
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87 | /****************************************************************/ |
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88 | void USART0_Init (void) |
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1 | ingob | 89 | { |
683 | killagreg | 90 | uint8_t sreg = SREG; |
91 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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92 | |||
93 | // disable all interrupts before configuration |
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94 | cli(); |
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95 | |||
96 | // disable RX-Interrupt |
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97 | UCSR0B &= ~(1 << RXCIE0); |
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98 | // disable TX-Interrupt |
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99 | UCSR0B &= ~(1 << TXCIE0); |
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100 | |||
101 | // set direction of RXD0 and TXD0 pins |
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102 | // set RXD0 (PD0) as an input pin |
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103 | PORTD |= (1 << PORTD0); |
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104 | DDRD &= ~(1 << DDD0); |
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105 | // set TXD0 (PD1) as an output pin |
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106 | PORTD |= (1 << PORTD1); |
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107 | DDRD |= (1 << DDD1); |
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108 | |||
109 | // USART0 Baud Rate Register |
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110 | // set clock divider |
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111 | UBRR0H = (uint8_t)(ubrr >> 8); |
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112 | UBRR0L = (uint8_t)ubrr; |
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113 | |||
114 | // USART0 Control and Status Register A, B, C |
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115 | |||
116 | // enable double speed operation in |
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117 | UCSR0A |= (1 << U2X0); |
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118 | // enable receiver and transmitter in |
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119 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
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120 | // set asynchronous mode |
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121 | UCSR0C &= ~(1 << UMSEL01); |
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122 | UCSR0C &= ~(1 << UMSEL00); |
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123 | // no parity |
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124 | UCSR0C &= ~(1 << UPM01); |
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125 | UCSR0C &= ~(1 << UPM00); |
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126 | // 1 stop bit |
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127 | UCSR0C &= ~(1 << USBS0); |
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128 | // 8-bit |
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129 | UCSR0B &= ~(1 << UCSZ02); |
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130 | UCSR0C |= (1 << UCSZ01); |
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131 | UCSR0C |= (1 << UCSZ00); |
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132 | |||
133 | // flush receive buffer |
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134 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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135 | |||
136 | // enable interrupts at the end |
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137 | // enable RX-Interrupt |
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138 | UCSR0B |= (1 << RXCIE0); |
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139 | // enable TX-Interrupt |
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140 | UCSR0B |= (1 << TXCIE0); |
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141 | |||
142 | // restore global interrupt flags |
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143 | SREG = sreg; |
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144 | } |
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145 | |||
146 | /****************************************************************/ |
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147 | /* USART0 transmitter ISR */ |
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148 | /****************************************************************/ |
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149 | ISR(USART0_TX_vect) |
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150 | { |
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735 | killagreg | 151 | static uint16_t ptr_txd_buffer = 0; |
152 | uint8_t tmp_tx; |
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153 | if(!txd_complete) // transmission not completed |
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154 | { |
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155 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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156 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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157 | // if terminating character or end of txd buffer was reached |
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158 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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159 | { |
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160 | ptr_txd_buffer = 0; // reset txd pointer |
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161 | txd_complete = 1; // stop transmission |
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162 | } |
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163 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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164 | } |
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165 | // transmission completed |
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166 | else ptr_txd_buffer = 0; |
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1 | ingob | 167 | } |
168 | |||
683 | killagreg | 169 | /****************************************************************/ |
170 | /* USART0 receiver ISR */ |
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171 | /****************************************************************/ |
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172 | ISR(USART0_RX_vect) |
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1 | ingob | 173 | { |
735 | killagreg | 174 | static uint16_t crc; |
175 | static uint8_t crc1, crc2, ptr_rxd_buffer = 0; |
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176 | static uint8_t UartState = 0; |
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177 | uint8_t CrcOkay = 0; |
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178 | uint8_t c; |
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1 | ingob | 179 | |
735 | killagreg | 180 | c = UDR0; // catch the received byte |
181 | if(ptr_rxd_buffer >= RXD_BUFFER_LEN) UartState = 0; // rxd buffer overflow -> reset rx uart state |
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182 | if(c == '\r' && UartState == 2) // termination character received during data collection state |
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183 | { |
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184 | UartState = 0; //reset rxd uart state |
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185 | // the last 2 bytes are no subject for checksum calculation |
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186 | // they are the checksum itself |
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187 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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188 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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189 | // calculate checksum from transmitted data |
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190 | crc %= 4096; |
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191 | crc1 = '=' + crc / 64; |
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192 | crc2 = '=' + crc % 64; |
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193 | CrcOkay = 0; |
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194 | // compare with transmitted checksum bytes |
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195 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) CrcOkay = 1; |
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196 | else CrcOkay = 0; |
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197 | |||
198 | if(RxDataProcessed && CrcOkay) // data already processed and CRC OK? |
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199 | { |
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200 | RxDataProcessed = FALSE; // reset flag |
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201 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
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202 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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203 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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204 | if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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205 | } |
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683 | killagreg | 206 | } |
735 | killagreg | 207 | else |
208 | switch(UartState) |
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209 | { |
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210 | case 0: // reset rxd buffer |
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211 | if(c == '#' && RxDataProcessed) UartState = 1; // start character recieved and previous data already processed |
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212 | ptr_rxd_buffer = 0; // reset buffer pointer |
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213 | rxd_buffer[ptr_rxd_buffer++] = c; // write character to rxd buffer |
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214 | crc = c; // initialize crc |
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215 | break; |
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216 | case 1: // check address |
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217 | UartState++; // switch to next state |
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218 | rxd_buffer[ptr_rxd_buffer++] = c; // write character to rxd buffer |
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219 | crc += c; // update crc |
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220 | break; |
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221 | case 2: // collect received data |
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222 | rxd_buffer[ptr_rxd_buffer] = c; // write character to rxd buffer |
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223 | // if buffer overflow -> reset buffer |
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224 | if(ptr_rxd_buffer < RXD_BUFFER_LEN) ptr_rxd_buffer++; |
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225 | else UartState = 0; |
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226 | crc += c; // update checksum |
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227 | break; |
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228 | default: |
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229 | UartState = 0; |
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230 | break; |
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231 | } |
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1 | ingob | 232 | } |
233 | |||
234 | |||
683 | killagreg | 235 | |
1 | ingob | 236 | // -------------------------------------------------------------------------- |
735 | killagreg | 237 | void AddCRC(uint16_t datalen) |
1 | ingob | 238 | { |
683 | killagreg | 239 | uint16_t tmpCRC = 0,i; |
735 | killagreg | 240 | for(i = 0; i < datalen;i++) |
1 | ingob | 241 | { |
683 | killagreg | 242 | tmpCRC += txd_buffer[i]; |
1 | ingob | 243 | } |
244 | tmpCRC %= 4096; |
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683 | killagreg | 245 | txd_buffer[i++] = '=' + tmpCRC / 64; |
246 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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247 | txd_buffer[i++] = '\r'; |
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735 | killagreg | 248 | txd_complete = 0; |
249 | UDR0 = txd_buffer[0]; // initiates the transmittion |
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1 | ingob | 250 | } |
251 | |||
252 | |||
253 | |||
254 | // -------------------------------------------------------------------------- |
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683 | killagreg | 255 | void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len) |
1 | ingob | 256 | { |
735 | killagreg | 257 | uint16_t pt = 0; |
258 | uint8_t a,b,c; |
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259 | uint8_t ptr = 0; |
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1 | ingob | 260 | |
735 | killagreg | 261 | txd_buffer[pt++] = '#'; // Start character |
262 | txd_buffer[pt++] = modul; // Address (a=0; b=1,...) |
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263 | txd_buffer[pt++] = cmd; // Command |
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1 | ingob | 264 | |
735 | killagreg | 265 | while(len) |
266 | { |
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267 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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268 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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269 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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270 | txd_buffer[pt++] = '=' + (a >> 2); |
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271 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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272 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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273 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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274 | } |
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275 | AddCRC(pt); // add checksum after data block and initates the transmission |
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1 | ingob | 276 | } |
277 | |||
278 | |||
279 | // -------------------------------------------------------------------------- |
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683 | killagreg | 280 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) // Wohin mit den Daten; Wie lang; Wo im rxd_buffer |
1 | ingob | 281 | { |
735 | killagreg | 282 | uint8_t a,b,c,d; |
283 | uint8_t ptr = 0; |
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284 | uint8_t x,y,z; |
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285 | while(len) |
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286 | { |
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287 | a = rxd_buffer[ptrIn++] - '='; |
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288 | b = rxd_buffer[ptrIn++] - '='; |
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289 | c = rxd_buffer[ptrIn++] - '='; |
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290 | d = rxd_buffer[ptrIn++] - '='; |
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291 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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1 | ingob | 292 | |
735 | killagreg | 293 | x = (a << 2) | (b >> 4); |
294 | y = ((b & 0x0f) << 4) | (c >> 2); |
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295 | z = ((c & 0x03) << 6) | d; |
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1 | ingob | 296 | |
735 | killagreg | 297 | if(len--) ptrOut[ptr++] = x; else break; |
298 | if(len--) ptrOut[ptr++] = y; else break; |
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299 | if(len--) ptrOut[ptr++] = z; else break; |
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300 | } |
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1 | ingob | 301 | } |
302 | |||
735 | killagreg | 303 | |
1 | ingob | 304 | // -------------------------------------------------------------------------- |
735 | killagreg | 305 | void ProcessRxData(void) |
1 | ingob | 306 | { |
735 | killagreg | 307 | // if data in the rxd buffer are alredy processed immediately return |
308 | if(RxDataProcessed) return; |
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1 | ingob | 309 | |
735 | killagreg | 310 | uint8_t tmp_char_arr2[2]; // local buffer |
683 | killagreg | 311 | |
735 | killagreg | 312 | PcAccess = 255; |
313 | switch(rxd_buffer[2]) |
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314 | { |
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315 | case 'a':// Labels of the Analog Deboug outputs |
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316 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
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317 | DebugTextAnforderung = tmp_char_arr2[0]; |
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499 | hbuss | 318 | break; |
735 | killagreg | 319 | case 'b': // extern control |
320 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
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685 | killagreg | 321 | RemoteButtons |= ExternControl.RemoteButtons; |
735 | killagreg | 322 | ConfirmFrame = ExternControl.Frame; |
323 | break; |
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324 | case 'c': // extern control with debug request |
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325 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
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685 | killagreg | 326 | RemoteButtons |= ExternControl.RemoteButtons; |
735 | killagreg | 327 | ConfirmFrame = ExternControl.Frame; |
328 | DebugDataAnforderung = 1; |
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329 | break; |
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330 | case 'h':// x-1 display columns |
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331 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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332 | RemoteButtons |= tmp_char_arr2[0]; |
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333 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; |
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334 | else NurKanalAnforderung = 0; // keine Displaydaten |
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1 | ingob | 335 | DebugDisplayAnforderung = 1; |
336 | break; |
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735 | killagreg | 337 | case 't':// motor test |
338 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
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1 | ingob | 339 | break; |
735 | killagreg | 340 | case 'k':// keys from DubWise |
341 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
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595 | hbuss | 342 | ConfirmFrame = DubWiseKeys[3]; |
492 | hbuss | 343 | break; |
735 | killagreg | 344 | case 'v': // get version and board release |
345 | GetVersionAnforderung = 1; |
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346 | break; |
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347 | case 'g':// get debug data |
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348 | DebugGetAnforderung = 1; |
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349 | break; |
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350 | case 'q':// get settings |
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351 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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352 | if(tmp_char_arr2[0] != 0xff) |
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353 | { |
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354 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
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355 | // load requested parameter set |
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356 | ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
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357 | SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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358 | } |
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359 | else // send active parameter set |
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360 | SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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683 | killagreg | 361 | |
735 | killagreg | 362 | break; |
683 | killagreg | 363 | |
735 | killagreg | 364 | case 'l': |
365 | case 'm': |
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366 | case 'n': |
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367 | case 'o': |
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368 | case 'p': // save parameterset |
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369 | Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
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687 | killagreg | 370 | ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
735 | killagreg | 371 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
372 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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373 | Beep(GetActiveParamSet()); |
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374 | break; |
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683 | killagreg | 375 | |
376 | |||
735 | killagreg | 377 | } |
378 | RxDataProcessed = TRUE; |
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1 | ingob | 379 | } |
380 | |||
381 | //############################################################################ |
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382 | //Routine für die Serielle Ausgabe |
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683 | killagreg | 383 | int16_t uart_putchar (int8_t c) |
1 | ingob | 384 | //############################################################################ |
385 | { |
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386 | if (c == '\n') |
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387 | uart_putchar('\r'); |
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735 | killagreg | 388 | // wait until previous character was send |
683 | killagreg | 389 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 390 | //Ausgabe des Zeichens |
683 | killagreg | 391 | UDR0 = c; |
392 | |||
1 | ingob | 393 | return (0); |
394 | } |
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395 | |||
396 | |||
397 | //--------------------------------------------------------------------------------------------- |
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735 | killagreg | 398 | void TransmitTxData(void) |
1 | ingob | 399 | { |
735 | killagreg | 400 | static int16_t Debug_Timer = 0; |
401 | if(!txd_complete) return; |
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1 | ingob | 402 | |
735 | killagreg | 403 | if(DebugGetAnforderung && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
683 | killagreg | 404 | { |
735 | killagreg | 405 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
1 | ingob | 406 | DebugGetAnforderung = 0; |
407 | } |
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408 | |||
735 | killagreg | 409 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && txd_complete) |
1 | ingob | 410 | { |
735 | killagreg | 411 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
1 | ingob | 412 | DebugDataAnforderung = 0; |
683 | killagreg | 413 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
414 | } |
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499 | hbuss | 415 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
416 | { |
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683 | killagreg | 417 | SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
499 | hbuss | 418 | DebugTextAnforderung = 255; |
419 | } |
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735 | killagreg | 420 | if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
595 | hbuss | 421 | { |
683 | killagreg | 422 | txd_buffer[0] = '#'; |
423 | txd_buffer[1] = ConfirmFrame; |
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424 | txd_buffer[2] = '\r'; |
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735 | killagreg | 425 | txd_complete = 0; |
595 | hbuss | 426 | ConfirmFrame = 0; |
683 | killagreg | 427 | UDR0 = txd_buffer[0]; |
595 | hbuss | 428 | } |
735 | killagreg | 429 | if(DebugDisplayAnforderung && txd_complete) |
1 | ingob | 430 | { |
685 | killagreg | 431 | LCD_PrintMenu(); |
1 | ingob | 432 | DebugDisplayAnforderung = 0; |
683 | killagreg | 433 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
173 | holgerb | 434 | { |
683 | killagreg | 435 | SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
499 | hbuss | 436 | RemotePollDisplayLine = -1; |
683 | killagreg | 437 | } |
438 | else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
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439 | } |
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735 | killagreg | 440 | if(GetVersionAnforderung && txd_complete) |
683 | killagreg | 441 | { |
735 | killagreg | 442 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
1 | ingob | 443 | GetVersionAnforderung = 0; |
444 | } |
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445 | |||
446 | } |
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447 |