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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]; |
737 | killagreg | 27 | volatile uint8_t rxd_buffer_locked = FALSE; |
735 | killagreg | 28 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
737 | killagreg | 29 | volatile uint8_t txd_complete = TRUE; |
735 | killagreg | 30 | volatile uint8_t ReceivedBytes = 0; |
31 | |||
32 | uint8_t RemotePollDisplayLine = 0; |
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33 | uint8_t NurKanalAnforderung = 0; |
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34 | uint8_t DebugTextAnforderung = 255; |
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35 | uint8_t PcAccess = 100; |
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36 | uint8_t MotorTest[4] = {0,0,0,0}; |
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37 | uint8_t DubWiseKeys[4] = {0,0,0,0}; |
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38 | uint8_t MySlaveAddr; |
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39 | uint8_t ConfirmFrame; |
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40 | |||
41 | DebugOut_t DebugOut; |
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42 | ExternControl_t ExternControl; |
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43 | VersionInfo_t VersionInfo; |
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44 | |||
45 | const uint8_t ANALOG_TEXT[32][16] = |
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499 | hbuss | 46 | { |
683 | killagreg | 47 | //1234567890123456 |
701 | killagreg | 48 | "IntegralPitch ", //0 |
499 | hbuss | 49 | "IntegralRoll ", |
701 | killagreg | 50 | "AccPitch ", |
499 | hbuss | 51 | "AccRoll ", |
701 | killagreg | 52 | "GyroYaw ", |
53 | "ReadingHight ", //5 |
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499 | hbuss | 54 | "AccZ ", |
707 | killagreg | 55 | "Thrust ", |
701 | killagreg | 56 | "CompassHeading ", |
57 | "Voltage ", |
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58 | "Receiver Level ", //10 |
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513 | hbuss | 59 | "Analog11 ", |
701 | killagreg | 60 | "Motor_Front ", |
61 | "Motor_Rear ", |
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62 | "Motor_Left ", |
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63 | "Motor_Right ", //15 |
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513 | hbuss | 64 | "Acc_Z ", |
701 | killagreg | 65 | "MeanAccPitch ", |
66 | "MeanAccRoll ", |
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67 | "IntegralErrPitch", |
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499 | hbuss | 68 | "IntegralErrRoll ", //20 |
701 | killagreg | 69 | "MeanIntPitch ", |
711 | killagreg | 70 | "MeanIntRoll ", |
701 | killagreg | 71 | "NeutralPitch ", |
513 | hbuss | 72 | "RollOffset ", |
701 | killagreg | 73 | "IntRoll*Factor ", //25 |
712 | killagreg | 74 | "ReadingGyroPitch", |
701 | killagreg | 75 | "DirectCorrRoll ", |
712 | killagreg | 76 | "ReadingGyroRoll ", |
701 | killagreg | 77 | "CorrectionRoll ", |
78 | "I-AttRoll ", //30 |
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513 | hbuss | 79 | "StickRoll " |
499 | hbuss | 80 | }; |
81 | |||
82 | |||
83 | |||
683 | killagreg | 84 | /****************************************************************/ |
85 | /* Initialization of the USART0 */ |
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86 | /****************************************************************/ |
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87 | void USART0_Init (void) |
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1 | ingob | 88 | { |
683 | killagreg | 89 | uint8_t sreg = SREG; |
90 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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91 | |||
92 | // disable all interrupts before configuration |
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93 | cli(); |
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94 | |||
95 | // disable RX-Interrupt |
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96 | UCSR0B &= ~(1 << RXCIE0); |
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97 | // disable TX-Interrupt |
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98 | UCSR0B &= ~(1 << TXCIE0); |
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99 | |||
100 | // set direction of RXD0 and TXD0 pins |
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101 | // set RXD0 (PD0) as an input pin |
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102 | PORTD |= (1 << PORTD0); |
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103 | DDRD &= ~(1 << DDD0); |
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104 | // set TXD0 (PD1) as an output pin |
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105 | PORTD |= (1 << PORTD1); |
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106 | DDRD |= (1 << DDD1); |
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107 | |||
108 | // USART0 Baud Rate Register |
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109 | // set clock divider |
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110 | UBRR0H = (uint8_t)(ubrr >> 8); |
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111 | UBRR0L = (uint8_t)ubrr; |
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112 | |||
113 | // USART0 Control and Status Register A, B, C |
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114 | |||
115 | // enable double speed operation in |
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116 | UCSR0A |= (1 << U2X0); |
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117 | // enable receiver and transmitter in |
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118 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
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119 | // set asynchronous mode |
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120 | UCSR0C &= ~(1 << UMSEL01); |
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121 | UCSR0C &= ~(1 << UMSEL00); |
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122 | // no parity |
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123 | UCSR0C &= ~(1 << UPM01); |
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124 | UCSR0C &= ~(1 << UPM00); |
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125 | // 1 stop bit |
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126 | UCSR0C &= ~(1 << USBS0); |
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127 | // 8-bit |
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128 | UCSR0B &= ~(1 << UCSZ02); |
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129 | UCSR0C |= (1 << UCSZ01); |
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130 | UCSR0C |= (1 << UCSZ00); |
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131 | |||
132 | // flush receive buffer |
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133 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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134 | |||
135 | // enable interrupts at the end |
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136 | // enable RX-Interrupt |
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137 | UCSR0B |= (1 << RXCIE0); |
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138 | // enable TX-Interrupt |
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139 | UCSR0B |= (1 << TXCIE0); |
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140 | |||
737 | killagreg | 141 | rxd_buffer_locked = FALSE; |
683 | killagreg | 142 | // restore global interrupt flags |
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; |
737 | killagreg | 175 | static uint8_t ptr_rxd_buffer = 0; |
176 | uint8_t crc1, crc2; |
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735 | killagreg | 177 | uint8_t c; |
1 | ingob | 178 | |
737 | killagreg | 179 | c = UDR0; // catch the received byte |
180 | |||
181 | |||
182 | if(rxd_buffer_locked) return; // if txd buffer is locked immediately return |
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183 | |||
184 | // the rxd buffer is unlocked |
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185 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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735 | killagreg | 186 | { |
737 | killagreg | 187 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
188 | crc = c; // init crc |
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189 | } |
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190 | #if 0 |
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191 | else if (ptr_rxd_buffer == 1) // handle address |
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192 | { |
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193 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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194 | crc += c; // update crc |
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195 | } |
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196 | #endif |
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197 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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198 | { |
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199 | if(c != '\r') // no termination character |
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735 | killagreg | 200 | { |
737 | killagreg | 201 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
202 | crc += c; // update crc |
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735 | killagreg | 203 | } |
737 | killagreg | 204 | else // termination character was received |
205 | { |
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206 | // the last 2 bytes are no subject for checksum calculation |
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207 | // they are the checksum itself |
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208 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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209 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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210 | // calculate checksum from transmitted data |
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211 | crc %= 4096; |
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212 | crc1 = '=' + crc / 64; |
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213 | crc2 = '=' + crc % 64; |
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214 | // compare checksum to transmitted checksum bytes |
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215 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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216 | { // checksum valid |
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217 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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218 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
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219 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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220 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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221 | if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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222 | } |
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223 | else |
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224 | { // checksum invalid |
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225 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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226 | } |
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227 | ptr_rxd_buffer = 0; // reset txd buffer |
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228 | } |
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229 | } // buffer overrun |
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735 | killagreg | 230 | else |
231 | { |
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737 | killagreg | 232 | ptr_rxd_buffer = 0; // reset rxd buffer |
233 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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735 | killagreg | 234 | } |
737 | killagreg | 235 | |
1 | ingob | 236 | } |
237 | |||
238 | |||
239 | // -------------------------------------------------------------------------- |
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735 | killagreg | 240 | void AddCRC(uint16_t datalen) |
1 | ingob | 241 | { |
683 | killagreg | 242 | uint16_t tmpCRC = 0,i; |
735 | killagreg | 243 | for(i = 0; i < datalen;i++) |
1 | ingob | 244 | { |
683 | killagreg | 245 | tmpCRC += txd_buffer[i]; |
1 | ingob | 246 | } |
247 | tmpCRC %= 4096; |
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683 | killagreg | 248 | txd_buffer[i++] = '=' + tmpCRC / 64; |
249 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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250 | txd_buffer[i++] = '\r'; |
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735 | killagreg | 251 | txd_complete = 0; |
252 | UDR0 = txd_buffer[0]; // initiates the transmittion |
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1 | ingob | 253 | } |
254 | |||
255 | |||
256 | |||
257 | // -------------------------------------------------------------------------- |
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683 | killagreg | 258 | void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len) |
1 | ingob | 259 | { |
735 | killagreg | 260 | uint16_t pt = 0; |
261 | uint8_t a,b,c; |
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262 | uint8_t ptr = 0; |
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1 | ingob | 263 | |
735 | killagreg | 264 | txd_buffer[pt++] = '#'; // Start character |
265 | txd_buffer[pt++] = modul; // Address (a=0; b=1,...) |
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266 | txd_buffer[pt++] = cmd; // Command |
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1 | ingob | 267 | |
735 | killagreg | 268 | while(len) |
269 | { |
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270 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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271 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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272 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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273 | txd_buffer[pt++] = '=' + (a >> 2); |
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274 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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275 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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276 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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277 | } |
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278 | AddCRC(pt); // add checksum after data block and initates the transmission |
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1 | ingob | 279 | } |
280 | |||
281 | |||
282 | // -------------------------------------------------------------------------- |
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683 | killagreg | 283 | 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 | 284 | { |
735 | killagreg | 285 | uint8_t a,b,c,d; |
286 | uint8_t ptr = 0; |
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287 | uint8_t x,y,z; |
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288 | while(len) |
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289 | { |
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290 | a = rxd_buffer[ptrIn++] - '='; |
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291 | b = rxd_buffer[ptrIn++] - '='; |
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292 | c = rxd_buffer[ptrIn++] - '='; |
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293 | d = rxd_buffer[ptrIn++] - '='; |
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294 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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1 | ingob | 295 | |
735 | killagreg | 296 | x = (a << 2) | (b >> 4); |
297 | y = ((b & 0x0f) << 4) | (c >> 2); |
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298 | z = ((c & 0x03) << 6) | d; |
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1 | ingob | 299 | |
735 | killagreg | 300 | if(len--) ptrOut[ptr++] = x; else break; |
301 | if(len--) ptrOut[ptr++] = y; else break; |
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302 | if(len--) ptrOut[ptr++] = z; else break; |
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303 | } |
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1 | ingob | 304 | } |
305 | |||
735 | killagreg | 306 | |
1 | ingob | 307 | // -------------------------------------------------------------------------- |
735 | killagreg | 308 | void ProcessRxData(void) |
1 | ingob | 309 | { |
737 | killagreg | 310 | // if data in the rxd buffer are not locked immediately return |
311 | if(!rxd_buffer_locked) return; |
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1 | ingob | 312 | |
735 | killagreg | 313 | uint8_t tmp_char_arr2[2]; // local buffer |
683 | killagreg | 314 | |
735 | killagreg | 315 | PcAccess = 255; |
316 | switch(rxd_buffer[2]) |
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317 | { |
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318 | case 'a':// Labels of the Analog Deboug outputs |
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319 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
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320 | DebugTextAnforderung = tmp_char_arr2[0]; |
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499 | hbuss | 321 | break; |
735 | killagreg | 322 | case 'b': // extern control |
323 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
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685 | killagreg | 324 | RemoteButtons |= ExternControl.RemoteButtons; |
735 | killagreg | 325 | ConfirmFrame = ExternControl.Frame; |
326 | break; |
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327 | case 'c': // extern control with debug request |
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328 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
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685 | killagreg | 329 | RemoteButtons |= ExternControl.RemoteButtons; |
735 | killagreg | 330 | ConfirmFrame = ExternControl.Frame; |
331 | DebugDataAnforderung = 1; |
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332 | break; |
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333 | case 'h':// x-1 display columns |
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334 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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335 | RemoteButtons |= tmp_char_arr2[0]; |
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336 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; |
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337 | else NurKanalAnforderung = 0; // keine Displaydaten |
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1 | ingob | 338 | DebugDisplayAnforderung = 1; |
339 | break; |
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735 | killagreg | 340 | case 't':// motor test |
341 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
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1 | ingob | 342 | break; |
735 | killagreg | 343 | case 'k':// keys from DubWise |
344 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
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595 | hbuss | 345 | ConfirmFrame = DubWiseKeys[3]; |
492 | hbuss | 346 | break; |
735 | killagreg | 347 | case 'v': // get version and board release |
348 | GetVersionAnforderung = 1; |
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349 | break; |
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350 | case 'g':// get debug data |
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351 | DebugGetAnforderung = 1; |
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352 | break; |
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353 | case 'q':// get settings |
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354 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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355 | if(tmp_char_arr2[0] != 0xff) |
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356 | { |
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357 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
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358 | // load requested parameter set |
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359 | ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
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360 | SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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361 | } |
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362 | else // send active parameter set |
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363 | SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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683 | killagreg | 364 | |
735 | killagreg | 365 | break; |
683 | killagreg | 366 | |
735 | killagreg | 367 | case 'l': |
368 | case 'm': |
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369 | case 'n': |
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370 | case 'o': |
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371 | case 'p': // save parameterset |
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372 | Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
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687 | killagreg | 373 | ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
735 | killagreg | 374 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
375 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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376 | Beep(GetActiveParamSet()); |
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377 | break; |
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683 | killagreg | 378 | |
379 | |||
735 | killagreg | 380 | } |
737 | killagreg | 381 | // unlock the rxd buffer after processing |
382 | rxd_buffer_locked = FALSE; |
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1 | ingob | 383 | } |
384 | |||
385 | //############################################################################ |
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386 | //Routine für die Serielle Ausgabe |
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683 | killagreg | 387 | int16_t uart_putchar (int8_t c) |
1 | ingob | 388 | //############################################################################ |
389 | { |
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390 | if (c == '\n') |
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391 | uart_putchar('\r'); |
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735 | killagreg | 392 | // wait until previous character was send |
683 | killagreg | 393 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 394 | //Ausgabe des Zeichens |
683 | killagreg | 395 | UDR0 = c; |
396 | |||
1 | ingob | 397 | return (0); |
398 | } |
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399 | |||
400 | |||
401 | //--------------------------------------------------------------------------------------------- |
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735 | killagreg | 402 | void TransmitTxData(void) |
1 | ingob | 403 | { |
735 | killagreg | 404 | static int16_t Debug_Timer = 0; |
405 | if(!txd_complete) return; |
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1 | ingob | 406 | |
735 | killagreg | 407 | if(DebugGetAnforderung && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
683 | killagreg | 408 | { |
735 | killagreg | 409 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
1 | ingob | 410 | DebugGetAnforderung = 0; |
411 | } |
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412 | |||
735 | killagreg | 413 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && txd_complete) |
1 | ingob | 414 | { |
735 | killagreg | 415 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
1 | ingob | 416 | DebugDataAnforderung = 0; |
683 | killagreg | 417 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
418 | } |
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499 | hbuss | 419 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
420 | { |
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683 | killagreg | 421 | SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
499 | hbuss | 422 | DebugTextAnforderung = 255; |
423 | } |
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735 | killagreg | 424 | if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
595 | hbuss | 425 | { |
683 | killagreg | 426 | txd_buffer[0] = '#'; |
427 | txd_buffer[1] = ConfirmFrame; |
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428 | txd_buffer[2] = '\r'; |
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735 | killagreg | 429 | txd_complete = 0; |
595 | hbuss | 430 | ConfirmFrame = 0; |
683 | killagreg | 431 | UDR0 = txd_buffer[0]; |
595 | hbuss | 432 | } |
735 | killagreg | 433 | if(DebugDisplayAnforderung && txd_complete) |
1 | ingob | 434 | { |
685 | killagreg | 435 | LCD_PrintMenu(); |
1 | ingob | 436 | DebugDisplayAnforderung = 0; |
683 | killagreg | 437 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
173 | holgerb | 438 | { |
683 | killagreg | 439 | SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
499 | hbuss | 440 | RemotePollDisplayLine = -1; |
683 | killagreg | 441 | } |
442 | else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
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443 | } |
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735 | killagreg | 444 | if(GetVersionAnforderung && txd_complete) |
683 | killagreg | 445 | { |
735 | killagreg | 446 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
1 | ingob | 447 | GetVersionAnforderung = 0; |
448 | } |
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449 | |||
450 | } |
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451 |