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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 | |
685 | killagreg | 21 | |
1 | ingob | 22 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
23 | unsigned volatile char SioTmp = 0; |
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683 | killagreg | 24 | unsigned volatile char txd_buffer[TXD_BUFFER_LEN]; |
25 | unsigned volatile char rxd_buffer[RXD_BUFFER_LEN]; |
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26 | |||
1 | ingob | 27 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
28 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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29 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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30 | unsigned volatile char CntCrcError = 0; |
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31 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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32 | unsigned volatile char PC_DebugTimeout = 0; |
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499 | hbuss | 33 | unsigned char RemotePollDisplayLine = 0; |
395 | hbuss | 34 | unsigned char NurKanalAnforderung = 0; |
499 | hbuss | 35 | unsigned char DebugTextAnforderung = 255; |
706 | killagreg | 36 | unsigned char PcAccess = 100; |
1 | ingob | 37 | unsigned char MotorTest[4] = {0,0,0,0}; |
683 | killagreg | 38 | unsigned char DubWiseKeys[4] = {0,0,0,0}; |
1 | ingob | 39 | unsigned char MeineSlaveAdresse; |
595 | hbuss | 40 | unsigned char ConfirmFrame; |
1 | ingob | 41 | struct str_DebugOut DebugOut; |
595 | hbuss | 42 | struct str_ExternControl ExternControl; |
1 | ingob | 43 | struct str_VersionInfo VersionInfo; |
44 | int Debug_Timer; |
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45 | |||
499 | hbuss | 46 | const unsigned char ANALOG_TEXT[32][16] = |
47 | { |
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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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151 | static uint16_t ptr = 0; |
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152 | uint8_t tmp_tx; |
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153 | if(!UebertragungAbgeschlossen) |
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1 | ingob | 154 | { |
155 | ptr++; // die [0] wurde schon gesendet |
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683 | killagreg | 156 | tmp_tx = txd_buffer[ptr]; |
157 | if((tmp_tx == '\r') || (ptr == TXD_BUFFER_LEN)) |
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1 | ingob | 158 | { |
159 | ptr = 0; |
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160 | UebertragungAbgeschlossen = 1; |
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161 | } |
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683 | killagreg | 162 | UDR0 = tmp_tx; // send byte will trigger this ISR again |
163 | } |
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1 | ingob | 164 | else ptr = 0; |
165 | } |
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166 | |||
683 | killagreg | 167 | /****************************************************************/ |
168 | /* USART0 receiver ISR */ |
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169 | /****************************************************************/ |
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170 | ISR(USART0_RX_vect) |
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1 | ingob | 171 | { |
683 | killagreg | 172 | static uint16_t crc; |
173 | static uint8_t crc1,crc2,buf_ptr; |
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174 | static uint8_t UartState = 0; |
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175 | uint8_t CrcOkay = 0; |
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1 | ingob | 176 | |
683 | killagreg | 177 | SioTmp = UDR0; |
178 | if(buf_ptr >= RXD_BUFFER_LEN) UartState = 0; |
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179 | if(SioTmp == '\r' && UartState == 2) |
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1 | ingob | 180 | { |
181 | UartState = 0; |
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683 | killagreg | 182 | crc -= rxd_buffer[buf_ptr-2]; |
183 | crc -= rxd_buffer[buf_ptr-1]; |
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1 | ingob | 184 | crc %= 4096; |
185 | crc1 = '=' + crc / 64; |
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186 | crc2 = '=' + crc % 64; |
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187 | CrcOkay = 0; |
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683 | killagreg | 188 | if((crc1 == rxd_buffer[buf_ptr-2]) && (crc2 == rxd_buffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
1 | ingob | 189 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
190 | { |
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683 | killagreg | 191 | NeuerDatensatzEmpfangen = 1; |
1 | ingob | 192 | AnzahlEmpfangsBytes = buf_ptr; |
683 | killagreg | 193 | rxd_buffer[buf_ptr] = '\r'; |
194 | if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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195 | } |
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1 | ingob | 196 | } |
197 | else |
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198 | switch(UartState) |
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199 | { |
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200 | case 0: |
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201 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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202 | buf_ptr = 0; |
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683 | killagreg | 203 | rxd_buffer[buf_ptr++] = SioTmp; |
1 | ingob | 204 | crc = SioTmp; |
205 | break; |
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206 | case 1: // Adresse auswerten |
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207 | UartState++; |
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683 | killagreg | 208 | rxd_buffer[buf_ptr++] = SioTmp; |
1 | ingob | 209 | crc += SioTmp; |
210 | break; |
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211 | case 2: // Eingangsdaten sammeln |
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683 | killagreg | 212 | rxd_buffer[buf_ptr] = SioTmp; |
213 | if(buf_ptr < RXD_BUFFER_LEN) buf_ptr++; |
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1 | ingob | 214 | else UartState = 0; |
215 | crc += SioTmp; |
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216 | break; |
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683 | killagreg | 217 | default: |
218 | UartState = 0; |
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1 | ingob | 219 | break; |
220 | } |
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221 | } |
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222 | |||
223 | |||
683 | killagreg | 224 | |
1 | ingob | 225 | // -------------------------------------------------------------------------- |
226 | void AddCRC(unsigned int wieviele) |
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227 | { |
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683 | killagreg | 228 | uint16_t tmpCRC = 0,i; |
1 | ingob | 229 | for(i = 0; i < wieviele;i++) |
230 | { |
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683 | killagreg | 231 | tmpCRC += txd_buffer[i]; |
1 | ingob | 232 | } |
233 | tmpCRC %= 4096; |
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683 | killagreg | 234 | txd_buffer[i++] = '=' + tmpCRC / 64; |
235 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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236 | txd_buffer[i++] = '\r'; |
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1 | ingob | 237 | UebertragungAbgeschlossen = 0; |
683 | killagreg | 238 | UDR0 = txd_buffer[0]; |
1 | ingob | 239 | } |
240 | |||
241 | |||
242 | |||
243 | // -------------------------------------------------------------------------- |
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683 | killagreg | 244 | void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len) |
1 | ingob | 245 | { |
683 | killagreg | 246 | uint16_t pt = 0; |
247 | uint8_t a,b,c; |
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248 | uint8_t ptr = 0; |
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1 | ingob | 249 | |
683 | killagreg | 250 | txd_buffer[pt++] = '#'; // Startzeichen |
251 | txd_buffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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252 | txd_buffer[pt++] = cmd; // Commando |
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1 | ingob | 253 | |
254 | while(len) |
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255 | { |
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256 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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257 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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258 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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683 | killagreg | 259 | txd_buffer[pt++] = '=' + (a >> 2); |
260 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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261 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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262 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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1 | ingob | 263 | } |
264 | AddCRC(pt); |
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265 | } |
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266 | |||
267 | |||
268 | // -------------------------------------------------------------------------- |
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683 | killagreg | 269 | 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 | 270 | { |
683 | killagreg | 271 | uint8_t a,b,c,d; |
272 | uint8_t ptr = 0; |
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273 | uint8_t x,y,z; |
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1 | ingob | 274 | while(len) |
275 | { |
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683 | killagreg | 276 | a = rxd_buffer[ptrIn++] - '='; |
277 | b = rxd_buffer[ptrIn++] - '='; |
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278 | c = rxd_buffer[ptrIn++] - '='; |
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279 | d = rxd_buffer[ptrIn++] - '='; |
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1 | ingob | 280 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
281 | |||
282 | x = (a << 2) | (b >> 4); |
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283 | y = ((b & 0x0f) << 4) | (c >> 2); |
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284 | z = ((c & 0x03) << 6) | d; |
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285 | |||
286 | if(len--) ptrOut[ptr++] = x; else break; |
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287 | if(len--) ptrOut[ptr++] = y; else break; |
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288 | if(len--) ptrOut[ptr++] = z; else break; |
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289 | } |
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290 | |||
291 | } |
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292 | |||
293 | // -------------------------------------------------------------------------- |
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294 | void BearbeiteRxDaten(void) |
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295 | { |
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296 | if(!NeuerDatensatzEmpfangen) return; |
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297 | |||
683 | killagreg | 298 | uint8_t tmp_char_arr2[2]; |
299 | |||
706 | killagreg | 300 | PcAccess = 255; |
683 | killagreg | 301 | switch(rxd_buffer[2]) |
1 | ingob | 302 | { |
499 | hbuss | 303 | case 'a':// Texte der Analogwerte |
683 | killagreg | 304 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
499 | hbuss | 305 | DebugTextAnforderung = tmp_char_arr2[0]; |
306 | break; |
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595 | hbuss | 307 | case 'b': |
683 | killagreg | 308 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
685 | killagreg | 309 | RemoteButtons |= ExternControl.RemoteButtons; |
595 | hbuss | 310 | ConfirmFrame = ExternControl.Frame; |
311 | break; |
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312 | case 'c': |
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683 | killagreg | 313 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
685 | killagreg | 314 | RemoteButtons |= ExternControl.RemoteButtons; |
595 | hbuss | 315 | ConfirmFrame = ExternControl.Frame; |
1 | ingob | 316 | DebugDataAnforderung = 1; |
317 | break; |
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318 | case 'h':// x-1 Displayzeilen |
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683 | killagreg | 319 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
685 | killagreg | 320 | RemoteButtons |= tmp_char_arr2[0]; |
395 | hbuss | 321 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
1 | ingob | 322 | DebugDisplayAnforderung = 1; |
323 | break; |
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324 | case 't':// Motortest |
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683 | killagreg | 325 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
1 | ingob | 326 | break; |
492 | hbuss | 327 | case 'k':// Keys von DubWise |
683 | killagreg | 328 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
595 | hbuss | 329 | ConfirmFrame = DubWiseKeys[3]; |
492 | hbuss | 330 | break; |
1 | ingob | 331 | case 'v': // Version-Anforderung und Ausbaustufe |
332 | GetVersionAnforderung = 1; |
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683 | killagreg | 333 | break; |
334 | case 'g':// "Get"-Anforderung für Debug-Daten |
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1 | ingob | 335 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
336 | DebugGetAnforderung = 1; |
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337 | break; |
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338 | case 'q':// "Get"-Anforderung für Settings |
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339 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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683 | killagreg | 340 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
1 | ingob | 341 | if(tmp_char_arr2[0] != 0xff) |
342 | { |
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343 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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687 | killagreg | 344 | ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
690 | killagreg | 345 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
683 | killagreg | 346 | } |
347 | else |
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690 | killagreg | 348 | SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MeineSlaveAdresse,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
683 | killagreg | 349 | |
1 | ingob | 350 | break; |
683 | killagreg | 351 | |
1 | ingob | 352 | case 'l': |
353 | case 'm': |
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354 | case 'n': |
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355 | case 'o': |
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356 | case 'p': // Parametersatz speichern |
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690 | killagreg | 357 | Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,AnzahlEmpfangsBytes); |
687 | killagreg | 358 | ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
359 | //SetActiveParamSet(rxd_buffer[2] - 'l' + 1); // is alredy done in ParamSet_WriteToEEProm() |
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701 | killagreg | 360 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
361 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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703 | killagreg | 362 | Beep(GetActiveParamSet()); |
1 | ingob | 363 | break; |
683 | killagreg | 364 | |
365 | |||
1 | ingob | 366 | } |
367 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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368 | NeuerDatensatzEmpfangen = 0; |
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369 | } |
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370 | |||
371 | //############################################################################ |
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372 | //Routine für die Serielle Ausgabe |
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683 | killagreg | 373 | int16_t uart_putchar (int8_t c) |
1 | ingob | 374 | //############################################################################ |
375 | { |
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376 | if (c == '\n') |
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377 | uart_putchar('\r'); |
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378 | //Warten solange bis Zeichen gesendet wurde |
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683 | killagreg | 379 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 380 | //Ausgabe des Zeichens |
683 | killagreg | 381 | UDR0 = c; |
382 | |||
1 | ingob | 383 | return (0); |
384 | } |
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385 | |||
386 | // -------------------------------------------------------------------------- |
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387 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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388 | { |
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389 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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390 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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391 | // Buffer[pos] = wert; |
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392 | } |
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393 | |||
394 | |||
395 | |||
396 | //--------------------------------------------------------------------------------------------- |
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683 | killagreg | 397 | void DatenUebertragung(void) |
1 | ingob | 398 | { |
399 | if(!UebertragungAbgeschlossen) return; |
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400 | |||
401 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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683 | killagreg | 402 | { |
403 | SendOutData('G',MeineSlaveAdresse,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
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1 | ingob | 404 | DebugGetAnforderung = 0; |
405 | } |
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406 | |||
683 | killagreg | 407 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
1 | ingob | 408 | { |
683 | killagreg | 409 | SendOutData('D',MeineSlaveAdresse,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
1 | ingob | 410 | DebugDataAnforderung = 0; |
683 | killagreg | 411 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
412 | } |
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499 | hbuss | 413 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
414 | { |
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683 | killagreg | 415 | SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
499 | hbuss | 416 | DebugTextAnforderung = 255; |
417 | } |
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683 | killagreg | 418 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
595 | hbuss | 419 | { |
683 | killagreg | 420 | txd_buffer[0] = '#'; |
421 | txd_buffer[1] = ConfirmFrame; |
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422 | txd_buffer[2] = '\r'; |
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595 | hbuss | 423 | UebertragungAbgeschlossen = 0; |
424 | ConfirmFrame = 0; |
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683 | killagreg | 425 | UDR0 = txd_buffer[0]; |
595 | hbuss | 426 | } |
1 | ingob | 427 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
428 | { |
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685 | killagreg | 429 | LCD_PrintMenu(); |
1 | ingob | 430 | DebugDisplayAnforderung = 0; |
683 | killagreg | 431 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
173 | holgerb | 432 | { |
683 | killagreg | 433 | SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
499 | hbuss | 434 | RemotePollDisplayLine = -1; |
683 | killagreg | 435 | } |
436 | else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
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437 | } |
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438 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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439 | { |
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440 | SendOutData('V',MeineSlaveAdresse,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
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1 | ingob | 441 | GetVersionAnforderung = 0; |
442 | } |
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443 | |||
444 | } |
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445 |