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Rev | Author | Line No. | Line |
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745 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 2 | // + Copyright (c) 04.2007 Holger Buss |
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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754 | killagreg | 20 | #include "ubx.h" |
21 | |||
22 | |||
23 | |||
757 | killagreg | 24 | |
735 | killagreg | 25 | #define FALSE 0 |
26 | #define TRUE 1 |
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685 | killagreg | 27 | |
745 | killagreg | 28 | //int8_t test __attribute__ ((section (".noinit"))); |
683 | killagreg | 29 | |
745 | killagreg | 30 | uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0; |
31 | |||
735 | killagreg | 32 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
737 | killagreg | 33 | volatile uint8_t rxd_buffer_locked = FALSE; |
735 | killagreg | 34 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
737 | killagreg | 35 | volatile uint8_t txd_complete = TRUE; |
735 | killagreg | 36 | volatile uint8_t ReceivedBytes = 0; |
37 | |||
38 | uint8_t RemotePollDisplayLine = 0; |
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39 | uint8_t NurKanalAnforderung = 0; |
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40 | uint8_t DebugTextAnforderung = 255; |
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41 | uint8_t PcAccess = 100; |
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42 | uint8_t MotorTest[4] = {0,0,0,0}; |
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43 | uint8_t DubWiseKeys[4] = {0,0,0,0}; |
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745 | killagreg | 44 | uint8_t MySlaveAddr = 0; |
735 | killagreg | 45 | uint8_t ConfirmFrame; |
46 | |||
47 | DebugOut_t DebugOut; |
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48 | ExternControl_t ExternControl; |
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49 | VersionInfo_t VersionInfo; |
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50 | |||
51 | const uint8_t ANALOG_TEXT[32][16] = |
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499 | hbuss | 52 | { |
683 | killagreg | 53 | //1234567890123456 |
701 | killagreg | 54 | "IntegralPitch ", //0 |
499 | hbuss | 55 | "IntegralRoll ", |
701 | killagreg | 56 | "AccPitch ", |
499 | hbuss | 57 | "AccRoll ", |
701 | killagreg | 58 | "GyroYaw ", |
761 | killagreg | 59 | "ReadingHeight ", //5 |
499 | hbuss | 60 | "AccZ ", |
707 | killagreg | 61 | "Thrust ", |
701 | killagreg | 62 | "CompassHeading ", |
63 | "Voltage ", |
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64 | "Receiver Level ", //10 |
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513 | hbuss | 65 | "Analog11 ", |
741 | killagreg | 66 | "GPSDevNorth ", |
67 | "GPSDevEast ", |
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68 | "GPS_Pitch ", |
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69 | "GPS_Roll ", //15 |
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513 | hbuss | 70 | "Acc_Z ", |
701 | killagreg | 71 | "MeanAccPitch ", |
72 | "MeanAccRoll ", |
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73 | "IntegralErrPitch", |
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499 | hbuss | 74 | "IntegralErrRoll ", //20 |
701 | killagreg | 75 | "MeanIntPitch ", |
711 | killagreg | 76 | "MeanIntRoll ", |
701 | killagreg | 77 | "NeutralPitch ", |
513 | hbuss | 78 | "RollOffset ", |
701 | killagreg | 79 | "IntRoll*Factor ", //25 |
712 | killagreg | 80 | "ReadingGyroPitch", |
701 | killagreg | 81 | "DirectCorrRoll ", |
712 | killagreg | 82 | "ReadingGyroRoll ", |
701 | killagreg | 83 | "CorrectionRoll ", |
84 | "I-AttRoll ", //30 |
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513 | hbuss | 85 | "StickRoll " |
499 | hbuss | 86 | }; |
87 | |||
88 | |||
89 | |||
683 | killagreg | 90 | /****************************************************************/ |
91 | /* Initialization of the USART0 */ |
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92 | /****************************************************************/ |
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93 | void USART0_Init (void) |
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1 | ingob | 94 | { |
683 | killagreg | 95 | uint8_t sreg = SREG; |
96 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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97 | |||
98 | // disable all interrupts before configuration |
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99 | cli(); |
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100 | |||
101 | // disable RX-Interrupt |
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102 | UCSR0B &= ~(1 << RXCIE0); |
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103 | // disable TX-Interrupt |
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104 | UCSR0B &= ~(1 << TXCIE0); |
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105 | |||
106 | // set direction of RXD0 and TXD0 pins |
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107 | // set RXD0 (PD0) as an input pin |
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108 | PORTD |= (1 << PORTD0); |
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109 | DDRD &= ~(1 << DDD0); |
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110 | // set TXD0 (PD1) as an output pin |
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111 | PORTD |= (1 << PORTD1); |
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112 | DDRD |= (1 << DDD1); |
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113 | |||
114 | // USART0 Baud Rate Register |
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115 | // set clock divider |
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116 | UBRR0H = (uint8_t)(ubrr >> 8); |
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117 | UBRR0L = (uint8_t)ubrr; |
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118 | |||
119 | // USART0 Control and Status Register A, B, C |
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120 | |||
121 | // enable double speed operation in |
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122 | UCSR0A |= (1 << U2X0); |
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123 | // enable receiver and transmitter in |
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124 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
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125 | // set asynchronous mode |
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126 | UCSR0C &= ~(1 << UMSEL01); |
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127 | UCSR0C &= ~(1 << UMSEL00); |
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128 | // no parity |
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129 | UCSR0C &= ~(1 << UPM01); |
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130 | UCSR0C &= ~(1 << UPM00); |
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131 | // 1 stop bit |
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132 | UCSR0C &= ~(1 << USBS0); |
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133 | // 8-bit |
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134 | UCSR0B &= ~(1 << UCSZ02); |
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135 | UCSR0C |= (1 << UCSZ01); |
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136 | UCSR0C |= (1 << UCSZ00); |
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137 | |||
138 | // flush receive buffer |
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139 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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140 | |||
141 | // enable interrupts at the end |
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142 | // enable RX-Interrupt |
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143 | UCSR0B |= (1 << RXCIE0); |
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144 | // enable TX-Interrupt |
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145 | UCSR0B |= (1 << TXCIE0); |
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146 | |||
737 | killagreg | 147 | rxd_buffer_locked = FALSE; |
683 | killagreg | 148 | // restore global interrupt flags |
149 | SREG = sreg; |
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150 | } |
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151 | |||
152 | /****************************************************************/ |
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153 | /* USART0 transmitter ISR */ |
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154 | /****************************************************************/ |
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155 | ISR(USART0_TX_vect) |
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156 | { |
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735 | killagreg | 157 | static uint16_t ptr_txd_buffer = 0; |
158 | uint8_t tmp_tx; |
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159 | if(!txd_complete) // transmission not completed |
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160 | { |
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161 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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162 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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163 | // if terminating character or end of txd buffer was reached |
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164 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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165 | { |
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166 | ptr_txd_buffer = 0; // reset txd pointer |
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167 | txd_complete = 1; // stop transmission |
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168 | } |
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169 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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170 | } |
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171 | // transmission completed |
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172 | else ptr_txd_buffer = 0; |
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1 | ingob | 173 | } |
174 | |||
683 | killagreg | 175 | /****************************************************************/ |
176 | /* USART0 receiver ISR */ |
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177 | /****************************************************************/ |
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178 | ISR(USART0_RX_vect) |
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1 | ingob | 179 | { |
735 | killagreg | 180 | static uint16_t crc; |
737 | killagreg | 181 | static uint8_t ptr_rxd_buffer = 0; |
182 | uint8_t crc1, crc2; |
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735 | killagreg | 183 | uint8_t c; |
1 | ingob | 184 | |
737 | killagreg | 185 | c = UDR0; // catch the received byte |
186 | |||
757 | killagreg | 187 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
188 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
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189 | if(BoardRelease == 10) ubx_parser(c); |
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737 | killagreg | 190 | |
191 | if(rxd_buffer_locked) return; // if txd buffer is locked immediately return |
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192 | |||
193 | // the rxd buffer is unlocked |
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194 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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735 | killagreg | 195 | { |
737 | killagreg | 196 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
197 | crc = c; // init crc |
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198 | } |
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199 | #if 0 |
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200 | else if (ptr_rxd_buffer == 1) // handle address |
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201 | { |
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202 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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203 | crc += c; // update crc |
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204 | } |
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205 | #endif |
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206 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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207 | { |
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208 | if(c != '\r') // no termination character |
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735 | killagreg | 209 | { |
737 | killagreg | 210 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
211 | crc += c; // update crc |
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735 | killagreg | 212 | } |
737 | killagreg | 213 | else // termination character was received |
214 | { |
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215 | // the last 2 bytes are no subject for checksum calculation |
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216 | // they are the checksum itself |
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217 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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218 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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219 | // calculate checksum from transmitted data |
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220 | crc %= 4096; |
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221 | crc1 = '=' + crc / 64; |
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222 | crc2 = '=' + crc % 64; |
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223 | // compare checksum to transmitted checksum bytes |
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224 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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225 | { // checksum valid |
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226 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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227 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
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228 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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229 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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745 | killagreg | 230 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
737 | killagreg | 231 | } |
232 | else |
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233 | { // checksum invalid |
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234 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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235 | } |
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236 | ptr_rxd_buffer = 0; // reset txd buffer |
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237 | } |
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238 | } // buffer overrun |
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735 | killagreg | 239 | else |
240 | { |
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737 | killagreg | 241 | ptr_rxd_buffer = 0; // reset rxd buffer |
242 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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735 | killagreg | 243 | } |
737 | killagreg | 244 | |
1 | ingob | 245 | } |
246 | |||
247 | |||
248 | // -------------------------------------------------------------------------- |
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735 | killagreg | 249 | void AddCRC(uint16_t datalen) |
1 | ingob | 250 | { |
683 | killagreg | 251 | uint16_t tmpCRC = 0,i; |
735 | killagreg | 252 | for(i = 0; i < datalen;i++) |
1 | ingob | 253 | { |
683 | killagreg | 254 | tmpCRC += txd_buffer[i]; |
1 | ingob | 255 | } |
256 | tmpCRC %= 4096; |
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683 | killagreg | 257 | txd_buffer[i++] = '=' + tmpCRC / 64; |
258 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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259 | txd_buffer[i++] = '\r'; |
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735 | killagreg | 260 | txd_complete = 0; |
261 | UDR0 = txd_buffer[0]; // initiates the transmittion |
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1 | ingob | 262 | } |
263 | |||
264 | |||
265 | |||
266 | // -------------------------------------------------------------------------- |
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745 | killagreg | 267 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
1 | ingob | 268 | { |
735 | killagreg | 269 | uint16_t pt = 0; |
270 | uint8_t a,b,c; |
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271 | uint8_t ptr = 0; |
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1 | ingob | 272 | |
735 | killagreg | 273 | txd_buffer[pt++] = '#'; // Start character |
745 | killagreg | 274 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
735 | killagreg | 275 | txd_buffer[pt++] = cmd; // Command |
1 | ingob | 276 | |
735 | killagreg | 277 | while(len) |
278 | { |
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279 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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280 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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281 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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282 | txd_buffer[pt++] = '=' + (a >> 2); |
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283 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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284 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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285 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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286 | } |
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287 | AddCRC(pt); // add checksum after data block and initates the transmission |
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1 | ingob | 288 | } |
289 | |||
290 | |||
291 | // -------------------------------------------------------------------------- |
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745 | killagreg | 292 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
1 | ingob | 293 | { |
735 | killagreg | 294 | uint8_t a,b,c,d; |
295 | uint8_t ptr = 0; |
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296 | uint8_t x,y,z; |
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297 | while(len) |
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298 | { |
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299 | a = rxd_buffer[ptrIn++] - '='; |
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300 | b = rxd_buffer[ptrIn++] - '='; |
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301 | c = rxd_buffer[ptrIn++] - '='; |
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302 | d = rxd_buffer[ptrIn++] - '='; |
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745 | killagreg | 303 | if(ptrIn > max - 2) break; |
1 | ingob | 304 | |
735 | killagreg | 305 | x = (a << 2) | (b >> 4); |
306 | y = ((b & 0x0f) << 4) | (c >> 2); |
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307 | z = ((c & 0x03) << 6) | d; |
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1 | ingob | 308 | |
735 | killagreg | 309 | if(len--) ptrOut[ptr++] = x; else break; |
310 | if(len--) ptrOut[ptr++] = y; else break; |
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311 | if(len--) ptrOut[ptr++] = z; else break; |
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312 | } |
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1 | ingob | 313 | } |
314 | |||
735 | killagreg | 315 | |
1 | ingob | 316 | // -------------------------------------------------------------------------- |
735 | killagreg | 317 | void ProcessRxData(void) |
1 | ingob | 318 | { |
737 | killagreg | 319 | // if data in the rxd buffer are not locked immediately return |
320 | if(!rxd_buffer_locked) return; |
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1 | ingob | 321 | |
735 | killagreg | 322 | uint8_t tmp_char_arr2[2]; // local buffer |
683 | killagreg | 323 | |
735 | killagreg | 324 | PcAccess = 255; |
325 | switch(rxd_buffer[2]) |
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326 | { |
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327 | case 'a':// Labels of the Analog Deboug outputs |
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328 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
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329 | DebugTextAnforderung = tmp_char_arr2[0]; |
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499 | hbuss | 330 | break; |
735 | killagreg | 331 | case 'b': // extern control |
332 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
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685 | killagreg | 333 | RemoteButtons |= ExternControl.RemoteButtons; |
735 | killagreg | 334 | ConfirmFrame = ExternControl.Frame; |
335 | break; |
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336 | case 'c': // extern control with debug request |
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337 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
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685 | killagreg | 338 | RemoteButtons |= ExternControl.RemoteButtons; |
735 | killagreg | 339 | ConfirmFrame = ExternControl.Frame; |
745 | killagreg | 340 | DebugDataRequest = 1; |
735 | killagreg | 341 | break; |
342 | case 'h':// x-1 display columns |
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343 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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344 | RemoteButtons |= tmp_char_arr2[0]; |
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345 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; |
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346 | else NurKanalAnforderung = 0; // keine Displaydaten |
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745 | killagreg | 347 | DebugDisplayRequest = 1; |
1 | ingob | 348 | break; |
735 | killagreg | 349 | case 't':// motor test |
350 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
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1 | ingob | 351 | break; |
735 | killagreg | 352 | case 'k':// keys from DubWise |
353 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
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595 | hbuss | 354 | ConfirmFrame = DubWiseKeys[3]; |
492 | hbuss | 355 | break; |
735 | killagreg | 356 | case 'v': // get version and board release |
745 | killagreg | 357 | GetVersionRequest = 1; |
735 | killagreg | 358 | break; |
359 | case 'g':// get debug data |
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745 | killagreg | 360 | DebugGetRequest = 1; |
735 | killagreg | 361 | break; |
362 | case 'q':// get settings |
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363 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
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364 | if(tmp_char_arr2[0] != 0xff) |
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365 | { |
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366 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
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367 | // load requested parameter set |
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368 | ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
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369 | SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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370 | } |
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371 | else // send active parameter set |
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372 | SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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683 | killagreg | 373 | |
735 | killagreg | 374 | break; |
683 | killagreg | 375 | |
735 | killagreg | 376 | case 'l': |
377 | case 'm': |
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378 | case 'n': |
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379 | case 'o': |
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380 | case 'p': // save parameterset |
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381 | Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
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687 | killagreg | 382 | ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
735 | killagreg | 383 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
384 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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385 | Beep(GetActiveParamSet()); |
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386 | break; |
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683 | killagreg | 387 | |
388 | |||
735 | killagreg | 389 | } |
737 | killagreg | 390 | // unlock the rxd buffer after processing |
391 | rxd_buffer_locked = FALSE; |
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1 | ingob | 392 | } |
393 | |||
394 | //############################################################################ |
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395 | //Routine für die Serielle Ausgabe |
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683 | killagreg | 396 | int16_t uart_putchar (int8_t c) |
1 | ingob | 397 | //############################################################################ |
398 | { |
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399 | if (c == '\n') |
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400 | uart_putchar('\r'); |
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735 | killagreg | 401 | // wait until previous character was send |
683 | killagreg | 402 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 403 | //Ausgabe des Zeichens |
683 | killagreg | 404 | UDR0 = c; |
405 | |||
1 | ingob | 406 | return (0); |
407 | } |
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408 | |||
409 | |||
410 | //--------------------------------------------------------------------------------------------- |
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735 | killagreg | 411 | void TransmitTxData(void) |
1 | ingob | 412 | { |
735 | killagreg | 413 | static int16_t Debug_Timer = 0; |
414 | if(!txd_complete) return; |
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1 | ingob | 415 | |
745 | killagreg | 416 | if(DebugGetRequest && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
683 | killagreg | 417 | { |
735 | killagreg | 418 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
745 | killagreg | 419 | DebugGetRequest = 0; |
1 | ingob | 420 | } |
421 | |||
745 | killagreg | 422 | if((CheckDelay(Debug_Timer) || DebugDataRequest) && txd_complete) |
1 | ingob | 423 | { |
735 | killagreg | 424 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
745 | killagreg | 425 | DebugDataRequest = 0; |
683 | killagreg | 426 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
427 | } |
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499 | hbuss | 428 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
429 | { |
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683 | killagreg | 430 | SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
499 | hbuss | 431 | DebugTextAnforderung = 255; |
432 | } |
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735 | killagreg | 433 | if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
595 | hbuss | 434 | { |
683 | killagreg | 435 | txd_buffer[0] = '#'; |
436 | txd_buffer[1] = ConfirmFrame; |
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437 | txd_buffer[2] = '\r'; |
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735 | killagreg | 438 | txd_complete = 0; |
595 | hbuss | 439 | ConfirmFrame = 0; |
683 | killagreg | 440 | UDR0 = txd_buffer[0]; |
595 | hbuss | 441 | } |
745 | killagreg | 442 | if(DebugDisplayRequest && txd_complete) |
1 | ingob | 443 | { |
685 | killagreg | 444 | LCD_PrintMenu(); |
745 | killagreg | 445 | DebugDisplayRequest = 0; |
683 | killagreg | 446 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
173 | holgerb | 447 | { |
683 | killagreg | 448 | SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
499 | hbuss | 449 | RemotePollDisplayLine = -1; |
683 | killagreg | 450 | } |
451 | else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
||
452 | } |
||
745 | killagreg | 453 | if(GetVersionRequest && txd_complete) |
683 | killagreg | 454 | { |
735 | killagreg | 455 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
745 | killagreg | 456 | GetVersionRequest = 0; |
1 | ingob | 457 | } |
458 | |||
459 | } |
||
460 |