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886 killagreg 1
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 2
// + Copyright (c) 04.2007 Holger Buss
3
// + only for non-profit use
4
// + www.MikroKopter.com
5
// + see the File "License.txt" for further Informations
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7
 
886 killagreg 8
#include <avr/io.h>
9
#include <avr/interrupt.h>
10
#include <avr/wdt.h>
11
 
12
#include "eeprom.h"
1 ingob 13
#include "main.h"
886 killagreg 14
#include "menu.h"
15
#include "timer0.h"
1 ingob 16
#include "uart.h"
886 killagreg 17
#include "fc.h"
18
#include "_Settings.h"
19
#include "rc.h"
908 killagreg 20
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
886 killagreg 21
#include "ubx.h"
22
#endif
908 killagreg 23
#ifdef USE_MK3MAG
886 killagreg 24
#include "mk3mag.h"
25
#endif
1 ingob 26
 
27
 
693 hbuss 28
 
886 killagreg 29
#define FALSE   0
30
#define TRUE    1
31
 
32
//int8_t test __attribute__ ((section (".noinit")));
33
uint8_t RequestVerInfo                  = FALSE;
34
uint8_t RequestExternalControl  = FALSE;
35
uint8_t RequestDisplay                  = FALSE;
36
uint8_t RequestDebugData                = FALSE;
37
uint8_t RequestDebugLabel               = 255;
38
uint8_t RequestChannelOnly              = FALSE;
39
uint8_t RemotePollDisplayLine   = 0;
40
 
41
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
42
volatile uint8_t rxd_buffer_locked = FALSE;
43
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
44
volatile uint8_t txd_complete = TRUE;
45
volatile uint8_t ReceivedBytes = 0;
46
 
47
 
48
uint8_t PcAccess = 100;
49
uint8_t MotorTest[4] = {0,0,0,0};
50
uint8_t DubWiseKeys[4] = {0,0,0,0};
51
uint8_t MySlaveAddr = 0;
52
uint8_t ConfirmFrame;
53
 
54
DebugOut_t              DebugOut;
55
ExternControl_t ExternControl;
56
VersionInfo_t   VersionInfo;
57
 
58
int16_t  Debug_Timer;
59
 
908 killagreg 60
#ifdef USE_MK3MAG
886 killagreg 61
int16_t Compass_Timer;
62
#endif
63
 
64
 
65
const uint8_t ANALOG_LABEL[32][16] =
499 hbuss 66
{
886 killagreg 67
   //1234567890123456
911 killagreg 68
    "IntegralNick    ", //0
499 hbuss 69
    "IntegralRoll    ",
911 killagreg 70
    "AccNick         ",
499 hbuss 71
    "AccRoll         ",
886 killagreg 72
    "GyroYaw         ",
73
    "ReadingHeight   ", //5
499 hbuss 74
    "AccZ            ",
911 killagreg 75
    "Gas             ",
943 pangu 76
    "Receiver Level  ",
886 killagreg 77
    "Voltage         ",
943 pangu 78
#ifdef HEXAKOPTER
79
    "Motor FrontLeft ", //10
80
    "Motor FrontRight",
81
    "Motor RearLeft  ",
82
    "Motor RearRight ",
83
    "Motor Right     ",
84
    "Motor Left      ", //15
85
#else
86
    "Motor FrontLeft ", //10
87
    "Motor FrontRight",
88
    "Motor_RearLeft  ",
89
    "Motor_RearRight ",
886 killagreg 90
    "Motor_Right     ",
91
    "Motor_Left      ", //15
943 pangu 92
#endif
93
    "Acc_Z           ",
886 killagreg 94
    "SPI Error       ",
95
    "SPI Ok          ",
96
    "                ",
854 hbuss 97
    "Servo           ", //20
911 killagreg 98
    "Nick            ",
854 hbuss 99
    "Roll            ",
720 ingob 100
    "                ",
101
    "                ",
102
    "                ", //25
103
    "                ",
104
    "                ",
105
    "                ",
106
    "                ",
911 killagreg 107
    "GPS_Nick        ", //30
720 ingob 108
    "GPS_Roll        "
499 hbuss 109
};
110
 
111
 
112
 
886 killagreg 113
/****************************************************************/
114
/*              Initialization of the USART0                    */
115
/****************************************************************/
116
void USART0_Init (void)
1 ingob 117
{
886 killagreg 118
        uint8_t sreg = SREG;
119
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
120
 
121
        // disable all interrupts before configuration
122
        cli();
123
 
124
        // disable RX-Interrupt
125
        UCSR0B &= ~(1 << RXCIE0);
126
        // disable TX-Interrupt
127
        UCSR0B &= ~(1 << TXCIE0);
128
 
129
        // set direction of RXD0 and TXD0 pins
130
        // set RXD0 (PD0) as an input pin
131
        PORTD |= (1 << PORTD0);
132
        DDRD &= ~(1 << DDD0);
133
        // set TXD0 (PD1) as an output pin
134
        PORTD |= (1 << PORTD1);
135
        DDRD |=  (1 << DDD1);
136
 
137
        // USART0 Baud Rate Register
138
        // set clock divider
139
        UBRR0H = (uint8_t)(ubrr >> 8);
140
        UBRR0L = (uint8_t)ubrr;
141
 
142
        // USART0 Control and Status Register A, B, C
143
 
144
        // enable double speed operation in
145
        UCSR0A |= (1 << U2X0);
146
        // enable receiver and transmitter in
147
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
148
        // set asynchronous mode
149
        UCSR0C &= ~(1 << UMSEL01);
150
        UCSR0C &= ~(1 << UMSEL00);
151
        // no parity
152
        UCSR0C &= ~(1 << UPM01);
153
        UCSR0C &= ~(1 << UPM00);
154
        // 1 stop bit
155
        UCSR0C &= ~(1 << USBS0);
156
        // 8-bit
157
        UCSR0B &= ~(1 << UCSZ02);
158
        UCSR0C |=  (1 << UCSZ01);
159
        UCSR0C |=  (1 << UCSZ00);
160
 
161
                // flush receive buffer
162
        while ( UCSR0A & (1<<RXC0) ) UDR0;
163
 
164
        // enable interrupts at the end
165
        // enable RX-Interrupt
166
        UCSR0B |= (1 << RXCIE0);
167
        // enable TX-Interrupt
168
        UCSR0B |= (1 << TXCIE0);
169
 
170
        rxd_buffer_locked = FALSE;
171
        txd_complete = TRUE;
172
 
173
        Debug_Timer = SetDelay(200);
174
 
908 killagreg 175
        #ifdef USE_MK3MAG
886 killagreg 176
        Compass_Timer = SetDelay(220);
177
        #endif
178
 
179
        // restore global interrupt flags
180
    SREG = sreg;
1 ingob 181
}
182
 
886 killagreg 183
/****************************************************************/
184
/*               USART0 transmitter ISR                         */
185
/****************************************************************/
186
ISR(USART0_TX_vect)
1 ingob 187
{
886 killagreg 188
        static uint16_t ptr_txd_buffer = 0;
189
        uint8_t tmp_tx;
190
        if(!txd_complete) // transmission not completed
191
        {
192
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
193
                tmp_tx = txd_buffer[ptr_txd_buffer];
194
                // if terminating character or end of txd buffer was reached
195
                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
196
                {
197
                        ptr_txd_buffer = 0; // reset txd pointer
198
                        txd_complete = 1; // stop transmission
199
                }
200
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
201
        }
202
        // transmission completed
203
        else ptr_txd_buffer = 0;
204
}
1 ingob 205
 
886 killagreg 206
/****************************************************************/
207
/*               USART0 receiver ISR                            */
208
/****************************************************************/
209
ISR(USART0_RX_vect)
210
{
211
        static uint16_t crc;
212
        static uint8_t ptr_rxd_buffer = 0;
213
        uint8_t crc1, crc2;
214
        uint8_t c;
215
 
216
        c = UDR0;  // catch the received byte
217
 
908 killagreg 218
        #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
886 killagreg 219
        // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart.
220
        // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected.
221
        #if defined (__AVR_ATmega644P__)
222
        if(BoardRelease == 10) ubx_parser(c);
223
        #else
224
        ubx_parser(c);
225
        #endif
908 killagreg 226
        #endif
886 killagreg 227
 
228
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
229
 
230
        // the rxd buffer is unlocked
231
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
232
        {
233
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
234
                crc = c; // init crc
235
        }
236
        #if 0
237
        else if (ptr_rxd_buffer == 1) // handle address
238
        {
239
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
240
                crc += c; // update crc
241
        }
242
        #endif
243
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
244
        {
245
                if(c != '\r') // no termination character
246
                {
247
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
248
                        crc += c; // update crc
249
                }
250
                else // termination character was received
251
                {
252
                        // the last 2 bytes are no subject for checksum calculation
253
                        // they are the checksum itself
254
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
255
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
256
                        // calculate checksum from transmitted data
257
                        crc %= 4096;
258
                        crc1 = '=' + crc / 64;
259
                        crc2 = '=' + crc % 64;
260
                        // compare checksum to transmitted checksum bytes
261
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
262
                        {   // checksum valid
263
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
264
                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
265
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
266
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
267
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
268
                        }
269
                        else
270
                        {       // checksum invalid
271
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
272
                        }
273
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
274
                }
275
        }
276
        else // rxd buffer overrun
277
        {
278
                ptr_rxd_buffer = 0; // reset rxd buffer
279
                rxd_buffer_locked = FALSE; // unlock rxd buffer
280
        }
281
 
1 ingob 282
}
283
 
284
 
285
// --------------------------------------------------------------------------
886 killagreg 286
void AddCRC(uint16_t datalen)
1 ingob 287
{
886 killagreg 288
        uint16_t tmpCRC = 0, i;
289
        for(i = 0; i < datalen; i++)
290
        {
291
                tmpCRC += txd_buffer[i];
292
        }
293
        tmpCRC %= 4096;
294
        txd_buffer[i++] = '=' + tmpCRC / 64;
295
        txd_buffer[i++] = '=' + tmpCRC % 64;
296
        txd_buffer[i++] = '\r';
297
        txd_complete = FALSE;
298
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
1 ingob 299
}
300
 
301
 
302
 
303
// --------------------------------------------------------------------------
886 killagreg 304
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
1 ingob 305
{
886 killagreg 306
        uint16_t pt = 0;
307
        uint8_t a,b,c;
308
        uint8_t ptr = 0;
1 ingob 309
 
886 killagreg 310
        txd_buffer[pt++] = '#';         // Start character
311
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
312
        txd_buffer[pt++] = cmd;         // Command
1 ingob 313
 
886 killagreg 314
        while(len)
315
        {
316
                if(len) { a = snd[ptr++]; len--;} else a = 0;
317
                if(len) { b = snd[ptr++]; len--;} else b = 0;
318
                if(len) { c = snd[ptr++]; len--;} else c = 0;
319
                txd_buffer[pt++] = '=' + (a >> 2);
320
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
321
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
322
                txd_buffer[pt++] = '=' + ( c & 0x3f);
323
        }
324
        AddCRC(pt); // add checksum after data block and initates the transmission
1 ingob 325
}
326
 
327
 
328
// --------------------------------------------------------------------------
886 killagreg 329
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
1 ingob 330
{
886 killagreg 331
        uint8_t a,b,c,d;
332
        uint8_t ptr = 0;
333
        uint8_t x,y,z;
334
        while(len)
335
        {
336
                a = rxd_buffer[ptrIn++] - '=';
337
                b = rxd_buffer[ptrIn++] - '=';
338
                c = rxd_buffer[ptrIn++] - '=';
339
                d = rxd_buffer[ptrIn++] - '=';
340
                if(ptrIn > max - 2) break;
1 ingob 341
 
886 killagreg 342
                x = (a << 2) | (b >> 4);
343
                y = ((b & 0x0f) << 4) | (c >> 2);
344
                z = ((c & 0x03) << 6) | d;
1 ingob 345
 
886 killagreg 346
                if(len--) ptrOut[ptr++] = x; else break;
347
                if(len--) ptrOut[ptr++] = y; else break;
348
                if(len--) ptrOut[ptr++] = z; else break;
349
        }
1 ingob 350
}
351
 
886 killagreg 352
 
1 ingob 353
// --------------------------------------------------------------------------
886 killagreg 354
void USART0_ProcessRxData(void)
1 ingob 355
{
886 killagreg 356
        // if data in the rxd buffer are not locked immediately return
357
        if(!rxd_buffer_locked) return;
1 ingob 358
 
886 killagreg 359
        #if  !defined (USE_KILLAGREG)  && !defined (USE_NAVICTRL)
360
        uint16_t tmp_int_arr1[1]; // local int buffer
361
        #endif
362
        uint8_t tmp_char_arr2[2]; // local char buffer
363
 
364
 
365
        switch(rxd_buffer[2])
366
        {
908 killagreg 367
                #ifdef USE_MK3MAG
886 killagreg 368
                case 'K':// Compass value
369
                        Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes);
370
                        CompassHeading = tmp_int_arr1[0];
371
                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
693 hbuss 372
                        break;
886 killagreg 373
                #endif
374
                case 'a':// Labels of the Analog Debug outputs
375
                        Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
376
                        RequestDebugLabel = tmp_char_arr2[0];
377
                        PcAccess = 255;
499 hbuss 378
                        break;
886 killagreg 379
                case 'b': // extern control
380
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes);
381
                        RemoteButtons |= ExternControl.RemoteButtons;
382
                        ConfirmFrame = ExternControl.Frame;
936 killagreg 383
                        PcAccess = 255;
1 ingob 384
                        break;
886 killagreg 385
                case 'c': // extern control with debug request
386
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);
387
                        RemoteButtons |= ExternControl.RemoteButtons;
388
                        ConfirmFrame = ExternControl.Frame;
389
                        RequestDebugData = TRUE;
390
                        PcAccess = 255;
1 ingob 391
                        break;
886 killagreg 392
                case 'h':// x-1 display columns
393
                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
394
                        RemoteButtons |= tmp_char_arr2[0];
395
                        if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE;
396
                        else RequestChannelOnly = FALSE; // keine Displaydaten
397
                        RequestDisplay = TRUE;
398
                        break;
399
                case 't':// motor test
400
                        Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);
401
                        PcAccess = 255;
402
                        break;
403
                case 'k':// keys from DubWise
404
                        Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);
595 hbuss 405
                        ConfirmFrame = DubWiseKeys[3];
886 killagreg 406
                        PcAccess = 255;
492 hbuss 407
                        break;
886 killagreg 408
                case 'v': // get version and board release
409
                        RequestVerInfo = TRUE;
410
                        break;
411
                case 'g':// get external control data
412
                        RequestExternalControl = TRUE;
413
                        break;
414
                case 'q':// get settings
415
                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
416
                        while(!txd_complete);
417
                        if(tmp_char_arr2[0] != 0xff)
418
                        {
419
                                if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5
420
                                // load requested parameter set
421
                                ParamSet_ReadFromEEProm(tmp_char_arr2[0]);
422
                                SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
423
                        }
424
                        else // send active parameter set
425
                        SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
426
 
427
                        break;
428
 
429
                case 'l':
430
                case 'm':
431
                case 'n':
432
                case 'o':
433
                case 'p': // save parameterset
434
                        Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes);
435
                        ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1);
911 killagreg 436
                        TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L;
886 killagreg 437
                        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
438
                        Beep(GetActiveParamSet());
439
                        break;
440
 
441
 
442
        }
443
        // unlock the rxd buffer after processing
444
        rxd_buffer_locked = FALSE;
1 ingob 445
}
446
 
447
//############################################################################
448
//Routine für die Serielle Ausgabe
886 killagreg 449
int16_t uart_putchar (int8_t c)
1 ingob 450
//############################################################################
451
{
452
        if (c == '\n')
453
                uart_putchar('\r');
886 killagreg 454
        // wait until previous character was send
455
        loop_until_bit_is_set(UCSR0A, UDRE0);
1 ingob 456
        //Ausgabe des Zeichens
886 killagreg 457
        UDR0 = c;
1 ingob 458
        return (0);
459
}
460
 
461
 
886 killagreg 462
//---------------------------------------------------------------------------------------------
463
void USART0_TransmitTxData(void)
1 ingob 464
{
886 killagreg 465
        if(!txd_complete) return;
1 ingob 466
 
886 killagreg 467
        if(RequestExternalControl && txd_complete)            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
468
        {
469
                SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
470
                RequestExternalControl = FALSE;
471
        }
1 ingob 472
 
908 killagreg 473
        #ifdef USE_MK3MAG
886 killagreg 474
    if((CheckDelay(Compass_Timer)) && txd_complete)
475
        {
911 killagreg 476
                ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108);  // approx. 0,1 Deg
886 killagreg 477
                ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108);   // approx. 0,1 Deg
478
                ToMk3Mag.UserParam[0] = FCParam.UserParam1;
479
                ToMk3Mag.UserParam[1] = FCParam.UserParam2;
480
                ToMk3Mag.CalState = CompassCalState;
481
                SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));
482
                // the last state is 5 and should be send only once to avoid multiple flash writing
483
                if(CompassCalState > 4)  CompassCalState = 0;
484
                Compass_Timer = SetDelay(99);
485
        }
486
        #endif
1 ingob 487
 
886 killagreg 488
    if((CheckDelay(Debug_Timer) || RequestDebugData) && txd_complete)
489
    {
490
          SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
491
          RequestDebugData = FALSE;
492
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
493
    }
1 ingob 494
 
886 killagreg 495
    if(RequestDebugLabel != 255) // Texte für die Analogdaten
499 hbuss 496
     {
886 killagreg 497
      SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
498
      RequestDebugLabel = 255;
499 hbuss 499
         }
886 killagreg 500
     if(ConfirmFrame && txd_complete)   // Datensatz ohne CRC bestätigen
595 hbuss 501
         {
886 killagreg 502
      txd_buffer[0] = '#';
503
      txd_buffer[1] = ConfirmFrame;
504
      txd_buffer[2] = '\r';
505
      txd_complete = 0;
595 hbuss 506
      ConfirmFrame = 0;
886 killagreg 507
      UDR0 = txd_buffer[0];
595 hbuss 508
     }
886 killagreg 509
     if(RequestDisplay && txd_complete)
1 ingob 510
         {
886 killagreg 511
      LCD_PrintMenu();
512
          RequestDisplay = FALSE;
513
      if(++RemotePollDisplayLine == 4 || RequestChannelOnly)
173 holgerb 514
      {
886 killagreg 515
       SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
499 hbuss 516
       RemotePollDisplayLine = -1;
886 killagreg 517
      }
518
      else  SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
519
         }
520
    if(RequestVerInfo && txd_complete)
521
     {
522
      SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo));
523
          RequestVerInfo = FALSE;
1 ingob 524
     }
525
 
526
}
527