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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
8 | #include <string.h> |
8 | #include <string.h> |
9 | #include "main.h" |
9 | #include "main.h" |
10 | #include "uart.h" |
10 | #include "uart.h" |
- | 11 | ||
- | 12 | ||
- | 13 | #define FC_ADDRESS 1 |
|
- | 14 | #define NC_ADDRESS 2 |
|
- | 15 | #define MK3MAG_ADDRESS 3 |
|
11 | 16 | ||
12 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
13 | unsigned char DisplayLine = 0; |
18 | unsigned char DisplayLine = 0; |
14 | unsigned volatile char SioTmp = 0; |
19 | unsigned volatile char SioTmp = 0; |
15 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
16 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
17 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
22 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
18 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
19 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
20 | unsigned volatile char UebertragungAbgeschlossen = 1; |
25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
21 | unsigned volatile char CntCrcError = 0; |
26 | unsigned volatile char CntCrcError = 0; |
22 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
23 | unsigned char *pRxData = 0; |
28 | unsigned char *pRxData = 0; |
24 | unsigned char RxDataLen = 0; |
29 | unsigned char RxDataLen = 0; |
25 | unsigned volatile char PC_DebugTimeout = 0; |
30 | unsigned volatile char PC_DebugTimeout = 0; |
26 | 31 | ||
27 | unsigned char DebugTextAnforderung = 255; |
32 | unsigned char DebugTextAnforderung = 255; |
28 | unsigned char PcZugriff = 100; |
33 | unsigned char PcZugriff = 100; |
29 | unsigned char MotorTest[4] = {0,0,0,0}; |
34 | unsigned char MotorTest[4] = {0,0,0,0}; |
30 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
35 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
31 | unsigned char ConfirmFrame; |
36 | unsigned char ConfirmFrame; |
32 | struct str_DebugOut DebugOut; |
37 | struct str_DebugOut DebugOut; |
33 | struct str_ExternControl ExternControl; |
38 | struct str_ExternControl ExternControl; |
34 | struct str_VersionInfo VersionInfo; |
39 | struct str_VersionInfo VersionInfo; |
35 | struct str_WinkelOut WinkelOut; |
40 | struct str_WinkelOut WinkelOut; |
36 | 41 | ||
37 | int Debug_Timer,Kompass_Timer; |
42 | int Debug_Timer,Kompass_Timer; |
38 | unsigned int DebugDataIntervall = 200; |
43 | unsigned int DebugDataIntervall = 200; |
39 | 44 | ||
40 | const unsigned char ANALOG_TEXT[32][16] = |
45 | const unsigned char ANALOG_TEXT[32][16] = |
41 | { |
46 | { |
42 | //1234567890123456 |
47 | //1234567890123456 |
43 | "IntegralNick ", //0 |
48 | "IntegralNick ", //0 |
44 | "IntegralRoll ", |
49 | "IntegralRoll ", |
45 | "AccNick ", |
50 | "AccNick ", |
46 | "AccRoll ", |
51 | "AccRoll ", |
47 | "GyroGier ", |
52 | "GyroGier ", |
48 | "HoehenWert ", //5 |
53 | "HoehenWert ", //5 |
49 | "AccZ ", |
54 | "AccZ ", |
50 | "Gas ", |
55 | "Gas ", |
51 | "KompassValue ", |
56 | "KompassValue ", |
52 | "Spannung ", |
57 | "Spannung ", |
53 | "Empfang ", //10 |
58 | "Empfang ", //10 |
54 | "Ersatzkompass ", |
59 | "Ersatzkompass ", |
55 | "Motor_Vorne ", |
60 | "Motor_Vorne ", |
56 | "Motor_Hinten ", |
61 | "Motor_Hinten ", |
57 | "Motor_Links ", |
62 | "Motor_Links ", |
58 | "Motor_Rechts ", //15 |
63 | "Motor_Rechts ", //15 |
59 | " ", |
64 | " ", |
60 | "Distance ", |
65 | "Distance ", |
61 | "OsdBar ", |
66 | "OsdBar ", |
62 | "MK3Mag CalState ", |
67 | "MK3Mag CalState ", |
63 | "Servo ", //20 |
68 | "Servo ", //20 |
64 | "Nick ", |
69 | "Nick ", |
65 | "Roll ", |
70 | "Roll ", |
66 | " ", |
71 | " ", |
67 | " ", |
72 | " ", |
68 | " ", //25 |
73 | " ", //25 |
69 | " ", |
74 | " ", |
70 | "Kalman_MaxDrift ", |
75 | "Kalman_MaxDrift ", |
71 | " ", |
76 | " ", |
72 | "Kalman K ", |
77 | "Kalman K ", |
73 | "GPS_Nick ", //30 |
78 | "GPS_Nick ", //30 |
74 | "GPS_Roll " |
79 | "GPS_Roll " |
75 | }; |
80 | }; |
76 | 81 | ||
77 | 82 | ||
78 | 83 | ||
79 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
84 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
80 | //++ Sende-Part der Datenübertragung |
85 | //++ Sende-Part der Datenübertragung |
81 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
82 | SIGNAL(INT_VEC_TX) |
87 | SIGNAL(INT_VEC_TX) |
83 | { |
88 | { |
84 | static unsigned int ptr = 0; |
89 | static unsigned int ptr = 0; |
85 | unsigned char tmp_tx; |
90 | unsigned char tmp_tx; |
86 | if(!UebertragungAbgeschlossen) |
91 | if(!UebertragungAbgeschlossen) |
87 | { |
92 | { |
88 | ptr++; // die [0] wurde schon gesendet |
93 | ptr++; // die [0] wurde schon gesendet |
89 | tmp_tx = SendeBuffer[ptr]; |
94 | tmp_tx = SendeBuffer[ptr]; |
90 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
95 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
91 | { |
96 | { |
92 | ptr = 0; |
97 | ptr = 0; |
93 | UebertragungAbgeschlossen = 1; |
98 | UebertragungAbgeschlossen = 1; |
94 | } |
99 | } |
95 | UDR = tmp_tx; |
100 | UDR = tmp_tx; |
96 | } |
101 | } |
97 | else ptr = 0; |
102 | else ptr = 0; |
98 | } |
103 | } |
99 | 104 | ||
100 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
105 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
101 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
106 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
102 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | SIGNAL(INT_VEC_RX) |
108 | SIGNAL(INT_VEC_RX) |
104 | { |
109 | { |
105 | static unsigned int crc; |
110 | static unsigned int crc; |
106 | static unsigned char crc1,crc2,buf_ptr; |
111 | static unsigned char crc1,crc2,buf_ptr; |
107 | static unsigned char UartState = 0; |
112 | static unsigned char UartState = 0; |
108 | unsigned char CrcOkay = 0; |
113 | unsigned char CrcOkay = 0; |
109 | 114 | ||
110 | SioTmp = UDR; |
115 | SioTmp = UDR; |
111 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
116 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
112 | if(SioTmp == '\r' && UartState == 2) |
117 | if(SioTmp == '\r' && UartState == 2) |
113 | { |
118 | { |
114 | UartState = 0; |
119 | UartState = 0; |
115 | crc -= RxdBuffer[buf_ptr-2]; |
120 | crc -= RxdBuffer[buf_ptr-2]; |
116 | crc -= RxdBuffer[buf_ptr-1]; |
121 | crc -= RxdBuffer[buf_ptr-1]; |
117 | crc %= 4096; |
122 | crc %= 4096; |
118 | crc1 = '=' + crc / 64; |
123 | crc1 = '=' + crc / 64; |
119 | crc2 = '=' + crc % 64; |
124 | crc2 = '=' + crc % 64; |
120 | CrcOkay = 0; |
125 | CrcOkay = 0; |
121 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
126 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
122 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
127 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
123 | { |
128 | { |
124 | NeuerDatensatzEmpfangen = 1; |
129 | NeuerDatensatzEmpfangen = 1; |
125 | AnzahlEmpfangsBytes = buf_ptr + 1; |
130 | AnzahlEmpfangsBytes = buf_ptr + 1; |
126 | RxdBuffer[buf_ptr] = '\r'; |
131 | RxdBuffer[buf_ptr] = '\r'; |
127 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
132 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
128 | } |
133 | } |
129 | } |
134 | } |
130 | else |
135 | else |
131 | switch(UartState) |
136 | switch(UartState) |
132 | { |
137 | { |
133 | case 0: |
138 | case 0: |
134 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
139 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
135 | buf_ptr = 0; |
140 | buf_ptr = 0; |
136 | RxdBuffer[buf_ptr++] = SioTmp; |
141 | RxdBuffer[buf_ptr++] = SioTmp; |
137 | crc = SioTmp; |
142 | crc = SioTmp; |
138 | break; |
143 | break; |
139 | case 1: // Adresse auswerten |
144 | case 1: // Adresse auswerten |
140 | UartState++; |
145 | UartState++; |
141 | RxdBuffer[buf_ptr++] = SioTmp; |
146 | RxdBuffer[buf_ptr++] = SioTmp; |
142 | crc += SioTmp; |
147 | crc += SioTmp; |
143 | break; |
148 | break; |
144 | case 2: // Eingangsdaten sammeln |
149 | case 2: // Eingangsdaten sammeln |
145 | RxdBuffer[buf_ptr] = SioTmp; |
150 | RxdBuffer[buf_ptr] = SioTmp; |
146 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
151 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
147 | else UartState = 0; |
152 | else UartState = 0; |
148 | crc += SioTmp; |
153 | crc += SioTmp; |
149 | break; |
154 | break; |
150 | default: |
155 | default: |
151 | UartState = 0; |
156 | UartState = 0; |
152 | break; |
157 | break; |
153 | } |
158 | } |
154 | } |
159 | } |
155 | 160 | ||
156 | 161 | ||
157 | // -------------------------------------------------------------------------- |
162 | // -------------------------------------------------------------------------- |
158 | void AddCRC(unsigned int wieviele) |
163 | void AddCRC(unsigned int wieviele) |
159 | { |
164 | { |
160 | unsigned int tmpCRC = 0,i; |
165 | unsigned int tmpCRC = 0,i; |
161 | for(i = 0; i < wieviele;i++) |
166 | for(i = 0; i < wieviele;i++) |
162 | { |
167 | { |
163 | tmpCRC += SendeBuffer[i]; |
168 | tmpCRC += SendeBuffer[i]; |
164 | } |
169 | } |
165 | tmpCRC %= 4096; |
170 | tmpCRC %= 4096; |
166 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
171 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
167 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
172 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
168 | SendeBuffer[i++] = '\r'; |
173 | SendeBuffer[i++] = '\r'; |
169 | UebertragungAbgeschlossen = 0; |
174 | UebertragungAbgeschlossen = 0; |
170 | UDR = SendeBuffer[0]; |
175 | UDR = SendeBuffer[0]; |
171 | } |
176 | } |
172 | 177 | ||
173 | 178 | ||
174 | 179 | ||
175 | // -------------------------------------------------------------------------- |
180 | // -------------------------------------------------------------------------- |
176 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
181 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
177 | { |
182 | { |
178 | va_list ap; |
183 | va_list ap; |
179 | unsigned int pt = 0; |
184 | unsigned int pt = 0; |
180 | unsigned char a,b,c; |
185 | unsigned char a,b,c; |
181 | unsigned char ptr = 0; |
186 | unsigned char ptr = 0; |
182 | 187 | ||
183 | unsigned char *snd = 0; |
188 | unsigned char *snd = 0; |
184 | int len = 0; |
189 | int len = 0; |
185 | 190 | ||
186 | SendeBuffer[pt++] = '#'; // Startzeichen |
191 | SendeBuffer[pt++] = '#'; // Startzeichen |
187 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
192 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
188 | SendeBuffer[pt++] = cmd; // Commando |
193 | SendeBuffer[pt++] = cmd; // Commando |
189 | 194 | ||
190 | va_start(ap, BufferAnzahl); |
195 | va_start(ap, BufferAnzahl); |
191 | if(BufferAnzahl) |
196 | if(BufferAnzahl) |
192 | { |
197 | { |
193 | snd = va_arg(ap, unsigned char*); |
198 | snd = va_arg(ap, unsigned char*); |
194 | len = va_arg(ap, int); |
199 | len = va_arg(ap, int); |
195 | ptr = 0; |
200 | ptr = 0; |
196 | BufferAnzahl--; |
201 | BufferAnzahl--; |
197 | } |
202 | } |
198 | while(len) |
203 | while(len) |
199 | { |
204 | { |
200 | if(len) |
205 | if(len) |
201 | { |
206 | { |
202 | a = snd[ptr++]; |
207 | a = snd[ptr++]; |
203 | len--; |
208 | len--; |
204 | if((!len) && BufferAnzahl) |
209 | if((!len) && BufferAnzahl) |
205 | { |
210 | { |
206 | snd = va_arg(ap, unsigned char*); |
211 | snd = va_arg(ap, unsigned char*); |
207 | len = va_arg(ap, int); |
212 | len = va_arg(ap, int); |
208 | ptr = 0; |
213 | ptr = 0; |
209 | BufferAnzahl--; |
214 | BufferAnzahl--; |
210 | } |
215 | } |
211 | } |
216 | } |
212 | else a = 0; |
217 | else a = 0; |
213 | if(len) |
218 | if(len) |
214 | { |
219 | { |
215 | b = snd[ptr++]; |
220 | b = snd[ptr++]; |
216 | len--; |
221 | len--; |
217 | if((!len) && BufferAnzahl) |
222 | if((!len) && BufferAnzahl) |
218 | { |
223 | { |
219 | snd = va_arg(ap, unsigned char*); |
224 | snd = va_arg(ap, unsigned char*); |
220 | len = va_arg(ap, int); |
225 | len = va_arg(ap, int); |
221 | ptr = 0; |
226 | ptr = 0; |
222 | BufferAnzahl--; |
227 | BufferAnzahl--; |
223 | } |
228 | } |
224 | } |
229 | } |
225 | else b = 0; |
230 | else b = 0; |
226 | if(len) |
231 | if(len) |
227 | { |
232 | { |
228 | c = snd[ptr++]; |
233 | c = snd[ptr++]; |
229 | len--; |
234 | len--; |
230 | if((!len) && BufferAnzahl) |
235 | if((!len) && BufferAnzahl) |
231 | { |
236 | { |
232 | snd = va_arg(ap, unsigned char*); |
237 | snd = va_arg(ap, unsigned char*); |
233 | len = va_arg(ap, int); |
238 | len = va_arg(ap, int); |
234 | ptr = 0; |
239 | ptr = 0; |
235 | BufferAnzahl--; |
240 | BufferAnzahl--; |
236 | } |
241 | } |
237 | } |
242 | } |
238 | else c = 0; |
243 | else c = 0; |
239 | SendeBuffer[pt++] = '=' + (a >> 2); |
244 | SendeBuffer[pt++] = '=' + (a >> 2); |
240 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
245 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
241 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
246 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
242 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
247 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
243 | } |
248 | } |
244 | va_end(ap); |
249 | va_end(ap); |
245 | AddCRC(pt); |
250 | AddCRC(pt); |
246 | } |
251 | } |
247 | 252 | ||
248 | 253 | ||
249 | // -------------------------------------------------------------------------- |
254 | // -------------------------------------------------------------------------- |
250 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
255 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
251 | { |
256 | { |
252 | unsigned char a,b,c,d; |
257 | unsigned char a,b,c,d; |
253 | unsigned char x,y,z; |
258 | unsigned char x,y,z; |
254 | unsigned char ptrIn = 3; // start at begin of data block |
259 | unsigned char ptrIn = 3; // start at begin of data block |
255 | unsigned char ptrOut = 3; |
260 | unsigned char ptrOut = 3; |
256 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
261 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
257 | 262 | ||
258 | while(len) |
263 | while(len) |
259 | { |
264 | { |
260 | a = RxdBuffer[ptrIn++] - '='; |
265 | a = RxdBuffer[ptrIn++] - '='; |
261 | b = RxdBuffer[ptrIn++] - '='; |
266 | b = RxdBuffer[ptrIn++] - '='; |
262 | c = RxdBuffer[ptrIn++] - '='; |
267 | c = RxdBuffer[ptrIn++] - '='; |
263 | d = RxdBuffer[ptrIn++] - '='; |
268 | d = RxdBuffer[ptrIn++] - '='; |
264 | 269 | ||
265 | x = (a << 2) | (b >> 4); |
270 | x = (a << 2) | (b >> 4); |
266 | y = ((b & 0x0f) << 4) | (c >> 2); |
271 | y = ((b & 0x0f) << 4) | (c >> 2); |
267 | z = ((c & 0x03) << 6) | d; |
272 | z = ((c & 0x03) << 6) | d; |
268 | 273 | ||
269 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
274 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
270 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
275 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
271 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
276 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
272 | } |
277 | } |
273 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
278 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
274 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
279 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
275 | 280 | ||
276 | } |
281 | } |
277 | 282 | ||
278 | // -------------------------------------------------------------------------- |
283 | // -------------------------------------------------------------------------- |
279 | void BearbeiteRxDaten(void) |
284 | void BearbeiteRxDaten(void) |
280 | { |
285 | { |
281 | if(!NeuerDatensatzEmpfangen) return; |
286 | if(!NeuerDatensatzEmpfangen) return; |
- | 287 | ||
- | 288 | switch(RxdBuffer[1]) // check for Slave Address |
|
- | 289 | { |
|
282 | 290 | case FC_ADDRESS: // FC special commands |
|
- | 291 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
|
- | 292 | switch(RxdBuffer[2]) |
|
- | 293 | { |
|
- | 294 | case 'K':// Kompasswert |
|
- | 295 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
|
- | 296 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
- | 297 | break; |
|
- | 298 | ||
- | 299 | case 't':// Motortest |
|
- | 300 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
|
- | 301 | while(!UebertragungAbgeschlossen); |
|
- | 302 | SendOutData('T', MeineSlaveAdresse, 0); |
|
- | 303 | PcZugriff = 255; |
|
- | 304 | break; |
|
- | 305 | ||
- | 306 | case 'p': // get PPM Channels |
|
- | 307 | GetPPMChannelAnforderung = 1; |
|
- | 308 | break; |
|
- | 309 | ||
- | 310 | case 'q':// "Get"-Anforderung für Settings |
|
- | 311 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
|
- | 312 | if(pRxData[0] == 0xFF) |
|
- | 313 | { |
|
- | 314 | pRxData[0] = GetActiveParamSetNumber(); |
|
- | 315 | } |
|
- | 316 | else // request active parameter set |
|
- | 317 | { |
|
- | 318 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
|
- | 319 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
|
- | 320 | // load requested parameter set |
|
- | 321 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 322 | } |
|
- | 323 | while(!UebertragungAbgeschlossen); |
|
- | 324 | SendOutData('Q', FC_ADDRESS, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 325 | break; |
|
- | 326 | ||
- | 327 | case 's': // Parametersatz speichern |
|
- | 328 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
|
- | 329 | { |
|
- | 330 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
|
- | 331 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 332 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
|
- | 333 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
|
- | 334 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
|
- | 335 | Piep(GetActiveParamSetNumber()); |
|
- | 336 | while(!UebertragungAbgeschlossen); |
|
- | 337 | SendOutData('S', FC_ADDRESS, 1, &pRxData[0], sizeof(unsigned char)); |
|
- | 338 | } |
|
283 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
- | |
284 | - | ||
285 | switch(RxdBuffer[2]) |
- | |
286 | { |
- | |
287 | case 'K':// Kompasswert |
- | |
288 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
- | |
289 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | |
290 | break; |
- | |
291 | case 'a':// Texte der Analogwerte |
- | |
292 | DebugTextAnforderung = pRxData[0]; |
- | |
293 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
- | |
294 | PcZugriff = 255; |
- | |
295 | break; |
- | |
296 | case 'b': |
- | |
297 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
- | |
298 | ConfirmFrame = ExternControl.Frame; |
- | |
299 | PcZugriff = 255; |
- | |
300 | break; |
- | |
301 | case 'd': // Poll the debug data |
- | |
302 | DebugDataIntervall = pRxData[0] * 10; |
- | |
303 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
- | |
304 | break; |
- | |
305 | - | ||
306 | case 'h':// x-1 Displayzeilen |
- | |
307 | RemoteKeys |= pRxData[0]; |
- | |
308 | if(RemoteKeys) DisplayLine = 0; |
- | |
309 | DebugDisplayAnforderung = 1; |
- | |
310 | break; |
- | |
311 | - | ||
312 | case 'l':// x-1 Displayzeilen |
- | |
313 | MenuePunkt = pRxData[0]; |
- | |
314 | DebugDisplayAnforderung1 = 1; |
- | |
315 | break; |
- | |
316 | case 't':// Motortest |
- | |
317 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
- | |
318 | while(!UebertragungAbgeschlossen); |
- | |
319 | SendOutData('T', MeineSlaveAdresse, 0); |
- | |
320 | PcZugriff = 255; |
- | |
321 | break; |
- | |
322 | case 'v': // Version-Anforderung und Ausbaustufe |
- | |
323 | GetVersionAnforderung = 1; |
- | |
324 | break; |
- | |
325 | case 'g':// |
- | |
326 | GetExternalControl = 1; |
- | |
327 | break; |
- | |
328 | case 'p': // get PPM Channels |
- | |
329 | GetPPMChannelAnforderung = 1; |
- | |
330 | break; |
- | |
331 | case 'q':// "Get"-Anforderung für Settings |
- | |
332 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
- | |
333 | if(pRxData[0] == 0xFF) |
- | |
334 | { |
339 | break; |
335 | pRxData[0] = GetActiveParamSetNumber(); |
340 | |
336 | } |
- | |
337 | else // request active parameter set |
- | |
338 | { |
- | |
339 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
- | |
340 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
- | |
341 | // load requested parameter set |
- | |
342 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
343 | } |
- | |
344 | while(!UebertragungAbgeschlossen); |
- | |
345 | SendOutData('Q', MeineSlaveAdresse, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
346 | break; |
- | |
347 | case 's': // Parametersatz speichern |
- | |
348 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
- | |
349 | { |
- | |
350 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
- | |
351 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
352 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
- | |
353 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
- | |
354 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
- | |
355 | Piep(GetActiveParamSetNumber()); |
- | |
356 | while(!UebertragungAbgeschlossen); |
- | |
357 | SendOutData('S', MeineSlaveAdresse, 1, &pRxData[0], sizeof(unsigned char)); |
- | |
- | 341 | } |
|
- | 342 | break; // case FC_ADDRESS: |
|
- | 343 | ||
358 | } |
344 | default: // any Slave Address |
- | 345 | Decode64(); |
|
- | 346 | switch(RxdBuffer[2]) |
|
- | 347 | { |
|
- | 348 | // 't' comand placed here only for compatibility to BL |
|
- | 349 | case 't':// Motortest |
|
- | 350 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
|
- | 351 | while(!UebertragungAbgeschlossen); |
|
- | 352 | SendOutData('T', MeineSlaveAdresse, 0); |
|
- | 353 | PcZugriff = 255; |
|
- | 354 | break; |
|
- | 355 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
|
- | 356 | case 'K':// Kompasswert |
|
- | 357 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
|
- | 358 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
- | 359 | break; |
|
359 | break; |
360 | |
- | 361 | case 'a':// Texte der Analogwerte |
|
- | 362 | DebugTextAnforderung = pRxData[0]; |
|
- | 363 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
|
- | 364 | PcZugriff = 255; |
|
- | 365 | break; |
|
- | 366 | ||
- | 367 | case 'b': |
|
- | 368 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
|
- | 369 | ConfirmFrame = ExternControl.Frame; |
|
- | 370 | PcZugriff = 255; |
|
- | 371 | break; |
|
- | 372 | case 'd': // Poll the debug data |
|
- | 373 | DebugDataIntervall = pRxData[0] * 10; |
|
- | 374 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
|
- | 375 | break; |
|
- | 376 | ||
- | 377 | case 'h':// x-1 Displayzeilen |
|
- | 378 | RemoteKeys |= pRxData[0]; |
|
- | 379 | if(RemoteKeys) DisplayLine = 0; |
|
- | 380 | DebugDisplayAnforderung = 1; |
|
- | 381 | break; |
|
- | 382 | ||
- | 383 | case 'l':// x-1 Displayzeilen |
|
- | 384 | MenuePunkt = pRxData[0]; |
|
- | 385 | DebugDisplayAnforderung1 = 1; |
|
- | 386 | break; |
|
- | 387 | case 'v': // Version-Anforderung und Ausbaustufe |
|
- | 388 | GetVersionAnforderung = 1; |
|
- | 389 | break; |
|
- | 390 | ||
- | 391 | case 'g':// |
|
- | 392 | GetExternalControl = 1; |
|
- | 393 | break; |
|
360 | 394 | } |
|
361 | } |
395 | break; // default: |
362 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
396 | } |
363 | NeuerDatensatzEmpfangen = 0; |
397 | NeuerDatensatzEmpfangen = 0; |
364 | pRxData = 0; |
398 | pRxData = 0; |
365 | RxDataLen = 0; |
399 | RxDataLen = 0; |
366 | } |
400 | } |
367 | 401 | ||
368 | //############################################################################ |
402 | //############################################################################ |
369 | //Routine für die Serielle Ausgabe |
403 | //Routine für die Serielle Ausgabe |
370 | int uart_putchar (char c) |
404 | int uart_putchar (char c) |
371 | //############################################################################ |
405 | //############################################################################ |
372 | { |
406 | { |
373 | if (c == '\n') |
407 | if (c == '\n') |
374 | uart_putchar('\r'); |
408 | uart_putchar('\r'); |
375 | //Warten solange bis Zeichen gesendet wurde |
409 | //Warten solange bis Zeichen gesendet wurde |
376 | loop_until_bit_is_set(USR, UDRE); |
410 | loop_until_bit_is_set(USR, UDRE); |
377 | //Ausgabe des Zeichens |
411 | //Ausgabe des Zeichens |
378 | UDR = c; |
412 | UDR = c; |
379 | 413 | ||
380 | return (0); |
414 | return (0); |
381 | } |
415 | } |
382 | 416 | ||
383 | // -------------------------------------------------------------------------- |
417 | // -------------------------------------------------------------------------- |
384 | void WriteProgramData(unsigned int pos, unsigned char wert) |
418 | void WriteProgramData(unsigned int pos, unsigned char wert) |
385 | { |
419 | { |
386 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
420 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
387 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
421 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
388 | // Buffer[pos] = wert; |
422 | // Buffer[pos] = wert; |
389 | } |
423 | } |
390 | 424 | ||
391 | //############################################################################ |
425 | //############################################################################ |
392 | //INstallation der Seriellen Schnittstelle |
426 | //INstallation der Seriellen Schnittstelle |
393 | void UART_Init (void) |
427 | void UART_Init (void) |
394 | //############################################################################ |
428 | //############################################################################ |
395 | { |
429 | { |
396 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
430 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
397 | 431 | ||
398 | UCR=(1 << TXEN) | (1 << RXEN); |
432 | UCR=(1 << TXEN) | (1 << RXEN); |
399 | // UART Double Speed (U2X) |
433 | // UART Double Speed (U2X) |
400 | USR |= (1<<U2X); |
434 | USR |= (1<<U2X); |
401 | // RX-Interrupt Freigabe |
435 | // RX-Interrupt Freigabe |
402 | UCSRB |= (1<<RXCIE); |
436 | UCSRB |= (1<<RXCIE); |
403 | // TX-Interrupt Freigabe |
437 | // TX-Interrupt Freigabe |
404 | UCSRB |= (1<<TXCIE); |
438 | UCSRB |= (1<<TXCIE); |
405 | 439 | ||
406 | //Teiler wird gesetzt |
440 | //Teiler wird gesetzt |
407 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
441 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
408 | //UBRR = 33; |
442 | //UBRR = 33; |
409 | //öffnet einen Kanal für printf (STDOUT) |
443 | //öffnet einen Kanal für printf (STDOUT) |
410 | //fdevopen (uart_putchar, 0); |
444 | //fdevopen (uart_putchar, 0); |
411 | //sbi(PORTD,4); |
445 | //sbi(PORTD,4); |
412 | Debug_Timer = SetDelay(DebugDataIntervall); |
446 | Debug_Timer = SetDelay(DebugDataIntervall); |
413 | Kompass_Timer = SetDelay(220); |
447 | Kompass_Timer = SetDelay(220); |
414 | MeineSlaveAdresse = 1; // Flight-Ctrl |
- | |
415 | 448 | ||
416 | VersionInfo.Major = VERSION_MAJOR; |
449 | VersionInfo.Major = VERSION_MAJOR; |
417 | VersionInfo.Minor = VERSION_MINOR; |
450 | VersionInfo.Minor = VERSION_MINOR; |
418 | VersionInfo.Patch = VERSION_PATCH; |
451 | VersionInfo.Patch = VERSION_PATCH; |
419 | VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE; |
452 | VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE; |
420 | 453 | ||
421 | pRxData = 0; |
454 | pRxData = 0; |
422 | RxDataLen = 0; |
455 | RxDataLen = 0; |
423 | } |
456 | } |
424 | 457 | ||
425 | //--------------------------------------------------------------------------------------------- |
458 | //--------------------------------------------------------------------------------------------- |
426 | void DatenUebertragung(void) |
459 | void DatenUebertragung(void) |
427 | { |
460 | { |
428 | if(!UebertragungAbgeschlossen) return; |
461 | if(!UebertragungAbgeschlossen) return; |
429 | 462 | ||
430 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
463 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
431 | { |
464 | { |
432 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
465 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
433 | GetExternalControl = 0; |
466 | GetExternalControl = 0; |
434 | } |
467 | } |
435 | 468 | ||
436 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
469 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
437 | { |
470 | { |
438 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
471 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
439 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
472 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
440 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
473 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
441 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
474 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
442 | SendOutData('k',MeineSlaveAdresse, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
475 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
443 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
476 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
444 | Kompass_Timer = SetDelay(99); |
477 | Kompass_Timer = SetDelay(99); |
445 | } |
478 | } |
446 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
479 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
447 | { |
480 | { |
448 | SendOutData('D',MeineSlaveAdresse, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
481 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
449 | DebugDataAnforderung = 0; |
482 | DebugDataAnforderung = 0; |
450 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
483 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
451 | } |
484 | } |
452 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
485 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
453 | { |
486 | { |
454 | SendOutData('A', MeineSlaveAdresse, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
487 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
455 | DebugTextAnforderung = 255; |
488 | DebugTextAnforderung = 255; |
456 | } |
489 | } |
457 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
490 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
458 | { |
491 | { |
459 | SendOutData('B', MeineSlaveAdresse, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
492 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
460 | ConfirmFrame = 0; |
493 | ConfirmFrame = 0; |
461 | } |
494 | } |
462 | 495 | ||
463 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
496 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
464 | { |
497 | { |
465 | Menu(); |
498 | Menu(); |
466 | SendOutData('H',MeineSlaveAdresse, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
499 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
467 | DisplayLine++; |
500 | DisplayLine++; |
468 | if(DisplayLine >= 4) DisplayLine = 0; |
501 | if(DisplayLine >= 4) DisplayLine = 0; |
469 | DebugDisplayAnforderung = 0; |
502 | DebugDisplayAnforderung = 0; |
470 | } |
503 | } |
471 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
504 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
472 | { |
505 | { |
473 | Menu(); |
506 | Menu(); |
474 | SendOutData('L',MeineSlaveAdresse, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
507 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
475 | DebugDisplayAnforderung1 = 0; |
508 | DebugDisplayAnforderung1 = 0; |
476 | } |
509 | } |
477 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
510 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
478 | { |
511 | { |
479 | SendOutData('V',MeineSlaveAdresse, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
512 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
480 | GetVersionAnforderung = 0; |
513 | GetVersionAnforderung = 0; |
481 | } |
514 | } |
482 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
515 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
483 | { |
516 | { |
484 | SendOutData('P',MeineSlaveAdresse, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
517 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
485 | GetPPMChannelAnforderung = 0; |
518 | GetPPMChannelAnforderung = 0; |
486 | } |
519 | } |
487 | 520 | ||
488 | } |
521 | } |
489 | 522 | ||
490 | 523 |