Rev 51 |
Blame |
Compare with Previous |
Last modification |
View Log
| RSS feed
/*#######################################################################################
MK3Mag 3D-Magnet sensor
!!! THIS IS NOT FREE SOFTWARE !!!
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 05.2008 Holger Buss
// + Thanks to Ilja Fähnrich (P_Latzhalter)
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
/// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
// + In case of doubt please contact: info@MikroKopter.de
// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <stdarg.h>
#include <string.h>
#include "main.h"
#include "uart.h"
#include "timer0.h"
#include "twislave.h"
// slave addresses
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
#define FALSE 0
#define TRUE 1
// keep buffers as small as possible
#define TXD_BUFFER_LEN 100
#define RXD_BUFFER_LEN 30
volatile uint8_t txd_buffer
[TXD_BUFFER_LEN
];
volatile uint8_t rxd_buffer_locked
= FALSE
;
volatile uint8_t rxd_buffer
[RXD_BUFFER_LEN
];
volatile uint8_t txd_complete
= TRUE
;
volatile uint8_t ReceivedBytes
= 0;
volatile uint8_t *pRxData
= 0;
volatile uint8_t RxDataLen
= 0;
// send flags
#define RQST_VERSION_INFO 0x01
#define RQST_DEBUG_DATA 0x02
#define RQST_DEBUG_LABEL 0x04
#define RQST_COMPASS_HEADING 0x08
#define RQST_EXTERN_CTRL 0x10
uint8_t RequestFlags
= 0x00;
uint8_t RequestDebugLabel
= 0;
uint8_t ConfirmFrame
= 0;
uint8_t PC_Connected
= 0;
uint8_t FC_Connected
= 0;
DebugOut_t DebugOut
;
ExternData_t ExternData
;
ExternControl_t ExternControl
;
UART_VersionInfo_t UART_VersionInfo
;
uint16_t DebugData_Timer
;
uint16_t DebugData_Interval
= 500;
const uint8_t ANALOG_LABEL
[32][16] =
{
//1234567890123456
"Magnet X ", //0
"Magnet Y ",
"Magnet Z ",
"RawMagnet X ",
"RawMagnet Y ",
"RawMagnet Z ", //5
"Attitude Nick ",
"Attitude Roll ",
"Magnet X Offset ",
"Magnet X Range ",
"Magnet Y Offset ", //10
"Magnet Y Range ",
"Magnet Z Offset ",
"Magnet Z Range ",
"Calstate ",
"Heading ", //15
"User0 ",
"User1 ",
"Acc X ",
"Acc Y ",
"Acc Z ", //20
"RawAcc X ",
"RawAcc Y ",
"RawAcc Z ",
"Acc X Offset ",
"Acc Y Offset ", //25
"Acc Z Offset ",
"Analog27 ",
"Analog28 ",
"Analog29 ",
"I2C Error ", //30
"I2C Okay "
};
/****************************************************************/
/* Initialization of the USART0 */
/****************************************************************/
void USART0_Init
(void)
{
uint8_t sreg
= SREG
;
uint16_t ubrr
= (uint16_t) ((uint32_t) F_CPU
/(8 * BAUD_RATE
) - 1);
// disable all interrupts before configuration
cli
();
// disable RX-Interrupt
UCSR0B
&= ~
(1 << RXCIE0
);
// disable TX-Interrupt
UCSR0B
&= ~
(1 << TXCIE0
);
// set direction of RXD0 and TXD0 pins
// set RXD0 (PD0) as an input pin tristate
DDRD
&= ~
(1 << DDD0
);
PORTD
&= ~
(1 << PORTD0
);
// set TXD0 (PD1) as an output pin
DDRD
|= (1 << DDD1
);
PORTD
&= ~
(1 << PORTD1
);
// USART0 Baud Rate Register
// set clock divider
UBRR0H
= (uint8_t)(ubrr
>> 8);
UBRR0L
= (uint8_t)ubrr
;
// USART0 Control and Status Register A, B, C
// enable double speed operation
UCSR0A
|= (1 << U2X0
);
// set asynchronous mode
UCSR0C
&= ~
(1 << UMSEL01
);
UCSR0C
&= ~
(1 << UMSEL00
);
// no parity
UCSR0C
&= ~
(1 << UPM01
);
UCSR0C
&= ~
(1 << UPM00
);
// 1 stop bit
UCSR0C
&= ~
(1 << USBS0
);
// 8-bit
UCSR0B
&= ~
(1 << UCSZ02
);
UCSR0C
|= (1 << UCSZ01
);
UCSR0C
|= (1 << UCSZ00
);
// enable receiver and transmitter
UCSR0B
|= (1 << RXEN0
);
UCSR0B
|= (1 << TXEN0
);
// flush receive buffer
while ( UCSR0A
& (1<<RXC0
) ) UDR0
;
// enable RX-Interrupt
UCSR0B
|= (1 << RXCIE0
);
// enable TX-Interrupt
UCSR0B
|= (1 << TXCIE0
);
// initialize the debug timer
DebugData_Timer
= SetDelay
(DebugData_Interval
);
// unlock rxd_buffer
rxd_buffer_locked
= FALSE
;
pRxData
= 0;
RxDataLen
= 0;
// no bytes to send
txd_complete
= TRUE
;
UART_VersionInfo.
SWMajor = VERSION_MAJOR
;
UART_VersionInfo.
SWMinor = VERSION_MINOR
;
UART_VersionInfo.
SWPatch = VERSION_PATCH
;
UART_VersionInfo.
ProtoMajor = VERSION_SERIAL_MAJOR
;
UART_VersionInfo.
ProtoMinor = VERSION_SERIAL_MINOR
;
// Version beim Start ausgeben (nicht schön, aber geht... )
USART0_putchar
('\n');
USART0_putchar
('C');
USART0_putchar
('P');
USART0_putchar
(':');
USART0_putchar
('V');
USART0_putchar
(0x30 + VERSION_MAJOR
);
USART0_putchar
('.');
USART0_putchar
(0x30 + VERSION_MINOR
/10);
USART0_putchar
(0x30 + VERSION_MINOR
%10);
USART0_putchar
('a' + VERSION_PATCH
);
USART0_putchar
('\n');
// restore global interrupt flags
SREG
= sreg
;
}
// ---------------------------------------------------------------------------------
void USART0_EnableTXD
(void)
{
DDRD
|= (1<<DDD1
); // set TXD pin as output
PORTD
&= ~
(1 << PORTD1
);
UCSR0B
|= (1 << TXEN0
); // enable TX in USART
UCSR0B
|= (1 << TXCIE0
); // disable TX-Interrupt
}
// ---------------------------------------------------------------------------------
void USART0_DisableTXD
(void)
{
while(!txd_complete
){ };
UCSR0B
&= ~
(1 << TXCIE0
); // disable TX-Interrupt
UCSR0B
&= ~
(1 << TXEN0
); // disable TXD in USART
DDRD
&= ~
(1<<DDD1
); // set TXD pin as input
PORTD
&= ~
(1 << PORTD1
);
}
/****************************************************************/
/* USART0 transmitter ISR */
/****************************************************************/
ISR
(USART_TX_vect
)
{
static uint16_t ptr_txd_buffer
= 0;
uint8_t tmp_tx
;
if(!txd_complete
) // transmission not completed
{
ptr_txd_buffer
++; // die [0] wurde schon gesendet
tmp_tx
= txd_buffer
[ptr_txd_buffer
];
// if terminating character or end of txd buffer was reached
if((tmp_tx
== '\r') || (ptr_txd_buffer
== TXD_BUFFER_LEN
))
{
ptr_txd_buffer
= 0; // reset txd pointer
txd_complete
= TRUE
; // stop transmission
}
UDR0
= tmp_tx
; // send current byte will trigger this ISR again
}
// transmission completed
else ptr_txd_buffer
= 0;
}
/****************************************************************/
/* USART0 receiver ISR */
/****************************************************************/
ISR
(USART_RX_vect
)
{
static uint16_t crc
;
uint8_t crc1
, crc2
;
uint8_t c
;
static uint8_t ptr_rxd_buffer
= 0;
c
= UDR0
; // catch the received byte
if(rxd_buffer_locked
) return; // if rxd buffer is locked immediately return
// the rxd buffer is unlocked
if((ptr_rxd_buffer
== 0) && (c
== '#')) // if rxd buffer is empty and syncronisation character is received
{
rxd_buffer
[ptr_rxd_buffer
++] = c
; // copy 1st byte to buffer
crc
= c
; // init crc
}
#if 0
else if (ptr_rxd_buffer
== 1) // handle address
{
rxd_buffer
[ptr_rxd_buffer
++] = c
; // copy byte to rxd buffer
crc
+= c
; // update crc
}
#endif
else if (ptr_rxd_buffer
< RXD_BUFFER_LEN
) // collect incomming bytes
{
if(c
!= '\r') // no termination character
{
rxd_buffer
[ptr_rxd_buffer
++] = c
; // copy byte to rxd buffer
crc
+= c
; // update crc
}
else // termination character was received
{
// the last 2 bytes are no subject for checksum calculation
// they are the checksum itself
crc
-= rxd_buffer
[ptr_rxd_buffer
-2];
crc
-= rxd_buffer
[ptr_rxd_buffer
-1];
// calculate checksum from transmitted data
crc
%= 4096;
crc1
= '=' + crc
/ 64;
crc2
= '=' + crc
% 64;
// compare checksum to transmitted checksum bytes
if((crc1
== rxd_buffer
[ptr_rxd_buffer
-2]) && (crc2
== rxd_buffer
[ptr_rxd_buffer
-1]))
{ // checksum valid
rxd_buffer
[ptr_rxd_buffer
] = '\r'; // set termination character
ReceivedBytes
= ptr_rxd_buffer
+ 1;// store number of received bytes
rxd_buffer_locked
= TRUE
; // lock the rxd buffer
// if 2nd byte is an 'R' enable watchdog that will result in an reset
if(rxd_buffer
[2] == 'R') {wdt_enable
(WDTO_250MS
);} // Reset-Commando
}
else
{ // checksum invalid
rxd_buffer_locked
= FALSE
; // unlock rxd buffer
}
ptr_rxd_buffer
= 0; // reset rxd buffer pointer
}
}
else // rxd buffer overrun
{
ptr_rxd_buffer
= 0; // reset rxd buffer
rxd_buffer_locked
= FALSE
; // unlock rxd buffer
}
}
// --------------------------------------------------------------------------
void AddCRC
(uint16_t datalen
)
{
uint16_t tmpCRC
= 0, i
;
for(i
= 0; i
< datalen
; i
++)
{
tmpCRC
+= txd_buffer
[i
];
}
tmpCRC
%= 4096;
txd_buffer
[i
++] = '=' + tmpCRC
/ 64;
txd_buffer
[i
++] = '=' + tmpCRC
% 64;
txd_buffer
[i
++] = '\r';
txd_complete
= FALSE
;
UDR0
= txd_buffer
[0]; // initiates the transmission (continued in the TXD ISR)
}
// --------------------------------------------------------------------------
void SendOutData
(uint8_t cmd
, uint8_t address
, uint8_t numofbuffers
, ...
) // uint8_t *pdata, uint8_t len, ...
{
va_list ap
;
uint16_t pt
= 0;
uint8_t a
,b
,c
;
uint8_t ptr
= 0;
uint8_t *pdata
= 0;
int len
= 0;
txd_buffer
[pt
++] = '#'; // Start character
txd_buffer
[pt
++] = 'a' + address
; // Address (a=0; b=1,...)
txd_buffer
[pt
++] = cmd
; // Command
va_start(ap
, numofbuffers
);
if(numofbuffers
)
{
pdata
= va_arg(ap
, uint8_t*);
len
= va_arg(ap
, int);
ptr
= 0;
numofbuffers
--;
}
while(len
)
{
if(len
)
{
a
= pdata
[ptr
++];
len
--;
if((!len
) && numofbuffers
)
{
pdata
= va_arg(ap
, uint8_t*);
len
= va_arg(ap
, int);
ptr
= 0;
numofbuffers
--;
}
}
else a
= 0;
if(len
)
{
b
= pdata
[ptr
++];
len
--;
if((!len
) && numofbuffers
)
{
pdata
= va_arg(ap
, uint8_t*);
len
= va_arg(ap
, int);
ptr
= 0;
numofbuffers
--;
}
}
else b
= 0;
if(len
)
{
c
= pdata
[ptr
++];
len
--;
if((!len
) && numofbuffers
)
{
pdata
= va_arg(ap
, uint8_t*);
len
= va_arg(ap
, int);
ptr
= 0;
numofbuffers
--;
}
}
else c
= 0;
txd_buffer
[pt
++] = '=' + (a
>> 2);
txd_buffer
[pt
++] = '=' + (((a
& 0x03) << 4) | ((b
& 0xf0) >> 4));
txd_buffer
[pt
++] = '=' + (((b
& 0x0f) << 2) | ((c
& 0xc0) >> 6));
txd_buffer
[pt
++] = '=' + ( c
& 0x3f);
}
va_end(ap
);
AddCRC
(pt
); // add checksum after data block and initates the transmission
}
// --------------------------------------------------------------------------
void Decode64
(void)
{
uint8_t a
,b
,c
,d
;
uint8_t x
,y
,z
;
uint8_t ptrIn
= 3;
uint8_t ptrOut
= 3;
uint8_t len
= ReceivedBytes
- 6;
while(len
)
{
a
= rxd_buffer
[ptrIn
++] - '=';
b
= rxd_buffer
[ptrIn
++] - '=';
c
= rxd_buffer
[ptrIn
++] - '=';
d
= rxd_buffer
[ptrIn
++] - '=';
//if(ptrIn > ReceivedBytes - 3) break;
x
= (a
<< 2) | (b
>> 4);
y
= ((b
& 0x0f) << 4) | (c
>> 2);
z
= ((c
& 0x03) << 6) | d
;
if(len
--) rxd_buffer
[ptrOut
++] = x
; else break;
if(len
--) rxd_buffer
[ptrOut
++] = y
; else break;
if(len
--) rxd_buffer
[ptrOut
++] = z
; else break;
}
pRxData
= &rxd_buffer
[3];
RxDataLen
= ptrOut
- 3;
}
// --------------------------------------------------------------------------
int16_t USART0_putchar
(int8_t c
)
{
// if tx is not enabled return immediatly
if(!(UCSR0B
& (1 << TXEN0
))) return (0);
if (c
== '\n') USART0_putchar
('\r');
// wait until previous character was send
loop_until_bit_is_set
(UCSR0A
, UDRE0
);
// send character
UDR0
= c
;
return (0);
}
// --------------------------------------------------------------------------
void USART0_ProcessRxData
(void)
{
// if data in the rxd buffer are not locked immediately return
if(!rxd_buffer_locked
) return;
Decode64
(); // decode data block in rxd_buffer
switch(rxd_buffer
[1]-'a') // check Slave Address
{
case MK3MAG_ADDRESS
:
switch(rxd_buffer
[2]) // check for CmdID
{
case 'w': // old style
case 'k': // Attitude info from FC
memcpy(&ExternData
, (uint8_t*)pRxData
, sizeof(ExternData
));
RequestFlags
|= RQST_COMPASS_HEADING
;
AttitudeSource
= ATTITUDE_SOURCE_UART
;
Orientation
= ExternData.
Orientation;
FC_Connected
= 255;
break;
default:
// unsupported command
break;
} // case MK3MAG_ADDRESS:
default: // any Slave Adress
switch(rxd_buffer
[2]) // check for CmdID
{
case 'b': // extern control
memcpy(&ExternControl
, (uint8_t*)pRxData
, sizeof(ExternControl
));
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
// use right arrow at display for switching the calstate
if(ExternControl.
RemoteButtons & KEY2
)
{
ExternData.
CalState++;
if(ExternData.
CalState == 6) ExternData.
CalState = 0;
}
ConfirmFrame
= ExternControl.
Frame;
PC_Connected
= 255;
break;
case 'd': // request for the debug data
DebugData_Interval
= (uint16_t) pRxData
[0] * 10;
if(DebugData_Interval
>0) RequestFlags
|= RQST_DEBUG_DATA
;
PC_Connected
= 255;
break;
case 'v': // request version and board release
RequestFlags
|= RQST_VERSION_INFO
;
PC_Connected
= 255;
break;
case 'h': // request lcd data
PC_Connected
= 255;
break;
case 'a':// Labels of the Analog Debug outputs
RequestDebugLabel
= pRxData
[0];
RequestFlags
|= RQST_DEBUG_LABEL
;
PC_Connected
= 255;
break;
case 'g':// get extern control data
RequestFlags
|= RQST_EXTERN_CTRL
;
PC_Connected
= 255;
break;
default:
// unsupported command
break;
}
break; // default:
}
// unlock the rxd buffer after processing
pRxData
= 0;
RxDataLen
= 0;
rxd_buffer_locked
= FALSE
;
}
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData
(void)
{
if(!(UCSR0B
& (1 << TXEN0
))) return;
if(!txd_complete
) return;
if((RequestFlags
& RQST_DEBUG_LABEL
) && txd_complete
)
{
SendOutData
('A', MK3MAG_ADDRESS
, 2, (uint8_t *)&RequestDebugLabel
, sizeof(RequestDebugLabel
), (uint8_t *) ANALOG_LABEL
[RequestDebugLabel
], 16);
RequestDebugLabel
= 0xFF;
RequestFlags
&= ~RQST_DEBUG_LABEL
;
}
if(ConfirmFrame
&& txd_complete
)
{
SendOutData
('B', MK3MAG_ADDRESS
, 1, (uint8_t *) &ConfirmFrame
, sizeof(ConfirmFrame
));
ConfirmFrame
= 0;
}
if(( (DebugData_Interval
>0 && CheckDelay
(DebugData_Timer
)) || (RequestFlags
& RQST_DEBUG_DATA
)) && txd_complete
)
{
SetDebugValues
();
SendOutData
('D', MK3MAG_ADDRESS
, 1, (uint8_t *) &DebugOut
, sizeof(DebugOut
));
DebugData_Timer
= SetDelay
(DebugData_Interval
);
RequestFlags
&= ~RQST_DEBUG_DATA
;
}
if((RequestFlags
& RQST_EXTERN_CTRL
) && txd_complete
)
{
SendOutData
('G', MK3MAG_ADDRESS
, 1, (uint8_t *) &ExternControl
,sizeof(ExternControl
));
RequestFlags
&= ~RQST_EXTERN_CTRL
;
}
if((RequestFlags
& RQST_COMPASS_HEADING
) && txd_complete
)
{
SendOutData
('K', FC_ADDRESS
, 1, (uint8_t *) &I2C_Heading
, sizeof(I2C_Heading
)); // send compass heading to FC
RequestFlags
&= ~RQST_COMPASS_HEADING
;
}
if((RequestFlags
& RQST_VERSION_INFO
) && txd_complete
)
{
SendOutData
('V', MK3MAG_ADDRESS
, 1, (uint8_t *) &UART_VersionInfo
, sizeof(UART_VersionInfo
));
RequestFlags
&= ~RQST_VERSION_INFO
;
}
}
void USART0_Print
(int8_t *msg
)
{
uint8_t i
= 0;
while(msg
[i
] != 0)
{
USART0_putchar
(msg
[i
++]);
}
}