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| Rev 54 | Rev 61 | ||
|---|---|---|---|
| Line 90... | Line 90... | ||
| 90 | u8 Request_DebugLabel = 255; |
90 | u8 Request_DebugLabel = 255; |
| 91 | u8 Request_ChannelOnly = FALSE; |
91 | u8 Request_ChannelOnly = FALSE; |
| 92 | u8 Request_NaviData = FALSE; |
92 | u8 Request_NaviData = FALSE; |
| 93 | u8 Request_ErrorMessage = FALSE; |
93 | u8 Request_ErrorMessage = FALSE; |
| 94 | u8 Request_NewWaypoint = FALSE; |
94 | u8 Request_NewWaypoint = FALSE; |
| - | 95 | u8 Request_3DData = FALSE; |
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| Line 95... | Line 96... | ||
| 95 | 96 | ||
| Line 96... | Line 97... | ||
| 96 | u8 DisplayLine = 0; |
97 | u8 DisplayLine = 0; |
| Line 115... | Line 116... | ||
| 115 | DebugOut_t DebugOut; |
116 | DebugOut_t DebugOut; |
| 116 | ExternControl_t ExternControl; |
117 | ExternControl_t ExternControl; |
| 117 | UART_VersionInfo_t UART_VersionInfo; |
118 | UART_VersionInfo_t UART_VersionInfo; |
| 118 | NaviData_t NaviData; |
119 | NaviData_t NaviData; |
| 119 | Waypoint_t FollowMe; |
120 | Waypoint_t FollowMe; |
| - | 121 | Data3D_t Data3D; |
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| Line 120... | Line 122... | ||
| 120 | 122 | ||
| 121 | u32 DebugData_Timer; |
123 | u32 DebugData_Timer; |
| 122 | u32 DebugData_Interval = 1000; // in ms |
124 | u32 DebugData_Interval = 1000; // in ms |
| 123 | u32 NaviData_Timer; |
125 | u32 NaviData_Timer; |
| 124 | u32 NaviData_Interval = 1000; // in ms |
- | |
| 125 | - | ||
| - | 126 | u32 NaviData_Interval = 1000; // in ms |
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| - | 127 | u32 Data3D_Timer = 0; |
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| Line 126... | Line 128... | ||
| 126 | 128 | u32 Intervall3D = 0; |
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| Line 127... | Line 129... | ||
| 127 | 129 | ||
| 128 | static u16 ptr_txd_buffer = 0; |
130 | static u16 ptr_txd_buffer = 0; |
| Line 137... | Line 139... | ||
| 137 | " ", |
139 | " ", |
| 138 | " ", //5 |
140 | " ", //5 |
| 139 | " ", |
141 | " ", |
| 140 | " ", |
142 | " ", |
| 141 | " ", |
143 | " ", |
| 142 | " ", |
- | |
| 143 | " ", //10 |
- | |
| 144 | "GPS Data ", |
144 | "GPS Data ", |
| - | 145 | "CompassHeading ", //10 |
|
| - | 146 | "GyroHeading ", |
|
| 145 | "SPI Error ", |
147 | "SPI Error ", |
| 146 | "SPI Okay ", |
148 | "SPI Okay ", |
| 147 | "I2C Error ", |
149 | "I2C Error ", |
| 148 | "I2C Okay ", //15 |
150 | "I2C Okay ", //15 |
| 149 | " ",// "FC_Kalman_K ", |
151 | " ",// "FC_Kalman_K ", |
| Line 153... | Line 155... | ||
| 153 | " ",// "MAXDrift ", //20 |
155 | " ",// "MAXDrift ", //20 |
| 154 | "N_Speed ", |
156 | "N_Speed ", |
| 155 | "E_Speed ", |
157 | "E_Speed ", |
| 156 | " ",// "KalmDist_N ", |
158 | " ",// "KalmDist_N ", |
| 157 | " ",// "KalmDist_E ", |
159 | " ",// "KalmDist_E ", |
| 158 | "GyroHeading ",//25 |
160 | " ",//25 |
| 159 | "CompassHeading ", |
161 | " ", |
| 160 | "Distance N ", |
162 | "Distance N ", |
| 161 | "Distance E ", |
163 | "Distance E ", |
| 162 | "GPS_Nick ", |
164 | "GPS_Nick ", |
| 163 | "GPS_Roll ", //30 |
165 | "GPS_Roll ", //30 |
| 164 | "Used_Sats " |
166 | "Used_Sats " |
| Line 604... | Line 606... | ||
| 604 | case 'b': // submit extern control |
606 | case 'b': // submit extern control |
| 605 | memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl)); |
607 | memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl)); |
| 606 | ConfirmFrame = ExternControl.Frame; |
608 | ConfirmFrame = ExternControl.Frame; |
| 607 | break; |
609 | break; |
| Line -... | Line 610... | ||
| - | 610 | ||
| - | 611 | case 'c': // request for debug data; |
|
| - | 612 | Intervall3D = (u32) pRxData[0] * 10; |
|
| - | 613 | if(Intervall3D > 0) Request_3DData = TRUE; |
|
| - | 614 | break; |
|
| 608 | 615 | ||
| 609 | case 'd': // request for debug data; |
616 | case 'd': // request for debug data; |
| 610 | DebugData_Interval = (u32) pRxData[0] * 10; |
617 | DebugData_Interval = (u32) pRxData[0] * 10; |
| 611 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
618 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
| Line 690... | Line 697... | ||
| 690 | { |
697 | { |
| 691 | SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
698 | SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 692 | DebugData_Timer = SetDelay(DebugData_Interval); |
699 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 693 | Request_DebugData = FALSE; |
700 | Request_DebugData = FALSE; |
| 694 | } |
701 | } |
| - | 702 | ||
| - | 703 | if(((Intervall3D>0 && CheckDelay(Data3D_Timer)) || Request_3DData) && txd_complete) |
|
| - | 704 | { |
|
| - | 705 | SendOutData('C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
|
| - | 706 | Data3D_Timer = SetDelay(Intervall3D); |
|
| - | 707 | Request_3DData = FALSE; |
|
| - | 708 | } |
|
| - | 709 | ||
| 695 | if(Request_ExternalControl && txd_complete) |
710 | if(Request_ExternalControl && txd_complete) |
| 696 | { |
711 | { |
| 697 | SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
712 | SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 698 | Request_ExternalControl = FALSE; |
713 | Request_ExternalControl = FALSE; |
| 699 | } |
714 | } |