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| Rev 251 | Rev 254 | ||
|---|---|---|---|
| Line 73... | Line 73... | ||
| 73 | #include "compass.h" |
73 | #include "compass.h" |
| 74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
| 75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
| 76 | #include "params.h" |
76 | #include "params.h" |
| 77 | #include "fifo.h" |
77 | #include "fifo.h" |
| - | 78 | #include "debug.h" |
|
| Line 78... | Line 79... | ||
| 78 | 79 | ||
| 79 | #define FALSE 0 |
80 | #define FALSE 0 |
| Line 80... | Line 81... | ||
| 80 | #define TRUE 1 |
81 | #define TRUE 1 |
| Line 738... | Line 739... | ||
| 738 | { |
739 | { |
| 739 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
740 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 740 | UART1_Request_ErrorMessage = FALSE; |
741 | UART1_Request_ErrorMessage = FALSE; |
| 741 | } |
742 | } |
| 742 | #ifdef DEBUG // only include functions if DEBUG is defined |
743 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 743 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
744 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
| 744 | { |
745 | { |
| 745 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
746 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
| 746 | //SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
- | |
| 747 | SendDebugOutput = 0; |
747 | SendDebugOutput = 0; |
| 748 | } |
748 | } |
| 749 | #endif |
749 | #endif |
| Line 750... | Line 750... | ||
| 750 | 750 | ||
| 751 | UART1_Transmit(); // output pending bytes in tx buffer |
751 | UART1_Transmit(); // output pending bytes in tx buffer |