| 75,7 → 75,7 |
|---|
| #include "mkprotocol.h" |
| #include "params.h" |
| #include "fifo.h" |
| #include "debug.h" |
| #include "debug.h" |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| 105,7 → 105,7 |
|---|
| |
| #ifdef FOLLOW_ME |
| #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
| u8 UART1_FollowMe_Timer = 0; |
| u32 UART1_FollowMe_Timer = 0; |
| Point_t FollowMe; |
| #endif |
| |
| 361,10 → 361,10 |
|---|
| u8 c; |
| // if rx buffer is not locked |
| if(UART1_rx_buffer.Locked == FALSE) |
| { |
| { |
| //collect data from primary rx fifo |
| while(fifo_get(&UART1_rx_fifo, &c)) |
| { |
| { |
| // break if complete frame is collected |
| if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
| } |
| 410,10 → 410,10 |
|---|
| pPoint = (Point_t*)SerialMsg.pData; |
| if(pPoint->Position.Status == NEWDATA) |
| { |
| //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
| //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
| //pPoint->Index = 1; // must be one after empty list |
| PointList_SetAt(pPoint); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| if(GPS_pWaypoint != NULL) // if new WP exist |
| { // update WP hold time stamp immediately! |
| 465,12 → 465,12 |
|---|
| { |
| PointList_Clear(); |
| GPS_pWaypoint = PointList_WPBegin(); |
| UART1_Request_WritePoint = 0; // return new point count |
| UART1_Request_WritePoint = 0; // return new point count |
| } |
| else |
| { // update WP in list at index |
| UART1_Request_WritePoint = PointList_SetAt(pPoint); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| if(UART1_Request_WritePoint == pPoint->Index) |
| { |
| BeepTime = 500; |
| 621,8 → 621,8 |
|---|
| tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| #ifdef FOLLOW_ME |
| if(TransmitAlsoToFC) |
| { |
| if(TransmitAlsoToFC) |
| { |
| UART_SendData(UART2, tmp_tx); // put character to txd fifo |
| } |
| #endif |
| 659,7 → 659,7 |
|---|
| |
| if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| s16 ParamValue; |
| s16 ParamValue; |
| NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
| UART1_Request_Parameter = FALSE; |
| 764,7 → 764,7 |
|---|
| else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
| { |
| { |
| TransmitAlsoToFC = 1; |
| // update FollowMe content |
| FollowMe.Position.Longitude = GPSData.Position.Longitude; |
| 797,7 → 797,7 |
|---|
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| #endif |
| UART1_Transmit(); // output pending bytes in tx buffer |
| } |
| |