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Line 68... | Line 68... | ||
68 | #include "uart2.h" |
68 | #include "uart2.h" |
69 | #include "timer1.h" |
69 | #include "timer1.h" |
70 | #include "timer2.h" |
70 | #include "timer2.h" |
71 | #include "analog.h" |
71 | #include "analog.h" |
72 | #include "main.h" |
72 | #include "main.h" |
- | 73 | #include "compass.h" |
|
73 | #include "waypoints.h" |
74 | #include "waypoints.h" |
74 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
75 | #include "params.h" |
76 | #include "params.h" |
76 | #include "fifo.h" |
77 | #include "fifo.h" |
Line 676... | Line 677... | ||
676 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
677 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
677 | UART1_Request_NaviData = FALSE; |
678 | UART1_Request_NaviData = FALSE; |
678 | } |
679 | } |
679 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
680 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
680 | { |
681 | { |
- | 682 | DebugOut.Analog[24] = MagVector.X; |
|
- | 683 | DebugOut.Analog[25] = MagVector.Y; |
|
- | 684 | DebugOut.Analog[26] = MagVector.Z; |
|
681 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
682 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
686 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
683 | UART1_Request_DebugData = FALSE; |
687 | UART1_Request_DebugData = FALSE; |
684 | } |
688 | } |
685 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
689 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |