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| Rev 64 | Rev 65 | ||
|---|---|---|---|
| Line 531... | Line 531... | ||
| 531 | { |
531 | { |
| 532 | case 'e': // request for the text of the error status |
532 | case 'e': // request for the text of the error status |
| 533 | Request_ErrorMessage = TRUE; |
533 | Request_ErrorMessage = TRUE; |
| 534 | break; |
534 | break; |
| Line 535... | Line -... | ||
| 535 | - | ||
| 536 | case 'o': // request for navigation information |
- | |
| 537 | NaviData_Interval = (u32) pRxData[0] * 10; |
- | |
| 538 | if(NaviData_Interval > 0) Request_NaviData = TRUE; |
- | |
| 539 | break; |
- | |
| 540 | 535 | ||
| 541 | case 's':// new target position |
536 | case 's':// new target position |
| 542 | pWaypoint = (Waypoint_t*)&pRxData[0]; |
537 | pWaypoint = (Waypoint_t*)&pRxData[0]; |
| 543 | BeepTime = 300; |
538 | BeepTime = 300; |
| 544 | if(pWaypoint->Position.Status == NEWDATA) |
539 | if(pWaypoint->Position.Status == NEWDATA) |
| Line 590... | Line 585... | ||
| 590 | 585 | ||
| 591 | default: |
586 | default: |
| 592 | // unsupported command recieved |
587 | // unsupported command recieved |
| 593 | break; |
588 | break; |
| 594 | } // case NC_ADDRESS |
- | |
| - | 589 | } // case NC_ADDRESS |
|
| Line 595... | Line 590... | ||
| 595 | 590 | // "break;" is missing here to fall thru to the common commands |
|
| Line 596... | Line 591... | ||
| 596 | 591 | ||
| 597 | default: // and any other Slave Address |
592 | default: // and any other Slave Address |
| Line 738... | Line 733... | ||
| 738 | Request_VerInfo = FALSE; |
733 | Request_VerInfo = FALSE; |
| 739 | } |
734 | } |
| 740 | if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
735 | if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
| 741 | { |
736 | { |
| 742 | NaviData.Errorcode = ErrorCode; |
737 | NaviData.Errorcode = ErrorCode; |
| 743 | SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
738 | SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 744 | if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
739 | if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 745 | NaviData_Timer = SetDelay(NaviData_Interval); |
740 | NaviData_Timer = SetDelay(NaviData_Interval); |
| 746 | Request_NaviData = FALSE; |
741 | Request_NaviData = FALSE; |
| 747 | } |
742 | } |
| 748 | if(Request_ErrorMessage && txd_complete) |
743 | if(Request_ErrorMessage && txd_complete) |
| 749 | { |
744 | { |
| Line 767... | Line 762... | ||
| 767 | } |
762 | } |
| Line 768... | Line 763... | ||
| 768 | 763 | ||
| 769 | if(Request_NewWaypoint && txd_complete) |
764 | if(Request_NewWaypoint && txd_complete) |
| 770 | { |
765 | { |
| 771 | u8 WPNumber = WPList_GetCount(); |
766 | u8 WPNumber = WPList_GetCount(); |
| 772 | SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
767 | SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 773 | Request_NewWaypoint = FALSE; |
768 | Request_NewWaypoint = FALSE; |
| Line 774... | Line 769... | ||
| 774 | } |
769 | } |