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| Rev 214 | Rev 215 | ||
|---|---|---|---|
| Line 80... | Line 80... | ||
| 80 | 80 | ||
| 81 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
81 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| Line 82... | Line 82... | ||
| 82 | u32 UART1_AboTimeOut = 0; |
82 | u32 UART1_AboTimeOut = 0; |
| 83 | - | ||
| 84 | u8 UART1_Request_VersionInfo = FALSE; |
83 | |
| 85 | u8 UART1_Request_SendFollowMe = FALSE; |
84 | u8 UART1_Request_VersionInfo = FALSE; |
| 86 | u8 UART1_Request_ExternalControl= FALSE; |
85 | u8 UART1_Request_ExternalControl= FALSE; |
| 87 | u8 UART1_Request_Display = FALSE; |
86 | u8 UART1_Request_Display = FALSE; |
| 88 | u8 UART1_Request_Display1 = FALSE; |
87 | u8 UART1_Request_Display1 = FALSE; |
| Line 162... | Line 161... | ||
| 162 | 161 | ||
| 163 | DebugOut_t DebugOut; |
162 | DebugOut_t DebugOut; |
| 164 | ExternControl_t ExternControl; |
163 | ExternControl_t ExternControl; |
| 165 | UART_VersionInfo_t UART_VersionInfo; |
164 | UART_VersionInfo_t UART_VersionInfo; |
| 166 | NaviData_t NaviData; |
- | |
| 167 | Waypoint_t FollowMe; |
165 | NaviData_t NaviData; |
| 168 | Data3D_t Data3D; |
166 | Data3D_t Data3D; |
| Line 169... | Line 167... | ||
| 169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| 170 | 168 | ||
| Line 736... | Line 734... | ||
| 736 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
734 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 737 | { |
735 | { |
| 738 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
736 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 739 | UART1_Request_ErrorMessage = FALSE; |
737 | UART1_Request_ErrorMessage = FALSE; |
| 740 | } |
738 | } |
| 741 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
- | |
| 742 | { |
- | |
| 743 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
- | |
| 744 | FollowMe.Position.Status = NEWDATA; |
- | |
| 745 | FollowMe.Heading = -1; |
- | |
| 746 | FollowMe.ToleranceRadius = 1; |
- | |
| 747 | FollowMe.HoldTime = 60; |
- | |
| 748 | FollowMe.Event_Flag = 0; |
- | |
| 749 | FollowMe.Index = 1; |
- | |
| 750 | FollowMe.reserve[0] = 0; // reserve |
- | |
| 751 | FollowMe.reserve[1] = 0; // reserve |
- | |
| 752 | FollowMe.reserve[2] = 0; // reserve |
- | |
| 753 | FollowMe.reserve[3] = 0; // reserve |
- | |
| 754 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
- | |
| 755 | UART1_Request_SendFollowMe = FALSE; |
- | |
| 756 | } |
- | |
| 757 | UART1_Transmit(); // output pending bytes in tx buffer |
739 | UART1_Transmit(); // output pending bytes in tx buffer |
| 758 | } |
740 | } |