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Rev 247 | Rev 250 | ||
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Line 67... | Line 67... | ||
67 | #include "uart1.h" |
67 | #include "uart1.h" |
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" |
- | |
73 | #include "compass.h" |
72 | #include "compass.h" |
74 | #include "waypoints.h" |
73 | #include "waypoints.h" |
75 | #include "mkprotocol.h" |
74 | #include "mkprotocol.h" |
76 | #include "params.h" |
75 | #include "params.h" |
77 | #include "fifo.h" |
76 | #include "fifo.h" |
Line 737... | Line 736... | ||
737 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
736 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
738 | { |
737 | { |
739 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
738 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
740 | UART1_Request_ErrorMessage = FALSE; |
739 | UART1_Request_ErrorMessage = FALSE; |
741 | } |
740 | } |
- | 741 | #ifdef DEBUG // only include functions if DEBUG is defined |
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- | 742 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
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- | 743 | { |
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- | 744 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
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- | 745 | //SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
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- | 746 | SendDebugOutput = 0; |
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- | 747 | } |
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- | 748 | #endif |
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- | 749 | ||
742 | UART1_Transmit(); // output pending bytes in tx buffer |
750 | UART1_Transmit(); // output pending bytes in tx buffer |
743 | } |
751 | } |