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| Rev 49 | Rev 54 | ||
|---|---|---|---|
| Line 117... | Line 117... | ||
| 117 | UART_VersionInfo_t UART_VersionInfo; |
117 | UART_VersionInfo_t UART_VersionInfo; |
| 118 | NaviData_t NaviData; |
118 | NaviData_t NaviData; |
| 119 | Waypoint_t FollowMe; |
119 | Waypoint_t FollowMe; |
| Line 120... | Line 120... | ||
| 120 | 120 | ||
| 121 | u32 DebugData_Timer; |
121 | u32 DebugData_Timer; |
| 122 | u32 DebugData_Interval = 1000; // in 1ms |
122 | u32 DebugData_Interval = 1000; // in ms |
| 123 | u32 NaviData_Timer; |
123 | u32 NaviData_Timer; |
| Line 124... | Line 124... | ||
| 124 | u32 NaviData_Interval = 100; // in 1ms |
124 | u32 NaviData_Interval = 1000; // in ms |
| Line 222... | Line 222... | ||
| 222 | VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
222 | VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
| 223 | // enable the uart 1 IRQ |
223 | // enable the uart 1 IRQ |
| 224 | VIC_ITCmd(UART1_ITLine, ENABLE); |
224 | VIC_ITCmd(UART1_ITLine, ENABLE); |
| 225 | // initialize the debug timer |
225 | // initialize the debug timer |
| 226 | DebugData_Timer = SetDelay(DebugData_Interval); |
226 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 227 | NaviData_Timer = SetDelay(NaviData_Interval+500); |
227 | NaviData_Timer = SetDelay(NaviData_Interval)+500; |
| 228 | // unlock rxd_buffer |
228 | // unlock rxd_buffer |
| 229 | rxd_buffer_locked = FALSE; |
229 | rxd_buffer_locked = FALSE; |
| 230 | pRxData = NULL; |
230 | pRxData = NULL; |
| 231 | RxDataLen = 0; |
231 | RxDataLen = 0; |
| 232 | // no bytes to send |
232 | // no bytes to send |
| Line 717... | Line 717... | ||
| 717 | Request_VerInfo = FALSE; |
717 | Request_VerInfo = FALSE; |
| 718 | } |
718 | } |
| 719 | if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
719 | if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
| 720 | { |
720 | { |
| 721 | NaviData.Errorcode = ErrorCode; |
721 | NaviData.Errorcode = ErrorCode; |
| 722 | SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
722 | SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 723 | #ifdef SEND_MKOSD_DATA |
- | |
| 724 | if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
723 | if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 725 | #endif |
- | |
| 726 | NaviData_Timer = SetDelay(NaviData_Interval); |
724 | NaviData_Timer = SetDelay(NaviData_Interval); |
| 727 | Request_NaviData = FALSE; |
725 | Request_NaviData = FALSE; |
| 728 | } |
726 | } |
| 729 | if(Request_ErrorMessage && txd_complete) |
727 | if(Request_ErrorMessage && txd_complete) |
| 730 | { |
728 | { |