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Line 119... | Line 119... | ||
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 1ms |
123 | u32 NaviData_Timer; |
123 | u32 NaviData_Timer; |
Line 124... | Line 124... | ||
124 | u32 NaviData_Interval = 1000; // in 1ms |
124 | u32 NaviData_Interval = 100; // in 1ms |
Line 394... | Line 394... | ||
394 | txd_buffer[i++] = '=' + tmpCRC % 64; |
394 | txd_buffer[i++] = '=' + tmpCRC % 64; |
395 | txd_buffer[i++] = '\r'; |
395 | txd_buffer[i++] = '\r'; |
Line 396... | Line 396... | ||
396 | 396 | ||
397 | ptr_txd_buffer = 0; |
397 | ptr_txd_buffer = 0; |
398 | txd_complete = FALSE; |
398 | txd_complete = FALSE; |
399 | UART_SendData(UART1,txd_buffer[ptr_txd_buffer++]); // send first byte, to be continued in the txd irq |
399 | UART_SendData(UART1, txd_buffer[ptr_txd_buffer++]); // send first byte, to be continued in the txd irq |
Line 400... | Line 400... | ||
400 | } |
400 | } |
Line 718... | Line 718... | ||
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)); |
|
- | 725 | #endif |
|
723 | NaviData_Timer = SetDelay(NaviData_Interval); |
726 | NaviData_Timer = SetDelay(NaviData_Interval); |
724 | Request_NaviData = FALSE; |
727 | Request_NaviData = FALSE; |
725 | } |
728 | } |
726 | if(Request_ErrorMessage && txd_complete) |
729 | if(Request_ErrorMessage && txd_complete) |
727 | { |
730 | { |