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| Rev 694 | Rev 732 | ||
|---|---|---|---|
| Line 1027... | Line 1027... | ||
| 1027 | 1027 | ||
| 1028 | 1028 | ||
| 1029 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
1029 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
| 1030 | { |
1030 | { |
| 1031 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
1031 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
| Line 1032... | Line 1032... | ||
| 1032 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0; |
1032 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, crc_Tiny = 0; |
| 1033 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
1033 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
| 1034 | 1034 | ||
| Line 1203... | Line 1203... | ||
| 1203 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1203 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
| 1204 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1204 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
| 1205 | NaviData_Tiny.Altimeter = NaviData.Altimeter; |
1205 | NaviData_Tiny.Altimeter = NaviData.Altimeter; |
| 1206 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1206 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
| 1207 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1207 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
| - | 1208 | NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
|
| 1208 | if(--count_tiny == 0) |
1209 | if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
| 1209 | { |
1210 | { |
| 1210 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1211 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
| 1211 | count_tiny = 200; // just to make sure that it comes sometimes |
1212 | count_tiny = 200; // just to make sure that it comes sometimes |
| - | 1213 | crc_Tiny = NaviData_Tiny.CamCtrlChar; |
|
| 1212 | } |
1214 | } |
| 1213 | break; |
1215 | break; |
| 1214 | default: state = 0; |
1216 | default: state = 0; |
| 1215 | break; |
1217 | break; |
| 1216 | } |
1218 | } |