| 83,6 → 83,7 |
|---|
| #include "sdc.h" |
| #include "uart1.h" |
| #include "canbus.h" |
| #include "triggerlog.h" |
| |
| |
| #ifdef FOLLOW_ME |
| 161,7 → 162,6 |
|---|
| if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
| else DebugOut.StatusRed &= ~AMPEL_NC; |
| |
| |
| if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
| { |
| LED_RED_ON; |
| 288,8 → 288,6 |
|---|
| UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
| newErrorCode = 5; |
| StopNavigation = 1; |
| //UBX_Setup(); |
| //UBX_Timeout = SetDelay(500); |
| } |
| else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
| { |
| 320,6 → 318,19 |
|---|
| sprintf(ErrorMSG,"FC: Carefree Error"); |
| newErrorCode = 20; |
| } |
| else if(FC.BAT_Voltage < 45) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR:Power Supply"); |
| newErrorCode = 41; |
| } |
| else |
| if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR: 5V RC-Supply"); |
| newErrorCode = 40; |
| } |
| else if(FC.Error[1] & FC_ERROR1_PPM) |
| { |
| LED_RED_ON; |
| 424,6 → 435,13 |
|---|
| sprintf(ErrorMSG,"ERR: Canbus"); |
| newErrorCode = 39; |
| } |
| else |
| if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ACC not calib."); |
| newErrorCode = 42; |
| } |
| else // no error occured |
| { |
| StopNavigation = 0; |
| 520,6 → 538,7 |
|---|
| { |
| if(CheckDelay(TimerCheckError)) |
| { |
| if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; else BlitzSchuhConnected = 0; |
| TimerCheckError = SetDelay(1000); |
| if(CompassValueErrorCount) CompassValueErrorCount--; |
| if(++count5sec == 5) |
| 621,8 → 640,6 |
|---|
| // initialize logging (needs settings) |
| Logging_Init(); |
| |
| if(UART_VersionInfo.HWMajor < 30) IamMaster = SLAVE; else IamMaster = MASTER; |
| |
| //UART_VersionInfo.HWMajor = 30; |
| LED_GRN_ON; |
| TimerCheckError = SetDelay(3000); |
| 636,9 → 653,6 |
|---|
| |
| Compass_Init(); |
| |
| UBX_Setup(); // inits the GPS-Module via ubx |
| GPS_Init(); |
| |
| #ifdef FOLLOW_ME |
| TransmitAlsoToFC = 1; |
| UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 653,7 → 667,11 |
|---|
| LED_RED_ON; |
| } |
| #endif |
| if(IamMaster == SLAVE) UART1_PutString(" SLAVE\r\n"); |
| if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n"); |
| |
| UBX_Setup(); // inits the GPS-Module via ubx |
| GPS_Init(); |
| // ---------- Prepare the isr driven |
| // set to absolute lowest priority |
| VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |