| 127,6 → 127,7 |
|---|
| u8 MenuBlinkBit; |
| u8 ExternalGpsInUse = 0; |
| u32 StartPlotting = 0; |
| u8 ControllerID = 0; |
| |
| //---------------------------------------------------------------------------------------------------- |
| void SCU_Config(void) |
| 154,12 → 155,22 |
|---|
| //---------------------------------------------------------------------------------------------------- |
| void GetNaviCtrlVersion(void) |
| { |
| u8 msg[25]; |
| |
| u8 msg[50]; |
| sprintf(msg,"\r\n NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| UART1_PutString(msg); |
| } |
| |
| void PrintControllerVersion(void) |
| { |
| u8 msg[40]; |
| if(ControllerID == 0x91) sprintf(msg," NC Controller:STR911FAM44\r\n"); |
| else |
| if(ControllerID == 0x92) sprintf(msg," NC Controller:STR911FAM46\r\n"); |
| else sprintf(msg,"\r\n Controller:??? 0x%02x !! \r\n\r\n",ControllerID); |
| UART1_PutString(msg); |
| } |
| |
| |
| //---------------------------------------------------------------------------------------------------- |
| |
| void CheckErrors(void) |
| 919,7 → 930,6 |
|---|
| // +++++++++++++++++++++++++++++++++++++++ |
| |
| GPS_Init(); |
| |
| // ---------- Prepare the isr driven |
| // set to absolute lowest priority |
| VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
| 973,12 → 983,22 |
|---|
| u8 msg[30]; |
| sprintf(msg, " GimbalCtrl found V%i.%02i ",1 + FromGimbalCtrl.Version / 100, FromGimbalCtrl.Version % 100); |
| UART1_PutString(msg); |
| if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK)) UART1_PutString("... but no Gimbal data!\r\n"); |
| else UART1_PutString("okay\r\n"); |
| if(FromGimbalCtrl.Compatible != GIMBAL_CTRL_COMPATIBLE) |
| { |
| sprintf(msg, " !! ERROR: Not Compatible! %i instead of %i !!\r\n\r\n",FromGimbalCtrl.Compatible,GIMBAL_CTRL_COMPATIBLE); |
| UART1_PutString(msg); |
| } |
| else |
| { |
| if(!(FromGimbalCtrl.GimbalStatus & GIMBAL_DATA_OK)) UART1_PutString("... but no Gimbal data!\r\n"); |
| else UART1_PutString("okay\r\n"); |
| } |
| } |
| else if(Compass_I2CPort == NCMAG_PORT_INTERN) UART1_PutString(" No GimbalCtrl connected \r\n"); |
| PrintControllerVersion(); |
| |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| UART1_PutString(" Initialization finished ... Start\r\n"); |
| UART1_PutString("\r\n Initialization finished ... Start\r\n"); |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| for (;;) // the endless main loop |
| { |