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| Rev 199 | Rev 213 | ||
|---|---|---|---|
| Line 174... | Line 174... | ||
| 174 | else if(FC.Flags & FCFLAG_SPI_RX_ERR) |
174 | else if(FC.Flags & FCFLAG_SPI_RX_ERR) |
| 175 | { |
175 | { |
| 176 | LED_RED_ON; |
176 | LED_RED_ON; |
| 177 | sprintf(ErrorMSG,"FC spi rx error "); |
177 | sprintf(ErrorMSG,"FC spi rx error "); |
| 178 | ErrorCode = 8; |
178 | ErrorCode = 8; |
| 179 | StopNavigation = 1; |
179 | StopNavigation = 1; |
| 180 | } |
180 | } |
| 181 | else if(FC.RC_Quality < 100) |
181 | else if(FC.RC_Quality < 100) |
| 182 | { |
182 | { |
| 183 | LED_RED_ON; |
183 | LED_RED_ON; |
| 184 | sprintf(ErrorMSG,"RC Signal lost "); |
184 | sprintf(ErrorMSG,"RC Signal lost "); |
| Line 192... | Line 192... | ||
| 192 | LED_RED_OFF; |
192 | LED_RED_OFF; |
| 193 | } |
193 | } |
| 194 | } |
194 | } |
| Line 195... | Line 195... | ||
| 195 | 195 | ||
| 196 | // the handler will be cyclic called by the timer 1 ISR |
196 | // the handler will be cyclic called by the timer 1 ISR |
| 197 | // used is for critical timing parts that normaly would handled |
197 | // used is for critical timing parts that normaly would handled |
| 198 | // within the main loop that could block longer at logging activities |
198 | // within the main loop that could block longer at logging activities |
| 199 | void EXTIT3_IRQHandler(void) |
199 | void EXTIT3_IRQHandler(void) |
| 200 | { |
200 | { |
| Line 201... | Line 201... | ||
| 201 | IENABLE; |
201 | IENABLE; |
| 202 | 202 | ||
| 203 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
203 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| 204 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
204 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
| 205 | I2C1_UpdateCompass(); // update compass communication |
205 | I2C1_UpdateCompass(); // update compass communication |
| Line 206... | Line 206... | ||
| 206 | Analog_Update(); // get new ADC values |
206 | Analog_Update(); // get new ADC values |
| 207 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
207 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
| Line 272... | Line 272... | ||
| 272 | 272 | ||
| Line 273... | Line 273... | ||
| 273 | UART0_GetMKOSDVersion(); |
273 | UART0_GetMKOSDVersion(); |
| 274 | 274 | ||
| 275 | GPS_Init(); |
275 | GPS_Init(); |
| 276 | // initialize fat16 partition on sd card (needs Timer 1) |
276 | // initialize fat16 partition on sd card (needs Timer 1) |
| 277 | 277 | ||
| 278 | // ---------- Prepare the isr driven |
278 | // ---------- Prepare the isr driven |
| 279 | // set to absolute lowest priority |
279 | // set to absolute lowest priority |
| 280 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
280 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |