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| Rev 500 | Rev 501 | ||
|---|---|---|---|
| Line 158... | Line 158... | ||
| 158 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
158 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
| 159 | { |
159 | { |
| 160 | LED_RED_ON; |
160 | LED_RED_ON; |
| 161 | sprintf(ErrorMSG,"no compass communica"); |
161 | sprintf(ErrorMSG,"no compass communica"); |
| 162 | //Reset Compass communication |
162 | //Reset Compass communication |
| - | 163 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
|
| 163 | Compass_Init(); |
164 | Compass_Init(); |
| 164 | newErrorCode = 4; |
165 | newErrorCode = 4; |
| 165 | StopNavigation = 1; |
166 | StopNavigation = 1; |
| 166 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
167 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
| 167 | DebugOut.StatusRed |= AMPEL_COMPASS; |
168 | DebugOut.StatusRed |= AMPEL_COMPASS; |
| Line 171... | Line 172... | ||
| 171 | LED_RED_ON; |
172 | LED_RED_ON; |
| 172 | sprintf(ErrorMSG,"compass sensor error"); |
173 | sprintf(ErrorMSG,"compass sensor error"); |
| 173 | newErrorCode = 34; |
174 | newErrorCode = 34; |
| 174 | StopNavigation = 1; |
175 | StopNavigation = 1; |
| 175 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
176 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| - | 177 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
|
| 176 | Compass_Init(); |
178 | Compass_Init(); |
| 177 | } |
179 | } |
| 178 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
180 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
| 179 | { |
181 | { |
| 180 | sprintf(ErrorMSG,"Calibrate... "); |
182 | sprintf(ErrorMSG,"Calibrate... "); |