Rev 179 | Rev 189 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 179 | Rev 180 | ||
|---|---|---|---|
| Line 128... | Line 128... | ||
| 128 | { |
128 | { |
| 129 | if(CheckDelay(SPI0_Timeout)) |
129 | if(CheckDelay(SPI0_Timeout)) |
| 130 | { |
130 | { |
| 131 | LED_RED_ON; |
131 | LED_RED_ON; |
| 132 | sprintf(ErrorMSG,"no FC communication "); |
132 | sprintf(ErrorMSG,"no FC communication "); |
| 133 | TIMER2_Deinit(); // reduce irq load |
- | |
| 134 | ErrorCode = 3; |
133 | ErrorCode = 3; |
| 135 | StopNavigation = 1; |
134 | StopNavigation = 1; |
| 136 | } |
135 | } |
| 137 | else if(CheckDelay(I2C1_Timeout)) |
136 | else if(CheckDelay(I2C1_Timeout)) |
| 138 | { |
137 | { |
| Line 179... | Line 178... | ||
| 179 | ErrorCode = 7; |
178 | ErrorCode = 7; |
| 180 | } |
179 | } |
| 181 | else // no error occured |
180 | else // no error occured |
| 182 | { |
181 | { |
| 183 | sprintf(ErrorMSG,"No Error "); |
182 | sprintf(ErrorMSG,"No Error "); |
| 184 | if(ErrorCode == 3) |
- | |
| 185 | { |
- | |
| 186 | TIMER2_Init(); // enbable servo outputs |
- | |
| 187 | } |
- | |
| 188 | ErrorCode = 0; |
183 | ErrorCode = 0; |
| 189 | StopNavigation = 0; |
184 | StopNavigation = 0; |
| 190 | LED_RED_OFF; |
185 | LED_RED_OFF; |
| 191 | } |
186 | } |
| 192 | } |
187 | } |
| Line 222... | Line 217... | ||
| 222 | Led_Init(); |
217 | Led_Init(); |
| 223 | // initialize the debug UART1 |
218 | // initialize the debug UART1 |
| 224 | UART1_Init(); |
219 | UART1_Init(); |
| 225 | UART1_PutString("\r\n---------------------------------------------"); |
220 | UART1_PutString("\r\n---------------------------------------------"); |
| 226 | // initialize timer 2 for servo outputs |
221 | // initialize timer 2 for servo outputs |
| 227 | TIMER2_Init(); |
222 | //TIMER2_Init(); |
| 228 | // initialize UART2 to FLIGHTCTRL |
223 | // initialize UART2 to FLIGHTCTRL |
| 229 | UART2_Init(); |
224 | UART2_Init(); |
| 230 | // initialize UART0 (to MKGPS or MK3MAG) |
225 | // initialize UART0 (to MKGPS or MK3MAG) |
| 231 | UART0_Init(); |
226 | UART0_Init(); |
| 232 | // initialize adc |
227 | // initialize adc |