WebSVN - NaviCtrl - Diff - Rev 806 and 808



        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:FC Z-ACC");
                newErrorCode = 15;
        }
 
 
 
 
 
 
        else if(FC.Error[0] & FC_ERROR0_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Pressure sensor");
                newErrorCode = 16;

        {
                LED_RED_ON;
                sprintf(ErrorMSG,"GPS Fix lost    ");
                newErrorCode = 21;
        }
        else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR:Flying range!");
                newErrorCode = 28;
        }
        else if(ErrorDisturbedEarthMagnetField)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Magnet error    ");
                newErrorCode = 22;

            else
            if(FC_Temperatur > FC_Temperatur_raw/10) FC_Temperatur--;
            else
            if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++;
          }
 

 
// ++++++++++++++++++++++++++++++++++++++++++++++++
// + Re-Init GPS-Module?
// ++++++++++++++++++++++++++++++++++++++++++++++++
        if(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
        {
         if(TryAgain_UBX_Setup)
          {
            if(--TryAgain_UBX_Setup == 0) UBX_Setup();
          }
          else
          if(CheckDelay(UBX_Timeout)) // no GPS communication
          {
                   GPS_Version = 0;
                   TryAgain_UBX_Setup = 6; // Re-init GPS-Receiver in x seconds
          }
    }
  }
// ++++++++++++++++++++++++++++++++++++++++++++++++
        // ---------------- Error Check Timing ----------------------------
        if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
        {

            {
              if(IamMaster == SLAVE) TryAgain_UBX_Setup = 2;
                  else TryAgain_UBX_Setup = 4;
                }
         }
 
// +++++++++++++++++++++++++++++++++++++++
// ++ check CamCtrl version (if connected)
        if(Compass_I2CPort == NCMAG_PORT_INTERN)
         {
          if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl));

        if(Compass_I2CPort == NCMAG_PORT_INTERN)
         {
          if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, 4, &LaserCtrl_UpdateData, sizeof(FromLaserCtrl));
         }
        else LaserCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected
 

 
// +++++++++++++++++++++++++++++++++++++++
        GPS_Init();
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts

                        }
                }
*/                                                       
        }
}
//DebugOut.Analog[] 

Rev 806	Rev 808
Line 278...	Line 278...
278	{	278	{
279	LED_RED_ON;	279	LED_RED_ON;
280	sprintf(ErrorMSG,"ERR:FC Z-ACC");	280	sprintf(ErrorMSG,"ERR:FC Z-ACC");
281	newErrorCode = 15;	281	newErrorCode = 15;
282	}	282	}
283	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)	-
284	{	-
285	LED_RED_ON;	-
286	sprintf(ErrorMSG,"ERR:Flying range!");	-
287	newErrorCode = 28;	-
288	}	-
289	else if(FC.Error[0] & FC_ERROR0_PRESSURE)	283	else if(FC.Error[0] & FC_ERROR0_PRESSURE)
290	{	284	{
291	LED_RED_ON;	285	LED_RED_ON;
292	sprintf(ErrorMSG,"ERR:Pressure sensor");	286	sprintf(ErrorMSG,"ERR:Pressure sensor");
293	newErrorCode = 16;	287	newErrorCode = 16;
Line 364...	Line 358...
364	{	358	{
365	LED_RED_ON;	359	LED_RED_ON;
366	sprintf(ErrorMSG,"GPS Fix lost ");	360	sprintf(ErrorMSG,"GPS Fix lost ");
367	newErrorCode = 21;	361	newErrorCode = 21;
368	}	362	}
-		363	else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)
-		364	{
-		365	LED_RED_ON;
-		366	sprintf(ErrorMSG,"ERR:Flying range!");
-		367	newErrorCode = 28;
-		368	}
369	else if(ErrorDisturbedEarthMagnetField)	369	else if(ErrorDisturbedEarthMagnetField)
370	{	370	{
371	LED_RED_ON;	371	LED_RED_ON;
372	sprintf(ErrorMSG,"Magnet error ");	372	sprintf(ErrorMSG,"Magnet error ");
373	newErrorCode = 22;	373	newErrorCode = 22;
Line 651...	Line 651...
651	else	651	else
652	if(FC_Temperatur > FC_Temperatur_raw/10) FC_Temperatur--;	652	if(FC_Temperatur > FC_Temperatur_raw/10) FC_Temperatur--;
653	else	653	else
654	if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++;	654	if(FC_Temperatur < FC_Temperatur_raw/10) FC_Temperatur++;
655	}	655	}
656	if(TryAgain_UBX_Setup) { if(--TryAgain_UBX_Setup == 0) UBX_Setup();}	-
Line -...	Line 656...
-		656
-		657	// ++++++++++++++++++++++++++++++++++++++++++++++++
-		658	// + Re-Init GPS-Module?
-		659	// ++++++++++++++++++++++++++++++++++++++++++++++++
-		660	if(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
-		661	{
-		662	if(TryAgain_UBX_Setup)
-		663	{
-		664	if(--TryAgain_UBX_Setup == 0) UBX_Setup();
-		665	}
-		666	else
-		667	if(CheckDelay(UBX_Timeout)) // no GPS communication
-		668	{
-		669	GPS_Version = 0;
-		670	TryAgain_UBX_Setup = 6; // Re-init GPS-Receiver in x seconds
657		671	}
-		672	}
658	}	673	}
659	// ++++++++++++++++++++++++++++++++++++++++++++++++	674	// ++++++++++++++++++++++++++++++++++++++++++++++++
660	// ---------------- Error Check Timing ----------------------------	675	// ---------------- Error Check Timing ----------------------------
661	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start	676	if(CheckDelay(TimerCheckError) \|\| (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
662	{	677	{
Line 800...	Line 815...
800	{	815	{
801	if(IamMaster == SLAVE) TryAgain_UBX_Setup = 2;	816	if(IamMaster == SLAVE) TryAgain_UBX_Setup = 2;
802	else TryAgain_UBX_Setup = 4;	817	else TryAgain_UBX_Setup = 4;
803	}	818	}
804	}	819	}
-		820
805	// +++++++++++++++++++++++++++++++++++++++	821	// +++++++++++++++++++++++++++++++++++++++
806	// ++ check CamCtrl version (if connected)	822	// ++ check CamCtrl version (if connected)
807	if(Compass_I2CPort == NCMAG_PORT_INTERN)	823	if(Compass_I2CPort == NCMAG_PORT_INTERN)
808	{	824	{
809	if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl));	825	if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, 4, &CamCtrl_UpdateData, sizeof(FromCamCtrl));
Line 816...	Line 832...
816	if(Compass_I2CPort == NCMAG_PORT_INTERN)	832	if(Compass_I2CPort == NCMAG_PORT_INTERN)
817	{	833	{
818	if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, 4, &LaserCtrl_UpdateData, sizeof(FromLaserCtrl));	834	if(I2CBus_LockBuffer(I2C0,3)) I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, 4, &LaserCtrl_UpdateData, sizeof(FromLaserCtrl));
819	}	835	}
820	else LaserCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected	836	else LaserCtrlTimeout = 0; // disable CamCtrl communication if external compass is connected
821	// +++++++++++++++++++++++++++++++++++++++	-
Line -...	Line 837...
-		837
822		838	// +++++++++++++++++++++++++++++++++++++++
-		839	GPS_Init();
823	GPS_Init();	840
824	// ---------- Prepare the isr driven	841	// ---------- Prepare the isr driven
825	// set to absolute lowest priority	842	// set to absolute lowest priority
826	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	843	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
827	// enable interrupts	844	// enable interrupts
Line 985...	Line 1002...
985	}	1002	}
986	}	1003	}
987	*/	1004	*/
988	}	1005	}
989	}	1006	}
990	//DebugOut.Analog[]	1007	//DebugOut.Analog[]

Subversion Repositories NaviCtrl

(root)/tags/V2.18a/main.c @ 816 - Rev 806 → 808