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Rev 398 | Rev 400 | ||
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Line 96... | Line 96... | ||
96 | u8 StopNavigation = 0; |
96 | u8 StopNavigation = 0; |
97 | volatile u32 PollingTimeout = 10000; |
97 | volatile u32 PollingTimeout = 10000; |
98 | Param_t Parameter; |
98 | Param_t Parameter; |
99 | volatile FC_t FC; |
99 | volatile FC_t FC; |
100 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
100 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
101 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
101 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
Line 102... | Line 102... | ||
102 | 102 | ||
Line 103... | Line 103... | ||
103 | s8 ErrorMSG[25]; |
103 | s8 ErrorMSG[25]; |
104 | 104 | ||
Line 497... | Line 497... | ||
497 | UART1_PutString("\n\r Version information:"); |
497 | UART1_PutString("\n\r Version information:"); |
Line 498... | Line 498... | ||
498 | 498 | ||
499 | GetNaviCtrlVersion(); |
499 | GetNaviCtrlVersion(); |
500 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
500 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
- | 501 | DebugOut.StatusRed = 0x00; |
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Line 501... | Line 502... | ||
501 | DebugOut.StatusRed = 0x00; |
502 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
Line -... | Line 503... | ||
- | 503 | ||
- | 504 | Compass_Init(); |
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502 | 505 | ||
503 | Compass_Init(); |
506 | GPS_Init(); |
504 | 507 | ||
505 | #ifdef FOLLOW_ME |
508 | #ifdef FOLLOW_ME |
506 | TransmitAlsoToFC = 1; |
509 | TransmitAlsoToFC = 1; |
Line 514... | Line 517... | ||
514 | { |
517 | { |
515 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
518 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
516 | LED_RED_ON; |
519 | LED_RED_ON; |
517 | } |
520 | } |
518 | #endif |
521 | #endif |
519 | GPS_Init(); |
- | |
520 | // ---------- Prepare the isr driven |
522 | // ---------- Prepare the isr driven |
521 | // set to absolute lowest priority |
523 | // set to absolute lowest priority |
522 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
524 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
523 | // enable interrupts |
525 | // enable interrupts |
524 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
526 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |