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416 | fifo_purge(&UART1_rx_fifo); |
416 | fifo_purge(&UART1_rx_fifo); |
417 | TIMER2_Deinit(); // reduce irq load |
417 | TIMER2_Deinit(); // reduce irq load |
418 | DebugUART = UART2; |
418 | DebugUART = UART2; |
419 | break; |
419 | break; |
420 | case UART_MK3MAG: |
420 | case UART_MK3MAG: |
421 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
421 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
422 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
422 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
423 | GPSData.Status = INVALID; |
423 | GPSData.Status = INVALID; |
424 | fifo_purge(&UART1_rx_fifo); |
424 | fifo_purge(&UART1_rx_fifo); |
425 | DebugUART = UART0; |
425 | DebugUART = UART0; |
426 | break; |
426 | break; |
427 | case UART_MKGPS: |
427 | case UART_MKGPS: |
428 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
428 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
429 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
429 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
430 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
430 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
431 | GPSData.Status = INVALID; |
431 | GPSData.Status = INVALID; |
432 | fifo_purge(&UART1_rx_fifo); |
432 | fifo_purge(&UART1_rx_fifo); |
433 | DebugUART = UART0; |
433 | DebugUART = UART0; |