Diff: main.cpp

Revision:

24:3e7dcf16a6a7

Parent:

23:0f3b1441b08c

--- a/main.cpp	Thu Sep 20 04:20:19 2018 +0000
+++ b/main.cpp	Thu Sep 20 07:12:24 2018 +0000
@@ -334,8 +334,8 @@
     
     NVIC_SetPriority(USART1_IRQn,0);
     NVIC_SetPriority(EXTI0_IRQn,1);
-    NVIC_SetPriority(TIM5_IRQn,3);
-    NVIC_SetPriority(EXTI9_5_IRQn,4);
+    NVIC_SetPriority(TIM5_IRQn,2);
+    NVIC_SetPriority(EXTI9_5_IRQn,3);
     DisplayClock();
     t.start();
     
@@ -354,7 +354,7 @@
     }
     
      pc.attach(getSF_Serial, Serial::RxIrq);
-     NVIC_SetPriority(USART2_IRQn,2);
+     NVIC_SetPriority(USART2_IRQn,4);
     
     FirstROLL = nowAngle[ROLL];
     FirstPITCH = nowAngle[PITCH];
@@ -388,7 +388,16 @@
     NVIC_EnableIRQ(USART1_IRQn);
     NVIC_EnableIRQ(USART2_IRQn);
     pc.printf("5\r\n");
+    
+     NVIC_SetPriority(TIM5_IRQn,4);
+    NVIC_SetPriority(USART2_IRQn,2);
+    
     wait_ms(23);
+    
+    NVIC_SetPriority(TIM5_IRQn,2);
+    NVIC_SetPriority(USART2_IRQn,4);
+    
+    
     pc.printf("6\r\n");
     //NVIC_DisableIRQ(USART2_IRQn);
     //pc.printf("%c",g_landingcommand);
@@ -1043,7 +1052,7 @@
 void getSF_Serial(){
     NVIC_DisableIRQ(USART1_IRQn);
     NVIC_DisableIRQ(EXTI0_IRQn);
-    NVIC_DisableIRQ(TIM5_IRQn);
+    //NVIC_DisableIRQ(TIM5_IRQn);
     
         static char SFbuf[16];
         static int bufcounter=0;
@@ -1069,9 +1078,9 @@
                 pc.printf("Communication Falsed.\r\n");
                 bufcounter = 0;
             }
-            NVIC_EnableIRQ(TIM5_IRQn);
+            //NVIC_EnableIRQ(TIM5_IRQn);
             NVIC_EnableIRQ(EXTI0_IRQn);
-           NVIC_EnableIRQ(USART1_IRQn); 
+            NVIC_EnableIRQ(USART1_IRQn); 
     }
     
 float ConvertByteintoFloat(char high, char low){