WebSVN - NaviCtrl - Diff - Rev 369 and 378

 s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 u8 ErrorGpsFixLost = 0;
 u8 ClearFCStatusFlags = 0;
+u8 StopNavigation = 0;
-u8 StopNavigation = 0;
+volatile u32 PollingTimeout = 10000;
 Param_t Parameter;
 volatile FC_t FC;
-volatile u32 MainWatchDog = 15000; // stop Navigation if this goes to zero
+volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero
 volatile u32 SD_WatchDog  = 15000; // stop Logging if this goes to zero
+}
 // the handler will be cyclic called by the timer 1 ISR
 // used is for critical timing parts that normaly would handled
+// within the main loop that could block longer at logging activities
+void Polling(void)
+{
+ static u8 running = 0;
+ if(running) return;
+ running = 1;
+LED_GRN_OFF;
+// PollingTimeout = 20;
+                SPI0_UpdateBuffer();    // also calls the GPS-functions
+                UART0_ProcessRxData();  // GPS process request
+                UART0_TransmitTxData(); // GPS send answer
+                UART1_TransmitTxData(); // PC send answer
+                UART2_TransmitTxData(); // FC send answer
+                CalcHeadFree();
+LED_GRN_ON;
+ running = 0;
+}
 // within the main loop that could block longer at logging activities
 void EXTIT3_IRQHandler(void)
+{
         IENABLE;
-        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
-        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
+        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
         Compass_Update();               // update compass communication
+        Analog_Update();                // get new ADC values
+ if(!PollingTimeout)
+  {
+   PollingTimeout = 3;
+   Polling();
+  }
-        Analog_Update();                // get new ADC values
+        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
         VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
+        IDISABLE;
-        IDISABLE;
+        VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
+}
 //----------------------------------------------------------------------------------------------------
     VIC_ITCmd(EXTIT3_ITLine, ENABLE);
         Debug_OK("START");
+        UART1_PutString("\r\n");
         UART1_PutString("\r\n");
 Polling();
-        for (;;) // the endless main loop
-        {
-            MainWatchDog = 4500;    // stop communication to FC after this timeout
-                UART0_ProcessRxData();  // process request
+        for (;;) // the endless main loop
-                UART1_ProcessRxData();  // process request
+        {
-                UART0_TransmitTxData(); // send answer
+            Polling();
-                UART1_TransmitTxData(); // send answer
-                UART2_TransmitTxData(); // send answer
+                PollingTimeout = 15;
-                SPI0_UpdateBuffer();    // handle new SPI Data
+DebugOut.Analog[17] = CountMilliseconds;
-//              USB_ProcessRxData();    // process request
+                UART1_ProcessRxData();  // PC process request
-//              USB_TransmitTxData();   // send answer
+//              UART1_TransmitTxData(); // PC send answer
                 // ---------------- Error Check Timing ----------------------------
                         if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                         else NCFlags &= ~NC_FLAG_NOSERIALLINK;
                         if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
+                }
                 // ---------------- Logging  ---------------------------------------
                 if(SD_WatchDog)
+                 {
-                  SD_WatchDog = 4000;
+                  SD_WatchDog = 10000;
                   if(SDCardInfo.Valid == 1) Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
                   else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
                   if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
+                 }
                 /*
                 // test
                 if(CheckDelay(ftimer))
+                {

Subversion Repositories NaviCtrl

(root)/tags/V0.30h/main.c @ 814 - Rev 369 → 378