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| Rev 713 | Rev 718 | ||
|---|---|---|---|
| Line 205... | Line 205... | ||
| 205 | } |
205 | } |
| Line 206... | Line 206... | ||
| 206 | 206 | ||
| 207 | void ProcessCanBus(void) |
207 | void ProcessCanBus(void) |
| 208 | { |
208 | { |
| - | 209 | u32 errorcnt = 0; |
|
| 209 | u32 errorcnt = 0; |
210 | |
| 210 | CanSend(); |
211 | CanSend(); |
| Line 211... | Line 212... | ||
| 211 | CanReceive(); |
212 | CanReceive(); |
| 212 | - | ||
| 213 | errorcnt = CAN_GetTransmitErrorCounter(); |
213 | |
| Line 214... | Line -... | ||
| 214 | //DebugOut.Analog[18] = errorcnt; |
- | |
| 215 | //if(errorcnt > 200) CanbusInit(); |
214 | errorcnt = CAN_GetTransmitErrorCounter(); |
| 216 | 215 | //if(errorcnt > 200) CanbusInit(); |
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| 217 | //DebugOut.Analog[16] = CAN->SR ; |
216 | |
| 218 | if(CanbusTimeOut < 3) |
217 | if(CanbusTimeOut < 3) |
| 219 | { |
218 | { |
| 220 | if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
219 | if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
| 221 | Partner.StatusFlags = 0; |
220 | Partner.StatusFlags = 0; |
| 222 | Partner.StatusFlags2 = 0; |
221 | Partner.StatusFlags2 = 0; |
| 223 | Partner.StatusFlags3 = 0; |
222 | Partner.StatusFlags3 = 0; |
| - | 223 | Partner.NC_To_FC_Flags = 0; |
|
| 224 | Partner.NC_To_FC_Flags = 0; |
224 | Partner.MagnetField = 0; |
| Line -... | Line 225... | ||
| - | 225 | Partner.GyroCompassCorrected = -1; |
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| - | 226 | sprintf(PartnerErrorMSG," --- \0"); |
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| - | 227 | } |
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| - | 228 | ||
| - | 229 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[6] == 13) // dann ist der Testdummy angeschlossen -> nur zum Testen von EXT2 |
|
| - | 230 | { |
|
| 225 | Partner.MagnetField = 0; |
231 | if((PartnerErrorMSG[17] + PartnerErrorMSG[18]) & 1) EXT2_ON; |
| 226 | Partner.GyroCompassCorrected = -1; |
232 | else EXT2_OFF; |
| 227 | } |
233 | } |
| 228 | 234 | ||
| 229 | if(AllMsgsReceived) |
- | |
| 230 | { |
235 | if(AllMsgsReceived) |
| 231 | u32 i; |
236 | { |
| 232 | AllMsgsReceived = 0; |
237 | u32 i; |
| 233 | // DebugOut.Analog[16]++; |
238 | AllMsgsReceived = 0; |
| 234 | CanbusTimeOut = 1000; |
239 | CanbusTimeOut = 1000; |
| Line 250... | Line 255... | ||
| 250 | 255 | ||
| 251 | if(IamMaster == SLAVE) |
256 | if(IamMaster == SLAVE) |
| 252 | { |
257 | { |
| 253 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
258 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
| 254 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
- | |
| 255 | //DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000; |
- | |
| 256 | //DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000; |
259 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
| 257 | } |
260 | } |
| 258 | } |
- | |
| 259 | 261 | } |
|