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| Rev 438 | Rev 453 | ||
|---|---|---|---|
| Line 100... | Line 100... | ||
| 100 | volatile u32 PollingTimeout = 10000; |
100 | volatile u32 PollingTimeout = 10000; |
| 101 | Param_t Parameter; |
101 | Param_t Parameter; |
| 102 | volatile FC_t FC; |
102 | volatile FC_t FC; |
| 103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
103 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
| 104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
104 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
| - | 105 | u32 CountGpsProcessedFromStart = 0,CountNewGpsDataFromStart = 0, FreqGpsProcessedFromStart = 0, FreqNewGpsDataFromStart = 0; |
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| Line 105... | Line 106... | ||
| 105 | 106 | ||
| Line 106... | Line 107... | ||
| 106 | s8 ErrorMSG[25]; |
107 | s8 ErrorMSG[25]; |
| 107 | 108 | ||
| Line 402... | Line 403... | ||
| 402 | 403 | ||
| 403 | 404 | ||
| 404 | 405 | ||
| 405 | void Polling(void) |
406 | void Polling(void) |
| 406 | { |
407 | { |
| 407 | static u8 running = 0, oldFcFlags = 0; |
408 | static u8 running = 0, oldFcFlags = 0, count5sec; |
| 408 | if(running) return; |
409 | if(running) return; |
| 409 | running = 1; |
410 | running = 1; |
| Line 415... | Line 416... | ||
| 415 | UART2_TransmitTxData(); // FC send answer |
416 | UART2_TransmitTxData(); // FC send answer |
| 416 | CalcHeadFree(); |
417 | CalcHeadFree(); |
| 417 | // ---------------- Error Check Timing ---------------------------- |
418 | // ---------------- Error Check Timing ---------------------------- |
| 418 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
419 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 419 | { |
420 | { |
| - | 421 | if(CheckDelay(TimerCheckError)) |
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| - | 422 | { |
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| 420 | TimerCheckError = SetDelay(1000); |
423 | TimerCheckError = SetDelay(1000); |
| - | 424 | if(++count5sec == 5) |
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| - | 425 | { |
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| - | 426 | count5sec = 0; |
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| - | 427 | FreqGpsProcessedFromStart = CountGpsProcessedFromStart * 2; |
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| - | 428 | FreqNewGpsDataFromStart = CountNewGpsDataFromStart * 2; |
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| - | 429 | CountGpsProcessedFromStart = 0; |
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| - | 430 | CountNewGpsDataFromStart = 0; |
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| - | 431 | } |
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| - | 432 | } |
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| 421 | oldFcFlags = FC.StatusFlags; |
433 | oldFcFlags = FC.StatusFlags; |
| 422 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
434 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| Line 423... | Line 435... | ||
| 423 | 435 | ||