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Rev 710 | Rev 713 | ||
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Line 209... | Line 209... | ||
209 | u32 errorcnt = 0; |
209 | u32 errorcnt = 0; |
210 | CanSend(); |
210 | CanSend(); |
211 | CanReceive(); |
211 | CanReceive(); |
Line 212... | Line 212... | ||
212 | 212 | ||
213 | errorcnt = CAN_GetTransmitErrorCounter(); |
213 | errorcnt = CAN_GetTransmitErrorCounter(); |
214 | DebugOut.Analog[18] = errorcnt; |
214 | //DebugOut.Analog[18] = errorcnt; |
Line 215... | Line 215... | ||
215 | //if(errorcnt > 200) CanbusInit(); |
215 | //if(errorcnt > 200) CanbusInit(); |
- | 216 | ||
- | 217 | //DebugOut.Analog[16] = CAN->SR ; |
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- | 218 | if(CanbusTimeOut < 3) |
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- | 219 | { |
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- | 220 | if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
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- | 221 | Partner.StatusFlags = 0; |
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- | 222 | Partner.StatusFlags2 = 0; |
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- | 223 | Partner.StatusFlags3 = 0; |
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- | 224 | Partner.NC_To_FC_Flags = 0; |
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- | 225 | Partner.MagnetField = 0; |
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Line 216... | Line 226... | ||
216 | 226 | Partner.GyroCompassCorrected = -1; |
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217 | //DebugOut.Analog[16] = CAN->SR ; |
227 | } |
218 | 228 | ||
219 | if(AllMsgsReceived) |
229 | if(AllMsgsReceived) |
Line 244... | Line 254... | ||
244 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
254 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
245 | //DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000; |
255 | //DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000; |
246 | //DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000; |
256 | //DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000; |
247 | } |
257 | } |
248 | } |
258 | } |
- | 259 | ||
249 | } |
260 | } |