Rev 485 | Rev 488 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 485 | Rev 487 | ||
|---|---|---|---|
| Line 303... | Line 303... | ||
| 303 | sprintf(ErrorMSG,"compass not calibr."); |
303 | sprintf(ErrorMSG,"compass not calibr."); |
| 304 | newErrorCode = 31; |
304 | newErrorCode = 31; |
| 305 | StopNavigation = 1; |
305 | StopNavigation = 1; |
| 306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
306 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 307 | } |
307 | } |
| - | 308 | else if(CompassValueErrorCount > 30) |
|
| - | 309 | { |
|
| - | 310 | LED_RED_ON; |
|
| - | 311 | sprintf(ErrorMSG,"compass sensor error"); |
|
| - | 312 | newErrorCode = 34; |
|
| - | 313 | StopNavigation = 1; |
|
| - | 314 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
|
| - | 315 | } |
|
| 308 | else if(Compass_Heading < 0) |
316 | else if(Compass_Heading < 0) |
| 309 | { |
317 | { |
| 310 | LED_RED_ON; |
318 | LED_RED_ON; |
| 311 | sprintf(ErrorMSG,"bad compass value "); |
319 | sprintf(ErrorMSG,"bad compass value "); |
| 312 | newErrorCode = 6; |
320 | newErrorCode = 6; |
| Line 455... | Line 463... | ||
| 455 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
463 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 456 | { |
464 | { |
| 457 | if(CheckDelay(TimerCheckError)) |
465 | if(CheckDelay(TimerCheckError)) |
| 458 | { |
466 | { |
| 459 | TimerCheckError = SetDelay(1000); |
467 | TimerCheckError = SetDelay(1000); |
| - | 468 | if(CompassValueErrorCount) CompassValueErrorCount--; |
|
| 460 | if(++count5sec == 5) |
469 | if(++count5sec == 5) |
| 461 | { |
470 | { |
| 462 | count5sec = 0; |
471 | count5sec = 0; |
| 463 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
472 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
| 464 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
473 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
| Line 476... | Line 485... | ||
| 476 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
485 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 477 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
486 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 478 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
487 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
| 479 | } |
488 | } |
| 480 | running = 0; |
489 | running = 0; |
| - | 490 | if(!PollingTimeout) DebugOut.Analog[17]++; |
|
| 481 | return(0); |
491 | return(0); |
| 482 | } |
492 | } |
| Line 483... | Line 493... | ||
| 483 | 493 | ||
| 484 | // the handler will be cyclic called by the timer 1 ISR |
494 | // the handler will be cyclic called by the timer 1 ISR |
| Line 589... | Line 599... | ||
| 589 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
599 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 590 | LED_GRN_ON; |
600 | LED_GRN_ON; |
| 591 | LED_RED_OFF; |
601 | LED_RED_OFF; |
| 592 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
602 | Settings_GetParamValue(PID_SEND_NMEA, &NMEA_Interval); |
| 593 | UART1_PutString("\r\n"); |
603 | UART1_PutString("\r\n"); |
| - | 604 | CompassValueErrorCount = 0; |
|
| 594 | for (;;) // the endless main loop |
605 | for (;;) // the endless main loop |
| 595 | { |
606 | { |
| 596 | PollingTimeout = 5; |
607 | PollingTimeout = 5; |
| 597 | Polling(); |
608 | Polling(); |
| 598 | // ---------------- Logging --------------------------------------- |
609 | // ---------------- Logging --------------------------------------- |