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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; |
105 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
Line 106... | Line 106... | ||
106 | 106 | ||
Line 107... | Line 107... | ||
107 | s8 ErrorMSG[25]; |
107 | s8 ErrorMSG[25]; |
108 | 108 | ||
Line 423... | Line 423... | ||
423 | { |
423 | { |
424 | TimerCheckError = SetDelay(1000); |
424 | TimerCheckError = SetDelay(1000); |
425 | if(++count5sec == 5) |
425 | if(++count5sec == 5) |
426 | { |
426 | { |
427 | count5sec = 0; |
427 | count5sec = 0; |
428 | FreqGpsProcessedFromStart = CountGpsProcessedFromStart * 2; |
428 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
429 | FreqNewGpsDataFromStart = CountNewGpsDataFromStart * 2; |
429 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
430 | CountGpsProcessedFromStart = 0; |
430 | CountGpsProcessedIn5Sec = 0; |
431 | CountNewGpsDataFromStart = 0; |
431 | CountNewGpsDataIn5Sec = 0; |
432 | } |
432 | } |
433 | } |
433 | } |
434 | oldFcFlags = FC.StatusFlags; |
434 | oldFcFlags = FC.StatusFlags; |
435 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
435 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |