Subversion Repositories NaviCtrl

u8 ToFC_MaxWpListIndex = 4;

u8 ToFC_MaxWpListIndex = 4;

u8 ClearFCStatusFlags = 0;

u8 ClearFCStatusFlags = 0;

u8 StopNavigation = 0;

u8 StopNavigation = 0;

volatile u32 PollingTimeout = 10000;

volatile u32 PollingTimeout = 10000;

Param_t Parameter;

Param_t Parameter;

volatile FC_t FC;

volatile FC_t FC;

volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero

volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero

volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero

volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero

u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0;

u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0;

u8 NewWPL_Name = 0;

u8 NewWPL_Name = 0;

u32 MaxWP_Radius_in_m = 0;

u32 MaxWP_Radius_in_m = 0;

s8 ErrorMSG[25];

s8 ErrorMSG[25];

u32 TimeSinceMotorStart = 0;

u32 TimeSinceMotorStart = 0;

//----------------------------------------------------------------------------------------------------

//----------------------------------------------------------------------------------------------------

void SCU_Config(void)

void SCU_Config(void)

{

{

        else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST)

        else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST)

        {                                                                

        {                                                                

                sprintf(ErrorMSG,"Redundancy test ");

                sprintf(ErrorMSG,"Redundancy test ");

                newErrorCode = 37;

                newErrorCode = 37;

        }

        }

        else // no error occured

        else // no error occured

        {

        {

                StopNavigation = 0;

                StopNavigation = 0;

                LED_RED_OFF;

                LED_RED_OFF;

                if(no_error_delay) { no_error_delay--;  }

                if(no_error_delay) { no_error_delay--;  }

        if(running) {/*DebugOut.Analog[]++;*/ return(1);};

        if(running) {/*DebugOut.Analog[]++;*/ return(1);};

        running = 1;

        running = 1;

        if(CountMilliseconds != old_ms)  // 1 ms

        if(CountMilliseconds != old_ms)  // 1 ms

        {

                if(CanbusTimeOut >= 2) CanbusTimeOut--;

                old_ms = CountMilliseconds;

                old_ms = CountMilliseconds;

                Compass_Update();               // update compass communication

                Compass_Update();               // update compass communication

                Analog_Update();                // get new ADC values

                Analog_Update();                // get new ADC values

                CalcHeadFree();

                CalcHeadFree();

        // initialize the settings

        // initialize the settings

        Settings_Init();

        Settings_Init();

        // initialize logging (needs settings)

        // initialize logging (needs settings)

        Logging_Init();

        Logging_Init();

//UART_VersionInfo.HWMajor = 30;

        LED_GRN_ON;

        LED_GRN_ON;

        TimerCheckError = SetDelay(3000);

        TimerCheckError = SetDelay(3000);

        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");

        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");