Rev 710 | Rev 718 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 710 | Rev 713 | ||
|---|---|---|---|
| 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 ; |
|
| - | 218 | if(CanbusTimeOut < 3) |
|
| - | 219 | { |
|
| - | 220 | if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
|
| - | 221 | Partner.StatusFlags = 0; |
|
| - | 222 | Partner.StatusFlags2 = 0; |
|
| - | 223 | Partner.StatusFlags3 = 0; |
|
| - | 224 | Partner.NC_To_FC_Flags = 0; |
|
| - | 225 | Partner.MagnetField = 0; |
|
| Line 216... | Line 226... | ||
| 216 | 226 | Partner.GyroCompassCorrected = -1; |
|
| 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 | } |