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Rev 713 | Rev 718 | ||
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Line 205... | Line 205... | ||
205 | } |
205 | } |
Line 206... | Line 206... | ||
206 | 206 | ||
207 | void ProcessCanBus(void) |
207 | void ProcessCanBus(void) |
208 | { |
208 | { |
- | 209 | u32 errorcnt = 0; |
|
209 | u32 errorcnt = 0; |
210 | |
210 | CanSend(); |
211 | CanSend(); |
Line 211... | Line 212... | ||
211 | CanReceive(); |
212 | CanReceive(); |
212 | - | ||
213 | errorcnt = CAN_GetTransmitErrorCounter(); |
213 | |
Line 214... | Line -... | ||
214 | //DebugOut.Analog[18] = errorcnt; |
- | |
215 | //if(errorcnt > 200) CanbusInit(); |
214 | errorcnt = CAN_GetTransmitErrorCounter(); |
216 | 215 | //if(errorcnt > 200) CanbusInit(); |
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217 | //DebugOut.Analog[16] = CAN->SR ; |
216 | |
218 | if(CanbusTimeOut < 3) |
217 | if(CanbusTimeOut < 3) |
219 | { |
218 | { |
220 | if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
219 | if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
221 | Partner.StatusFlags = 0; |
220 | Partner.StatusFlags = 0; |
222 | Partner.StatusFlags2 = 0; |
221 | Partner.StatusFlags2 = 0; |
223 | Partner.StatusFlags3 = 0; |
222 | Partner.StatusFlags3 = 0; |
- | 223 | Partner.NC_To_FC_Flags = 0; |
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224 | Partner.NC_To_FC_Flags = 0; |
224 | Partner.MagnetField = 0; |
Line -... | Line 225... | ||
- | 225 | Partner.GyroCompassCorrected = -1; |
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- | 226 | sprintf(PartnerErrorMSG," --- \0"); |
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- | 227 | } |
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- | 228 | ||
- | 229 | if(CanRxMessage[CAN_ID_VERSION].D.Byte[6] == 13) // dann ist der Testdummy angeschlossen -> nur zum Testen von EXT2 |
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- | 230 | { |
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225 | Partner.MagnetField = 0; |
231 | if((PartnerErrorMSG[17] + PartnerErrorMSG[18]) & 1) EXT2_ON; |
226 | Partner.GyroCompassCorrected = -1; |
232 | else EXT2_OFF; |
227 | } |
233 | } |
228 | 234 | ||
229 | if(AllMsgsReceived) |
- | |
230 | { |
235 | if(AllMsgsReceived) |
231 | u32 i; |
236 | { |
232 | AllMsgsReceived = 0; |
237 | u32 i; |
233 | // DebugOut.Analog[16]++; |
238 | AllMsgsReceived = 0; |
234 | CanbusTimeOut = 1000; |
239 | CanbusTimeOut = 1000; |
Line 250... | Line 255... | ||
250 | 255 | ||
251 | if(IamMaster == SLAVE) |
256 | if(IamMaster == SLAVE) |
252 | { |
257 | { |
253 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
258 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
254 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
- | |
255 | //DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000; |
- | |
256 | //DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000; |
259 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
257 | } |
260 | } |
258 | } |
- | |
259 | 261 | } |