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Use one global structure for all schedule counters Moved SPI data handling from callback to cyclic 10ms slot
author Ideenmodellierer
date Thu, 28 Feb 2019 19:34:08 +0100
parents 5df4f1a315cb
children ee744c7160ce
comparison
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141:30d855ea60d8 142:69f4b8067daa
64 uint8_t clearDecoNow = 0; 64 uint8_t clearDecoNow = 0;
65 uint8_t setButtonsNow = 0; 65 uint8_t setButtonsNow = 0;
66 66
67 /* has to be in SRAM2 */ 67 /* has to be in SRAM2 */
68 uint8_t secondsCount = 0; 68 uint8_t secondsCount = 0;
69
70 SScheduleCtrl Scheduler;
69 71
70 /* Private function prototypes -----------------------------------------------*/ 72 /* Private function prototypes -----------------------------------------------*/
71 73
72 _Bool vpm_crush2(void); 74 _Bool vpm_crush2(void);
73 void scheduleUpdateDeviceData(void); 75 void scheduleUpdateDeviceData(void);
93 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); 95 uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow);
94 96
95 _Bool scheduleCheck_pressure_reached_dive_mode_level(void); 97 _Bool scheduleCheck_pressure_reached_dive_mode_level(void);
96 void scheduleSetDate(SDeviceLine *line); 98 void scheduleSetDate(SDeviceLine *line);
97 99
100 extern void SPI_Evaluate_RX_Data();
98 /* Exported functions --------------------------------------------------------*/ 101 /* Exported functions --------------------------------------------------------*/
99 102
100 void initGlobals(void) 103 void initGlobals(void)
101 { 104 {
102 initStructWithZeero((uint8_t*) &global, sizeof(SGlobal)); 105 initStructWithZeero((uint8_t*) &global, sizeof(SGlobal));
425 */ 428 */
426 429
427 void schedule_check_resync(void) 430 void schedule_check_resync(void)
428 { 431 {
429 //TODO: REMOVE 432 //TODO: REMOVE
430 if((global.check_sync_not_running >= 3)) 433 if((global.check_sync_not_running >= 2))
431 { 434 {
432 // global.dataSendToSlaveIsNotValidCount = 0; 435 // global.dataSendToSlaveIsNotValidCount = 0;
433 global.check_sync_not_running = 0; 436 global.check_sync_not_running = 0;
434 global.sync_error_count++; 437 global.sync_error_count++;
435 438
449 * @date 22-April-2014 452 * @date 22-April-2014
450 ****************************************************************************** 453 ******************************************************************************
451 */ 454 */
452 void scheduleDiveMode(void) 455 void scheduleDiveMode(void)
453 { 456 {
454 uint32_t tickstart = 0; 457 // uint32_t tickstart = 0;
455 uint32_t ticksdiff = 0; 458 uint32_t ticksdiff = 0;
456 uint32_t lasttick = 0; 459 uint32_t lasttick = 0;
457 tickstart = HAL_GetTick(); 460
458 uint8_t counterPressure100msec = 0;
459 uint8_t counterCompass100msec = 0;
460 uint8_t counterAmbientLight100msec = 0;
461 uint16_t counterWireless1msec = 0;
462 // uint8_t counterDemo250msec = 0;
463 uint32_t turbo_seconds = 0; 461 uint32_t turbo_seconds = 0;
464 uint8_t counterAscentRate = 0; 462 uint8_t counterAscentRate = 0;
465 float lastPressure_bar = 0.0f; 463 float lastPressure_bar = 0.0f;
466 global.dataSendToMaster.mode = MODE_DIVE; 464 global.dataSendToMaster.mode = MODE_DIVE;
467 global.deviceDataSendToMaster.mode = MODE_DIVE; 465 global.deviceDataSendToMaster.mode = MODE_DIVE;
468 //uint16_t counterSecondsShallowDepth = 0; 466 //uint16_t counterSecondsShallowDepth = 0;
469 uint8_t counter_exit = 0; 467 uint8_t counter_exit = 0;
470 468
471 tickstart = HAL_GetTick() - 1000; 469 Scheduler.tickstart = HAL_GetTick() - 1000;
470 Scheduler.counterSPIdata100msec = 0;
471 Scheduler.counterCompass100msec = 0;
472 Scheduler.counterPressure100msec = 0;
473 Scheduler.counterAmbientLight100msec = 0;
474 Scheduler.counterWireless1msec = 0;
472 475
473 global.deviceData.diveCycles.value_int32++; 476 global.deviceData.diveCycles.value_int32++;
474 scheduleSetDate(&global.deviceData.diveCycles); 477 scheduleSetDate(&global.deviceData.diveCycles);
475 global.lifeData.counterSecondsShallowDepth = 0; 478 global.lifeData.counterSecondsShallowDepth = 0;
476 479
477 while(global.mode == MODE_DIVE) 480 while(global.mode == MODE_DIVE)
478 { 481 {
479 schedule_check_resync(); 482 schedule_check_resync();
480 lasttick = HAL_GetTick(); 483 lasttick = HAL_GetTick();
481 ticksdiff = time_elapsed_ms(tickstart,lasttick); 484 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick);
482 485
483 486
484 //Evaluate wireless data every ms, if present 487 //Evaluate wireless data every ms, if present
485 if(ticksdiff > counterWireless1msec) 488 if(ticksdiff > Scheduler.counterWireless1msec)
486 { 489 {
487 counterWireless1msec++; 490 Scheduler.counterWireless1msec++;
488 changeAgeWirelessData(); 491 changeAgeWirelessData();
489 global.wirelessReceived = wireless_evaluate(global.wirelessdata,MAX_WIRELESS_BYTES, &global.wirelessConfidenceStatus); 492 global.wirelessReceived = wireless_evaluate(global.wirelessdata,MAX_WIRELESS_BYTES, &global.wirelessConfidenceStatus);
490 if((global.wirelessReceived > 0) && !wireless_evaluate_crc_error(global.wirelessdata,global.wirelessReceived)) 493 if((global.wirelessReceived > 0) && !wireless_evaluate_crc_error(global.wirelessdata,global.wirelessReceived))
491 { 494 {
492 copyWirelessData(); 495 copyWirelessData();
493 } 496 }
494 } 497 }
495 498
499 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10)
500 {
501 SPI_Evaluate_RX_Data();
502 Scheduler.counterSPIdata100msec++;
503 }
504
496 //Evaluate pressure at 20 ms, 120 ms, 220 ms,.... 505 //Evaluate pressure at 20 ms, 120 ms, 220 ms,....
497 if(ticksdiff >= counterPressure100msec * 100 + 20) 506 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20)
498 { 507 {
499 global.check_sync_not_running++; 508 global.check_sync_not_running++;
500 pressure_update(); 509 pressure_update();
501 scheduleUpdateDeviceData(); 510 scheduleUpdateDeviceData();
502 if(global.demo_mode) 511 if(global.demo_mode)
503 { 512 {
504 turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, counterPressure100msec, global.ceiling_from_main_CPU_mbar); 513 turbo_seconds = demo_modify_temperature_and_pressure(global.lifeData.dive_time_seconds, Scheduler.counterPressure100msec, global.ceiling_from_main_CPU_mbar);
505 if(turbo_seconds) 514 if(turbo_seconds)
506 { 515 {
507 global.lifeData.dive_time_seconds += turbo_seconds; 516 global.lifeData.dive_time_seconds += turbo_seconds;
508 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData); 517 decom_tissues_exposure((int)(turbo_seconds), &global.lifeData);
509 copyTissueData(); 518 copyTissueData();
523 //2 seconds * 30 == 1 minute, bar * 10 = meter 532 //2 seconds * 30 == 1 minute, bar * 10 = meter
524 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10; 533 global.lifeData.ascent_rate_meter_per_min = (lastPressure_bar - global.lifeData.pressure_ambient_bar) * 30 * 10;
525 } 534 }
526 lastPressure_bar = global.lifeData.pressure_ambient_bar; 535 lastPressure_bar = global.lifeData.pressure_ambient_bar;
527 counterAscentRate = 0; 536 counterAscentRate = 0;
528
529 // if(global.demo_mode)
530 // global.lifeData.ascent_rate_meter_per_min /= 4;
531 } 537 }
532 copyPressureData(); 538 copyPressureData();
533 counterPressure100msec++; 539 Scheduler.counterPressure100msec++;
534 } 540 }
535 //evaluate compass data at 50 ms, 150 ms, 250 ms,.... 541 //evaluate compass data at 50 ms, 150 ms, 250 ms,....
536 if(ticksdiff >= counterCompass100msec * 100 + 50) 542 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50)
537 { 543 {
538 compass_read(); 544 compass_read();
539 acceleration_read(); 545 acceleration_read();
540 compass_calc(); 546 compass_calc();
541 copyCompassData(); 547 copyCompassData();
542 counterCompass100msec++; 548 Scheduler.counterCompass100msec++;
543 } 549 }
544 550
545 if(ticksdiff >= counterAmbientLight100msec * 100 + 70) 551 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70)
546 { 552 {
547 adc_ambient_light_sensor_get_data(); 553 adc_ambient_light_sensor_get_data();
548 copyAmbientLightData(); 554 copyAmbientLightData();
549 counterAmbientLight100msec++; 555 Scheduler.counterAmbientLight100msec++;
550 } 556 }
551 557
552 /* if(global.demo_mode && (ticksdiff >= counterDemo250msec * 250 + 10))
553 {
554 global.lifeData.dive_time_seconds++;
555 copyTimeData();
556 counterDemo250msec++;
557 }
558 */
559 //Evaluate tissues, toxic data, vpm, etc. once a second 558 //Evaluate tissues, toxic data, vpm, etc. once a second
560 if(ticksdiff >= 1000) 559 if(ticksdiff >= 1000)
561 { 560 {
561 /* reset counter */
562 Scheduler.tickstart = HAL_GetTick();
563
562 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea) 564 if(global.dataSendToSlave.diveModeInfo != DIVEMODE_Apnea)
563 { 565 {
564 scheduleUpdateLifeData(0); // includes tissues 566 scheduleUpdateLifeData(0); // includes tissues
565 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too 567 global.lifeData.dive_time_seconds++; // there is dive_time_seconds_without_surface_time too
566 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas); 568 global.lifeData.ppO2 = decom_calc_ppO2(global.lifeData.pressure_ambient_bar, &global.lifeData.actualGas);
651 if(!is_init_pressure_done()) 653 if(!is_init_pressure_done())
652 { 654 {
653 init_pressure(); 655 init_pressure();
654 } 656 }
655 } 657 }
656 658 Scheduler.counterSPIdata100msec = 0;
657 counterCompass100msec = 0; 659 Scheduler.counterCompass100msec = 0;
658 counterPressure100msec = 0; 660 Scheduler.counterPressure100msec = 0;
659 counterAmbientLight100msec = 0; 661 Scheduler.counterAmbientLight100msec = 0;
660 counterWireless1msec = 0; 662 Scheduler.counterWireless1msec = 0;
661 // counterDemo250msec = 0;
662
663 /** keep it in rhythm, do not drop the execution time
664 * therefore do not use tickstart = HAL_GetTick();
665 * here
666 */
667 tickstart += 1000;
668 } 663 }
669 } 664 }
670 } 665 }
671 666
672 667
684 // scheduleTestMode 679 // scheduleTestMode
685 /// @brief included for sealed hardware with permanent RTE update message 680 /// @brief included for sealed hardware with permanent RTE update message
686 // =============================================================================== 681 // ===============================================================================
687 void scheduleTestMode(void) 682 void scheduleTestMode(void)
688 { 683 {
689 uint32_t tickstart = 0;
690 uint32_t ticksdiff = 0; 684 uint32_t ticksdiff = 0;
691 uint32_t lasttick = 0; 685 uint32_t lasttick = 0;
692 tickstart = HAL_GetTick(); 686 Scheduler.tickstart = HAL_GetTick();
693 687
694 uint8_t counterPressure100msec = 0; 688 Scheduler.counterPressure100msec = 0;
695 689
696 float temperature_carousel = 0.0f; 690 float temperature_carousel = 0.0f;
697 float temperature_changer = 0.1f; 691 float temperature_changer = 0.1f;
698 692
699 while(global.mode == MODE_TEST) 693 while(global.mode == MODE_TEST)
700 { 694 {
701 schedule_check_resync(); 695 schedule_check_resync();
702 lasttick = HAL_GetTick(); 696 lasttick = HAL_GetTick();
703 ticksdiff = time_elapsed_ms(tickstart,lasttick); 697 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick);
698
699 //Evaluate received data at 10 ms, 110 ms, 210 ms,...
700 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10)
701 {
702 SPI_Evaluate_RX_Data();
703 Scheduler.counterSPIdata100msec++;
704 }
704 705
705 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... 706 //Evaluate pressure at 20 ms, 120 ms, 220 ms,...
706 if(ticksdiff >= counterPressure100msec * 100 + 20) 707 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20)
707 { 708 {
708 global.check_sync_not_running++; 709 global.check_sync_not_running++;
709 710
710 pressure_update(); 711 pressure_update();
711 scheduleUpdateDeviceData(); 712 scheduleUpdateDeviceData();
712 global.lifeData.ascent_rate_meter_per_min = 0; 713 global.lifeData.ascent_rate_meter_per_min = 0;
713 copyPressureData(); 714 copyPressureData();
714 715
715 if(temperature_carousel > 20.0f) 716 if(temperature_carousel > 20.0f)
716 { 717 {
717 temperature_carousel = 20.0f; 718 temperature_carousel = 20.0f;
718 temperature_changer = -0.1f; 719 temperature_changer = -0.1f;
726 727
727 temperature_carousel += temperature_changer; 728 temperature_carousel += temperature_changer;
728 729
729 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData; 730 uint8_t boolPressureData = !global.dataSendToMaster.boolPressureData;
730 731
731 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar(); 732 global.dataSendToMaster.data[boolPressureData].pressure_mbar = get_pressure_mbar();
732 733
733 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel; 734 global.dataSendToMaster.data[boolPressureData].temperature = temperature_carousel;
734 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick(); 735 global.dataSendToMaster.data[boolPressureData].pressure_uTick = HAL_GetTick();
735 global.dataSendToMaster.boolPressureData = boolPressureData; 736 global.dataSendToMaster.boolPressureData = boolPressureData;
736 737 Scheduler.counterPressure100msec++;
737
738 counterPressure100msec++;
739 } 738 }
740 739
741 if(ticksdiff >= 1000) 740 if(ticksdiff >= 1000)
742 { 741 {
743 //Set back tick counter 742 //Set back tick counter
744 tickstart = HAL_GetTick(); 743 Scheduler.tickstart = HAL_GetTick();
745 counterPressure100msec = 0; 744 Scheduler.counterPressure100msec = 0;
745 Scheduler.counterSPIdata100msec = 0;
746 } 746 }
747 }; 747 };
748 } 748 }
749 749
750 750
751
752
751 void scheduleSurfaceMode(void) 753 void scheduleSurfaceMode(void)
752 { 754 {
753 uint32_t tickstart = 0; 755
754 uint32_t ticksdiff = 0; 756 uint32_t ticksdiff = 0;
755 uint32_t lasttick = 0; 757 uint32_t lasttick = 0;
756 tickstart = HAL_GetTick(); 758 Scheduler.tickstart = HAL_GetTick();
757 uint8_t counterPressure100msec = 0; 759 Scheduler.counterSPIdata100msec = 0;
758 uint8_t counterCompass100msec = 0; 760 Scheduler.counterCompass100msec = 0;
759 uint8_t counterAmbientLight100msec = 0; 761 Scheduler.counterPressure100msec = 0;
760 uint16_t counterWireless1msec = 0; 762 Scheduler.counterAmbientLight100msec = 0;
763 Scheduler.counterWireless1msec = 0;
764
761 global.dataSendToMaster.mode = MODE_SURFACE; 765 global.dataSendToMaster.mode = MODE_SURFACE;
762 global.deviceDataSendToMaster.mode = MODE_SURFACE; 766 global.deviceDataSendToMaster.mode = MODE_SURFACE;
763 767
764 while(global.mode == MODE_SURFACE) 768 while(global.mode == MODE_SURFACE)
765 { 769 {
766 /* printf("surface...\n"); */ 770 /* printf("surface...\n"); */
767 // SPI_Start_single_TxRx_with_Master(); 771 // SPI_Start_single_TxRx_with_Master();
768 schedule_check_resync(); 772 schedule_check_resync();
769 lasttick = HAL_GetTick(); 773 lasttick = HAL_GetTick();
770 ticksdiff = time_elapsed_ms(tickstart,lasttick); 774 ticksdiff = time_elapsed_ms(Scheduler.tickstart,lasttick);
771 775
772 if(ticksdiff > counterWireless1msec) 776 if(ticksdiff > Scheduler.counterWireless1msec)
773 { 777 {
774 counterWireless1msec++; 778 Scheduler.counterWireless1msec++;
775 changeAgeWirelessData(); 779 changeAgeWirelessData();
776 global.wirelessReceived = wireless_evaluate(global.wirelessdata,MAX_WIRELESS_BYTES, &global.wirelessConfidenceStatus); 780 global.wirelessReceived = wireless_evaluate(global.wirelessdata,MAX_WIRELESS_BYTES, &global.wirelessConfidenceStatus);
777 if((global.wirelessReceived > 0) && !wireless_evaluate_crc_error(global.wirelessdata,global.wirelessReceived)) 781 if((global.wirelessReceived > 0) && !wireless_evaluate_crc_error(global.wirelessdata,global.wirelessReceived))
778 { 782 {
779 copyWirelessData(); 783 copyWirelessData();
783 { 787 {
784 if(scheduleSetButtonResponsiveness()) 788 if(scheduleSetButtonResponsiveness())
785 setButtonsNow = 0; 789 setButtonsNow = 0;
786 } 790 }
787 791
792
793 //Evaluate received data at 10 ms, 110 ms, 210 ms,...
794 if(ticksdiff >= Scheduler.counterSPIdata100msec * 100 + 10)
795 {
796 SPI_Evaluate_RX_Data();
797 Scheduler.counterSPIdata100msec++;
798 }
799
788 //Evaluate pressure at 20 ms, 120 ms, 220 ms,... 800 //Evaluate pressure at 20 ms, 120 ms, 220 ms,...
789 if(ticksdiff >= counterPressure100msec * 100 + 20) 801 if(ticksdiff >= Scheduler.counterPressure100msec * 100 + 20)
790 { 802 {
791 global.check_sync_not_running++; 803 global.check_sync_not_running++;
792 pressure_update(); 804 pressure_update();
793 scheduleUpdateDeviceData(); 805 scheduleUpdateDeviceData();
794 global.lifeData.ascent_rate_meter_per_min = 0; 806 global.lifeData.ascent_rate_meter_per_min = 0;
795 copyPressureData(); 807 copyPressureData();
796 counterPressure100msec++; 808 Scheduler.counterPressure100msec++;
797 809
798 if(scheduleCheck_pressure_reached_dive_mode_level()) 810 if(scheduleCheck_pressure_reached_dive_mode_level())
799 global.mode = MODE_DIVE; 811 global.mode = MODE_DIVE;
800 } 812 }
801 813
802 //evaluate compass data at 50 ms, 150 ms, 250 ms,... 814 //evaluate compass data at 50 ms, 150 ms, 250 ms,...
803 815
804 if(ticksdiff >= counterCompass100msec * 100 + 50) 816 if(ticksdiff >= Scheduler.counterCompass100msec * 100 + 50)
805 { 817 {
806 compass_read(); 818 compass_read();
807 acceleration_read(); 819 acceleration_read();
808 compass_calc(); 820 compass_calc();
809 copyCompassData(); 821 copyCompassData();
810 counterCompass100msec++; 822 Scheduler.counterCompass100msec++;
811 } 823 }
812 824
813 //evaluate compass data at 70 ms, 170 ms, 270 ms,... 825 //evaluate compass data at 70 ms, 170 ms, 270 ms,...
814 if(ticksdiff >= counterAmbientLight100msec * 100 + 70) 826 if(ticksdiff >= Scheduler.counterAmbientLight100msec * 100 + 70)
815 { 827 {
816 adc_ambient_light_sensor_get_data(); 828 adc_ambient_light_sensor_get_data();
817 copyAmbientLightData(); 829 copyAmbientLightData();
818 counterAmbientLight100msec++; 830 Scheduler.counterAmbientLight100msec++;
819 } 831 }
820 //Evaluate tissues, toxic data, etc. once a second 832 //Evaluate tissues, toxic data, etc. once a second
821 if(ticksdiff >= 1000) 833 if(ticksdiff >= 1000)
822 { 834 {
835 //Set back tick counter
836 Scheduler.tickstart = HAL_GetTick();
837
823 if(clearDecoNow) 838 if(clearDecoNow)
824 { 839 {
825 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time 840 decom_reset_with_1000mbar(&global.lifeData); ///< this should almost reset desaturation time
826 // new 160215 hw 841 // new 160215 hw
827 global.repetitive_dive = 0; 842 global.repetitive_dive = 0;
830 global.accidentFlag = 0; 845 global.accidentFlag = 0;
831 global.accidentRemainingSeconds = 0; 846 global.accidentRemainingSeconds = 0;
832 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive); 847 vpm_init(&global.vpm, global.conservatism, global.repetitive_dive, global.seconds_since_last_dive);
833 clearDecoNow = 0; 848 clearDecoNow = 0;
834 } 849 }
835
836 //Set back tick counter
837 tickstart = HAL_GetTick();
838
839 850
840 if(global.seconds_since_last_dive) 851 if(global.seconds_since_last_dive)
841 { 852 {
842 schedule_update_timer_helper(-1); 853 schedule_update_timer_helper(-1);
843 // global.seconds_since_last_dive++; 854 // global.seconds_since_last_dive++;
883 if(!is_init_pressure_done()) 894 if(!is_init_pressure_done())
884 { 895 {
885 init_pressure(); 896 init_pressure();
886 } 897 }
887 } 898 }
888 899 Scheduler.counterSPIdata100msec = 0;
889 counterCompass100msec = 0; 900 Scheduler.counterCompass100msec = 0;
890 counterPressure100msec = 0; 901 Scheduler.counterPressure100msec = 0;
891 counterAmbientLight100msec = 0; 902 Scheduler.counterAmbientLight100msec = 0;
892 counterWireless1msec = 0; 903 Scheduler.counterWireless1msec = 0;
893 } 904 }
894 } 905 }
895 } 906 }
896 907 static uint8_t dohardspisync = 1;
908
909 void HardSyncToSPI()
910 {
911 if(dohardspisync)
912 {
913 //Set back tick counter
914 Scheduler.tickstart = HAL_GetTick();
915 Scheduler.counterSPIdata100msec = 0;
916 Scheduler.counterCompass100msec = 0;
917 Scheduler.counterPressure100msec = 0;
918 Scheduler.counterAmbientLight100msec = 0;
919 Scheduler.counterWireless1msec = 0;
920 dohardspisync = 0;
921 }
922 }
897 923
898 /** 924 /**
899 ****************************************************************************** 925 ******************************************************************************
900 * @brief scheduleCompassCalibrationMode 926 * @brief scheduleCompassCalibrationMode
901 * @author heinrichs weikamp gmbh 927 * @author heinrichs weikamp gmbh