Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2105 | - | 1 | #include "main.h" |
| 2 | |||
| 3 | serial_data_struct data_package_receive_kopter; //Data Package for Kopter Data |
||
| 4 | serial_data_struct data_package_receive_computer; //Data Package for Computer Data |
||
| 5 | serial_data_struct data_package_flow; //Data Package for Flow Data |
||
| 6 | |||
| 7 | int tmp = 0; |
||
| 8 | int main(void){ |
||
| 9 | gpio_init(); |
||
| 10 | uart_init(); |
||
| 11 | processing_init(); |
||
| 12 | timer_init(); |
||
| 13 | flightcontrol_init(); |
||
| 14 | //flowcam_init(); //Uncomment for use of Raspberry Camera Module |
||
| 15 | reset_reference_values(); |
||
| 16 | |||
| 17 | for (;;) |
||
| 18 | { |
||
| 19 | reset_timer(); |
||
| 20 | |||
| 21 | ////////////////////////////////////////////////////////////////////////// |
||
| 22 | // Request Data from Kopter, renew subscribtion every 2 Seconds |
||
| 23 | if(interval_in_sec(2)){ |
||
| 24 | request_to_kopter(GET_ANALOG_DATA); |
||
| 25 | //request_to_kopter(GET_3D_DATA); |
||
| 26 | } |
||
| 27 | |||
| 28 | ////////////////////////////////////////////////////////////////////////// |
||
| 29 | // Receive Data from Kopter and computer at 200Hz |
||
| 30 | if(interval_in_msec(5)){ |
||
| 31 | //receive_data_from_computer(&data_package_receive_computer, 0); |
||
| 32 | receive_data_from_kopter(&data_package_receive_kopter); |
||
| 33 | } |
||
| 34 | |||
| 35 | ////////////////////////////////////////////////////////////////////////// |
||
| 36 | // Receive Data from Flow Module and Perform Flight Correction at 200Hz |
||
| 37 | if(interval_in_msec(5)){ |
||
| 38 | receive_data_from_flow(&data_package_flow); |
||
| 39 | transmit_flight_data(); |
||
| 40 | } |
||
| 41 | |||
| 42 | //if(interval_in_sec(10)){reset_reference_values();} |
||
| 43 | //if(interval_in_msec(50)){get_distance();} |
||
| 44 | //if(interval_in_msec(5)){get_flowcam_values();} |
||
| 45 | } |
||
| 46 | } |