| 19,7 → 19,6 |
|---|
| |
| int16_t main(void) { |
| uint16_t timer; |
| static uint8_t profileTimer; |
| |
| // disable interrupts global |
| cli(); |
| 116,7 → 115,6 |
|---|
| while (1) { |
| if (runFlightControl) { // control interval |
| runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| |
| if (!analogDataReady) { |
| // Analog data should have been ready but is not!! |
| debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
| 158,7 → 156,7 |
|---|
| #ifdef DO_PROFILE |
| stopProfileTimer(FLIGHT); |
| #endif |
| |
| |
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if (!runFlightControl || !isFlying) { |
| usart0_transmitTxData(); |
| 176,18 → 174,26 |
|---|
| beepBatteryAlarm(); |
| } |
| } |
| calculateFeaturedServoValues(); |
| timer = setDelay(20); // every 20 ms |
| } |
| |
| output_update(); |
| } |
| |
| if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| } else { |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| } |
| } |
| calculateFeaturedServoValues(); |
| |
| if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
| debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| } else { |
| debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| } |
| |
| #ifdef DO_PROFILE |
| static uint8_t profileTimer; |
| if (profileTimer++ == 0) { |
| debugProfileTimers(24); |
| } |
| #endif |
| |
| } |
| return (1); |
| } |