Subversion Repositories FlightCtrl

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Ignore whitespace Rev 2124 → Rev 2125

/branches/dongfang_FC_fixedwing/main.c
19,6 → 19,7
 
int16_t main(void) {
uint16_t timer;
static uint8_t profileTimer;
 
// disable interrupts global
cli();
115,6 → 116,7
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;
156,7 → 158,7
#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();
174,26 → 176,18
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);
}