| 84,6 → 84,7 |
|---|
| #include "uart1.h" |
| #include "canbus.h" |
| #include "triggerlog.h" |
| #include "CamCtrl.h" |
| |
| |
| #ifdef FOLLOW_ME |
| 489,10 → 490,21 |
|---|
| if(CountMilliseconds != old_ms) // 1 ms |
| { |
| if(CanbusTimeOut >= 2) CanbusTimeOut--; |
| if(CamCtrlTimeout) |
| { |
| if(--CamCtrlTimeout == 1) CamCtrlCharacter = '?'; |
| else if(CamCtrlTimeout == 10000) CamCtrlTimeout = 0; // this is used during NC startup-Time phase |
| } |
| else |
| { |
| if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
| FromCamCtrl.CamStatus = 0; |
| }; |
| old_ms = CountMilliseconds; |
| Compass_Update(); // update compass communication |
| Analog_Update(); // get new ADC values |
| CalcHeadFree(); |
| if(CamCtrlTimeout > 1) CamCtrl_GetData(3); |
| if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
| if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
| else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
| 539,7 → 551,11 |
|---|
| { |
| if(CheckDelay(TimerCheckError)) |
| { |
| if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; else BlitzSchuhConnected = 0; |
| if(!(FC.StatusFlags & FC_STATUS_FLY)) // do not change the Bit during flight |
| { |
| if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; |
| else BlitzSchuhConnected = 0; |
| } |
| TimerCheckError = SetDelay(1000); |
| if(CompassValueErrorCount) CompassValueErrorCount--; |
| if(++count5sec == 5) |
| 630,6 → 646,7 |
|---|
| // initialize SPI0 to FC |
| SPI0_Init(); |
| // initialize i2c busses (needs Timer 1) |
| InitCamCtrl(); |
| I2CBus_Init(I2C0); |
| I2CBus_Init(I2C1); |
| // initialize fat16 partition on sd card (needs Timer 1) |