Subversion Repositories FlightCtrl

Rev

Rev 1908 | Rev 1960 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1908 Rev 1955
Line 146... Line 146...
146 
  if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)
 146 
  if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz)
147 
    cnt = 9;
 147 
    cnt = 9;
148 
    cnt_1ms ^= 1;
 148 
    cnt_1ms ^= 1;
149 
    if (!cnt_1ms) {
 149 
    if (!cnt_1ms) {
150 
      if (runFlightControl == 1)
 150 
      if (runFlightControl == 1)
151 
        DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;
 151 
        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
152 
      else
 152 
      else
153 
        DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
 153 
        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
154 
      runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
 154 
      runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz)
155 
    }
 155 
    }
156 
    millisecondsCount++; // increment millisecond counter
 156 
    millisecondsCount++; // increment millisecond counter
157 
  }
 157 
  }
Line 215... Line 215...
215 
  uint16_t t_stop;
 215 
  uint16_t t_stop;
216 
  t_stop = setDelay(w);
 216 
  t_stop = setDelay(w);
217 
  while (!checkDelay(t_stop)) {
 217 
  while (!checkDelay(t_stop)) {
218 
    if (analogDataReady) {
 218 
    if (analogDataReady) {
219 
      analogDataReady = 0;
 219 
      analogDataReady = 0;
220 
      analog_start();
 220 
      startAnalogConversionCycle();
221 
    }
 221 
    }
222 
  }
 222 
  }
223 
}
 223 
}