Rev 548 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 548 | Rev 564 | ||
|---|---|---|---|
| Line 421... | Line 421... | ||
| 421 | 421 | ||
| 422 | 422 | ||
| 423 | 423 | ||
| 424 | u8 Polling(void) |
424 | u8 Polling(void) |
| Line 425... | Line 425... | ||
| 425 | { |
425 | { |
| 426 | static u8 running = 0, oldFcFlags = 0, count5sec; |
426 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
| Line 433... | Line 433... | ||
| 433 | { |
433 | { |
| 434 | old_ms = CountMilliseconds; |
434 | old_ms = CountMilliseconds; |
| 435 | Compass_Update(); // update compass communication |
435 | Compass_Update(); // update compass communication |
| 436 | Analog_Update(); // get new ADC values |
436 | Analog_Update(); // get new ADC values |
| 437 | CalcHeadFree(); |
437 | CalcHeadFree(); |
| - | 438 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
|
| - | 439 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
|
| - | 440 | if(++TimeoutGPS_Process >= 25) |
|
| - | 441 | { |
|
| - | 442 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
|
| - | 443 | TimeoutGPS_Process = 0; |
|
| - | 444 | } |
|
| 438 | } |
445 | } |
| Line 439... | Line 446... | ||
| 439 | 446 | ||
| 440 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
447 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
| 441 | UART0_ProcessRxData(); // GPS process request |
448 | UART0_ProcessRxData(); // GPS process request |
| Line 461... | Line 468... | ||
| 461 | CountGpsProcessedIn5Sec = 0; |
468 | CountGpsProcessedIn5Sec = 0; |
| 462 | CountNewGpsDataIn5Sec = 0; |
469 | CountNewGpsDataIn5Sec = 0; |
| 463 | } |
470 | } |
| 464 | } |
471 | } |
| 465 | oldFcFlags = FC.StatusFlags; |
472 | oldFcFlags = FC.StatusFlags; |
| 466 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
473 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| Line 467... | Line 474... | ||
| 467 | 474 | ||
| Line 468... | Line 475... | ||
| 468 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
475 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
| 469 | 476 | ||