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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2105 | - | 1 | #include "main.h" |
| 2 | |||
| 3 | |||
| 4 | u8 FileExists; |
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| 5 | serial_data_struct data_package_camera_control; //Data Package for controlling the Camera |
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| 6 | serial_data_struct data_package_camera_control_gier; //Data Package for controlling the Gier-Axis of the MikroKopter |
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| 7 | serial_data_struct data_package_kopter_control; //Data Package for controlling the MikroKopter |
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| 8 | |||
| 9 | int main(void){ |
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| 10 | frame_init(); |
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| 11 | FileExists = file_init(); |
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| 12 | gamepad_init(); |
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| 13 | gpio_init(); |
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| 14 | calibration_init(); |
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| 15 | uart_init(); |
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| 16 | buzzer_short(3); |
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| 17 | |||
| 18 | for (;;) |
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| 19 | { |
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| 20 | check_program_switch(); |
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| 21 | if(ProgramSelect == 1){ |
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| 22 | read_gamepad_data(); |
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| 23 | create_data_camera(&data_package_camera_control, &data_package_camera_control_gier); |
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| 24 | create_serial_frame(1, 'y', 12, &data_package_camera_control); //address, Command ID, Serial Command Length, data |
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| 25 | create_serial_frame(1, 'b', sizeof(struct str_ExternControl), &data_package_camera_control_gier); //Gier |
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| 26 | transmit_data(&data_package_camera_control); |
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| 27 | transmit_data(&data_package_camera_control_gier); |
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| 28 | } |
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| 29 | if(ProgramSelect == 2){ |
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| 30 | check_if_controls_active(); |
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| 31 | if(IsActive){ |
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| 32 | get_sensitivity(); |
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| 33 | read_gamepad_data(); |
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| 34 | create_data_kopter(&data_package_kopter_control); |
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| 35 | create_serial_frame(1, 'b', sizeof(struct str_ExternControl), &data_package_kopter_control); |
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| 36 | transmit_data(&data_package_kopter_control); |
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| 37 | } |
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| 38 | } |
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| 39 | usleep(5000); //200hz |
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| 40 | } |
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| 41 | } |