| 0,0 → 1,41 |
|---|
| #include "main.h" |
| |
| |
| u8 FileExists; |
| serial_data_struct data_package_camera_control; //Data Package for controlling the Camera |
| serial_data_struct data_package_camera_control_gier; //Data Package for controlling the Gier-Axis of the MikroKopter |
| serial_data_struct data_package_kopter_control; //Data Package for controlling the MikroKopter |
| |
| int main(void){ |
| frame_init(); |
| FileExists = file_init(); |
| gamepad_init(); |
| gpio_init(); |
| calibration_init(); |
| uart_init(); |
| buzzer_short(3); |
| |
| for (;;) |
| { |
| check_program_switch(); |
| if(ProgramSelect == 1){ |
| read_gamepad_data(); |
| create_data_camera(&data_package_camera_control, &data_package_camera_control_gier); |
| create_serial_frame(1, 'y', 12, &data_package_camera_control); //address, Command ID, Serial Command Length, data |
| create_serial_frame(1, 'b', sizeof(struct str_ExternControl), &data_package_camera_control_gier); //Gier |
| transmit_data(&data_package_camera_control); |
| transmit_data(&data_package_camera_control_gier); |
| } |
| if(ProgramSelect == 2){ |
| check_if_controls_active(); |
| if(IsActive){ |
| get_sensitivity(); |
| read_gamepad_data(); |
| create_data_kopter(&data_package_kopter_control); |
| create_serial_frame(1, 'b', sizeof(struct str_ExternControl), &data_package_kopter_control); |
| transmit_data(&data_package_kopter_control); |
| } |
| } |
| usleep(5000); //200hz |
| } |
| } |