Subversion Repositories FlightCtrl

Rev

Rev 2130 | Rev 2133 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2130 Rev 2132
Line 1... Line 1...
1 
#include <avr/boot.h>
 1 
#include <avr/boot.h>
2 
#include <avr/io.h>
 2 
#include <avr/io.h>
3 
#include <avr/interrupt.h>
 3 
#include <avr/interrupt.h>
- 
 
 4 
#include <avr/wdt.h>
4 
#include <util/delay.h>
 5 
#include <util/delay.h>
Line 5... Line 6...
5 
 
 6 
 
6 
#include "timer0.h"
 7 
#include "timer0.h"
7 
#include "timer2.h"
 8 
#include "timer2.h"
Line 15... Line 16...
15 
#include "configuration.h"
 16 
#include "configuration.h"
16 
#include "controlMixer.h"
 17 
#include "controlMixer.h"
17 
#include "eeprom.h"
 18 
#include "eeprom.h"
18 
#include "printf_P.h"
 19 
#include "printf_P.h"
Line -... Line 20...
- 
 
 20 
 
- 
 
 21 
uint8_t resetFlag = 0;
- 
 
 22 
 
- 
 
 23 
void reset(void) {
- 
 
 24 
        resetFlag = 1;
- 
 
 25 
        wdt_enable(WDTO_15MS);
- 
 
 26 
        while (1)
- 
 
 27 
                ;
- 
 
 28 
}
19 
 
 29 
 
20 
int16_t main(void) {
 30 
int16_t main(void) {
- 
 
 31 
        uint16_t timer = 0;
- 
 
 32 
 
21 
  uint16_t timer;
 33 
#ifdef DO_PROFILE
- 
 
 34 
        static uint8_t profileTimer;
Line 22... Line 35...
22 
  static uint8_t profileTimer;
 35 
#endif
23 
 
 36 
 
Line 24... Line -...
24 
  // disable interrupts global
 - 
 
25 
  cli();
 - 
 
26 
 
 - 
 
27 
  // disable watchdog
 - 
 
28 
  MCUSR &= ~(1 << WDRF);
 - 
 
29 
  WDTCSR |= (1 << WDCE) | (1 << WDE);
 - 
 
30 
  WDTCSR = 0;
 - 
 
31 
 
 37 
        // disable interrupts global
Line 32... Line 38...
32 
// This is strange: It should NOT be necessarty to do. But the call of the same,
 38 
        cli();
33 
// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
 39 
 
34 
// channelMap_default();
 40 
        wdt_enable(WDTO_120MS);
35 
 
 41 
 
Line 59... Line 65...
59 
  beep(2000);
 65 
        beep(2000);
Line 60... Line 66...
60 
 
 66 
 
61 
  while (1) {
 67 
        while (1) {
62 
    if (runFlightControl) { // control interval
 68 
                if (runFlightControl) { // control interval
- 
 
 69 
                        runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
- 
 
 70 
 
- 
 
 71 
                        if (!resetFlag) {
- 
 
 72 
                                wdt_reset();
- 
 
 73 
                        }
63 
      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
 74 
 
64 
      if (sensorDataReady != ALL_DATA_READY) {
 75 
                        if (sensorDataReady != ALL_DATA_READY) {
65 
        // Analog data should have been ready but is not!!
 76 
                                // Analog data should have been ready but is not!!
66 
        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
 77 
                                debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
67 
      } else {
 78 
                        } else {
Line 105... Line 116...
105 
      debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
 116 
                                debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
106 
    } else {
 117 
                        } else {
107 
      debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
 118 
                                debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
108 
    }
 119 
                        }
109 
  }
 120 
                }
- 
 
 121 
        }
110 
  return (1);
 122 
        return (1);
111 
}
 123 
}