Rev 548 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 548 | Rev 564 | ||
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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; |
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- | 439 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
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- | 440 | if(++TimeoutGPS_Process >= 25) |
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- | 441 | { |
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- | 442 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
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- | 443 | TimeoutGPS_Process = 0; |
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- | 444 | } |
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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 |