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Rev 719 | Rev 727 | ||
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Line 82... | Line 82... | ||
82 | #include "ssc.h" |
82 | #include "ssc.h" |
83 | #include "sdc.h" |
83 | #include "sdc.h" |
84 | #include "uart1.h" |
84 | #include "uart1.h" |
85 | #include "canbus.h" |
85 | #include "canbus.h" |
86 | #include "triggerlog.h" |
86 | #include "triggerlog.h" |
- | 87 | #include "CamCtrl.h" |
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Line 87... | Line 88... | ||
87 | 88 | ||
88 | 89 | ||
89 | #ifdef FOLLOW_ME |
90 | #ifdef FOLLOW_ME |
Line 487... | Line 488... | ||
487 | running = 1; |
488 | running = 1; |
Line 488... | Line 489... | ||
488 | 489 | ||
489 | if(CountMilliseconds != old_ms) // 1 ms |
490 | if(CountMilliseconds != old_ms) // 1 ms |
490 | { |
491 | { |
- | 492 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
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- | 493 | if(CamCtrlTimeout) |
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- | 494 | { |
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- | 495 | if(--CamCtrlTimeout == 1) CamCtrlCharacter = '?'; |
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- | 496 | else if(CamCtrlTimeout == 10000) CamCtrlTimeout = 0; // this is used during NC startup-Time phase |
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- | 497 | } |
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- | 498 | else |
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- | 499 | { |
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- | 500 | if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
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- | 501 | FromCamCtrl.CamStatus = 0; |
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491 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
502 | }; |
492 | old_ms = CountMilliseconds; |
503 | old_ms = CountMilliseconds; |
493 | Compass_Update(); // update compass communication |
504 | Compass_Update(); // update compass communication |
494 | Analog_Update(); // get new ADC values |
505 | Analog_Update(); // get new ADC values |
- | 506 | CalcHeadFree(); |
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495 | CalcHeadFree(); |
507 | if(CamCtrlTimeout > 1) CamCtrl_GetData(3); |
496 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
508 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
497 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
509 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
498 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
510 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
499 | if(++TimeoutGPS_Process >= 25) |
511 | if(++TimeoutGPS_Process >= 25) |
Line 537... | Line 549... | ||
537 | // ---------------- Error Check Timing ---------------------------- |
549 | // ---------------- Error Check Timing ---------------------------- |
538 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
550 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
539 | { |
551 | { |
540 | if(CheckDelay(TimerCheckError)) |
552 | if(CheckDelay(TimerCheckError)) |
541 | { |
553 | { |
- | 554 | if(!(FC.StatusFlags & FC_STATUS_FLY)) // do not change the Bit during flight |
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- | 555 | { |
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542 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; else BlitzSchuhConnected = 0; |
556 | if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; |
- | 557 | else BlitzSchuhConnected = 0; |
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- | 558 | } |
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543 | TimerCheckError = SetDelay(1000); |
559 | TimerCheckError = SetDelay(1000); |
544 | if(CompassValueErrorCount) CompassValueErrorCount--; |
560 | if(CompassValueErrorCount) CompassValueErrorCount--; |
545 | if(++count5sec == 5) |
561 | if(++count5sec == 5) |
546 | { |
562 | { |
547 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
563 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
Line 628... | Line 644... | ||
628 | // initialize adc |
644 | // initialize adc |
629 | Analog_Init(); |
645 | Analog_Init(); |
630 | // initialize SPI0 to FC |
646 | // initialize SPI0 to FC |
631 | SPI0_Init(); |
647 | SPI0_Init(); |
632 | // initialize i2c busses (needs Timer 1) |
648 | // initialize i2c busses (needs Timer 1) |
- | 649 | InitCamCtrl(); |
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633 | I2CBus_Init(I2C0); |
650 | I2CBus_Init(I2C0); |
634 | I2CBus_Init(I2C1); |
651 | I2CBus_Init(I2C1); |
635 | // initialize fat16 partition on sd card (needs Timer 1) |
652 | // initialize fat16 partition on sd card (needs Timer 1) |
636 | Fat16_Init(); |
653 | Fat16_Init(); |
637 | // initialize NC params |
654 | // initialize NC params |