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| Rev 2132 | Rev 2133 | ||
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| Line 35... | Line 35... | ||
| 35 | #endif |
35 | #endif |
| Line 36... | Line 36... | ||
| 36 | 36 | ||
| 37 | // disable interrupts global |
37 | // disable interrupts global |
| Line 38... | Line 38... | ||
| 38 | cli(); |
38 | cli(); |
| - | 39 | ||
| Line 39... | Line 40... | ||
| 39 | 40 | // wdt_enable(WDTO_2000MS); |
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| 40 | wdt_enable(WDTO_120MS); |
41 | wdt_disable(); |
| 41 | 42 | ||
| 42 | // initalize modules |
43 | // initalize modules |
| Line 66... | Line 67... | ||
| 66 | 67 | ||
| 67 | while (1) { |
68 | while (1) { |
| 68 | if (runFlightControl) { // control interval |
69 | if (runFlightControl) { // control interval |
| Line -... | Line 70... | ||
| - | 70 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
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| 69 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
71 | |
| 70 | 72 | /* |
|
| 71 | if (!resetFlag) { |
73 | if (!resetFlag) { |
| - | 74 | wdt_reset(); |
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| Line 72... | Line 75... | ||
| 72 | wdt_reset(); |
75 | } |
| 73 | } |
76 | */ |
| 74 | 77 | ||
| 75 | if (sensorDataReady != ALL_DATA_READY) { |
78 | if (sensorDataReady != ALL_DATA_READY) { |