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| Rev 2124 | Rev 2125 | ||
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| Line 17... | Line 17... | ||
| 17 | #include "eeprom.h" |
17 | #include "eeprom.h" |
| 18 | #include "printf_P.h" |
18 | #include "printf_P.h" |
| Line 19... | Line 19... | ||
| 19 | 19 | ||
| 20 | int16_t main(void) { |
20 | int16_t main(void) { |
| - | 21 | uint16_t timer; |
|
| Line 21... | Line 22... | ||
| 21 | uint16_t timer; |
22 | static uint8_t profileTimer; |
| 22 | 23 | ||
| Line 23... | Line 24... | ||
| 23 | // disable interrupts global |
24 | // disable interrupts global |
| Line 113... | Line 114... | ||
| 113 | printf("\n\n\r"); |
114 | printf("\n\n\r"); |
| Line 114... | Line 115... | ||
| 114 | 115 | ||
| 115 | while (1) { |
116 | while (1) { |
| 116 | if (runFlightControl) { // control interval |
117 | if (runFlightControl) { // control interval |
| - | 118 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
|
| 117 | runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
119 | |
| 118 | if (!analogDataReady) { |
120 | if (!analogDataReady) { |
| 119 | // Analog data should have been ready but is not!! |
121 | // Analog data should have been ready but is not!! |
| 120 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
122 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
| 121 | } else { |
123 | } else { |
| Line 154... | Line 156... | ||
| 154 | #endif |
156 | #endif |
| 155 | flight_control(); |
157 | flight_control(); |
| 156 | #ifdef DO_PROFILE |
158 | #ifdef DO_PROFILE |
| 157 | stopProfileTimer(FLIGHT); |
159 | stopProfileTimer(FLIGHT); |
| 158 | #endif |
160 | #endif |
| 159 | 161 | ||
| 160 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
162 | // Allow Serial Data Transmit if motors must not updated or motors are not running |
| 161 | if (!runFlightControl || !isFlying) { |
163 | if (!runFlightControl || !isFlying) { |
| 162 | usart0_transmitTxData(); |
164 | usart0_transmitTxData(); |
| 163 | } |
165 | } |
| Line 172... | Line 174... | ||
| 172 | } else { // If we are above USB voltage, or if we have once been above warning voltage |
174 | } else { // If we are above USB voltage, or if we have once been above warning voltage |
| 173 | if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) { |
175 | if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) { |
| 174 | beepBatteryAlarm(); |
176 | beepBatteryAlarm(); |
| 175 | } |
177 | } |
| 176 | } |
178 | } |
| - | 179 | calculateFeaturedServoValues(); |
|
| 177 | timer = setDelay(20); // every 20 ms |
180 | timer = setDelay(20); // every 20 ms |
| 178 | } |
181 | } |
| 179 | output_update(); |
- | |
| 180 | } |
- | |
| Line 181... | Line -... | ||
| 181 | - | ||
| 182 | calculateFeaturedServoValues(); |
- | |
| 183 | - | ||
| 184 | if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
- | |
| 185 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
- | |
| 186 | } else { |
- | |
| 187 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
- | |
| 188 | } |
- | |
| 189 | - | ||
| 190 | #ifdef DO_PROFILE |
- | |
| 191 | static uint8_t profileTimer; |
- | |
| 192 | if (profileTimer++ == 0) { |
182 | |
| 193 | debugProfileTimers(24); |
- | |
| 194 | } |
- | |
| Line -... | Line 183... | ||
| - | 183 | output_update(); |
|
| - | 184 | ||
| - | 185 | if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |
|
| - | 186 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
|
| - | 187 | } else { |
|
| - | 188 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
|
| 195 | #endif |
189 | } |
| 196 | 190 | } |
|
| 197 | } |
191 | } |