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| Rev 368 | Rev 369 | ||
|---|---|---|---|
| Line 377... | Line 377... | ||
| 377 | // used is for critical timing parts that normaly would handled |
377 | // used is for critical timing parts that normaly would handled |
| 378 | // within the main loop that could block longer at logging activities |
378 | // within the main loop that could block longer at logging activities |
| 379 | void EXTIT3_IRQHandler(void) |
379 | void EXTIT3_IRQHandler(void) |
| 380 | { |
380 | { |
| 381 | IENABLE; |
381 | IENABLE; |
| 382 | - | ||
| 383 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
382 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| 384 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
383 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
| 385 | Compass_Update(); // update compass communication |
384 | Compass_Update(); // update compass communication |
| 386 | Analog_Update(); // get new ADC values |
385 | Analog_Update(); // get new ADC values |
| 387 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
386 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
| 388 | - | ||
| 389 | IDISABLE; |
387 | IDISABLE; |
| 390 | } |
388 | } |
| Line 391... | Line 389... | ||
| 391 | 389 | ||
| 392 | //---------------------------------------------------------------------------------------------------- |
390 | //---------------------------------------------------------------------------------------------------- |
| Line 471... | Line 469... | ||
| 471 | Debug_OK("START"); |
469 | Debug_OK("START"); |
| 472 | UART1_PutString("\r\n"); |
470 | UART1_PutString("\r\n"); |
| Line 473... | Line 471... | ||
| 473 | 471 | ||
| 474 | for (;;) // the endless main loop |
472 | for (;;) // the endless main loop |
| 475 | { |
473 | { |
| 476 | MainWatchDog = 3500; // stop communication to FC after this timeout |
474 | MainWatchDog = 4500; // stop communication to FC after this timeout |
| 477 | UART0_ProcessRxData(); // process request |
475 | UART0_ProcessRxData(); // process request |
| 478 | UART1_ProcessRxData(); // process request |
- | |
| 479 | USB_ProcessRxData(); // process request |
476 | UART1_ProcessRxData(); // process request |
| 480 | UART0_TransmitTxData(); // send answer |
477 | UART0_TransmitTxData(); // send answer |
| 481 | UART1_TransmitTxData(); // send answer |
478 | UART1_TransmitTxData(); // send answer |
| 482 | UART2_TransmitTxData(); // send answer |
- | |
| 483 | USB_TransmitTxData(); // send answer |
479 | UART2_TransmitTxData(); // send answer |
| - | 480 | SPI0_UpdateBuffer(); // handle new SPI Data |
|
| - | 481 | // USB_ProcessRxData(); // process request |
|
| Line 484... | Line 482... | ||
| 484 | SPI0_UpdateBuffer(); // handle new SPI Data |
482 | // USB_TransmitTxData(); // send answer |
| 485 | 483 | ||
| 486 | // ---------------- Error Check Timing ---------------------------- |
484 | // ---------------- Error Check Timing ---------------------------- |
| 487 | if(CheckDelay(TimerCheckError)) |
485 | if(CheckDelay(TimerCheckError)) |
| Line 499... | Line 497... | ||
| 499 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
497 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
| 500 | } |
498 | } |
| 501 | // ---------------- Logging --------------------------------------- |
499 | // ---------------- Logging --------------------------------------- |
| 502 | if(SD_WatchDog) |
500 | if(SD_WatchDog) |
| 503 | { |
501 | { |
| 504 | SD_WatchDog = 3000; |
502 | SD_WatchDog = 4000; |
| 505 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
503 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
| 506 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
504 | else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
| 507 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
505 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
| 508 | } |
506 | } |
| 509 | /* |
507 | /* |