Rev 213 | Rev 218 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 213 | Rev 215 | ||
|---|---|---|---|
| Line 61... | Line 61... | ||
| 61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
| 62 | #include "led.h" |
62 | #include "led.h" |
| 63 | #include "uart0.h" |
63 | #include "uart0.h" |
| 64 | #include "uart1.h" |
64 | #include "uart1.h" |
| 65 | #include "uart2.h" |
65 | #include "uart2.h" |
| 66 | #include "GPS.h" |
66 | #include "gps.h" |
| 67 | #include "i2c.h" |
67 | #include "i2c.h" |
| 68 | #include "timer1.h" |
68 | #include "timer1.h" |
| 69 | #include "timer2.h" |
69 | #include "timer2.h" |
| 70 | #include "analog.h" |
70 | #include "analog.h" |
| 71 | #include "spi_slave.h" |
71 | #include "spi_slave.h" |
| Line 294... | Line 294... | ||
| 294 | SPI0_UpdateBuffer(); // handle new SPI Data |
294 | SPI0_UpdateBuffer(); // handle new SPI Data |
| 295 | // ---------------- Error Check Timing ---------------------------- |
295 | // ---------------- Error Check Timing ---------------------------- |
| 296 | if(CheckDelay(TimerCheckError)) |
296 | if(CheckDelay(TimerCheckError)) |
| 297 | { |
297 | { |
| 298 | TimerCheckError = SetDelay(1000); |
298 | TimerCheckError = SetDelay(1000); |
| 299 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
299 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| 300 | CheckErrors(); |
300 | CheckErrors(); |
| 301 | if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
301 | if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 302 | // else NaviData.FlyingTime = 0; // not the time per flight |
302 | // else NaviData.FlyingTime = 0; // not the time per flight |
| 303 | UART1_Request_SendFollowMe = TRUE; |
- | |
| 304 | if(SerialLinkOkay) SerialLinkOkay--; |
303 | if(SerialLinkOkay) SerialLinkOkay--; |
| 305 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
304 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 306 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
305 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 307 | } |
306 | } |
| 308 | // ---------------- Logging --------------------------------------- |
307 | // ---------------- Logging --------------------------------------- |