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| Rev 663 | Rev 688 | ||
|---|---|---|---|
| Line 79... | Line 79... | ||
| 79 | #include "debug.h" |
79 | #include "debug.h" |
| 80 | #include "eeprom.h" |
80 | #include "eeprom.h" |
| 81 | #include "ssc.h" |
81 | #include "ssc.h" |
| 82 | #include "sdc.h" |
82 | #include "sdc.h" |
| 83 | #include "uart1.h" |
83 | #include "uart1.h" |
| - | 84 | #include "canbus.h" |
|
| Line 84... | Line 85... | ||
| 84 | 85 | ||
| 85 | 86 | ||
| 86 | #ifdef FOLLOW_ME |
87 | #ifdef FOLLOW_ME |
| Line 454... | Line 455... | ||
| 454 | { |
455 | { |
| 455 | old_ms = CountMilliseconds; |
456 | old_ms = CountMilliseconds; |
| 456 | Compass_Update(); // update compass communication |
457 | Compass_Update(); // update compass communication |
| 457 | Analog_Update(); // get new ADC values |
458 | Analog_Update(); // get new ADC values |
| 458 | CalcHeadFree(); |
459 | CalcHeadFree(); |
| - | 460 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
|
| 459 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
461 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
| 460 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
462 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
| 461 | if(++TimeoutGPS_Process >= 25) |
463 | if(++TimeoutGPS_Process >= 25) |
| 462 | { |
464 | { |
| 463 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
465 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| Line 633... | Line 635... | ||
| 633 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
635 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
| 634 | UART1_PutString("\r\n"); |
636 | UART1_PutString("\r\n"); |
| Line 635... | Line 637... | ||
| 635 | 637 | ||
| 636 | CompassValueErrorCount = 0; |
638 | CompassValueErrorCount = 0; |
| - | 639 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
|
| - | 640 | ||
| - | 641 | // Intilizes the Canbus |
|
| 637 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
642 | if(UART_VersionInfo.HWMajor >= 30) CanbusInit(); |
| 638 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
643 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 639 | for (;;) // the endless main loop |
644 | for (;;) // the endless main loop |
| 640 | { |
645 | { |
| 641 | PollingTimeout = 5; |
646 | PollingTimeout = 5; |