void main(void)
{
s7sInit();
chrgPmpInit();
my_delay(200);
// Button init
button.oldState = 0x83;
button.timeout =0;
DDRD &= ~(0x3);
DDRB &= ~(0x80);
// Logic init
*((uint16_t*)&calibr) = eeprom_read_word(&EE_Calibr);
SREG|=1<<7;
s7s.dat[0]=16;
s7s.dat[1]=16;
s7s.dat[2]=16;
s7s.dat[3]=16;
s7s.point=3;
for(;;)
{
switch (loop.state)
{
case RUN:
runLoop();
break;
case IDLE:
idleLoop();
break;
case SET:
setLoop();
break;
}
}
}
bool MainLoop::processLoop(){
while(sControl->read()){};
if(sControl->isCtrlCommandReady()){
fCtrlCommand = sControl->getCtrlCommand();
cout << "Control command received " << (int)fCtrlCommand << endl;
delay(100);
if(fCtrlCommand==Constants::CtrlCommand::kDODEBUG) bigDebug = !bigDebug;
}
if(sControl->isSimpleKFactorsReady()){
sAltitude->setKs(sControl->getSimpleKP(), sControl->getSimpleKD());
}
if(fState==kINITIALIZING) initializationLoop();
else if(fState==kIDLE) idleLoop();
else if(fState==kCALIBRATING) calibrationLoop();
else if(fState==kFLYING) flightLoop();
else if(fState==kSTILL) stillLoop();
else{
//Error, do something
}
return true;
}
