void Craft::loop() {
m_attitude.update();
checkBattery();
uint32_t time = micros();
if (time - m_telemetryLast > m_config.telemetryRate) {
m_telemetryLast = time;
SerialUSB.print(m_attitude.roll);
SerialUSB.print(",");
SerialUSB.print(m_attitude.pitch);
SerialUSB.print(",");
SerialUSB.print(m_attitude.yaw);
SerialUSB.println(", 0, 0, 0, 0");
}
switch (m_config.type) {
case PQUAD:
case XQUAD:
case PHEX:
case XHEX:
case TRI:
case HELI:
loop_vtol();
break;
case PLANE:
loop_plane();
break;
case CAR:
case BOAT:
loop_gnd();
break;
default:
blink_fault();
}
}
void perMain()
{
#if defined(PCBSKY9X) && !defined(REVA)
calcConsumption();
#endif
checkSpeakerVolume();
checkEeprom();
sdMountPoll();
writeLogs();
handleUsbConnection();
checkTrainerSettings();
checkBattery();
uint8_t evt = getEvent(false);
if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
checkBacklight();
#if defined(NAVIGATION_STICKS)
uint8_t sticks_evt = getSticksNavigationEvent();
if (sticks_evt) evt = sticks_evt;
#endif
#if defined(USB_MASS_STORAGE)
if (usbPlugged()) {
// disable access to menus
lcd_clear();
menuMainView(0);
lcdRefresh();
return;
}
#endif
#if defined(LUA)
uint32_t t0 = get_tmr10ms();
static uint32_t lastLuaTime = 0;
uint16_t interval = (lastLuaTime == 0 ? 0 : (t0 - lastLuaTime));
lastLuaTime = t0;
if (interval > maxLuaInterval) {
maxLuaInterval = interval;
}
// run Lua scripts that don't use LCD (to use CPU time while LCD DMA is running)
luaTask(0, RUN_MIX_SCRIPT | RUN_FUNC_SCRIPT | RUN_TELEM_BG_SCRIPT, false);
// wait for LCD DMA to finish before continuing, because code from this point
// is allowed to change the contents of LCD buffer
//
// WARNING: make sure no code above this line does any change to the LCD display buffer!
//
lcdRefreshWait();
// draw LCD from menus or from Lua script
// run Lua scripts that use LCD
bool standaloneScriptWasRun = luaTask(evt, RUN_STNDAL_SCRIPT, true);
bool refreshScreen = true;
if (!standaloneScriptWasRun) {
refreshScreen = !luaTask(evt, RUN_TELEM_FG_SCRIPT, true);
}
t0 = get_tmr10ms() - t0;
if (t0 > maxLuaDuration) {
maxLuaDuration = t0;
}
if (!standaloneScriptWasRun)
#else
lcdRefreshWait(); // WARNING: make sure no code above this line does any change to the LCD display buffer!
const bool refreshScreen = true;
#endif
{
// normal GUI from menus
const char *warn = s_warning;
uint8_t menu = s_menu_count;
if (refreshScreen) {
lcd_clear();
}
if (menuEvent) {
m_posVert = menuEvent == EVT_ENTRY_UP ? g_menuPos[g_menuStackPtr] : 0;
m_posHorz = 0;
evt = menuEvent;
menuEvent = 0;
AUDIO_MENUS();
}
g_menuStack[g_menuStackPtr]((warn || menu) ? 0 : evt);
if (warn) DISPLAY_WARNING(evt);
if (menu) {
const char * result = displayMenu(evt);
if (result) {
menuHandler(result);
putEvent(EVT_MENU_UP);
}
}
drawStatusLine();
}
lcdRefresh();
#if defined(REV9E) && !defined(SIMU)
topLcdRefreshStart();
setTopFirstTimer(getValue(MIXSRC_FIRST_TIMER+g_model.topLcdTimer));
setTopSecondTimer(g_eeGeneral.globalTimer + sessionTimer);
setTopRssi(TELEMETRY_RSSI());
setTopBatteryValue(g_vbat100mV);
setTopBatteryState(GET_TXBATT_BARS(), IS_TXBATT_WARNING());
topLcdRefreshEnd();
#endif
#if defined(REV9E) && !defined(SIMU)
bluetoothWakeup();
#endif
#if defined(PCBTARANIS)
if (requestScreenshot) {
requestScreenshot = false;
writeScreenshot();
}
#endif
}
