DWORD WINAPI update_stick(LPVOID p)
{
while(true)
{
update_ppm();
Sleep(20);
}
return 0;
}
static void
serial_handler(
int fd,
void * user_arg
)
{
char line[ 256 ];
int len;
if (serial_fd==0)
return;
if( !read_char_line( serial_fd, line, sizeof(line) ) )
{
perror( "read_char" );
return;
}
len = strlen( line );
line[len++] = '\n';
line[len] = '\0';
if (gui->pause_raw_output->value()!=1) {
gui->raw_serial_output->insert(line);
Fl_Text_Buffer *textBuffer = gui->raw_serial_output->buffer();
int numLines = textBuffer->count_lines(0, textBuffer->length());
gui->raw_serial_output->scroll(numLines, 0);
// ugly way to keep the buffer from growing unchecked
if (numLines > 1000) {
textBuffer->remove(0, (textBuffer->length()-100));
}
}
if( strncmp( line, "$GPADC", 6 ) == 0 )
{
imu_samples++;
update_adc(line);
} else
if( strncmp( line, "$GPPPM", 6 ) == 0 )
{
update_ppm(line);
} else
{
// Ignore the line for now
}
}
void Timer1IntHandler(void)
{
if (motoresInicializados && init_control) {
if (counter_measure_mpu6050 == 10000) {
counter_measure_mpu6050 = 0;
iniciaLeituraMPU6050();
//atualizaControle();
}
counter_measure_mpu6050++;
}
if (motoresInicializados && init_control) {
if (counter_measure_sonar == 100000) {
counter_measure_sonar = 0;
iniciaLeituraSonar(SONAR_BAIXO);
}
counter_measure_sonar++;
}
update_ppm();
}
