/**********************************************************
MAIN
**********************************************************/
int main (void) {
static int vbat1; //battery_voltage (lowpass-filtered)
init();
buzzer(OFF);
LL_write_init();
PTU_init();
ADC0triggerSampling(1<<VOLTAGE_1); //activate ADC sampling
HL_Status.up_time=0;
LED(1,ON);
while(1)
{
if(mainloop_trigger)
{
if(GPS_timeout<ControllerCyclesPerSecond) GPS_timeout++;
else if(GPS_timeout==ControllerCyclesPerSecond)
{
GPS_timeout=ControllerCyclesPerSecond+1;
GPS_Data.status=0;
GPS_Data.numSV=0;
}
//battery monitoring
ADC0getSamplingResults(0xFF,adcChannelValues);
vbat1=(vbat1*14+(adcChannelValues[VOLTAGE_1]*9872/579))/15; //voltage in mV
HL_Status.battery_voltage_1=vbat1;
mainloop_cnt++;
if(!(mainloop_cnt%10)) buzzer_handler(HL_Status.battery_voltage_1);
if(mainloop_trigger) mainloop_trigger--;
mainloop();
}
}
return 0;
}
/**********************************************************
MAIN
**********************************************************/
int main (void) {
static int vbat1; //battery_voltage (lowpass-filtered)
unsigned int TimerT1, TimerT2;
init();
buzzer(OFF);
LL_write_init();
//initialize AscTec Firefly LED fin on I2C1 (not necessary on AscTec Hummingbird or Pelican)
I2C1Init();
I2C1_setRGBLed(255,0,0);
/* Initialize I2C controller. by Xun */
I2CInit(I2CMASTER);
ADC0triggerSampling(1<<VOLTAGE_1); //activate ADC sampling
generateBuildInfo();
HL_Status.up_time=0;
LED(1,ON);
ACISDK(); //AscTec Communication Interface: publish variables, set callbacks, etc.
//update parameters stored by ACI:
//...
PTU_init(); //initialize camera PanTiltUnit
#ifdef MATLAB
//ee_read((unsigned int*)&matlab_params); //read params from eeprom
onboard_matlab_initialize(); //initialize matlab code
#endif
while(1)
{
if(mainloop_trigger)
{
TimerT1 = T0TC;
if(GPS_timeout<ControllerCyclesPerSecond) GPS_timeout++;
else if(GPS_timeout==ControllerCyclesPerSecond)
{
GPS_timeout=ControllerCyclesPerSecond+1;
GPS_Data.status=0;
GPS_Data.numSV=0;
}
//battery monitoring
ADC0getSamplingResults(0xFF,adcChannelValues);
vbat1=(vbat1*14+(adcChannelValues[VOLTAGE_1]*9872/579))/15; //voltage in mV
HL_Status.battery_voltage_1=vbat1;
mainloop_cnt++;
if(!(mainloop_cnt%10)) buzzer_handler(HL_Status.battery_voltage_1);
if(mainloop_trigger) mainloop_trigger--;
mainloop();
// CPU Usage calculation
TimerT2 = T0TC;
if (mainloop_trigger)
{
HL_Status.cpu_load = 1000;
mainloop_overflows++;
}
else if (TimerT2 < TimerT1)
HL_Status.cpu_load = (T0MR0 - TimerT1 + TimerT2)*1000/T0MR0; // load = "timer cycles" / "timer cycles per controller cycle" * 1000
else
HL_Status.cpu_load = (TimerT2 - TimerT1)*1000/T0MR0; // load = "timer cycles" / "timer cycles per controller cycle" * 1000
}
}
return 0;
}
