void app_second(void)
{
if (!app_running)
return;
clock_process();
alarm_process();
}
/**
* Main message (infinite) loop.
*/
void loop_loop(int8_t once)
{
do {
message_t lmsg;
if (g_message_buffer.rdpos == g_message_buffer.wrpos) {
/* no message in the buffer: Run NOP message */
lmsg.cmd = Cmd_Nop;
lmsg.arg1i = 0;
} else {
/* a message in the buffer: retrieve and process */
lmsg = g_message_buffer.msg_buf[g_message_buffer.rdpos];
g_message_buffer.rdpos = iwrap(g_message_buffer.rdpos + 1);
if (lmsg.cmd != Cmd_ClockTick) {
usart_sendstr_P(PSTR("[Msg:0x"));
usart_sendhexb(lmsg.cmd);
usart_sendstr_P(PSTR("]"));
}
}
int8_t used = 0;
used |= voice_process(&lmsg);
used |= vfs_process(&lmsg);
used |= sound_process(&lmsg);
used |= ir_process(&lmsg);
used |= debug_process(&lmsg);
used |= btn_process(&lmsg);
used |= clock_process(&lmsg);
if (!used && (lmsg.cmd != Cmd_Nop)) {
usart_sendstr_P(PSTR("[Msg not recognized!]\n"));
}
/* reset watchdog timer */
wdt_reset();
} while (!once);
}
/**
* Main function. Entry point for USBtin application.
* Handles initialization and the the main processing loop.
*/
void main(void) {
// initialize MCP2515 (reset and clock setup)
mcp2515_init();
// switch (back) to external clock (if fail-safe-monitor switched to internal)
OSCCON = 0x30;
// disable all analog pin functions, set led pin to output
ANSEL = 0;
ANSELH = 0;
TRISBbits.TRISB5 = 0;
hardware_setLED(0);
// initialize modules
clock_init();
usb_init();
char line[LINE_MAXLEN];
unsigned char linepos = 0;
unsigned short lastclock = 0;
while (1) {
// do module processing
usb_process();
clock_process();
// receive characters from UART and collect the data until end of line is indicated
if (usb_chReceived()) {
unsigned char ch = usb_getch();
if (ch == CR) {
line[linepos] = 0;
parseLine(line);
linepos = 0;
} else if (ch != LR) {
line[linepos] = ch;
if (linepos < LINE_MAXLEN - 1) linepos++;
}
}
// handles interrupt requests of MCP2515 controller: receive message and print it out.
if ((state != STATE_CONFIG) && (hardware_getMCP2515Int())) {
canmsg_t canmsg;
mcp2515_receive_message(&canmsg);
char type;
unsigned char idlen;
unsigned short timestamp = clock_getMS();
if (canmsg.flags.rtr) type = 'r';
else type = 't';
if (canmsg.flags.extended) {
type -= 'a' - 'A';
idlen = 8;
} else {
idlen = 3;
}
usb_putch(type);
sendHex(canmsg.id, idlen);
sendHex(canmsg.length, 1);
if (!canmsg.flags.rtr) {
unsigned char i;
for (i = 0; i < canmsg.length; i++) {
sendHex(canmsg.data[i], 2);
}
}
if (timestamping) {
sendHex(timestamp, 4);
}
usb_putch(CR);
}
// led signaling
hardware_setLED(state != STATE_CONFIG);
// jump into bootloader, if jumper is closed
if (hardware_getBLSwitch()) {
UCON = 0;
_delay(1000);
RESET();
}
}
}
int main(void) {
extern int __C30_UART; __C30_UART = 2;
unsigned char i;
unsigned char in_config = 0;
char c;
/* generic hw init */
hw_init();
/* real time clock init */
clock_init();
/* adc init */
adc_init();
/* init uart2 */
uart_init2(UART_PORT_TELEMETRY);
/* init video driver */
init_video();
/* try to load config from flash */
load_config();
/* video driver config */
video_apply_config(&config.video);
/* init widgets */
widgets_init();
/* enable all interrupts */
SRbits.IPL = 0;
CORCONbits.IPL3 = 1;
/* TODO: rework config entry */
/* check for config entry */
for (i = 0; i < 8; i++) {
while (uart_getc2(&c) == 0) {
widgets_process();
render_process();
ClrWdt();
}
if (c != '!')
break;
}
if (i == 8) {
in_config = 1;
while (in_config) {
in_config = config_osd();
widgets_process();
render_process();
ClrWdt();
}
}
/* re-build tab list */
build_tab_list();
uart_set_baudrate2(config.baudrate);
init_home_process();
init_flight_stats_process();
for (;;) {
mavlink_process();
widgets_process();
render_process();
clock_process();
ClrWdt();
}
return 0;
}
