void interrupt ISR(){
#ifndef TEST_RFID
checkI2C();
if(TMR0IF == 1){
if(!FIRST_SEND){
heartBeatCounter++;
}
TMR0IF = 0;
}
#endif
#ifdef TEST_RFID
Interrupt_counter++;
if(Interrupt_counter == 2){//2 2 = 125kHZ // 10på emilkod
sample();
Interrupt_counter = 0;
}
#endif
}
//QuadCopt
int main(void)
{
CSPR = CRP; //set code protection to none
CycleCount = 0;
printCount = 0;
refreshCount = 0;
I2C0Mode = 1;
int oldSec = 0;
int countComponentCheck = 0;
int countToCalc = 0;
int countToI2C = 0;
int servoCount = 0;
init_system();
print_uart0("FCm0;OsiFC v0.%d successful started;00#",VERSION);
I2C0Mode = I2CMODE_FLIGHTMODE;
I2C0State = 0;
//I2C0Start();
while(1){
/*
if (countComponentCheck++ > sysSetup.CYCLE.componentCycle) {
//components enabled ?
if (fcSetup.components[2] == 1) {
if (navSol.packetStatus == 1 && PWM_channel[PWM_POTI1] > 80) {
if (led2Status == 1) {
LED2_OFF;
led2Status = 0;
} else {
LED2_ON;
led2Status = 1;
}
navSol.packetStatus = 0;
} else {
LED2_OFF;
led2Status = 0;
}
}
//compass enabled ?
countComponentCheck = 0;
}
*/
if (adcRead++ > adcRate) {
ReadADC();
adcRead = 0;
}
if (countToCalc++ > sysSetup.CYCLE.calcCycle) {
countToCalc = 0;
CycleCount++;
if (servoCount++ > 80){
setServo();
servoCount = 0;
}
checkUBat();
if (HMC5843Read++ > 130) {
HMC5843Read = 0;
//readHMC5843();
//heading = calcHeading(HMC_runtime.X_axis,HMC_runtime.Y_axis,HMC_runtime.Z_axis);
}
//print telemtrie ?
if(printCount++ > sysSetup.CYCLE.telemetrieCycle && sysSetup.CYCLE.telemetrieCycle != 0) {
printTelemetrie();
printCount = 0;
}
current_time = RTCGetTime();
if (current_time.RTC_Sec != oldSec) {
I2C1Mode = 0;
//adjustSensorDrift();
lastCycleCount = (int)CycleCount;
CycleCount = 0;
oldSec = current_time.RTC_Sec;
}
//the serial user interface always active
serialUI();
//engines Off so do...
if (engineStatus == ENGINE_OFF) {
//check for I2C commands to be send out
//this is mainly for YGE setup
checkI2C();
//off flight RC UI to do setup and engines startup
offFlightRcUI(); //the RC user interface off flight
}
//engines On so do...
if (engineStatus == ENGINE_ON && PWM_valid >= 10000) {
//check the in flight RC UI
inFlightRcUI(); //the RC UI for in flight
}
I2C0Start();
}
}
return (1);
}
