src/main/main.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22 #include "build/debug.h"
  23 #include "drivers/serial.h"
  24 #include "drivers/serial_softserial.h"
  25
  26 #include "fc/fc_init.h"
  27
  28 #include "scheduler/scheduler.h"
  29
  30 #ifdef SOFTSERIAL_LOOPBACK
  31 serialPort_t *loopbackPort;
  32 #endif
  33
  34
  35 static void loopbackInit(void)
  36 {
  37 #ifdef SOFTSERIAL_LOOPBACK
  38     loopbackPort = softSerialLoopbackPort();
  39     serialPrint(loopbackPort, "LOOPBACK\r\n");
  40 #endif
  41 }
  42
  43 static void processLoopback(void)
  44 {
  45 #ifdef SOFTSERIAL_LOOPBACK
  46     if (loopbackPort) {
  47         uint8_t bytesWaiting;
  48         while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
  49             uint8_t b = serialRead(loopbackPort);
  50             serialWrite(loopbackPort, b);
  51         };
  52     }
  53 #endif
  54 }
  55
  56 int main(void)
  57 {
  58     init();
  59     loopbackInit();
  60
  61     while (true) {
  62         scheduler();
  63         processLoopback();
  64     }
  65 }