void hardware_init(){
init_timer1();
init_timer0();
init_external();
init_int();
LS1=0xFF;
}
/** init pwm */
inline void init_pwm(void)
/*{{{*/ {
uint8_t i;
init_timer1();
global_pwm.dim = 255;
global_pwm.channel_modifier = 0;
for (i=0; i<3; i++) {
global_pwm.channels[i].brightness = 0;
global_pwm.channels[i].target_brightness = 0;
global_pwm.channels[i].speed = 0x0100;
global_pwm.channels[i].flags.target_reached = 0;
global_pwm.channels[i].remainder = 0;
global_pwm.channels[i].mask = _BV(i);
}
update_pwm_timeslots();
/* set all channels high -> leds off */
#if LED_PORT_INVERT
LED_PORT |= 7;
#else
LED_PORT &= ~7;
#endif
/* configure Px0-Px2 as outputs */
LED_PORT_DDR |= 7;
}
//main code
int main(void)
{
//init stuff
//init the ht1632c LED matrix driver chip
ht1632c_init();
//init the ADC
init_ADC();
//init srand() with a somewhat random number from ADC9's low bits
init_srand();
//init button stuff for input and pullup
//and setup INT0 for button if you set DO_YOU_WANT_BUTTON_INT0
init_button();
//init timer1 for use in triggering an interrupt
//on overflow, which updates the display and calculates new generation.
init_timer1();
//init the I/O for the 7 segment display control
init_digit_pins();
init_segment_pins();
//reset the display with a "random" array using rand()
reset_grid();
//test glider
//fb[29] = 0b00100000;
//fb[30] = 0b00101000;
//fb[31] = 0b00110000;
//variable to store generation_count for display on 7 segment displays
uint16_t g_count=0;
//enable global interrupts
sei();
//infinite loop
while(1){
//check if the update generation count flag has been set
//by within the timer1 overflow interrupt.
//if set put the updated value into g_count and reset the flag.
if(update_gen_flag){
g_count = generation_count;
update_gen_flag=0;
}
write_number(g_count); //write the g_count to 7 segment displays
//write_number(generation_count);
//if the seven_seg_error flag is set (output is over 999 for 3 digits)
//then reset the grid
if(seven_seg_error_flag){
reset_grid();
}
}
}
void init_all()
{
init_io();
init_periph();
USART_init(UBBR_VALUE);
init_timer1();
set_sleep_mode(SLEEP_MODE_IDLE);
}
//Initialize all the timers
void InitTimers(void)
{
init_timer1();
init_timer2();
init_timer3();
init_timer4();
init_timer5();
}
void init(void) {
DDRB |= (1<<PB1);
DDRB &= ~(1<<PB0);
PORTB |= (1<<PB0);
init_timer1();
init_timer2();
sei();
dauer = tud[data+1];
}
main()
{
init_band_to_pin_tables();
init_out_pins();
init_PB5();
init_uart();
init_timer1();
sei(); // выставляем бит общего разрешения прерываний.
main_loop();
}
int main(void)
{
// disable global interrupts
cli();
init_pins();
init_timer1();
// reenable global interrupts
sei();
// loop forever while interrupts do the real work
// TODO: sleep cpu here instead of looping
while(1);
}
/*! Launch a capture in the \a buf buffer
* \param buf The buffer to write to
* \sa e_po3030k_config_cam and e_po3030k_is_img_ready
*/
void e_po3030k_launch_capture(char * buf) {
buf_pos = 0;
current_col = 0;
current_row = 0;
img_ready = 0;
bpp_current = 0;
pbp_current = 0;
bbl_current = 0;
buffer = buf;
init_timer4();
init_timer1();
/* Timer5 must ALWAY be initialized as the last one */
init_timer5();
}
int main(void) {
init_port();
init_timer1();
/* enable interrupts */
sei();
#ifdef TMODE_PWM
while((PLLCSR & 0x01) == 0) {} // wait for pll is locked
PLLCSR = 0x06; // enable pll clock source for timer1, no LSM
TCCR1 = 0x07; // start timer1, CKx64 e.g. 1µs period
#endif
while(1) { } // stop processing here, go idle
/* program flow dosn't come here */
return 0;
}
int main()
{
TRISA = 0;
TRISB = BIT(0)|BIT(1)|BIT(3)|BIT(7)|BIT(12);
TRISC = 0;
OUTER_LED = OFF;
INNER_LED = OFF;
init_pll();
peripheral_pin_config();
init_uart1();
init_spi();
init_adc();
init_timer1();
TX_string("Wait\r\n");
delay(1000);
TX_string("Start\r\n");
T1CONbits.TON = 1;
//remove first trash reading
tiltX = accelRead(XINCL);
gRead = gyroRead(GRATE);
while(1)
{
if( newData == TRUE)
{
TX_snum5(gRead);
TX('\t');
TX_snum5(tilt);
TX('\t');
TX_snum5(x_00);
TX_string("\r\n");
OUTER_LED = OFF;
newData = FALSE;
}
}
return 0;
};
int main()
{
stm32_NvicSetup ();
Setup_Pll_As_Clock_System();
init_portA();
init_portB();
init_portC();
init_timer2();
init_timer4();
init_timer1();
Setup_Adc();
Adc_On();
init_timer3();
// STM32 setup
//GPIOA->ODR |=0x0020;
Recule_train_Arriere();
while(1)
{
}
}
void init_mtrn3200(void){
//disable all interrupts
cli();
//initialise debugging light
DEBUG_DDR |= (1<<DEBUG_PIN0)|(1<<DEBUG_PIN1);
//set as ouput pins
DEBUG_PORT &=
(~((1<<DEBUG_PIN0)|(1<<DEBUG_PIN1))); //turn off check lights
//initialise PWM
PWM_Init(PRESCALER0);
desired_pulse_width = 0;
//initialise DAC
DAC_Init();
desired_volt = 0;
//initialise 7 Segment Led
Seg7_Init();
//initialise ADC
ADC_Init(ADC_CHANNEL);
adc_result = 0;
//Interrupt and Timer Setup
init_timer1(PRESCALER1);
time_step = 0;
//enable all interrupts
sei();
}
void test_adc12( void )
{
uint16_t i;
adc_count = 0;
for( i = 0; i < 128; i++ ) {
adc_in[i] = 0x33; /* For debugging purposes */
}
P2DIR = 0x00; /* Input */
P2REN = 0xFF; /* Enable pullups/pulldowns */
P2OUT = 0xFF; /* Pullups */
P2SEL |= BIT5; /* Select ADC12 A5 */
PMAPPWD = PMAPPW; /* Get write access to port mapping registers */
PMAPCTL |= PMAPRECFG; /* Unlock port settings */
P2MAP5 = PM_ANALOG; /* P2.5 is analog pin */
PMAPPWD = 0; /* Disable write access to port mapping registers */
#if 0
/* DEBUG */
if( ( P2IN >> 5 ) & 0x01 ) {
LED_ON;
}
#endif
/* S&H time: 192 ADC12CLK cycles; ADC12: on */
ADC12CTL0 = ADC12SHT0_7 | ADC12SHT1_7 | ADC12ON;
/* S&H source: ADC12SC bit; Single channel, single conversion;
Clock divider: 0; Clock: ADCOSC */
ADC12CTL1 = ADC12SHS_0 | ADC12CONSEQ_0 | ADC12DIV_0 | ADC12SSEL_0;
/* Resolution: 8 bits; Data format: binary unsigned */
ADC12CTL2 = ADC12RES_0;
/* Referent voltages: AVcc (3.3V) and AVss (0V); Input channel: A5 (P2.5) */
ADC12MCTL0 = ADC12SREF_0 | ADC12INCH_5;
ADC12IFG = 0; /* Clear ADC12 interrupt flag register */
ADC12IE |= ADC12IE0; /* Enable interrupt for memory location 0 */
ADC12CTL0 |= ADC12ENC; /* Enable conversion */
/* When using internal reference, wait for it to stabilize here */
init_timer1( );
/* Enable global interrupts and enter LPM0 mode */
_BIS_SR( LPM0_bits | GIE );
/* When ADC12 is finished with sampling, CPU wakes up and execution
flow lands here. */
_BIC_SR( GIE );
/* Disable ADC12 conversion */
ADC12CTL0 &= ~( ADC12ENC | ADC12SC | ADC12SHT0_7 | ADC12SHT1_7 );
ADC12CTL0 &= ~ADC12ON; /* Switch off ADC12 */
TA1CTL = 0; /* Disable timer */
LED_ON;
}
void init_timer (void){
init_timer2_pid_100Hz();
init_timer0();
init_timer1();
}
int main(void)
{
/****************INITIALIZATIONS*******************/
//other stuff Im experimenting with for SoR
uartInit(); // initialize the UART (serial port)
uartSetBaudRate(0, 9600); // set UARTE speed, for Bluetooth
uartSetBaudRate(1, 115200); // set UARTD speed, for USB connection, up to 500k, try 115200 if it
uartSetBaudRate(2, 57600); // set UARTH speed
uartSetBaudRate(3, 57600); // set UARTJ speed, for Blackfin
//G=Ground, T=Tx (connect to external Rx), R=Rx (connect to external Tx)
// initialize rprintf system and configure uart1 (USB) for rprintf
rprintfInit(uart1SendByte);
configure_ports(); // configure which ports are analog, digital, etc.
LED_on();
rprintf("\r\nSystem Warming Up");
// initialize the timer system (comment out ones you don't want)
init_timer0(TIMER_CLK_1024);
init_timer1(TIMER_CLK_64);
init_timer2(TIMER2_CLK_64);
init_timer3(TIMER_CLK_64);
init_timer4(TIMER_CLK_64);
init_timer5(TIMER_CLK_1024);
//timer5Init();
a2dInit(); // initialize analog to digital converter (ADC)
a2dSetPrescaler(ADC_PRESCALE_DIV32); // configure ADC scaling
a2dSetReference(ADC_REFERENCE_AVCC); // configure ADC reference voltage
int i = 0, j = 0;
//let system stabelize for X time
for(i=0;i<16;i++)
{
j=a2dConvert8bit(i);//read each ADC once to get it working accurately
delay_cycles(5000); //keep LED on long enough to see Axon reseting
rprintf(".");
}
LED_off();
rprintf("Initialization Complete \r\n");
reset_timer0();
reset_timer1();
reset_timer2();
reset_timer3();
reset_timer4();
reset_timer5();
while(1)
{
control();
delay_cycles(100);
//an optional small delay to prevent crazy oscillations
}
return 0;
}
void initialize (void) {
init_timer1();
init_queue();
}
void MultiTasking::initTimer(unsigned frequency) {
init_timer1(frequency);
}
// this is where the program starts
int main(void)
{
//-----------------------------------------------------------------
// PORTB
//-----------------------------------------------------------------
// set individual pin I/O directions
set_input(DDRB, p_freq_in);
//-----------------------------------------------------------------
// PORTA
//-----------------------------------------------------------------
// set individual pin I/O directions
set_output(DDRA, p_debug);
set_output(DDRA, p_SR_data);
set_output(DDRA, p_SR_SCK);
set_output(DDRA, p_SR_RCK);
set_output(DDRA, p_UART_Tx);
set_input(DDRA, p_UART_trig);
// set the initial values of these pins
low(PORTA, p_debug);
low(PORTA, p_SR_data);
low(PORTA, p_SR_SCK);
low(PORTA, p_SR_RCK);
high(PORTA, p_UART_Tx);
// enable pull-up resistor for the UART trigger pin
high(PORTA, p_UART_trig);
// unused pins set as inputs
set_input(DDRA,p_unused_A6);
set_input(DDRA,p_unused_A7);
// unused pins have pull-up-resistor enabled
high(DDRA,p_unused_A6);
high(DDRA,p_unused_A7);
// set up timers and interrupts
sei(); // enable global interrupts
init_timer1(); // initialize timer1
init_input_interrupts(); // initialize input interrupts
uint8_t sigfig = FIRST_SIGFIG_NOT_FOUND_YET; // records which significant figure of the number we are currently processing
uint8_t stopEncoding = 0; // this keeps track of when to stop encoding the number from double into seven-segment format
uint16_t digit = 0; // keeps track of which digit is currently being displayed
uint16_t s = 0; // keeps track of which segment is being displayed (only used in the startup/debug screen)
uint16_t unit = 0; // tells us which unit indicator we should light.
// 0 = Megahertz
// 1 = Hertz
// 2 = Seconds
// 3 = Minutes
double currentFreqIn = 0; // this keeps track of the current frequency that will be displayed
double currentPeriodIn = 0; // this keeps track of the current period that will be displayed
double dispNumber = 0; // this keeps track of what number we want to display (frequency/period gets shoved in here and the number gets encoded for the 7-segment display the same way in both cases.)
//-----------------------------------------------------------------
// the LED displays are handled in this while loop.
//-----------------------------------------------------------------
while(1)
{
// if the unit is EVER triggered, it will no longer be in start up mode.
if(triggered)
{
startUp = 0;
}
// if you need to transmit the frequency measurement over UART,
// and if you are not currently transmitting frequency measurements,
if(transmitFrequencyMeasurementOverUART)
{
// then do it. send the last frequency measurement over UART
transmit_frequency_measurement_UART(currentFreqIn);
// don't keep doing it.
transmitFrequencyMeasurementOverUART = 0;
}
// if you are not in start-up mode (i.e. you are making measurements)
if(!startUp)
{
// check if we are starting a new frame (a new set of six display digits)
if(digit >= NUMBER_OF_DIGITS)
{
digit = 0;
double decade;
// grab the current frequency and period
currentFreqIn = freq_meas_Hz * (double)( (uint32_t)1 << 2*freq_div );
currentPeriodIn = period_meas_s / (double)( (uint32_t)1 << 2*freq_div );
// determine what unit we want to use
if (currentFreqIn >= 1e6)
{
unit = 0; // use units of MHz
dispNumber = currentFreqIn/1.0e6; // display MHz
}
else if(currentFreqIn >= 1)
{
unit = 1; // use units of Hz
dispNumber = currentFreqIn; // display hertz
}
else if(currentPeriodIn <= 60)
{
unit = 2; // use units of Seconds
dispNumber = currentPeriodIn; // display seconds
}
else
{
unit = 3; // use units of Minutes
dispNumber = currentPeriodIn/60.0; // display minutes
}
// default is a bogus value to indicate that the first significant figure has not been found yet
sigfig = FIRST_SIGFIG_NOT_FOUND_YET;
// make sure the for loop starts encoding
stopEncoding = 0;
for(decade = DECADE_START; !stopEncoding; decade/=10.0)
{
// if you have found the first significant digit,
if(dispNumber >= decade && sigfig == FIRST_SIGFIG_NOT_FOUND_YET)
{
// start processing the number into
sigfig = 0;
}
// if you have found at least the first significant digit,
if(sigfig < NUMBER_OF_DIGITS)
{
// record what this digit was by putting it in the disp_data
disp_data[sigfig] = (uint8_t)(dispNumber/decade);
// subtract the digit that has already been accounted for
dispNumber -= (double)disp_data[sigfig]*decade;
// replace the digit with the data that will produce a digit on the seven segment display
disp_data[sigfig] = sevenseg[disp_data[sigfig]];
// if this is the ones place,
if(decade == 1)
{
// add the decimal place
disp_data[sigfig] |= 0x80;
}
// increment the sigfig
sigfig++;
}
// If you have encoded the necessary number of digits,
if(sigfig == NUMBER_OF_DIGITS)
{
// quit encoding digits
stopEncoding = 1;
}
}
}
// select the digit you want to display
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 8, 1<<digit, 'm');
// select what division factor you want to apply to the input signal before it is applied to the ATtiny84.
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 4, freq_div, 'm');
// select the unit LED indicator you want to light
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 4, 1<<unit, 'm');
// shift out the data for the current digit of the seven-segment display
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 8, disp_data[digit], 'm');
// update the output registers
low(PORTA,p_SR_RCK);
high(PORTA,p_SR_RCK);
// this sets (roughly) the refresh rate of the display.
_delay_ms(DIGIT_DISPLAY_PERIOD);
// We have just displayed a digit. It is time to
digit++;
}
// if you have just started up and have not seen any transitions,
// (this is basically just something to do when the unit first starts up)
else
{
// limit s to the number of segments
if(s >= 8){
s = 0;
// when the segment overflows, increment the digit
digit++;
}
// limit d to the number of digits
if(digit >= 6){
digit = 0;
// when the digit overflows, increment the unit
unit++;
}
// limit u to the number of units
if(unit >= 4){
unit = 0;
}
// shift out data that controls everything
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 2, 0, 'm'); // shift out two empty bits
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 6, (uint16_t)1<<digit, 'm'); // shift out the digit data
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 1, 0, 'm'); // shift out one empty bit
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 3, (uint16_t)freq_div, 'm'); // shift out the frequency division data
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 4, (uint16_t)1<<unit, 'm'); // shift out the unit data
shift_out_24_PORTA(p_SR_SCK, p_SR_data, 8, (uint16_t)1<<s, 'm'); // shift out the segment data
// update the output registers
low(PORTA,p_SR_RCK);
high(PORTA,p_SR_RCK);
_delay_ms(30);
// increment the segment counter
s++;
}
}
}
//----- Begin Code ------------------------------------------------------------
int main(void)
{
static uint8_t f_i2c;
static bool f_recieve;
static uint8_t rbuf[8], *p, temp;
static uint8_t state = S_NORMAL;
// TIMER1の設定
init_timer1();
f_i2c = check_I2C();
if (f_i2c)
{
// I2C スレーブ初期化
usiTwiSlaveInit( TWI_slaveAddress );
}
else
{
// 2313標準UARTの初期化
uart2313_init();
}
// LCD初期化
lcd_init(LCD_DISP_ON);
lcdMapCustomChar(0, 0);
lcdMapCustomChar(1, 1);
lcdMapCustomChar(2, 2);
lcdMapCustomChar(3, 3);
lcdMapCustomChar(4, 4);
lcdMapCustomChar(5, 5);
lcdMapCustomChar(6, 6);
lcdMapCustomChar(7, 7);
lcd_gotoxy(0, 0);
// any logos?
// write something
lcd_puts_P("I2CLCD");
if (f_i2c)
{ //1234567890123456
lcd_puts_P("-I");
}
else
{ //1234567890123456
lcd_puts_P("-S");
}
sei();
while (1)
{
if (f_i2c)
{
f_recieve = usiTwiDataInReceiveBuffer();
if (f_recieve)
{
temp = usiTwiReceiveByte();
}
}
else
{
f_recieve = xreadOK();
if (f_recieve)
{
temp = xread();
}
}
if (f_recieve)
{
switch (state)
{
case S_NORMAL:
if (temp == ESC)
{
state = S_SEQUENCE;
}
else
{
lcd_putc(temp);
}
break;
case S_SEQUENCE:
p = rbuf;
*p = temp;
switch (temp)
{
case 'L': // L for Locate (X), (Y)
state = S_L1;
break;
case 'H': // ホームポジションへカーソル移動
lcd_home();
state = S_NORMAL;
break;
case 'C': // 画面クリア
lcd_clrscr();
state = S_NORMAL;
break;
case 'S': // S for Save Custom Character to EEPROM
state = S_S1;
break;
case 'M': // M for Custom Character Mapping
state = S_M1;
break;
case 'X': // 画面非表示
/* display off */
lcd_command(LCD_DISP_OFF);
state = S_NORMAL;
break;
case 'N': // 画面表示・カーソル消去
/* display on, cursor off */
lcd_command(LCD_DISP_ON);
state = S_NORMAL;
break;
case 'B': // 画面表示・カーソル非表示・ブリンク文字
/* display on, cursor off, blink char */
lcd_command(LCD_DISP_ON_BLINK);
state = S_NORMAL;
break;
case 'D': // 画面表示・カーソル表示
/* display on, cursor on */
lcd_command(LCD_DISP_ON_CURSOR);
state = S_NORMAL;
break;
case 'E': // 画面表示・カーソル表示・ブリンク文字
/* display on, cursor on, blink char */
lcd_command(LCD_DISP_ON_CURSOR_BLINK);
state = S_NORMAL;
break;
case '-': // カーソル左移動
/* move cursor left (decrement) */
lcd_command(LCD_MOVE_CURSOR_LEFT);
state = S_NORMAL;
break;
case '+': // カーソル右移動
/* move cursor right (increment) */
lcd_command(LCD_MOVE_CURSOR_RIGHT);
state = S_NORMAL;
break;
case '<': // 画面左移動
/* shift display left */
lcd_command(LCD_MOVE_DISP_LEFT);
state = S_NORMAL;
break;
case '>': // 画面右移動
/* shift display right */
lcd_command(LCD_MOVE_DISP_RIGHT);
state = S_NORMAL;
break;
}
break;
case S_L1:
*++p = temp;
state = S_L2;
break;
case S_L2:
// *++p = temp;
lcd_gotoxy(rbuf[1], temp);
state = S_NORMAL;
break;
case S_M1:
*++p = temp;
state = S_M2;
break;
case S_M2:
// *++p = temp;
lcdMapCustomChar(rbuf[1],temp);
state = S_NORMAL;
break;
// -----------------------------
case S_S1:
*++p = temp;
state = S_S2;
break;
case S_S2:
rCustom[0] = temp;
// *++p = temp;
state = S_S3;
break;
case S_S3:
rCustom[1] = temp;
// *++p = temp;
state = S_S4;
break;
case S_S4:
rCustom[2] = temp;
// *++p = temp;
state = S_S5;
break;
case S_S5:
rCustom[3] = temp;
// *++p = temp;
state = S_S6;
break;
case S_S6:
rCustom[4] = temp;
// *++p = temp;
state = S_S7;
break;
case S_S7:
rCustom[5] = temp;
// *++p = temp;
state = S_S8;
break;
case S_S8:
rCustom[6] = temp;
// *++p = temp;
state = S_S9;
break;
case S_S9:
rCustom[7] = temp;
// *++p = temp;
lcdSaveCustomChar(rbuf[1]);
state = S_NORMAL;
break;
}
}
}
return 0;
}
/**
* void main(void)
*
* Main program execution function
*/
void main(void) {
/**
* General initialization
*/
init_unused_pins();
init_oscillator();
init_timer0();
init_timer1();
/**
* Initialize I/O pins
*/
// Init CAN termination pin
TERM_TRIS = OUTPUT;
TERM_LAT = 1; // Terminating
// Init RADIO pins
#if FRONT
RADIO0_TRIS = INPUT;
RADIO1_TRIS = INPUT;
#endif
#if FRONT // Init FRONT ADC pins
ADC_SPFL_TRIS = INPUT;
ADC_SPFR_TRIS = INPUT;
ADC_BPF_TRIS = INPUT;
ADC_BPR_TRIS = INPUT;
ADC_STRP_TRIS = INPUT;
ADC_APPS0_TRIS = INPUT;
ADC_APPS1_TRIS = INPUT;
ADC_PTDP_TRIS = INPUT;
ADC_UAN0_TRIS = OUTPUT;
ADC_UAN0_LAT = 0;
#elif REAR // Init REAR ADC pins
ADC_SPRL_TRIS = INPUT;
ADC_SPRR_TRIS = INPUT;
ADC_EOS_TRIS = INPUT;
ADC_BCD_TRIS = INPUT;
ADC_CTRI_TRIS = INPUT;
ADC_CTRO_TRIS = INPUT;
ADC_CTSP_TRIS = INPUT;
ADC_CPSP_TRIS = INPUT;
ADC_MCD_TRIS = INPUT;
ADC_UAN0_TRIS = OUTPUT;
ADC_UAN0_LAT = 0;
ADC_UAN1_TRIS = OUTPUT;
ADC_UAN1_LAT = 0;
#endif
/**
* Setup Peripherals
*/
#if FRONT
ANCON0 = 0b11100110; // All analog except for AN0, AN3, AN4
ANCON1 = 0b00000111; // All digital except for AN8, AN9, AN10
#elif REAR
ANCON0 = 0b11111111; // All analog
ANCON1 = 0b00000111; // All digital except for AN8, AN9, AN10
#endif
init_ADC();
ECANInitialize();
// Interrupts setup
INTCONbits.GIE = 1; // Global Interrupt Enable (1 enables)
INTCONbits.PEIE = 1; // Peripheral Interrupt Enable (1 enables)
RCONbits.IPEN = 0; // Interrupt Priority Enable (1 enables)
// Main loop
while(1) {
// Sample and send fast speed sensor channels on CAN
send_fast_can();
// Sample and send medium speed sensor channels on CAN
send_med_can();
// Sample and send slow speed sensor channels on CAN
send_slow_can();
// Send diagnostic CAN message
send_diag_can();
#if FRONT
if (radio_sw) {
RADIO0_TRIS = OUTPUT;
RADIO1_TRIS = OUTPUT;
RADIO0_LAT = 0;
RADIO1_LAT = 0;
} else {
RADIO0_TRIS = INPUT;
RADIO1_TRIS = INPUT;
}
#endif
}
}