int main( void ) {
/* init peripherals */
timer_init();
uart_init();
soft_uart_init();
adc_init();
sei();
/* enter mainloop */
while( 1 ) {
if(timer_periodic())
periodic_task();
if (soft_uart_error) {
LINK_TMTC_SEND_ERROR(soft_uart_error);
soft_uart_error = 0;
}
if (soft_uart_got_byte) {
input_buf[input_buf_idx] = soft_uart_byte;
input_buf_idx++;
if (input_buf_idx >= INPUT_BUF_LEN) {
LINK_TMTC_SEND_DATA(input_buf, input_buf_idx);
input_buf_idx = 0;
}
soft_uart_got_byte = FALSE;
}
if (adc_got_val) {
saved_valim = adc_alim;
adc_got_val = FALSE;
}
}
return 0;
}
int main( void )
{
uint8_t init_cpt;
/* init peripherals */
timer_init();
modem_init();
adc_init();
#ifdef CTL_BRD_V1_1
adc_buf_channel(ADC_CHANNEL_BAT, &buf_bat);
#endif
spi_init();
link_fbw_init();
gps_init();
nav_init();
ir_init();
estimator_init();
# ifdef PAPABENCH_SINGLE
fbw_init();
# endif
/* start interrupt task */
//sei(); /*Fadia*/
/* Wait 0.5s (for modem init ?) */
init_cpt = 30;
_Pragma("loopbound min 31 max 31")
while (init_cpt) {
if (timer_periodic())
init_cpt--;
}
/* enter mainloop */
#ifndef NO_MAINLOOP
while( 1 ) {
#endif
if(timer_periodic()) {
periodic_task();
# if PAPABENCH_SINGLE
fbw_schedule();
# endif
}
if (gps_msg_received)
{
/*receive_gps_data_task()*/
parse_gps_msg();
send_gps_pos();
send_radIR();
send_takeOff();
}
if (link_fbw_receive_complete) {
link_fbw_receive_complete = FALSE;
radio_control_task();
}
#ifndef NO_MAINLOOP
}
#endif
return 0;
}
/** @brief: Function for handling the RTC0 interrupts.
* Triggered on TICK and COMPARE0 match.
*/
static void rtc_handler(nrf_drv_rtc_int_type_t int_type)
{
switch (int_type)
{
case CC_PERIODIC:
periodic_task();
break;
case CC_DEBOUNCE:
btn_debounce();
break;
case CC_BLINK:
if (!g_btn_pressed)
led_off();
rtc_cc_disable(CC_BLINK);
break;
default:
;
}
}
