void timer_intr(softvec_type_t type, unsigned long sp)
{
if( timer_is_expired(0))
{
puts("timer expired 0. \n");
timer_expire(0);
}
if( timer_is_expired(1))
{
puts("timer expired 1. \n");
timer_cancel(1);
}
}
int main (void)
{
U8 msg[32] = "Hi ArduSub\n\r";
pmic_init();
sysclk_init();
adc_init();
thruster_init();
ioport_init();
timer_init(10000);
timer_set_counts(TIMER_HEARTBEAT,timer_ms_to_counts(250));
timer_start(TIMER_HEARTBEAT);
cpu_irq_enable();
volatile U8 count = 0;
ioport_set_pin_dir(LED1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(LED2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(UARTD_TX,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(UARTD_RX,IOPORT_DIR_INPUT);
ioport_set_pin_dir(TXEN,IOPORT_DIR_OUTPUT);
board_init();
uart_init(19200);
do
{
message_tasks();
count++;
if (count > 52)
{
count = 0;
}
if(timer_is_expired(TIMER_HEARTBEAT))
{
timer_reset(TIMER_HEARTBEAT);
board_pres_read();
ext_temp_read();
//ioport_set_pin_level(TXEN,1);
//uart_write(&msg[0],12);
//while(uart_tx_count() != 0);
//blink heart beat LED
ioport_set_pin_level(LED2,!ioport_get_pin_level(LED2));
}
} while (1);
// Insert application code here, after the board has been initialized.
}
//Check that the sent values did not time-out
// The timed-out values are re-sent
void values_timeout_check(void* arg) {
client * cl = arg;
gettimeofday(&cl->current_time, NULL);
client_proposal * c;
unsigned i;
for(i = 0; i < CONCURRENT_VALUES; i++) {
c = &cl->pending_values[i];
if(timer_is_expired(&c->timeout, &cl->current_time)) {
cl->timeout_count += 1;
// printf("Value %u timed-out\n", i);
submit_value(cl->us, c->submit_msg);
save_submit_time(c, &cl->current_time);
timer_set_timeout(&cl->current_time, &c->timeout, &cl->value_timeout_interval);
}
}
}
