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; }
void vTask_5() { radio_control_task(); //main_auto.c ir_gain_calib(); }