int main(void)
{
sched_init(); /* initialize the scheduler */
led_init(); /* initialize led */
button_init(); /* initialize button */
adc_init(); /* initialize ADC (battery voltage measurement) */
serial_init(); /* initialize serial communication */
wheel_init(); /* initialize encoders, PWM output, PID etc. */
pid_interval = 50; /* default PID update interval 50ms */
pid_rate = 1000/pid_interval; /* [Hz] always remember after setting pid_interval */
pfbst_interval = 20; /* send $PFBST at 20 ms interval */
nmea_wd_timeout = 1; /* set PFBCT watchdog timeout to 100ms */
nmea_wd = NMEA_WD_TOUT+1; /* make sure we begin in watchdog timeout state */
voltage_min = VOLTAGE_MIN_DEFAULT;
battery_low_warning = false;
state_update();
sei(); /* enable interrupts */
nmea_init(); /* initialize nmea protocol handler */
for (;;) /* go into an endless loop */
{
/* motor_update(); */
if (t1ms != 0) /* if the interrupt has timed out after 10ms */
{
t1ms --;
sched_update(); /* run the scheduler */
}
else
{
nmea_rx_update();
}
}
return 0; /* just for the principle as we never get here */
}
void filesystem_update() {
sched_update();
int i;
int j;
i = 20;
j = 30;
printf("%s %d: %s()\n", __FILE__, __LINE__, __FUNCTION__);
}
void network_update() {
sched_update();
int i;
int j;
i = 20;
j = 30;
printf("%s %d: %s()\n", __FILE__, __LINE__, __FUNCTION__);
}
static int timer_intr_handler (void)
{
intr_eoi ();
sched_update();
return 0;
}
