main.c File Reference

Main function and interrupt control. More...

#include <asf.h>
#include "process_sequence.h"
#include "external_interface.h"
#include "imu_interface.h"

Functions
void	imu_interupt_init (void)
void	eic_nmi_handler (void)
void	system_init (void)
	Initialize hardware and communication interfaces.
void	wait_for_interrupt (void)
	Wait for the interrupt flag to be set, toggle it, increase interrupt counter, and return.
void	within_time_limit (void)
	Checks that the main loop has finished before next interrupt.
int	main (void)
Variables
uint32_t	interrupt_counter = 0
uint32_t	imu_interrupt_ts

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Detailed Description

Main function and interrupt control.

This file contains the main function and interrupt control. The main function control the execution of the program. The single interrupt routine only toggles a flag which the main function is polling. Each time the flag is toggled, the following will be executed in the main loop: 1) data is read from the IMU 2) functions in the process sequence are executed 3) commands are received from the user 4) data are transmitted back 5) and it is checked that a new interrupt did not arrived while the program was executing the main loop.

Authors:

John-Olof Nilsson, Isaac Skog

Copyright:

Copyright (c) 2011 OpenShoe, ISC License (open source)