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-rw-r--r--digital/io/src/main.c14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 0866642b..3c045368 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -88,6 +88,11 @@ uint8_t main_always_stop_for_obstacle = 1;
uint16_t main_move_wait_cycle;
/**
+ * Get samples timeout.
+ */
+uint16_t main_getsamples_wait_cycle;
+
+/**
* Sharps stats counters.
*/
uint8_t main_stats_sharps, main_stats_sharps_cpt;
@@ -206,6 +211,9 @@ main_loop (void)
/* Update wait flag for move FSM */
if (main_move_wait_cycle)
main_move_wait_cycle--;
+ /* Update wait flag for getsamples FSM */
+ if (main_getsamples_wait_cycle)
+ main_getsamples_wait_cycle--;
/* Update sharp module if required and only every
* MAIN_SHARP_UPDATE_FREQ cycles */
if (++main_sharp_freq_counter_ == MAIN_SHARP_UPDATE_FREQ)
@@ -313,6 +321,12 @@ main_loop (void)
{
FSM_HANDLE_EVENT (&move_fsm, MOVE_EVENT_wait_finished);
}
+ /* Wait flag for getsamples FSM */
+ if (!main_getsamples_wait_cycle)
+ {
+ FSM_HANDLE_EVENT (&getsamples_fsm,
+ GETSAMPLES_EVENT_wait_finished);
+ }
/* TODO: Check other sensors */
}