From 6980d8540e567a0955dc17d84c9d2e2166550a2b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 2 May 2008 07:14:41 +0200 Subject: * digital/io/src: - added arm close timeout. --- digital/io/src/main.c | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'digital/io/src/main.c') 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 @@ -87,6 +87,11 @@ 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. */ @@ -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 */ } -- cgit v1.2.3