From 31756e065828ca5c1779f1349c38d29196f4798d Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 7 Jan 2024 16:21:40 -0800 Subject: [PATCH] altos: Add initial TeleLCO-v3 bits This might light up some of the hardware... Signed-off-by: Keith Packard --- src/telelco-v3.0/.gitignore | 2 + src/telelco-v3.0/ao_lco_v3.c | 292 +++++++++++++++++++++++++++++++++ src/telelco-v3.0/ao_pins.h | 293 ++++++++++++++++++++++++++++++++++ src/telelco-v3.0/ao_telelco.c | 87 ++++++++++ 4 files changed, 674 insertions(+) create mode 100644 src/telelco-v3.0/.gitignore create mode 100644 src/telelco-v3.0/ao_lco_v3.c create mode 100644 src/telelco-v3.0/ao_pins.h create mode 100644 src/telelco-v3.0/ao_telelco.c diff --git a/src/telelco-v3.0/.gitignore b/src/telelco-v3.0/.gitignore new file mode 100644 index 00000000..a32ec26e --- /dev/null +++ b/src/telelco-v3.0/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +telelco*.elf diff --git a/src/telelco-v3.0/ao_lco_v3.c b/src/telelco-v3.0/ao_lco_v3.c new file mode 100644 index 00000000..90334602 --- /dev/null +++ b/src/telelco-v3.0/ao_lco_v3.c @@ -0,0 +1,292 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#include +#include + +#define AO_LCO_DRAG_RACE_START_TIME AO_SEC_TO_TICKS(5) +#define AO_LCO_DRAG_RACE_STOP_TIME AO_SEC_TO_TICKS(2) + +/* UI values */ +static uint8_t ao_lco_select_mode; +static uint8_t ao_lco_event_debug; + +#define PRINTE(...) do { if (!ao_lco_debug && !ao_lco_event_debug) break; printf ("\r%5lu %s: ", (unsigned long) ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } while(0) +#define AO_LCO_SELECT_PAD 0 +#define AO_LCO_SELECT_BOX 1 + +static uint8_t ao_lco_display_mutex; + +void +ao_lco_show_pad(uint8_t pad) +{ + ao_mutex_get(&ao_lco_display_mutex); + (void) pad; +// ao_seven_segment_set(AO_LCO_PAD_DIGIT, (uint8_t) (pad | (ao_lco_drag_race << 4))); + ao_mutex_put(&ao_lco_display_mutex); +} +void +ao_lco_show_box(uint16_t box) +{ + ao_mutex_get(&ao_lco_display_mutex); + (void) box; +// ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, (uint8_t) (box % 10 | (ao_lco_drag_race << 4))); +// ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, (uint8_t) (box / 10 | (ao_lco_drag_race << 4))); + ao_mutex_put(&ao_lco_display_mutex); +} + +static void +ao_lco_show_voltage(uint16_t decivolts) +{ + uint8_t tens, ones, tenths; + + PRINTD("voltage %d\n", decivolts); + tenths = (uint8_t) (decivolts % 10); + ones = (uint8_t) ((decivolts / 10) % 10); + tens = (uint8_t) ((decivolts / 100) % 10); + ao_mutex_get(&ao_lco_display_mutex); + (void) tenths; + (void) ones; + (void) tens; +// ao_seven_segment_set(AO_LCO_PAD_DIGIT, tenths); +// ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, ones | 0x10); +// ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, tens); + ao_mutex_put(&ao_lco_display_mutex); +} + +void +ao_lco_show(void) +{ + if (ao_lco_pad == AO_LCO_PAD_VOLTAGE) { + ao_lco_show_voltage(ao_pad_query.battery); + } else { + ao_lco_show_pad(ao_lco_pad); + ao_lco_show_box(ao_lco_box); + } +} + +uint8_t +ao_lco_box_present(uint16_t box) +{ + if (box >= AO_PAD_MAX_BOXES) + return 0; + return (ao_lco_box_mask[AO_LCO_MASK_ID(box)] >> AO_LCO_MASK_SHIFT(box)) & 1; +} + +static void +ao_lco_set_select(void) +{ + if (ao_lco_armed) { + ao_led_off(AO_LED_PAD); + ao_led_off(AO_LED_BOX); + } else { + switch (ao_lco_select_mode) { + case AO_LCO_SELECT_PAD: + ao_led_off(AO_LED_BOX); + ao_led_on(AO_LED_PAD); + break; + case AO_LCO_SELECT_BOX: + ao_led_off(AO_LED_PAD); + ao_led_on(AO_LED_BOX); + break; + default: + break; + } + } +} + +static void +ao_lco_step_box(int8_t dir) +{ + int32_t new_box = (int32_t) ao_lco_box; + + do { + new_box += dir; + if (new_box > ao_lco_max_box) + new_box = ao_lco_min_box; + else if (new_box < ao_lco_min_box) + new_box = ao_lco_max_box; + if (new_box == ao_lco_box) + break; + } while (!ao_lco_box_present((uint16_t) new_box)); + ao_lco_set_box((uint16_t) new_box); +} + +static struct ao_task ao_lco_drag_task; + +static void +ao_lco_drag_monitor(void) +{ + AO_TICK_TYPE delay = ~0UL; + AO_TICK_TYPE now; + + ao_beep_for(AO_BEEP_MID, AO_MS_TO_TICKS(200)); + for (;;) { + PRINTD("Drag monitor count %d delay %lu\n", ao_lco_drag_beep_count, (unsigned long) delay); + if (delay == (AO_TICK_TYPE) ~0) + ao_sleep(&ao_lco_drag_beep_count); + else + ao_sleep_for(&ao_lco_drag_beep_count, delay); + + delay = ~0UL; + now = ao_time(); + delay = ao_lco_drag_warn_check(now, delay); + delay = ao_lco_drag_beep_check(now, delay); + } +} + +static void +ao_lco_input(void) +{ + static struct ao_event event; + + for (;;) { + ao_event_get(&event); + PRINTE("event type %d unit %d value %ld\n", + event.type, event.unit, (long) event.value); + switch (event.type) { + case AO_EVENT_QUADRATURE: + switch (event.unit) { + case AO_QUADRATURE_SELECT: + if (!ao_lco_armed) { + switch (ao_lco_select_mode) { + case AO_LCO_SELECT_PAD: + ao_lco_step_pad((int8_t) event.value); + break; + case AO_LCO_SELECT_BOX: + ao_lco_step_box((int8_t) event.value); + break; + default: + break; + } + } + break; + } + break; + case AO_EVENT_BUTTON: + switch (event.unit) { + case AO_BUTTON_ARM: + ao_lco_set_armed((uint8_t) event.value); + ao_lco_set_select(); + break; + case AO_BUTTON_FIRE: + if (ao_lco_armed) + ao_lco_set_firing((uint8_t) event.value); + break; + case AO_BUTTON_DRAG_SELECT: + if (event.value) + ao_lco_toggle_drag(); + break; + case AO_BUTTON_DRAG_MODE: + if (event.value) + ao_lco_drag_enable(); + else + ao_lco_drag_disable(); + break; + case AO_BUTTON_ENCODER_SELECT: + if (event.value) { + if (!ao_lco_armed) { + ao_lco_select_mode = 1 - ao_lco_select_mode; + ao_lco_set_select(); + } + } + break; + } + break; + } + } +} + +/* + * Light up everything for a second at power on to let the user + * visually inspect the system for correct operation + */ +static void +ao_lco_display_test(void) +{ + ao_mutex_get(&ao_lco_display_mutex); +// ao_seven_segment_set(AO_LCO_PAD_DIGIT, 8 | 0x10); +// ao_seven_segment_set(AO_LCO_BOX_DIGIT_1, 8 | 0x10); +// ao_seven_segment_set(AO_LCO_BOX_DIGIT_10, 8 | 0x10); + ao_mutex_put(&ao_lco_display_mutex); + ao_led_on(AO_LEDS_AVAILABLE); + ao_delay(AO_MS_TO_TICKS(1000)); + ao_led_off(AO_LEDS_AVAILABLE); +} + +static void +ao_lco_batt_voltage(void) +{ + struct ao_adc packet; + int16_t decivolt; + +// ao_adc_single_get(&packet); + packet.v_batt = 0; + decivolt = ao_battery_decivolt(packet.v_batt); + ao_lco_show_voltage((uint16_t) decivolt); + ao_delay(AO_MS_TO_TICKS(1000)); +} + +static struct ao_task ao_lco_input_task; +static struct ao_task ao_lco_monitor_task; +static struct ao_task ao_lco_arm_warn_task; +static struct ao_task ao_lco_igniter_status_task; + +static void +ao_lco_main(void) +{ + ao_lco_display_test(); + ao_lco_batt_voltage(); + ao_lco_search(); + ao_add_task(&ao_lco_input_task, ao_lco_input, "lco input"); + ao_add_task(&ao_lco_arm_warn_task, ao_lco_arm_warn, "lco arm warn"); + ao_add_task(&ao_lco_igniter_status_task, ao_lco_igniter_status, "lco igniter status"); + ao_add_task(&ao_lco_drag_task, ao_lco_drag_monitor, "drag race"); + ao_lco_monitor(); +} + +#if DEBUG +static void +ao_lco_set_debug(void) +{ + uint32_t r = ao_cmd_decimal(); + if (ao_cmd_status == ao_cmd_success){ + ao_lco_debug = r & 1; + ao_lco_event_debug = (r & 2) >> 1; + } +} + +const struct ao_cmds ao_lco_cmds[] = { + { ao_lco_set_debug, "D <0 off, 1 on>\0Debug" }, + { ao_lco_search, "s\0Search for pad boxes" }, + { ao_lco_pretend, "p\0Pretend there are lots of pad boxes" }, + { 0, NULL } +}; +#endif + +void +ao_lco_init(void) +{ + ao_add_task(&ao_lco_monitor_task, ao_lco_main, "lco monitor"); +#if DEBUG + ao_cmd_register(&ao_lco_cmds[0]); +#endif +} diff --git a/src/telelco-v3.0/ao_pins.h b/src/telelco-v3.0/ao_pins.h new file mode 100644 index 00000000..312e8d03 --- /dev/null +++ b/src/telelco-v3.0/ao_pins.h @@ -0,0 +1,293 @@ +/* + * Copyright © 2012 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +/* 16MHz crystal */ + +#define AO_HSE 1 +#define AO_HSE_BYPASS 0 + +#define AO_SYSCLK 72000000 +#define AO_HCLK 72000000 +#define AO_APB1CLK 36000000 +#define AO_APB2CLK 72000000 +#define AO_ADCCLK 12000000 + +/* PLLMUL is 9, PLLXTPRE (pre divider) is 2, so the + * overall PLLCLK is 16 * 9/2 = 72MHz (used as SYSCLK) + * + * HCLK is SYSCLK / 1 (HPRE_DIV) = 72MHz (72MHz max) + * USB is PLLCLK / 1.5 (USBPRE)= 48MHz (must be 48MHz) + * APB2 is HCLK / 1 (PPRE2_DIV) = 72MHz (72MHz max) + * APB1 is HCLK / 2 (PPRE1_DIV) = 36MHz (36MHz max) + * ADC is APB2 / 6 (ADCPRE) = 12MHz (14MHz max) + */ + +#define AO_RCC_CFGR_USBPRE STM_RCC_CFGR_USBPRE_1_5 +#define AO_RCC_CFGR_PLLMUL STM_RCC_CFGR_PLLMUL_9 +#define AO_RCC_CFGR_PLLXTPRE STM_RCC_CFGR_PLLXTPRE_2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE1_DIV_2 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 +#define AO_RCC_CFGR_ADCPRE STM_RCC_CFGR_ADCPRE_6 + + +#define AO_CC1200_FOSC 40000000 + +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 1 +#define USE_EEPROM_CONFIG 1 +#define USE_STORAGE_CONFIG 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define BEEPER_TIMER 3 +#define BEEPER_CHANNEL 1 +#define BEEPER_PORT (&stm_gpioc) +#define BEEPER_PIN 6 +#define HAS_RADIO 1 +#define HAS_RADIO_RATE 1 +#define HAS_TELEMETRY 0 +#define HAS_AES 1 +#define HAS_STATIC_TEST 0 + +#define HAS_SPI_1 1 /* NHD-C12864LZ LCD Module */ +#define SPI_1_PA5_PA6_PA7 1 +#define SPI_1_MODE_OUTPUT STM_GPIO_CR_MODE_OUTPUT_10MHZ +#define SPI_1_PB3_PB4_PB5 0 +#define SPI_1_PE13_PE14_PE15 0 + +#define HAS_SPI_2 1 /* CC1200 */ +#define SPI_2_PB13_PB14_PB15 1 +#define SPI_2_PD1_PD3_PD4 0 +#define SPI_2_GPIO (&stm_gpiod) +#define SPI_2_SCK 1 +#define SPI_2_MISO 3 +#define SPI_2_MOSI 4 +#define SPI_2_MODE_OUTPUT STM_GPIO_CR_MODE_OUTPUT_10MHZ + +#define HAS_I2C_1 0 + +#define HAS_I2C_2 0 + +#define PACKET_HAS_SLAVE 0 +#define PACKET_HAS_MASTER 0 + +#define FAST_TIMER_FREQ 10000 /* .1ms for debouncing */ + +/* LCD module */ +#define AO_ST7565_CS_PORT (&stm_gpioc) /* pin 1 */ +#define AO_ST7565_CS_PIN 4 +#define AO_ST7565_RESET_PORT (&stm_gpioc) /* pin 2 */ +#define AO_ST7565_RESET_PIN 5 +#define AO_ST7565_A0_PORT (&stm_gpioa) /* pin 3 */ +#define AO_ST7565_A0_PIN 3 +#define AO_ST7565_SPI_BUS AO_SPI_1_PA5_PA6_PA7 +#define AO_ST7565_WIDTH 128 +#define AO_ST7565_HEIGHT 64 +#define AO_ST7565_BIAS ST7565_LCD_BIAS_1_9 + +/* + * Radio is a cc1200 connected via SPI + */ + +#define AO_RADIO_CAL_DEFAULT 5695733 + +#define AO_CC1200_SPI_CS_PORT (&stm_gpiob) +#define AO_CC1200_SPI_CS_PIN 8 +#define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15 +#define AO_CC1200_SPI stm_spi2 + +#define AO_CC1200_INT_PORT (&stm_gpiob) +#define AO_CC1200_INT_PIN (9) + +#define AO_CC1200_INT_GPIO 2 +#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2 + +#define LOW_LEVEL_DEBUG 0 + +#define HAS_LED 1 + +#define AO_LED_RED AO_LED_0 /* PC7 */ +#define LED_0_PORT (&stm_gpioc) +#define LED_0_PIN 7 + +#define AO_LED_AMBER AO_LED_1 /* PC8 */ +#define LED_1_PORT (&stm_gpioc) +#define LED_1_PIN 8 + +#define AO_LED_GREEN AO_LED_2 /* PC9 */ +#define LED_2_PORT (&stm_gpioc) +#define LED_2_PIN 9 + +#define AO_LED_BOX AO_LED_3 /* PA10 */ +#define LED_3_PORT (&stm_gpioa) +#define LED_3_PIN 10 + +#define AO_LED_PAD AO_LED_4 /* PA15 */ +#define LED_4_PORT (&stm_gpioa) +#define LED_4_PIN 15 + +#define AO_LED_DRAG AO_LED_5 /* PC12 */ +#define LED_5_PORT (&stm_gpioc) +#define LED_5_PIN 12 + +#define AO_LED_CONTINUITY_7 AO_LED_6 /* PC13 */ +#define LED_6_PORT (&stm_gpioc) +#define LED_6_PIN 13 + +#define AO_LED_CONTINUITY_6 AO_LED_7 /* PC14 */ +#define LED_7_PORT (&stm_gpioc) +#define LED_7_PIN 14 + +#define AO_LED_CONTINUITY_5 AO_LED_8 /* PC15 */ +#define LED_8_PORT (&stm_gpioc) +#define LED_8_PIN 15 + +#define AO_LED_CONTINUITY_4 AO_LED_9 /* PC2 */ +#define LED_9_PORT (&stm_gpioc) +#define LED_9_PIN 2 + +#define AO_LED_CONTINUITY_3 AO_LED_10 /* PC3 */ +#define LED_10_PORT (&stm_gpioc) +#define LED_10_PIN 3 + +#define AO_LED_CONTINUITY_2 AO_LED_11 /* PA0 */ +#define LED_11_PORT (&stm_gpioa) +#define LED_11_PIN 0 + +#define AO_LED_CONTINUITY_1 AO_LED_12 /* PA1 */ +#define LED_12_PORT (&stm_gpioa) +#define LED_12_PIN 1 + +#define AO_LED_CONTINUITY_0 AO_LED_13 /* PB1 */ +#define LED_13_PORT (&stm_gpiob) +#define LED_13_PIN 1 + +#define AO_LED_CONTINUITY_NUM 8 + +#define AO_LED_REMOTE_ARM AO_LED_14 /* PB3 */ +#define LED_14_PORT (&stm_gpiob) +#define LED_14_PIN 3 + +#define AO_LED_FIRE AO_LED_15 /* PB0 */ +#define LED_15_PORT (&stm_gpiob) +#define LED_15_PIN 0 + +/* + * Use event queue for input devices + */ + +#define AO_EVENT 1 + +/* + * Knobs + */ + +#define AO_QUADRATURE_COUNT 1 +#define AO_QUADRATURE_DEBOUNCE 0 +#define AO_QUADRATURE_SINGLE_CODE 1 + +#define AO_QUADRATURE_0_PORT &stm_gpiob +#define AO_QUADRATURE_0_A 12 +#define AO_QUADRATURE_0_B 11 + +#define AO_QUADRATURE_SELECT 10 + +/* + * Buttons + */ + +#define AO_BUTTON_COUNT 9 +#define AO_BUTTON_MODE AO_EXTI_MODE_PULL_UP + +#define AO_BUTTON_DRAG_MODE 0 +#define AO_BUTTON_0_PORT &stm_gpioc +#define AO_BUTTON_0 1 + +#define AO_BUTTON_DRAG_SELECT 1 +#define AO_BUTTON_1_PORT &stm_gpioc +#define AO_BUTTON_1 0 + +#define AO_BUTTON_SPARE1 2 +#define AO_BUTTON_2_PORT &stm_gpiob +#define AO_BUTTON_2 4 + +#define AO_BUTTON_SPARE2 3 +#define AO_BUTTON_3_PORT &stm_gpiob +#define AO_BUTTON_3 5 + +#define AO_BUTTON_SPARE3 4 +#define AO_BUTTON_4_PORT &stm_gpiob +#define AO_BUTTON_4 6 + +#define AO_BUTTON_ARM 5 +#define AO_BUTTON_5_PORT &stm_gpioa +#define AO_BUTTON_5 8 + +#define AO_BUTTON_FIRE 6 +#define AO_BUTTON_6_PORT &stm_gpioa +#define AO_BUTTON_6 4 + +#define AO_BUTTON_SPARE4 7 +#define AO_BUTTON_7_PORT &stm_gpiob +#define AO_BUTTON_7 7 + +#define AO_BUTTON_ENCODER_SELECT 8 +#define AO_BUTTON_8_PORT &stm_gpiob +#define AO_BUTTON_8 10 + +/* ADC */ + +struct ao_adc { + int16_t v_batt; +}; + +#define AO_ADC_DUMP(p) \ + printf("batt: %5d\n", (p)->v_batt) + +#define HAS_ADC_SINGLE 1 +#define HAS_ADC_TEMP 0 +#define HAS_BATTERY_REPORT 1 + +#define AO_ADC_V_BATT 0 +#define AO_ADC_V_BATT_PORT (&stm_gpioa) +#define AO_ADC_V_BATT_PIN 2 + +#define AO_ADC_RCC_AHBENR (1 << STM_RCC_AHBENR_GPIOAEN) + +#define AO_ADC_PIN0_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN0_PIN AO_ADC_V_BATT_PIN + +#define AO_ADC_SQ1 AO_ADC_V_BATT + +#define AO_NUM_ADC 1 + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 15 /* 15k */ +#define AO_BATTERY_DIV_MINUS 27 /* 27k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 + +#endif /* _AO_PINS_H_ */ diff --git a/src/telelco-v3.0/ao_telelco.c b/src/telelco-v3.0/ao_telelco.c new file mode 100644 index 00000000..91798b56 --- /dev/null +++ b/src/telelco-v3.0/ao_telelco.c @@ -0,0 +1,87 @@ +/* + * Copyright © 2011 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +//#include +#include + +uint8_t +ao_eeprom_read(ao_pos_t pos, void *v, uint16_t len) +{ + (void) pos; + (void) v; + (void) len; + return 0; +} + +uint8_t +ao_eeprom_write(ao_pos_t pos32, void *v, uint16_t len) +{ + (void) pos32; + (void) v; + (void) len; + return 0; +} + +int +main(void) +{ + ao_clock_init(); + + ao_led_init(); + ao_led_on(LEDS_AVAILABLE); + ao_task_init(); + + ao_timer_init(); + + ao_spi_init(); + ao_dma_init(); + ao_exti_init(); + + ao_beep_init(); + ao_cmd_init(); + + ao_quadrature_init(); + ao_button_init(); + + ao_radio_init(); + + ao_usb_init(); + + ao_st7565_init(); + + ao_config_init(); + + ao_lco_init(); + ao_lco_cmd_init(); + + ao_led_off(LEDS_AVAILABLE); + + ao_start_scheduler(); + return 0; +} -- 2.30.2