From 32237bc52d1dd69d60dda75ddc29bb31ce165c83 Mon Sep 17 00:00:00 2001
From: lonkaars <loek@pipeframe.xyz>
Date: Mon, 9 May 2022 17:17:53 +0200
Subject: implement setup and hypervisor

---
 robot/hypervisor.c | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

(limited to 'robot/hypervisor.c')

diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index db0700d..381d9af 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -1,5 +1,8 @@
-#include "hypervisor.h"
+#include <pololu/orangutan.h>
+
+#include "consts.h"
 #include "errcatch.h"
+#include "hypervisor.h"
 #include "io.h"
 #include "modes.h"
 #include "sercomm.h"
@@ -9,8 +12,8 @@ void w2_hypervisor_main() {
 	w2_errcatch_main();
 	w2_io_main();
 
-	// start timer
+	time_reset();
 	w2_modes_main();
-	// stop timer
-	// throw error if cycle expired
+	unsigned long elapsed_ms = get_ms();
+	if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED);
 }
-- 
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