fix scheduler unit as we have a 12Mhz quartz

[protos/xbee-avr.git] / main.c

diff --git a/main.c b/main.c
index 2120a62..2d1dd15 100644 (file)
--- a/main.c
+++ b/main.c
@@ -25,6 +25,10 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ */
+
 #include <aversive.h>
 #include <aversive/queue.h>
 #include <aversive/endian.h>
@@ -584,44 +588,39 @@ static uint16_t get_time_ms(void)
        return global_ms;
 }
 
-static void do_led_blink(struct callout_manager *cm,
-                        struct callout *clt, void *dummy)
+static void main_timer_interrupt(void)
 {
-       static uint8_t a = 0;
-
-       (void)cm;
-       (void)clt;
-       (void)dummy;
-
-       /* XXX */
-       a++;
-}
+       static uint16_t cycles;
+       static uint8_t cpt;
+
+       /* interrupt every 2048 cycles */
+       cycles += 2048;
+       if (cycles >= 12000) {
+               cycles -= 12000;
+               global_ms ++;
+       }
 
-static void increment_ms(void *dummy)
-{
-       (void)dummy;
-       global_ms++;
-}
+       /* LED blink */
+       if (global_ms & 0x80)
+               LED1_ON();
+       else
+               LED1_OFF();
 
-static void main_timer_interrupt(void)
-{
-       static uint8_t cpt = 0;
-       cpt++;
+       /* call scheduler every 682us with interrupt unlocked */
        sei();
        if ((cpt & 0x3) == 0)
                scheduler_interrupt();
 }
 
-/** Main program entry point. This routine contains the overall program flow, including initial
- *  setup of all components and the main program loop.
- */
 int main(void)
 {
-       struct callout t1;
+       //struct callout t1;
        FILE *xbee_file;
        int8_t err;
        struct xbee_dev dev;
 
+       DDRA = 0x07; /* LEDs */
+
        uart_init();
        uart_register_rx_event(CMDLINE_UART, emergency);
 
@@ -631,9 +630,6 @@ int main(void)
        timer_init();
        timer0_register_OV_intr(main_timer_interrupt);
 
-       scheduler_add_periodical_event_priority(increment_ms, NULL,
-                                               1000L / SCHEDULER_UNIT,
-                                               LED_PRIO);
        cmdline_init();
        spi_servo_init();
 
@@ -641,7 +637,7 @@ int main(void)
        rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 
        callout_manager_init(&cm, get_time_ms);
-       callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+       //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 
        /* initialize libxbee */
        err = xbee_init();
@@ -662,6 +658,7 @@ int main(void)
        }
 
        sei();
+
        xbee_mainloop();
        return 0;
 }