support servo control through SPI

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

diff --git a/main.c b/main.c
index 1557c69..6d1710f 100644 (file)
--- a/main.c
+++ b/main.c
@@ -52,16 +52,6 @@
 #include <rdline.h>
 #include <timer.h>
 
-#include "xbee_neighbor.h"
-#include "xbee_atcmd.h"
-#include "xbee_stats.h"
-#include "xbee_buf.h"
-#include "xbee_proto.h"
-#include "xbee.h"
-#include "cmdline.h"
-#include "callout.h"
-#include "rc_proto.h"
-#include "spi_servo.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -588,29 +578,30 @@ static uint16_t get_time_ms(void)
        return global_ms;
 }
 
-static void increment_ms(void *dummy)
+static void main_timer_interrupt(void)
 {
-       (void)dummy;
-       global_ms++;
+       static uint16_t cycles;
+       static uint8_t cpt;
+
+       /* interrupt every 2048 cycles */
+       cycles += 2048;
+       if (cycles >= 12000) {
+               cycles -= 12000;
+               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;
@@ -619,10 +610,6 @@ int main(void)
        struct xbee_dev dev;
 
        DDRA = 0x07; /* LEDs */
-       LED2_ON();
-       wait_ms(1000);
-       LED3_ON();
-       wait_ms(1000);
 
        uart_init();
        uart_register_rx_event(CMDLINE_UART, emergency);
@@ -633,9 +620,6 @@ 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();