X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=4529d6e0631f6933554ecab57a9bb06bedc36d9c;hp=0fb75d141f468f038b1a985f5f3c08743020642a;hb=c18c4cbfa3c43bc1f4fd1743f77baf82c18437f6;hpb=84514fdc4e37939d888eddf89956225ef20b57fc

diff --git a/main.c b/main.c
index 0fb75d1..4529d6e 100644
--- a/main.c
+++ b/main.c
@@ -89,15 +89,21 @@ void bootloader(void)
 }
 
 /* return time in milliseconds on unsigned 16 bits */
-static uint16_t get_time_ms(void)
+uint16_t get_time_ms(void)
 {
-	return (uint16_t)global_ms;
+	uint16_t ms;
+	uint8_t flags;
+	IRQ_LOCK(flags);
+	ms = global_ms;
+	IRQ_UNLOCK(flags);
+	return ms;
 }
 
 static void main_timer_interrupt(void)
 {
 	static uint16_t cycles;
-	static uint8_t cpt;
+	static uint8_t cpt = 0;
+	static uint8_t stack = 0;
 
 	cpt++;
 
@@ -112,22 +118,30 @@ static void main_timer_interrupt(void)
 	else
 		BUZZER_OFF();
 
-	/* interrupt every 2048 cycles */
-	cycles += 2048;
+	if ((cpt & 0x03) != 0)
+		return;
+
+	/* the following code is only called one interrupt among 4: every 682us
+	 * (at 12 Mhz) = 8192 cycles */
+	cycles += 8192;
 	if (cycles >= 12000) {
 		cycles -= 12000;
 		global_ms ++;
 	}
 
-	/* called every 682us (at 12 Mhz), but global_ms is not incremented at
-	 * each call */
+	/* called  */
+	if (stack++ == 0)
+		LED2_ON();
 	sei();
-	callout_manage(&xbeeboard.intr_cm);
+	if ((cpt & 0x3) == 0)
+		callout_manage(&xbeeboard.intr_cm);
+	cli();
+	if (--stack == 0)
+		LED2_OFF();
 }
 
 int main(void)
 {
-	//struct callout t1;
 	FILE *xbee_file;
 	int8_t err;
 	struct xbee_dev dev;
@@ -143,9 +157,16 @@ int main(void)
 	timer0_register_OV_intr(main_timer_interrupt);
 
 	callout_mgr_init(&xbeeboard.intr_cm, get_time_ms);
-	callout_mgr_init(&xbeeboard.mainloop_cm, get_time_ms);
 
 	cmdline_init();
+	/* LOGS */
+	error_register_emerg(mylog);
+	error_register_error(mylog);
+	error_register_warning(mylog);
+	error_register_notice(mylog);
+	error_register_debug(mylog);
+
+
 	spi_servo_init();
 	beep_init();
 
@@ -169,6 +190,8 @@ int main(void)
 
 	xbeeapp_init();
 
+	rc_proto_init();
+
 	sei();
 
 	eeprom_load_config();