X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=6d1710f961e53cf94c749d4ddea613d6e860a8fe;hp=1557c693d867086e3f5e65d8a86d006a8d15a72f;hb=bf003cd191abeafb1c31a7a24aa573b7a20e527e;hpb=a4e51d8b2a5b13308d314aaf72e58672346dfb1f

diff --git a/main.c b/main.c
index 1557c69..6d1710f 100644
--- 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();