X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=a0839d2c2dd59b611e13a8f700f3287e7e6cf538;hp=326ce64930ee66be51ad0e79e915e940ef4a43f9;hb=6636a24523716a7a1380341cf349af8ce7bf7a27;hpb=1032fc9a27fbe5b24f3a837685467d87380b3e2c

diff --git a/main.c b/main.c
index 326ce64..a0839d2 100644
--- a/main.c
+++ b/main.c
@@ -89,9 +89,14 @@ 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)
@@ -152,7 +157,6 @@ 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();
 	spi_servo_init();
@@ -178,6 +182,8 @@ int main(void)
 
 	xbeeapp_init();
 
+	rc_proto_init();
+
 	sei();
 
 	eeprom_load_config();