X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=aded3128ed26a3fdecaae993016e70fd51b15e73;hp=326ce64930ee66be51ad0e79e915e940ef4a43f9;hb=HEAD;hpb=1032fc9a27fbe5b24f3a837685467d87380b3e2c

diff --git a/main.c b/main.c
index 326ce64..aded312 100644
--- a/main.c
+++ b/main.c
@@ -27,6 +27,7 @@
 
 /* fuses:
  * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m
+ * -> it failed but I answered y, then make reset and it was ok
  */
 
 #include <aversive.h>
@@ -49,10 +50,13 @@
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
+#include <i2c.h>
 
+#include "../fpv-common/i2c_commands.h"
 #include "eeprom_config.h"
 #include "beep.h"
 #include "xbee_user.h"
+#include "i2c_protocol.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -89,9 +93,14 @@ 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)
@@ -152,9 +161,21 @@ 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);
+
+	/* I2C */
+	i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
+	i2c_protocol_init();
+	i2c_register_recv_event(i2c_recvevent);
+	i2c_register_send_event(i2c_sendevent);
+
 	spi_servo_init();
 	beep_init();
 
@@ -178,6 +199,8 @@ int main(void)
 
 	xbeeapp_init();
 
+	rc_proto_init();
+
 	sei();
 
 	eeprom_load_config();