X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=aded3128ed26a3fdecaae993016e70fd51b15e73;hp=c438575f4eb875cbca03fa05072376081c4a59d6;hb=HEAD;hpb=c17da94fafe8e0fa1a467f0c8fb7922fec8386e5

diff --git a/main.c b/main.c
index c438575..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;
@@ -89,15 +93,21 @@ 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 +122,30 @@ 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 +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();
 
@@ -166,6 +196,11 @@ int main(void)
 		fprintf(stderr, "cannot register default channel\n");
 		return -1;
 	}
+
+	xbeeapp_init();
+
+	rc_proto_init();
+
 	sei();
 
 	eeprom_load_config();