X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=b81e0a8c82fcb45b16fa42e2ae17d0515430027c;hp=3959ee4ffa53699c40127dfed3b2b122feb0f05d;hb=a53014b7f52462e163a7d7ac64866aa75977422f;hpb=8a9ba904e4215b92930a6d71c06c97514bcc6688

diff --git a/main.c b/main.c
index 3959ee4..b81e0a8 100644
--- a/main.c
+++ b/main.c
@@ -46,8 +46,6 @@
 #include <errno.h>
 #include <ctype.h>
 
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
@@ -57,8 +55,7 @@
 #include "main.h"
 
 struct xbeeboard xbeeboard;
-volatile uint16_t global_ms;
-struct callout_mgr cm;
+volatile uint32_t global_ms;
 
 #define TIMEOUT_MS 1000
 
@@ -517,17 +514,19 @@ static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 
 	/* free event */
 	xbee_unregister_channel(xbee_dev, ctx->channel);
+
+	callout_stop(cm, clt);
 }
 
 void xbee_load_timeout(struct xbee_ctx *ctx)
 {
 	callout_init(&ctx->timeout, evt_timeout, ctx, 0);
-	callout_schedule(&cm, &ctx->timeout, TIMEOUT_MS);
+	callout_schedule(&xbeeboard.mainloop_cm, &ctx->timeout, TIMEOUT_MS);
 }
 
 void xbee_unload_timeout(struct xbee_ctx *ctx)
 {
-	callout_stop(&cm, &ctx->timeout);
+	callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
 }
 
 void bootloader(void)
@@ -560,7 +559,7 @@ void bootloader(void)
 void xbee_mainloop(void)
 {
 	while (1) {
-		callout_manage(&cm);
+		callout_manage(&xbeeboard.mainloop_cm);
 
 		if (xbee_raw) {
 			int16_t c;
@@ -601,7 +600,7 @@ void xbee_mainloop(void)
 /* return time in milliseconds on unsigned 16 bits */
 static uint16_t get_time_ms(void)
 {
-	return global_ms;
+	return (uint16_t)global_ms;
 }
 
 static void main_timer_interrupt(void)
@@ -611,13 +610,6 @@ static void main_timer_interrupt(void)
 
 	cpt++;
 
-	/* interrupt every 2048 cycles */
-	cycles += 2048;
-	if (cycles >= 12000) {
-		cycles -= 12000;
-		global_ms ++;
-	}
-
 	/* LED blink */
 	if (global_ms & 0x80)
 		LED1_ON();
@@ -629,10 +621,17 @@ static void main_timer_interrupt(void)
 	else
 		BUZZER_OFF();
 
-	/* call scheduler every 682us with interrupt unlocked */
+	/* interrupt every 2048 cycles */
+	cycles += 2048;
+	if (cycles >= 12000) {
+		cycles -= 12000;
+		global_ms ++;
+	}
+
+	/* called every 682us (at 12 Mhz), but global_ms is not incremented at
+	 * each call */
 	sei();
-	if ((cpt & 0x3) == 0)
-		scheduler_interrupt();
+	callout_manage(&xbeeboard.intr_cm);
 }
 
 int main(void)
@@ -649,17 +648,16 @@ int main(void)
 
 	fdevopen(cmdline_dev_send, cmdline_dev_recv);
 	xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
-	scheduler_init();
 	timer_init();
 	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();
 	beep_init();
 
-	callout_mgr_init(&cm, get_time_ms);
-	//callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
-
 	/* initialize libxbee */
 	err = xbee_init();
 	if (err < 0)