X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=spi_servo.c;h=7a85070a762bdcd84c9667d3597c044aa056f3b6;hp=4b0d24191ef9aefb5f140d2309223b40c9e85a5e;hb=HEAD;hpb=bf003cd191abeafb1c31a7a24aa573b7a20e527e

diff --git a/spi_servo.c b/spi_servo.c
index 4b0d241..7a85070 100644
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -4,7 +4,7 @@
 #include <aversive.h>
 #include <aversive/wait.h>
 
-#include <scheduler.h>
+#include <callout.h>
 
 #include "spi_servo.h"
 #include "main.h"
@@ -24,9 +24,6 @@
  * callback is unloaded.
  */
 
-/* 1ms */
-#define SPI_EVT_PERIOD (10000UL/SCHEDULER_UNIT)
-
 #define PPM_BIT    0x01
 #define BYPASS_BIT 0x02
 
@@ -44,6 +41,8 @@ struct spi_servo_rx {
 };
 static struct spi_servo_rx spi_servo_rx;
 
+static struct callout spi_timer;
+
 /*
  * SPI protocol:
  *
@@ -124,7 +123,7 @@ static void decode_rx_servo(union spi_byte0 byte0, union spi_byte1 byte1)
 }
 
 /* called by the scheduler */
-static void spi_servo_cb(void *arg)
+static void spi_servo_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 {
 	uint8_t idx;
 	union spi_byte0 byte0;
@@ -147,13 +146,13 @@ static void spi_servo_cb(void *arg)
 	if (spi_servo_tx.next_byte != 0) {
 		spi_send_byte(spi_servo_tx.next_byte);
 		spi_servo_tx.next_byte = 0;
-		return;
+		goto reschedule;
 	}
 
 	/* if there is no updated servo, send 0 and return. */
 	if (spi_servo_tx.cmd_mask == 0) {
 		spi_send_byte(0);
-		return;
+		goto reschedule;
 	}
 
 	/* else find it and send it */
@@ -170,6 +169,11 @@ static void spi_servo_cb(void *arg)
 	spi_send_one_servo(idx, spi_servo_tx.servo[idx]);
 	spi_servo_tx.cmd_mask &= (~(1 << idx));
 	spi_servo_tx.cur_idx = idx;
+
+ reschedule:
+	/* don't use callout_reschedule() here, we want to schedule in one tick
+	 * relative to current time: 1 tick is 682us at 12Mhz */
+	callout_schedule(cm, tim, 0);
 }
 
 void spi_servo_init(void)
@@ -180,13 +184,13 @@ void spi_servo_init(void)
 	/* remove power reduction on spi */
 	PRR0 &= ~(1 << PRSPI);
 
-	/* Enable SPI, Master, set clock rate fck/64 */
-	SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1);
+	/* Enable SPI, Master, set clock rate fck/16 */
+	SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
 
 	SS_HIGH();
 
-	scheduler_add_periodical_event_priority(&spi_servo_cb, NULL,
-					    SPI_EVT_PERIOD, SPI_PRIO);
+	callout_init(&spi_timer, spi_servo_cb, NULL, SPI_PRIO);
+	callout_schedule(&xbeeboard.intr_cm, &spi_timer, 0); /* immediate */
 	spi_servo_set_bypass(1);
 }