From: Olivier Matz <zer0@droids-corp.org>
Date: Tue, 1 Oct 2013 20:22:04 +0000 (+0200)
Subject: fix scheduler unit as we have a 12Mhz quartz
X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=commitdiff_plain;h=a8c1b4c97c02a29a202362263597e90d36f25c18

fix scheduler unit as we have a 12Mhz quartz
---

diff --git a/main.c b/main.c
index 1557c69..2d1dd15 100644
--- a/main.c
+++ b/main.c
@@ -588,29 +588,30 @@ static uint16_t get_time_ms(void)
 	return global_ms;
 }
 
-static void increment_ms(void *dummy)
+static void main_timer_interrupt(void)
 {
-	(void)dummy;
-	global_ms++;
+	static uint16_t cycles;
+	static uint8_t cpt;
+
+	/* interrupt every 2048 cycles */
+	cycles += 2048;
+	if (cycles >= 12000) {
+		cycles -= 12000;
+		global_ms ++;
+	}
 
+	/* LED blink */
 	if (global_ms & 0x80)
 		LED1_ON();
 	else
 		LED1_OFF();
-}
 
-static void main_timer_interrupt(void)
-{
-	static uint8_t cpt = 0;
-	cpt++;
+	/* call scheduler every 682us with interrupt unlocked */
 	sei();
 	if ((cpt & 0x3) == 0)
 		scheduler_interrupt();
 }
 
-/** Main program entry point. This routine contains the overall program flow, including initial
- *  setup of all components and the main program loop.
- */
 int main(void)
 {
 	//struct callout t1;
@@ -619,10 +620,6 @@ int main(void)
 	struct xbee_dev dev;
 
 	DDRA = 0x07; /* LEDs */
-	LED2_ON();
-	wait_ms(1000);
-	LED3_ON();
-	wait_ms(1000);
 
 	uart_init();
 	uart_register_rx_event(CMDLINE_UART, emergency);
@@ -633,9 +630,6 @@ int main(void)
 	timer_init();
 	timer0_register_OV_intr(main_timer_interrupt);
 
-	scheduler_add_periodical_event_priority(increment_ms, NULL,
-						1000L / SCHEDULER_UNIT,
-						LED_PRIO);
 	cmdline_init();
 	spi_servo_init();
 
diff --git a/scheduler_config.h b/scheduler_config.h
index 944cc80..d4cbc68 100644
--- a/scheduler_config.h
+++ b/scheduler_config.h
@@ -28,11 +28,13 @@
 #define SCHEDULER_NB_MAX_EVENT 10
 
 #ifdef HOST_VERSION
-#define SCHEDULER_UNIT_FLOAT 1000.0
-#define SCHEDULER_UNIT 1000UL
+/* #define SCHEDULER_UNIT_FLOAT 1000.0 */
+/* #define SCHEDULER_UNIT 1000UL */
 #else
-#define SCHEDULER_UNIT_FLOAT 512.0
-#define SCHEDULER_UNIT 512L
+/* tim0_div * tim0_res * soft_presc / quartz
+ * = (8 * 256 * 4) / 12  */
+#define SCHEDULER_UNIT_FLOAT 682.0
+#define SCHEDULER_UNIT 682L
 #endif
 
 /** number of allowed imbricated scheduler interrupts. The maximum