git.droids-corp.org
/
protos
/
xbee-avr.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
fix scheduler unit as we have a 12Mhz quartz
[protos/xbee-avr.git]
/
main.c
diff --git
a/main.c
b/main.c
index
1557c69
..
2d1dd15
100644
(file)
--- a/
main.c
+++ b/
main.c
@@
-588,29
+588,30
@@
static uint16_t get_time_ms(void)
return global_ms;
}
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();
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();
}
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;
int main(void)
{
//struct callout t1;
@@
-619,10
+620,6
@@
int main(void)
struct xbee_dev dev;
DDRA = 0x07; /* LEDs */
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);
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);
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();
cmdline_init();
spi_servo_init();