fix scheduler unit as we have a 12Mhz quartz

diff --git a/main.c b/main.c
index 1557c693d867086e3f5e65d8a86d006a8d15a72f..2d1dd158f1a2c63d8b9936c7d564cc64400c62b9 100644 (file)
--- 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 944cc80162269e181a96d17e36a84d07f6945019..d4cbc685594f340a3e1fb15d45a9f9a877dd0143 100644 (file)
--- 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