Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop

to 200Hz, add SD card logging, and a number of other changes.

event.c

@@ -1,6 +1,7 @@
 #include "event.h"
 #include "interrupt.h"
 #include "types.h"
+#include "log.h"
 
 event_handler *event_handler_table[EVENT_MAX+1];
 
@@ -13,14 +14,18 @@ unsigned int event_pending[EVENT_WORDS];
 #define EVENT_BIT(x)	(x%EVENT_WORDLEN)
 #define EVENT_MASK(x)	(1<<EVENT_BIT(x))
 
+/*
+ * This function must be called with interrupts disabled.
+ * This will normally be the case as it is typically called from within
+ * an interrupt handler anyway.
+ */
+
 void event_set(unsigned int event)
 {
 	if (event > EVENT_MAX)
 		return;
 
-	interrupt_block();
 	event_pending[EVENT_WORD(event)] |= EVENT_MASK(event);
-	interrupt_unblock();
 }
 
 static int bitset(unsigned int x)
@@ -56,15 +61,21 @@ void event_clear(unsigned int event)
 	interrupt_unblock();
 }
 
-void event_dispatch(void)
+bool event_dispatch(void)
 {
 	unsigned int event;
 
 	if (event_get(&event)) {
 		event_clear(event);
-		if (event_handler_table[event] != NULL)
+		if (event_handler_table[event] != NULL) {
+			log_mark_busy();
 			(event_handler_table[event])();
+			log_mark_idle();
+		}
+		return TRUE;
 	}
+
+	return FALSE;
 }
 
 void event_register(unsigned int event, event_handler *handler)