*/
/* fuses:
- * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m
*/
#include <aversive.h>
#include <rdline.h>
#include <timer.h>
-#include "xbee_neighbor.h"
-#include "xbee_atcmd.h"
-#include "xbee_stats.h"
-#include "xbee_buf.h"
-#include "xbee_proto.h"
-#include "xbee.h"
-#include "cmdline.h"
-#include "callout.h"
-#include "rc_proto.h"
-#include "spi_servo.h"
+#include "eeprom_config.h"
+#include "beep.h"
#include "main.h"
struct xbeeboard xbeeboard;
return -1;
switch (rch->type) {
+#if 0
case RC_PROTO_TYPE_CHANNEL: {
struct rc_proto_channel *rcc =
(struct rc_proto_channel *) recvframe->data;
val += 512;
spi_servo_set(0, val);
break;
- }
+ }
case RC_PROTO_TYPE_RANGE: {
struct rc_proto_range *rcr =
(struct rc_proto_range *) recvframe->data;
break;
}
+#endif
default:
return -1;
}
}
/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbee_rx(struct xbee_dev *dev, int channel, int type,
+void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
void *frame, unsigned len, void *opaque)
{
struct xbee_ctx *ctx = opaque;
/* register a channel */
channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
- xbee_rx, NULL);
+ xbeeapp_rx, NULL);
if (channel < 0) {
printf_P(PSTR("cannot send: no free channel\r\n"));
return -1;
hexdump("xmit frame", buf, len);
/* transmit the frame on this channel */
- ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
- len);
+ ret = xbee_tx(xbee_dev, channel, type, buf, len);
if (ret < 0) {
printf_P(PSTR("cannot send\r\n"));
xbee_unregister_channel(xbee_dev, channel);
/* from cmdline to xbee */
c = cmdline_dev_recv(NULL);
if (c == 4) { /* CTRL-d */
+ xbee_dev_send('A', NULL);
+ xbee_dev_send('T', NULL);
+ xbee_dev_send('C', NULL);
+ xbee_dev_send('N', NULL);
+ xbee_dev_send('\n', NULL);
xbee_raw = 0;
rdline_newline(&xbeeboard.rdl,
xbeeboard.prompt);
else {
if (xbee_cmdline_input_enabled)
cmdline_poll();
- xbee_proto_rx(xbee_dev);
+ xbee_rx(xbee_dev);
}
}
}
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;
+
+ 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++;
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
+
+ /* 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;
int8_t err;
struct xbee_dev dev;
- DDRA = 0x07; /* LEDs */
- LED2_ON();
- wait_ms(1000);
- LED3_ON();
- wait_ms(1000);
+ DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
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();
+ beep_init();
printf_P(PSTR("\r\n"));
rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
/* register default channel with a callback */
if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
- xbee_rx, NULL) < 0) {
+ xbeeapp_rx, NULL) < 0) {
fprintf(stderr, "cannot register default channel\n");
return -1;
}
-
sei();
+ eeprom_load_config();
xbee_mainloop();
return 0;
}