* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
+#include <string.h>
+
#include <aversive.h>
#include <aversive/queue.h>
#include <uart.h>
-#include <scheduler.h>
-#include <clock_time.h>
#include <parse.h>
#include <rdline.h>
#include <timer.h>
#include "callout.h"
#include "rc_proto.h"
+#include "xbee_user.h"
#include "main.h"
/* */
static struct rc_proto_power_levels power_levels[MAX_POWER_LEVEL];
/* update power level when we receive the answer from DB */
-static int update_power_level(void *frame, unsigned len, void *arg)
+static int8_t update_power_level(int8_t retcode, void *frame, unsigned len,
+ void *arg)
{
struct xbee_atresp_hdr *atresp = (struct xbee_atresp_hdr *)frame;
int level = (intptr_t)arg;
uint8_t db;
+ /* nothing more to do, error is already logged by xbee_user */
+ if (retcode < 0)
+ return retcode;
+
/* XXX check if this test is correct */
if (len < sizeof(struct xbee_atresp_hdr) + sizeof(uint8_t)) {
/* XXX stats */
void rc_proto_rx_power_probe(int power_level)
{
(void)power_level;
- xbeeapp_send_atcmd("DB", NULL, 0, 0, update_power_level, NULL);
+ xbeeapp_send_atcmd("DB", NULL, 0, update_power_level, NULL);
}
+/* send a hello message */
+int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len)
+{
+ struct rc_proto_echo_req hdr;
+ struct xbee_msg msg;
+
+ hdr.type = RC_PROTO_HELLO;
+ hdr.datalen = data_len;
+
+ msg.iovlen = 2;
+ msg.iov[0].buf = &hdr;
+ msg.iov[0].len = sizeof(hdr);
+ msg.iov[1].buf = data;
+ msg.iov[1].len = data_len;
+
+ return xbeeapp_send_msg(addr, &msg, NULL, NULL);
+}
+
+
#if 0
#define N_SERVO 6
#define SERVO_NBITS 10