X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;ds=sidebyside;f=main.c;h=0e527174acb8da3843fde169eb013addf17f9466;hb=70415e123a0febc5b74b8ddd98778be116f2700b;hp=73a3409cb32a246c3b15487f4fe6a23d292e2155;hpb=57895b3bb2fe0582c589685b7df34f3968b346ec;p=protos%2Fxbee-avr.git

diff --git a/main.c b/main.c
index 73a3409..0e52717 100644
--- a/main.c
+++ b/main.c
@@ -25,6 +25,10 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ */
+
 #include <aversive.h>
 #include <aversive/queue.h>
 #include <aversive/endian.h>
@@ -48,16 +52,6 @@
 #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 "main.h"
 
 struct xbeeboard xbeeboard;
@@ -517,7 +511,6 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 
 void bootloader(void)
 {
-#ifndef USE_USB
 #define BOOTLOADER_ADDR 0x3f000
 	if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 		printf_P(PSTR("Bootloader is not present\r\n"));
@@ -541,7 +534,6 @@ void bootloader(void)
 	/* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
 	/* __asm__ __volatile__ ("ldi r30,0x00\n"); */
 	/* __asm__ __volatile__ ("eijmp\n"); */
-#endif
 }
 
 void xbee_mainloop(void)
@@ -560,6 +552,11 @@ void xbee_mainloop(void)
 			/* 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);
@@ -577,12 +574,6 @@ void xbee_mainloop(void)
 				cmdline_poll();
 			xbee_proto_rx(xbee_dev);
 		}
-
-#ifdef USE_USB
-		CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
-		CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
-		USB_USBTask();
-#endif
 	}
 }
 
@@ -592,59 +583,41 @@ static uint16_t get_time_ms(void)
 	return global_ms;
 }
 
-static void do_led_blink(struct callout_manager *cm,
-			 struct callout *clt, void *dummy)
+static void main_timer_interrupt(void)
 {
-	static uint8_t a = 0;
-
-	(void)cm;
-	(void)clt;
-	(void)dummy;
+	static uint16_t cycles;
+	static uint8_t cpt;
+
+	/* interrupt every 2048 cycles */
+	cycles += 2048;
+	if (cycles >= 12000) {
+		cycles -= 12000;
+		global_ms ++;
+	}
 
-#ifdef USE_USB
-	if (a & 1)
-		LEDs_SetAllLEDs(0);
+	/* LED blink */
+	if (global_ms & 0x80)
+		LED1_ON();
 	else
-		LEDs_SetAllLEDs(0xff);
-#else
-	/* XXX */
-#endif
-	a++;
-}
-
-static void increment_ms(void *dummy)
-{
-	(void)dummy;
-	global_ms++;
-}
+		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;
+	//struct callout t1;
 	FILE *xbee_file;
 	int8_t err;
 	struct xbee_dev dev;
 
-#ifdef USE_USB
-	SetupHardware();
+	DDRA = 0x07; /* LEDs */
 
-	LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
-#else
 	uart_init();
 	uart_register_rx_event(CMDLINE_UART, emergency);
-#endif
 
 	fdevopen(cmdline_dev_send, cmdline_dev_recv);
 	xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
@@ -652,18 +625,14 @@ 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();
-#ifndef USE_USB
-	/* in usb mode, it's done in usb callback */
+
 	printf_P(PSTR("\r\n"));
 	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-#endif
+
 	callout_manager_init(&cm, get_time_ms);
-	callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+	//callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 
 	/* initialize libxbee */
 	err = xbee_init();
@@ -684,6 +653,7 @@ int main(void)
 	}
 
 	sei();
+
 	xbee_mainloop();
 	return 0;
 }