main.c

   1 /*
   2  * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
   3  * All rights reserved.
   4  * Redistribution and use in source and binary forms, with or without
   5  * modification, are permitted provided that the following conditions are met:
   6  *
   7  *     * Redistributions of source code must retain the above copyright
   8  *       notice, this list of conditions and the following disclaimer.
   9  *     * Redistributions in binary form must reproduce the above copyright
  10  *       notice, this list of conditions and the following disclaimer in the
  11  *       documentation and/or other materials provided with the distribution.
  12  *     * Neither the name of the University of California, Berkeley nor the
  13  *       names of its contributors may be used to endorse or promote products
  14  *       derived from this software without specific prior written permission.
  15  *
  16  * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
  17  * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  18  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  19  * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
  20  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  21  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  22  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  23  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  24  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  25  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  26  */
  27
  28 /* fuses:
  29  * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
  30  */
  31
  32 #include <aversive.h>
  33 #include <aversive/queue.h>
  34 #include <aversive/endian.h>
  35 #include <aversive/wait.h>
  36 #include <aversive/error.h>
  37
  38 #include <uart.h>
  39
  40 #include <stdio.h>
  41 #include <string.h>
  42 #include <stdint.h>
  43 #include <inttypes.h>
  44 #include <stdlib.h>
  45 #include <stdarg.h>
  46 #include <errno.h>
  47 #include <ctype.h>
  48
  49 #include <scheduler.h>
  50 #include <clock_time.h>
  51 #include <parse.h>
  52 #include <rdline.h>
  53 #include <timer.h>
  54
  55 #include "xbee_neighbor.h"
  56 #include "xbee_atcmd.h"
  57 #include "xbee_stats.h"
  58 #include "xbee_buf.h"
  59 #include "xbee_proto.h"
  60 #include "xbee.h"
  61 #include "cmdline.h"
  62 #include "callout.h"
  63 #include "rc_proto.h"
  64 #include "spi_servo.h"
  65 #include "main.h"
  66
  67 struct xbeeboard xbeeboard;
  68 volatile uint16_t global_ms;
  69 struct callout_manager cm;
  70
  71 #define TIMEOUT_MS 1000
  72
  73 /* global xbee device */
  74 struct xbee_dev *xbee_dev;
  75
  76 /* events */
  77 //static struct event stdin_read_event, xbee_read_event;
  78
  79 /* parameters */
  80 int xbee_raw = 0;
  81 int xbee_hexdump = 0;
  82 int xbee_debug = 0;
  83
  84 int xbee_cmdline_input_enabled = 1;
  85
  86 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  87
  88 static void hexdump(const char *title, const void *buf, unsigned int len)
  89 {
  90         unsigned int i, out, ofs;
  91         const unsigned char *data = buf;
  92 #define LINE_LEN 80
  93         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  94
  95         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
  96         ofs = 0;
  97         while (ofs < len) {
  98                 /* format 1 line in the buffer, then use printk to print them */
  99                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
 100                 for (i=0; ofs+i < len && i<16; i++)
 101                         out += snprintf_P(line+out, LINE_LEN - out,
 102                                           PSTR(" %02X"),
 103                                           data[ofs+i]&0xff);
 104                 for (;i<=16;i++)
 105                         out += snprintf(line+out, LINE_LEN - out, "   ");
 106                 for (i=0; ofs < len && i<16; i++, ofs++) {
 107                         unsigned char c = data[ofs];
 108                         if (!isascii(c) || !isprint(c))
 109                                 c = '.';
 110                         out += snprintf_P(line+out,
 111                                           LINE_LEN - out,
 112                                           PSTR("%c"), c);
 113                 }
 114                 printf_P(PSTR("%s\r\n"), line);
 115         }
 116 }
 117
 118 static int parse_xmit_status(struct xbee_ctx *ctx,
 119                              struct xbee_xmit_status_hdr *frame, unsigned len)
 120 {
 121         (void)len;
 122
 123         if (ctx == NULL) {
 124                 printf_P(PSTR("no context\r\n"));
 125                 return -1;
 126         }
 127
 128         /* see if it matches a xmit query (atcmd_query must be NULL) */
 129         if (ctx->atcmd_query[0] != '\0') {
 130                 printf_P(PSTR("invalid response 2\r\n"));
 131                 return -1;
 132         }
 133
 134         /* XXX use defines for these values */
 135         if (frame->delivery_status == 0x00)
 136                 printf_P(PSTR("Success\r\n"));
 137         else if (frame->delivery_status == 0x01)
 138                 printf_P(PSTR("MAC ACK Failure\r\n"));
 139         else if (frame->delivery_status == 0x15)
 140                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 141         else if (frame->delivery_status == 0x21)
 142                 printf_P(PSTR("Network ACK Failure\r\n"));
 143         else if (frame->delivery_status == 0x25)
 144                 printf_P(PSTR("Route Not Found\r\n"));
 145
 146         return 0;
 147 }
 148
 149 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 150                unsigned len)
 151 {
 152         char atcmd_str[3];
 153         const struct xbee_atcmd *cmd_pgm;
 154         struct xbee_atcmd cmd;
 155         union {
 156                 uint8_t u8;
 157                 uint16_t u16;
 158                 uint32_t u32;
 159                 int16_t s16;
 160         } __attribute__((packed)) *result;
 161
 162         if (ctx == NULL) {
 163                 printf_P(PSTR("no context\r\n"));
 164                 return -1;
 165         }
 166
 167         /* get AT command from frame */
 168         memcpy(atcmd_str, &frame->cmd, 2);
 169         atcmd_str[2] = '\0';
 170
 171         /* see if it matches query */
 172         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 173                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 174                          frame->cmd & 0xFF,
 175                          (frame->cmd >> 8) & 0xFF,
 176                          atcmd_str, ctx->atcmd_query);
 177                 return -1;
 178         }
 179
 180         /* see if it exists */
 181         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 182         if (cmd_pgm == NULL) {
 183                 printf_P(PSTR("unknown response\r\n"));
 184                 return -1;
 185         }
 186         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 187
 188         /* bad status */
 189         if (frame->status == 1) {
 190                 printf_P(PSTR("Status is error\r\n"));
 191                 return -1;
 192         }
 193         else if (frame->status == 2) {
 194                 printf_P(PSTR("Invalid command\r\n"));
 195                 return -1;
 196         }
 197         else if (frame->status == 3) {
 198                 printf_P(PSTR("Invalid parameter\r\n"));
 199                 return -1;
 200         }
 201         else if (frame->status != 0) {
 202                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 203                 return -1;
 204         }
 205
 206         /* callback */
 207         if (ctx->func != NULL)
 208                 ctx->func(frame, len, ctx->arg);
 209
 210         /* dump frame */
 211         result = (void *)frame->data;
 212         len -= offsetof(struct xbee_atresp_hdr, data);
 213         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 214                 printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
 215         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 216                 printf_P(PSTR("<%s> is 0x%x\r\n"),
 217                          atcmd_str,
 218                          ntohs(result->u16));
 219         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 220                 printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
 221                          atcmd_str,
 222                          ntohl(result->u32));
 223         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 224                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 225         else if (len == 0)
 226                 printf_P(PSTR("no data, status ok\r\n"));
 227         else
 228                 hexdump("atcmd answer", frame->data, len);
 229
 230
 231         return 0;
 232 }
 233
 234
 235 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 236 {
 237         unsigned int datalen;
 238         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 239
 240         if (len <  sizeof(*recvframe))
 241                 return -1;
 242
 243         datalen = len - sizeof(*recvframe);
 244         if (datalen < sizeof(struct rc_proto_hdr))
 245                 return -1;
 246
 247         switch (rch->type) {
 248                 case RC_PROTO_TYPE_CHANNEL: {
 249                         struct rc_proto_channel *rcc =
 250                                 (struct rc_proto_channel *) recvframe->data;
 251                         int16_t val;
 252                         if (datalen != sizeof(struct rc_proto_channel))
 253                                 return -1;
 254                         val = ntohs(rcc->axis[0]);
 255                         val >>= 6;
 256                         val += 512;
 257                         spi_servo_set(0, val);
 258                         break;
 259                                   }
 260                 case RC_PROTO_TYPE_RANGE: {
 261                         struct rc_proto_range *rcr =
 262                                 (struct rc_proto_range *) recvframe->data;
 263
 264                         if (datalen != sizeof(struct rc_proto_range))
 265                                 return -1;
 266
 267                         if (rcr->power_level >= MAX_POWER_LEVEL)
 268                                 return -1;
 269
 270                         rc_proto_rx_range(rcr->power_level);
 271
 272                         break;
 273                 }
 274                 default:
 275                         return -1;
 276         }
 277
 278         return 0;
 279 }
 280
 281 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 282 void xbee_rx(struct xbee_dev *dev, int channel, int type,
 283              void *frame, unsigned len, void *opaque)
 284 {
 285         struct xbee_ctx *ctx = opaque;
 286         int do_hexdump = xbee_hexdump;
 287
 288         if (xbee_debug)
 289                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 290                          type, channel, ctx);
 291
 292         /* if ctx is !NULL, it is an answer to a query */
 293         if (ctx != NULL) {
 294                 /* XXX only delete timeout if answer matched */
 295                 xbee_unload_timeout(ctx);
 296                 if (xbee_debug && ctx->atcmd_query)
 297                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 298                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 299         }
 300
 301         /* some additional checks before sending */
 302         switch (type) {
 303                 case XBEE_TYPE_MODEM_STATUS: {
 304                         printf_P(PSTR("Received Modem Status frame\r\n"));
 305                         break;
 306                 }
 307
 308                 case XBEE_TYPE_RMT_ATRESP: {
 309                         union {
 310                                 uint64_t u64;
 311                                 struct {
 312 #if BYTE_ORDER == LITTLE_ENDIAN
 313                                         uint32_t low;
 314                                         uint32_t high;
 315 #else
 316                                         uint32_t high;
 317                                         uint32_t low;
 318 #endif
 319                                 } u32;
 320                         } addr;
 321                         memcpy(&addr, frame, sizeof(addr));
 322                         addr.u64 = ntohll(addr.u64);
 323                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 324                                  addr.u32.high, addr.u32.low);
 325
 326                         /* this answer contains an atcmd answer at offset 10 */
 327                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 328                                 do_hexdump = 1;
 329                         break;
 330                 }
 331                 case XBEE_TYPE_ATRESP: {
 332                         if (dump_atcmd(ctx, frame, len) < 0)
 333                                 do_hexdump = 1;
 334                         break;
 335                 }
 336
 337                 case XBEE_TYPE_XMIT_STATUS: {
 338                         if (parse_xmit_status(ctx, frame, len) < 0)
 339                                 do_hexdump = 1;
 340                         break;
 341                 }
 342
 343                 case XBEE_TYPE_RECV: {
 344                         if (xbee_recv_data(frame, len) < 0)
 345                                 do_hexdump = 1;
 346                         break;
 347                 }
 348
 349                 case XBEE_TYPE_ATCMD:
 350                 case XBEE_TYPE_ATCMD_Q:
 351                 case XBEE_TYPE_XMIT:
 352                 case XBEE_TYPE_EXPL_XMIT:
 353                 case XBEE_TYPE_RMT_ATCMD:
 354                 case XBEE_TYPE_EXPL_RECV:
 355                 case XBEE_TYPE_NODE_ID:
 356                 default:
 357                         printf_P(PSTR("Invalid frame\r\n"));
 358                         do_hexdump = 1;
 359                         break;
 360         }
 361
 362         if (do_hexdump)
 363                 hexdump("undecoded rx frame", frame, len);
 364
 365         /* restart command line if it was a blocking query */
 366         if (ctx != NULL) {
 367                 xbee_unregister_channel(dev, channel);
 368                 if (ctx->foreground) {
 369                         xbee_stdin_enable();
 370                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 371                 }
 372         }
 373 }
 374
 375 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 376                         int foreground)
 377 {
 378         int ret;
 379         int channel;
 380
 381         if (len > XBEE_MAX_FRAME_LEN) {
 382                 printf_P(PSTR("frame too large\r\n"));
 383                 return -1;
 384         }
 385
 386         /* register a channel */
 387         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 388                                         xbee_rx, NULL);
 389         if (channel < 0) {
 390                 printf_P(PSTR("cannot send: no free channel\r\n"));
 391                 return -1;
 392         }
 393
 394         /* copy context in the static struct table (avoiding a malloc) */
 395         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 396         ctx = &xbee_ctx[channel];
 397         xbee_set_opaque(xbee_dev, channel, ctx);
 398
 399         if (xbee_debug)
 400                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 401                          channel, type, len);
 402         if (xbee_hexdump)
 403                 hexdump("xmit frame", buf, len);
 404
 405         /* transmit the frame on this channel */
 406         ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
 407                               len);
 408         if (ret < 0) {
 409                 printf_P(PSTR("cannot send\r\n"));
 410                 xbee_unregister_channel(xbee_dev, channel);
 411                 return -1;
 412         }
 413
 414         ctx->channel = channel;
 415         xbee_load_timeout(ctx);   /* load a timeout event */
 416
 417         /* suspend command line until we have answer or timeout */
 418         if (foreground) {
 419                 ctx->foreground = 1;
 420                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 421                 xbee_stdin_disable();  /* unload file descriptor polling */
 422         }
 423
 424         return 0;
 425 }
 426
 427 /* send an AT command with parameters filled by caller. Disable
 428  * command line until we get the answer or until a timeout occurs */
 429 int xbeeapp_send_atcmd(const char *atcmd_str,
 430                        void *param, unsigned param_len, int foreground,
 431                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 432 {
 433         struct xbee_ctx ctx;
 434         struct {
 435                 struct xbee_atcmd_hdr atcmd;
 436                 char buf[XBEE_MAX_FRAME_LEN];
 437         } __attribute__((packed)) frame;
 438
 439         memset(&ctx, 0, sizeof(ctx));
 440         ctx.atcmd_query[0] = atcmd_str[0];
 441         ctx.atcmd_query[1] = atcmd_str[1];
 442         ctx.func = func;
 443         ctx.arg = arg;
 444
 445         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 446         memcpy(&frame.buf, param, param_len);
 447
 448         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 449                          sizeof(struct xbee_atcmd_hdr) +
 450                          param_len, foreground) < 0) {
 451                 return -1;
 452         }
 453
 454         return 0;
 455 }
 456
 457 int xbeeapp_send_msg(uint64_t addr, void *data,
 458                      unsigned data_len, int foreground)
 459 {
 460         struct xbee_ctx ctx;
 461         struct {
 462                 struct xbee_xmit_hdr xmit;
 463                 char buf[XBEE_MAX_FRAME_LEN];
 464         } __attribute__((packed)) frame;
 465
 466         memset(&ctx, 0, sizeof(ctx));
 467         ctx.atcmd_query[0] = '\0';
 468
 469         frame.xmit.dstaddr = htonll(addr);
 470         frame.xmit.reserved = htons(0xFFFE);
 471         frame.xmit.bcast_radius = 0;
 472         frame.xmit.opts = 0;
 473         memcpy(&frame.buf, data, data_len);
 474
 475         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 476                          sizeof(struct xbee_xmit_hdr) +
 477                          data_len, foreground) < 0) {
 478                 return -1;
 479         }
 480
 481         return 0;
 482 }
 483
 484 void xbee_stdin_enable(void)
 485 {
 486         xbee_cmdline_input_enabled = 1;
 487 }
 488
 489 void xbee_stdin_disable(void)
 490 {
 491         xbee_cmdline_input_enabled = 0;
 492 }
 493
 494 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 495                         void *arg)
 496 {
 497         struct xbee_ctx *ctx = arg;
 498
 499         (void)cm;
 500         (void)clt;
 501
 502         printf_P(PSTR("Timeout\r\n"));
 503
 504         /* restart command line */
 505         xbee_stdin_enable();
 506         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 507
 508         /* free event */
 509         xbee_unregister_channel(xbee_dev, ctx->channel);
 510 }
 511
 512 void xbee_load_timeout(struct xbee_ctx *ctx)
 513 {
 514         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
 515 }
 516
 517 void xbee_unload_timeout(struct xbee_ctx *ctx)
 518 {
 519         callout_stop(&cm, &ctx->timeout);
 520 }
 521
 522 void bootloader(void)
 523 {
 524 #define BOOTLOADER_ADDR 0x3f000
 525         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 526                 printf_P(PSTR("Bootloader is not present\r\n"));
 527                 return;
 528         }
 529         cli();
 530         /* ... very specific :( */
 531         TIMSK0 = 0;
 532         TIMSK1 = 0;
 533         TIMSK2 = 0;
 534         TIMSK3 = 0;
 535         EIMSK = 0;
 536         UCSR0B = 0;
 537         UCSR1B = 0;
 538         SPCR = 0;
 539         TWCR = 0;
 540         ACSR = 0;
 541         ADCSRA = 0;
 542
 543         /* XXX */
 544         /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
 545         /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
 546         /* __asm__ __volatile__ ("eijmp\n"); */
 547 }
 548
 549 void xbee_mainloop(void)
 550 {
 551         while (1) {
 552                 callout_manage(&cm);
 553
 554                 if (xbee_raw) {
 555                         int16_t c;
 556
 557                         /* from xbee to cmdline */
 558                         c = xbee_dev_recv(NULL);
 559                         if (c >= 0)
 560                                 cmdline_dev_send((uint8_t)c, NULL);
 561
 562                         /* from cmdline to xbee */
 563                         c = cmdline_dev_recv(NULL);
 564                         if (c == 4) { /* CTRL-d */
 565                                 xbee_raw = 0;
 566                                 rdline_newline(&xbeeboard.rdl,
 567                                                xbeeboard.prompt);
 568                         }
 569                         else if (c >= 0) {
 570                                 /* send to xbee */
 571                                 xbee_dev_send((uint8_t)c, NULL);
 572
 573                                 /* echo on cmdline */
 574                                 cmdline_dev_send((uint8_t)c, NULL);
 575                         }
 576                 }
 577                 else {
 578                         if (xbee_cmdline_input_enabled)
 579                                 cmdline_poll();
 580                         xbee_proto_rx(xbee_dev);
 581                 }
 582         }
 583 }
 584
 585 /* return time in milliseconds on unsigned 16 bits */
 586 static uint16_t get_time_ms(void)
 587 {
 588         return global_ms;
 589 }
 590
 591 static void increment_ms(void *dummy)
 592 {
 593         (void)dummy;
 594         global_ms++;
 595
 596         if (global_ms & 0x80)
 597                 LED1_ON();
 598         else
 599                 LED1_OFF();
 600 }
 601
 602 static void main_timer_interrupt(void)
 603 {
 604         static uint8_t cpt = 0;
 605         cpt++;
 606         sei();
 607         if ((cpt & 0x3) == 0)
 608                 scheduler_interrupt();
 609 }
 610
 611 /** Main program entry point. This routine contains the overall program flow, including initial
 612  *  setup of all components and the main program loop.
 613  */
 614 int main(void)
 615 {
 616         //struct callout t1;
 617         FILE *xbee_file;
 618         int8_t err;
 619         struct xbee_dev dev;
 620
 621         DDRA = 0x07; /* LEDs */
 622         LED2_ON();
 623         wait_ms(1000);
 624         LED3_ON();
 625         wait_ms(1000);
 626
 627         uart_init();
 628         uart_register_rx_event(CMDLINE_UART, emergency);
 629
 630         fdevopen(cmdline_dev_send, cmdline_dev_recv);
 631         xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
 632         scheduler_init();
 633         timer_init();
 634         timer0_register_OV_intr(main_timer_interrupt);
 635
 636         scheduler_add_periodical_event_priority(increment_ms, NULL,
 637                                                 1000L / SCHEDULER_UNIT,
 638                                                 LED_PRIO);
 639         cmdline_init();
 640         spi_servo_init();
 641
 642         printf_P(PSTR("\r\n"));
 643         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 644
 645         callout_manager_init(&cm, get_time_ms);
 646         //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 647
 648         /* initialize libxbee */
 649         err = xbee_init();
 650         if (err < 0)
 651                 return -1;
 652
 653         xbee_dev = &dev;
 654
 655         /* open xbee device */
 656         if (xbee_open(xbee_dev, xbee_file) < 0)
 657                 return -1;
 658
 659         /* register default channel with a callback */
 660         if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
 661                                   xbee_rx, NULL) < 0) {
 662                 fprintf(stderr, "cannot register default channel\n");
 663                 return -1;
 664         }
 665
 666         sei();
 667
 668         xbee_mainloop();
 669         return 0;
 670 }