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:0x91: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 <parse.h>
  50 #include <rdline.h>
  51 #include <timer.h>
  52
  53 #include "eeprom_config.h"
  54 #include "beep.h"
  55 #include "main.h"
  56
  57 struct xbeeboard xbeeboard;
  58 volatile uint32_t global_ms;
  59
  60 #define TIMEOUT_MS 1000
  61
  62 /* global xbee device */
  63 struct xbee_dev *xbee_dev;
  64
  65 /* events */
  66 //static struct event stdin_read_event, xbee_read_event;
  67
  68 /* parameters */
  69 int xbee_raw = 0;
  70 int xbee_hexdump = 0;
  71 int xbee_debug = 0;
  72
  73 int xbee_cmdline_input_enabled = 1;
  74
  75 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  76
  77 static void hexdump(const char *title, const void *buf, unsigned int len)
  78 {
  79         unsigned int i, out, ofs;
  80         const unsigned char *data = buf;
  81 #define LINE_LEN 80
  82         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  83
  84         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
  85         ofs = 0;
  86         while (ofs < len) {
  87                 /* format 1 line in the buffer, then use printk to print them */
  88                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
  89                 for (i=0; ofs+i < len && i<16; i++)
  90                         out += snprintf_P(line+out, LINE_LEN - out,
  91                                           PSTR(" %02X"),
  92                                           data[ofs+i]&0xff);
  93                 for (;i<=16;i++)
  94                         out += snprintf(line+out, LINE_LEN - out, "   ");
  95                 for (i=0; ofs < len && i<16; i++, ofs++) {
  96                         unsigned char c = data[ofs];
  97                         if (!isascii(c) || !isprint(c))
  98                                 c = '.';
  99                         out += snprintf_P(line+out,
 100                                           LINE_LEN - out,
 101                                           PSTR("%c"), c);
 102                 }
 103                 printf_P(PSTR("%s\r\n"), line);
 104         }
 105 }
 106
 107 static int parse_xmit_status(struct xbee_ctx *ctx,
 108                              struct xbee_xmit_status_hdr *frame, unsigned len)
 109 {
 110         (void)len;
 111
 112         if (ctx == NULL) {
 113                 printf_P(PSTR("no context\r\n"));
 114                 return -1;
 115         }
 116
 117         /* see if it matches a xmit query (atcmd_query must be NULL) */
 118         if (ctx->atcmd_query[0] != '\0') {
 119                 printf_P(PSTR("invalid response 2\r\n"));
 120                 return -1;
 121         }
 122
 123         /* XXX use defines for these values */
 124         if (frame->delivery_status == 0x00)
 125                 printf_P(PSTR("Success\r\n"));
 126         else if (frame->delivery_status == 0x01)
 127                 printf_P(PSTR("MAC ACK Failure\r\n"));
 128         else if (frame->delivery_status == 0x15)
 129                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 130         else if (frame->delivery_status == 0x21)
 131                 printf_P(PSTR("Network ACK Failure\r\n"));
 132         else if (frame->delivery_status == 0x25)
 133                 printf_P(PSTR("Route Not Found\r\n"));
 134
 135         return 0;
 136 }
 137
 138 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 139                unsigned len)
 140 {
 141         char atcmd_str[3];
 142         const struct xbee_atcmd *cmd_pgm;
 143         struct xbee_atcmd cmd;
 144         union {
 145                 uint8_t u8;
 146                 uint16_t u16;
 147                 uint32_t u32;
 148                 int16_t s16;
 149         } __attribute__((packed)) *result;
 150
 151         if (ctx == NULL) {
 152                 printf_P(PSTR("no context\r\n"));
 153                 return -1;
 154         }
 155
 156         /* get AT command from frame */
 157         memcpy(atcmd_str, &frame->cmd, 2);
 158         atcmd_str[2] = '\0';
 159
 160         /* see if it matches query */
 161         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 162                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 163                          frame->cmd & 0xFF,
 164                          (frame->cmd >> 8) & 0xFF,
 165                          atcmd_str, ctx->atcmd_query);
 166                 return -1;
 167         }
 168
 169         /* see if it exists */
 170         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 171         if (cmd_pgm == NULL) {
 172                 printf_P(PSTR("unknown response\r\n"));
 173                 return -1;
 174         }
 175         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 176
 177         /* bad status */
 178         if (frame->status == 1) {
 179                 printf_P(PSTR("Status is error\r\n"));
 180                 return -1;
 181         }
 182         else if (frame->status == 2) {
 183                 printf_P(PSTR("Invalid command\r\n"));
 184                 return -1;
 185         }
 186         else if (frame->status == 3) {
 187                 printf_P(PSTR("Invalid parameter\r\n"));
 188                 return -1;
 189         }
 190         else if (frame->status != 0) {
 191                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 192                 return -1;
 193         }
 194
 195         /* callback */
 196         if (ctx->func != NULL)
 197                 ctx->func(frame, len, ctx->arg);
 198
 199         /* dump frame */
 200         result = (void *)frame->data;
 201         len -= offsetof(struct xbee_atresp_hdr, data);
 202         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 203                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
 204                          result->u8);
 205         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 206                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"),
 207                          atcmd_str,
 208                          ntohs(result->u16), ntohs(result->u16));
 209         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 210                 printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"),
 211                          atcmd_str,
 212                          ntohl(result->u32), ntohs(result->u32));
 213         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 214                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 215         else if (len == 0)
 216                 printf_P(PSTR("no data, status ok\r\n"));
 217         else
 218                 hexdump("atcmd answer", frame->data, len);
 219
 220
 221         return 0;
 222 }
 223
 224
 225 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 226 {
 227         unsigned int datalen;
 228         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 229
 230         if (len <  sizeof(*recvframe))
 231                 return -1;
 232
 233         datalen = len - sizeof(*recvframe);
 234         if (datalen < sizeof(struct rc_proto_hdr))
 235                 return -1;
 236
 237         switch (rch->type) {
 238 #if 0
 239                 case RC_PROTO_TYPE_CHANNEL: {
 240                         struct rc_proto_channel *rcc =
 241                                 (struct rc_proto_channel *) recvframe->data;
 242                         int16_t val;
 243                         if (datalen != sizeof(struct rc_proto_channel))
 244                                 return -1;
 245                         val = ntohs(rcc->axis[0]);
 246                         val >>= 6;
 247                         val += 512;
 248                         spi_servo_set(0, val);
 249                         break;
 250                 }
 251                 case RC_PROTO_TYPE_RANGE: {
 252                         struct rc_proto_range *rcr =
 253                                 (struct rc_proto_range *) recvframe->data;
 254
 255                         if (datalen != sizeof(struct rc_proto_range))
 256                                 return -1;
 257
 258                         if (rcr->power_level >= MAX_POWER_LEVEL)
 259                                 return -1;
 260
 261                         rc_proto_rx_range(rcr->power_level);
 262
 263                         break;
 264                 }
 265 #endif
 266                 case RC_PROTO_HELLO: {
 267                         struct rc_proto_hello *rch =
 268                                 (struct rc_proto_hello *) recvframe->data;
 269
 270                         if (xbee_debug)
 271                                 printf_P(PSTR("recv hello len=%d\r\n"),
 272                                          rch->datalen);
 273
 274                         break;
 275                 }
 276                 default:
 277                         return -1;
 278         }
 279
 280         return 0;
 281 }
 282
 283 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 284 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 285              void *frame, unsigned len, void *opaque)
 286 {
 287         struct xbee_ctx *ctx = opaque;
 288         int8_t ret = 0;
 289
 290         if (xbee_debug)
 291                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 292                          type, channel, ctx);
 293
 294         /* if ctx is !NULL, it is an answer to a query */
 295         if (ctx != NULL) {
 296                 /* XXX only delete timeout if answer matched */
 297                 xbee_unload_timeout(ctx);
 298                 if (xbee_debug && ctx->atcmd_query)
 299                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 300                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 301         }
 302
 303         /* some additional checks before sending */
 304         switch (type) {
 305                 case XBEE_TYPE_MODEM_STATUS: {
 306                         printf_P(PSTR("Received Modem Status frame\r\n"));
 307                         break;
 308                 }
 309
 310                 case XBEE_TYPE_RMT_ATRESP: {
 311                         union {
 312                                 uint64_t u64;
 313                                 struct {
 314 #if BYTE_ORDER == LITTLE_ENDIAN
 315                                         uint32_t low;
 316                                         uint32_t high;
 317 #else
 318                                         uint32_t high;
 319                                         uint32_t low;
 320 #endif
 321                                 } u32;
 322                         } addr;
 323                         memcpy(&addr, frame, sizeof(addr));
 324                         addr.u64 = ntohll(addr.u64);
 325                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 326                                  addr.u32.high, addr.u32.low);
 327
 328                         /* this answer contains an atcmd answer at offset 10 */
 329                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 330                                 ret = -1;
 331
 332                         break;
 333                 }
 334                 case XBEE_TYPE_ATRESP: {
 335                         if (dump_atcmd(ctx, frame, len) < 0)
 336                                 ret = -1;
 337
 338                         break;
 339                 }
 340
 341                 case XBEE_TYPE_XMIT_STATUS: {
 342                         if (parse_xmit_status(ctx, frame, len) < 0)
 343                                 ret = -1;
 344
 345                         break;
 346                 }
 347
 348                 case XBEE_TYPE_RECV: {
 349                         if (xbee_recv_data(frame, len) < 0)
 350                                 ret = -1;
 351
 352                         break;
 353                 }
 354
 355                 case XBEE_TYPE_ATCMD:
 356                 case XBEE_TYPE_ATCMD_Q:
 357                 case XBEE_TYPE_XMIT:
 358                 case XBEE_TYPE_EXPL_XMIT:
 359                 case XBEE_TYPE_RMT_ATCMD:
 360                 case XBEE_TYPE_EXPL_RECV:
 361                 case XBEE_TYPE_NODE_ID:
 362                 default:
 363                         printf_P(PSTR("Invalid frame\r\n"));
 364                         ret = -1;
 365                         break;
 366         }
 367
 368         if (ret < 0)
 369                 hexdump("undecoded rx frame", frame, len);
 370         else if (xbee_hexdump)
 371                 hexdump("undecoded rx frame", frame, len);
 372
 373         /* restart command line if it was a blocking query */
 374         if (ctx != NULL) {
 375                 xbee_unregister_channel(dev, channel);
 376                 if (ctx->foreground) {
 377                         xbee_stdin_enable();
 378                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 379                 }
 380         }
 381 }
 382
 383 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 384                         int foreground)
 385 {
 386         int ret;
 387         int channel;
 388
 389         if (len > XBEE_MAX_FRAME_LEN) {
 390                 printf_P(PSTR("frame too large\r\n"));
 391                 return -1;
 392         }
 393
 394         /* register a channel */
 395         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 396                                         xbeeapp_rx, NULL);
 397         if (channel < 0) {
 398                 printf_P(PSTR("cannot send: no free channel\r\n"));
 399                 return -1;
 400         }
 401
 402         /* copy context in the static struct table (avoiding a malloc) */
 403         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 404         ctx = &xbee_ctx[channel];
 405         xbee_set_opaque(xbee_dev, channel, ctx);
 406
 407         if (xbee_debug)
 408                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 409                          channel, type, len);
 410         if (xbee_hexdump)
 411                 hexdump("xmit frame", buf, len);
 412
 413         /* transmit the frame on this channel */
 414         ret = xbee_tx(xbee_dev, channel, type, buf, len);
 415         if (ret < 0) {
 416                 printf_P(PSTR("cannot send\r\n"));
 417                 xbee_unregister_channel(xbee_dev, channel);
 418                 return -1;
 419         }
 420
 421         ctx->channel = channel;
 422         xbee_load_timeout(ctx);   /* load a timeout event */
 423
 424         /* suspend command line until we have answer or timeout */
 425         if (foreground) {
 426                 ctx->foreground = 1;
 427                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 428                 xbee_stdin_disable();  /* unload file descriptor polling */
 429         }
 430
 431         return 0;
 432 }
 433
 434 /* send an AT command with parameters filled by caller. Disable
 435  * command line until we get the answer or until a timeout occurs */
 436 int xbeeapp_send_atcmd(const char *atcmd_str,
 437                        void *param, unsigned param_len, int foreground,
 438                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 439 {
 440         struct xbee_ctx ctx;
 441         struct {
 442                 struct xbee_atcmd_hdr atcmd;
 443                 char buf[XBEE_MAX_FRAME_LEN];
 444         } __attribute__((packed)) frame;
 445
 446         memset(&ctx, 0, sizeof(ctx));
 447         ctx.atcmd_query[0] = atcmd_str[0];
 448         ctx.atcmd_query[1] = atcmd_str[1];
 449         ctx.func = func;
 450         ctx.arg = arg;
 451
 452         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 453         memcpy(&frame.buf, param, param_len);
 454
 455         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 456                          sizeof(struct xbee_atcmd_hdr) +
 457                          param_len, foreground) < 0) {
 458                 return -1;
 459         }
 460
 461         return 0;
 462 }
 463
 464 int xbeeapp_send_msg(uint64_t addr, void *data,
 465                      unsigned data_len, int foreground)
 466 {
 467         struct xbee_ctx ctx;
 468         struct {
 469                 struct xbee_xmit_hdr xmit;
 470                 char buf[XBEE_MAX_FRAME_LEN];
 471         } __attribute__((packed)) frame;
 472
 473         memset(&ctx, 0, sizeof(ctx));
 474         ctx.atcmd_query[0] = '\0';
 475
 476         frame.xmit.dstaddr = htonll(addr);
 477         frame.xmit.reserved = htons(0xFFFE);
 478         frame.xmit.bcast_radius = 0;
 479         frame.xmit.opts = 0;
 480         memcpy(&frame.buf, data, data_len);
 481
 482         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 483                          sizeof(struct xbee_xmit_hdr) +
 484                          data_len, foreground) < 0) {
 485                 return -1;
 486         }
 487
 488         return 0;
 489 }
 490
 491 void xbee_stdin_enable(void)
 492 {
 493         xbee_cmdline_input_enabled = 1;
 494 }
 495
 496 void xbee_stdin_disable(void)
 497 {
 498         xbee_cmdline_input_enabled = 0;
 499 }
 500
 501 static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 502                         void *arg)
 503 {
 504         struct xbee_ctx *ctx = arg;
 505
 506         (void)cm;
 507         (void)clt;
 508
 509         printf_P(PSTR("Timeout\r\n"));
 510
 511         /* restart command line */
 512         xbee_stdin_enable();
 513         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 514
 515         /* free event */
 516         xbee_unregister_channel(xbee_dev, ctx->channel);
 517
 518         callout_stop(cm, clt);
 519 }
 520
 521 void xbee_load_timeout(struct xbee_ctx *ctx)
 522 {
 523         callout_init(&ctx->timeout, evt_timeout, ctx, 0);
 524         callout_schedule(&xbeeboard.mainloop_cm, &ctx->timeout, TIMEOUT_MS);
 525 }
 526
 527 void xbee_unload_timeout(struct xbee_ctx *ctx)
 528 {
 529         callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
 530 }
 531
 532 void bootloader(void)
 533 {
 534 #define BOOTLOADER_ADDR 0x3f000
 535         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 536                 printf_P(PSTR("Bootloader is not present\r\n"));
 537                 return;
 538         }
 539         cli();
 540         /* ... very specific :( */
 541         TIMSK0 = 0;
 542         TIMSK1 = 0;
 543         TIMSK2 = 0;
 544         TIMSK3 = 0;
 545         EIMSK = 0;
 546         UCSR0B = 0;
 547         UCSR1B = 0;
 548         SPCR = 0;
 549         TWCR = 0;
 550         ACSR = 0;
 551         ADCSRA = 0;
 552
 553         /* XXX */
 554         /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
 555         /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
 556         /* __asm__ __volatile__ ("eijmp\n"); */
 557 }
 558
 559 void xbee_mainloop(void)
 560 {
 561         while (1) {
 562                 callout_manage(&xbeeboard.mainloop_cm);
 563
 564                 if (xbee_raw) {
 565                         int16_t c;
 566
 567                         /* from xbee to cmdline */
 568                         c = xbee_dev_recv(NULL);
 569                         if (c >= 0)
 570                                 cmdline_dev_send((uint8_t)c, NULL);
 571
 572                         /* from cmdline to xbee */
 573                         c = cmdline_dev_recv(NULL);
 574                         if (c == 4) { /* CTRL-d */
 575                                 xbee_dev_send('A', NULL);
 576                                 xbee_dev_send('T', NULL);
 577                                 xbee_dev_send('C', NULL);
 578                                 xbee_dev_send('N', NULL);
 579                                 xbee_dev_send('\n', NULL);
 580                                 xbee_raw = 0;
 581                                 rdline_newline(&xbeeboard.rdl,
 582                                                xbeeboard.prompt);
 583                         }
 584                         else if (c >= 0) {
 585                                 /* send to xbee */
 586                                 xbee_dev_send((uint8_t)c, NULL);
 587
 588                                 /* echo on cmdline */
 589                                 cmdline_dev_send((uint8_t)c, NULL);
 590                         }
 591                 }
 592                 else {
 593                         if (xbee_cmdline_input_enabled)
 594                                 cmdline_poll();
 595                         xbee_rx(xbee_dev);
 596                 }
 597         }
 598 }
 599
 600 /* return time in milliseconds on unsigned 16 bits */
 601 static uint16_t get_time_ms(void)
 602 {
 603         return (uint16_t)global_ms;
 604 }
 605
 606 static void main_timer_interrupt(void)
 607 {
 608         static uint16_t cycles;
 609         static uint8_t cpt;
 610
 611         cpt++;
 612
 613         /* LED blink */
 614         if (global_ms & 0x80)
 615                 LED1_ON();
 616         else
 617                 LED1_OFF();
 618
 619         if (cpt & beep_mask)
 620                 BUZZER_ON();
 621         else
 622                 BUZZER_OFF();
 623
 624         /* interrupt every 2048 cycles */
 625         cycles += 2048;
 626         if (cycles >= 12000) {
 627                 cycles -= 12000;
 628                 global_ms ++;
 629         }
 630
 631         /* called every 682us (at 12 Mhz), but global_ms is not incremented at
 632          * each call */
 633         sei();
 634         callout_manage(&xbeeboard.intr_cm);
 635 }
 636
 637 int main(void)
 638 {
 639         //struct callout t1;
 640         FILE *xbee_file;
 641         int8_t err;
 642         struct xbee_dev dev;
 643
 644         DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
 645
 646         uart_init();
 647         uart_register_rx_event(CMDLINE_UART, emergency);
 648
 649         fdevopen(cmdline_dev_send, cmdline_dev_recv);
 650         xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
 651         timer_init();
 652         timer0_register_OV_intr(main_timer_interrupt);
 653
 654         callout_mgr_init(&xbeeboard.intr_cm, get_time_ms);
 655         callout_mgr_init(&xbeeboard.mainloop_cm, get_time_ms);
 656
 657         cmdline_init();
 658         spi_servo_init();
 659         beep_init();
 660
 661         /* initialize libxbee */
 662         err = xbee_init();
 663         if (err < 0)
 664                 return -1;
 665
 666         xbee_dev = &dev;
 667
 668         /* open xbee device */
 669         if (xbee_open(xbee_dev, xbee_file) < 0)
 670                 return -1;
 671
 672         /* register default channel with a callback */
 673         if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
 674                                   xbeeapp_rx, NULL) < 0) {
 675                 fprintf(stderr, "cannot register default channel\n");
 676                 return -1;
 677         }
 678         sei();
 679
 680         eeprom_load_config();
 681
 682         printf_P(PSTR("\r\n"));
 683         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 684
 685         xbee_mainloop();
 686         return 0;
 687 }