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 #include <aversive.h>
  29 #include <aversive/queue.h>
  30 #include <aversive/endian.h>
  31 #include <aversive/wait.h>
  32 #include <aversive/error.h>
  33
  34 #include <uart.h>
  35
  36 #include <stdio.h>
  37 #include <string.h>
  38 #include <stdint.h>
  39 #include <inttypes.h>
  40 #include <stdlib.h>
  41 #include <stdarg.h>
  42 #include <errno.h>
  43 #include <ctype.h>
  44
  45 #include <scheduler.h>
  46 #include <clock_time.h>
  47 #include <parse.h>
  48 #include <rdline.h>
  49 #include <timer.h>
  50
  51 #include "xbee_neighbor.h"
  52 #include "xbee_atcmd.h"
  53 #include "xbee_stats.h"
  54 #include "xbee_buf.h"
  55 #include "xbee_proto.h"
  56 #include "xbee.h"
  57 #include "cmdline.h"
  58 #include "callout.h"
  59 #include "rc_proto.h"
  60 #include "spi_servo.h"
  61 #include "main.h"
  62
  63 struct xbeeboard xbeeboard;
  64 volatile uint16_t global_ms;
  65 struct callout_manager cm;
  66
  67 #define TIMEOUT_MS 1000
  68
  69 /* global xbee device */
  70 struct xbee_dev *xbee_dev;
  71
  72 /* events */
  73 //static struct event stdin_read_event, xbee_read_event;
  74
  75 /* parameters */
  76 int xbee_raw = 0;
  77 int xbee_hexdump = 0;
  78 int xbee_debug = 0;
  79
  80 int xbee_cmdline_input_enabled = 1;
  81
  82 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  83
  84 static void hexdump(const char *title, const void *buf, unsigned int len)
  85 {
  86         unsigned int i, out, ofs;
  87         const unsigned char *data = buf;
  88 #define LINE_LEN 80
  89         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  90
  91         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
  92         ofs = 0;
  93         while (ofs < len) {
  94                 /* format 1 line in the buffer, then use printk to print them */
  95                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
  96                 for (i=0; ofs+i < len && i<16; i++)
  97                         out += snprintf_P(line+out, LINE_LEN - out,
  98                                           PSTR(" %02X"),
  99                                           data[ofs+i]&0xff);
 100                 for (;i<=16;i++)
 101                         out += snprintf(line+out, LINE_LEN - out, "   ");
 102                 for (i=0; ofs < len && i<16; i++, ofs++) {
 103                         unsigned char c = data[ofs];
 104                         if (!isascii(c) || !isprint(c))
 105                                 c = '.';
 106                         out += snprintf_P(line+out,
 107                                           LINE_LEN - out,
 108                                           PSTR("%c"), c);
 109                 }
 110                 printf_P(PSTR("%s\r\n"), line);
 111         }
 112 }
 113
 114 static int parse_xmit_status(struct xbee_ctx *ctx,
 115                              struct xbee_xmit_status_hdr *frame, unsigned len)
 116 {
 117         if (ctx == NULL) {
 118                 printf_P(PSTR("no context\r\n"));
 119                 return -1;
 120         }
 121
 122         /* see if it matches a xmit query (atcmd_query must be NULL) */
 123         if (ctx->atcmd_query[0] != '\0') {
 124                 printf_P(PSTR("invalid response 2\r\n"));
 125                 return -1;
 126         }
 127
 128         /* XXX use defines for these values */
 129         if (frame->delivery_status == 0x00)
 130                 printf_P(PSTR("Success\r\n"));
 131         else if (frame->delivery_status == 0x01)
 132                 printf_P(PSTR("MAC ACK Failure\r\n"));
 133         else if (frame->delivery_status == 0x15)
 134                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 135         else if (frame->delivery_status == 0x21)
 136                 printf_P(PSTR("Network ACK Failure\r\n"));
 137         else if (frame->delivery_status == 0x25)
 138                 printf_P(PSTR("Route Not Found\r\n"));
 139
 140         return 0;
 141 }
 142
 143 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 144                unsigned len)
 145 {
 146         char atcmd_str[3];
 147         struct xbee_atcmd_pgm *cmd_pgm;
 148         struct xbee_atcmd cmd;
 149         union {
 150                 uint8_t u8;
 151                 uint16_t u16;
 152                 uint32_t u32;
 153                 int16_t s16;
 154         } __attribute__((packed)) *result;
 155
 156         if (ctx == NULL) {
 157                 printf_P(PSTR("no context\r\n"));
 158                 return -1;
 159         }
 160
 161         /* get AT command from frame */
 162         memcpy(atcmd_str, &frame->cmd, 2);
 163         atcmd_str[2] = '\0';
 164
 165         /* see if it matches query */
 166         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 167                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 168                          frame->cmd & 0xFF,
 169                          (frame->cmd >> 8) & 0xFF,
 170                          atcmd_str, ctx->atcmd_query);
 171                 return -1;
 172         }
 173
 174         /* see if it exists */
 175         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 176         if (cmd_pgm == NULL) {
 177                 printf_P(PSTR("unknown response\r\n"));
 178                 return -1;
 179         }
 180         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 181
 182         /* bad status */
 183         if (frame->status == 1) {
 184                 printf_P(PSTR("Status is error\r\n"));
 185                 return -1;
 186         }
 187         else if (frame->status == 2) {
 188                 printf_P(PSTR("Invalid command\r\n"));
 189                 return -1;
 190         }
 191         else if (frame->status == 3) {
 192                 printf_P(PSTR("Invalid parameter\r\n"));
 193                 return -1;
 194         }
 195         else if (frame->status != 0) {
 196                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 197                 return -1;
 198         }
 199
 200         /* callback */
 201         if (ctx->func != NULL)
 202                 ctx->func(frame, len, ctx->arg);
 203
 204         /* dump frame */
 205         result = (void *)frame->data;
 206         len -= offsetof(struct xbee_atresp_hdr, data);
 207         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 208                 printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
 209         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 210                 printf_P(PSTR("<%s> is 0x%x\r\n"),
 211                          atcmd_str,
 212                          ntohs(result->u16));
 213         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 214                 printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
 215                          atcmd_str,
 216                          ntohl(result->u32));
 217         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 218                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 219         else if (len == 0)
 220                 printf_P(PSTR("no data, status ok\r\n"));
 221         else
 222                 hexdump("atcmd answer", frame->data, len);
 223
 224
 225         return 0;
 226 }
 227
 228
 229 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 230 {
 231         int datalen = len - sizeof(*recvframe);
 232         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 233
 234         if (datalen < sizeof(struct rc_proto_hdr))
 235                 return -1;
 236
 237         switch (rch->type) {
 238                 case RC_PROTO_TYPE_CHANNEL: {
 239                         struct rc_proto_channel *rcc =
 240                                 (struct rc_proto_channel *) recvframe->data;
 241                         int16_t val;
 242                         if (datalen != sizeof(struct rc_proto_channel))
 243                                 return -1;
 244                         val = ntohs(rcc->axis[0]);
 245                         val >>= 6;
 246                         val += 512;
 247                         spi_servo_set(0, val);
 248                         break;
 249                                   }
 250                 case RC_PROTO_TYPE_RANGE: {
 251                         struct rc_proto_range *rcr =
 252                                 (struct rc_proto_range *) recvframe->data;
 253
 254                         if (datalen != sizeof(struct rc_proto_range))
 255                                 return -1;
 256
 257                         if (rcr->power_level >= MAX_POWER_LEVEL)
 258                                 return -1;
 259
 260                         rc_proto_rx_range(rcr->power_level);
 261
 262                         break;
 263                 }
 264                 default:
 265                         return -1;
 266         }
 267
 268         return 0;
 269 }
 270
 271 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 272 void xbee_rx(struct xbee_dev *dev, int channel, int type,
 273              void *frame, unsigned len, void *opaque)
 274 {
 275         struct xbee_ctx *ctx = opaque;
 276         int do_hexdump = xbee_hexdump;
 277
 278         if (xbee_debug)
 279                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 280                          type, channel, ctx);
 281
 282         /* if ctx is !NULL, it is an answer to a query */
 283         if (ctx != NULL) {
 284                 /* XXX only delete timeout if answer matched */
 285                 xbee_unload_timeout(ctx);
 286                 if (xbee_debug && ctx->atcmd_query)
 287                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 288                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 289         }
 290
 291         /* some additional checks before sending */
 292         switch (type) {
 293                 case XBEE_TYPE_MODEM_STATUS: {
 294                         printf_P(PSTR("Received Modem Status frame\r\n"));
 295                         break;
 296                 }
 297
 298                 case XBEE_TYPE_RMT_ATRESP: {
 299                         union {
 300                                 uint64_t u64;
 301                                 struct {
 302 #if BYTE_ORDER == LITTLE_ENDIAN
 303                                         uint32_t low;
 304                                         uint32_t high;
 305 #else
 306                                         uint32_t high;
 307                                         uint32_t low;
 308 #endif
 309                                 } u32;
 310                         } addr;
 311                         memcpy(&addr, frame, sizeof(addr));
 312                         addr.u64 = ntohll(addr.u64);
 313                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 314                                  addr.u32.high, addr.u32.low);
 315
 316                         /* this answer contains an atcmd answer at offset 10 */
 317                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 318                                 do_hexdump = 1;
 319                         break;
 320                 }
 321                 case XBEE_TYPE_ATRESP: {
 322                         if (dump_atcmd(ctx, frame, len) < 0)
 323                                 do_hexdump = 1;
 324                         break;
 325                 }
 326
 327                 case XBEE_TYPE_XMIT_STATUS: {
 328                         if (parse_xmit_status(ctx, frame, len) < 0)
 329                                 do_hexdump = 1;
 330                         break;
 331                 }
 332
 333                 case XBEE_TYPE_RECV: {
 334                         if (xbee_recv_data(frame, len) < 0)
 335                                 do_hexdump = 1;
 336                         break;
 337                 }
 338
 339                 case XBEE_TYPE_ATCMD:
 340                 case XBEE_TYPE_ATCMD_Q:
 341                 case XBEE_TYPE_XMIT:
 342                 case XBEE_TYPE_EXPL_XMIT:
 343                 case XBEE_TYPE_RMT_ATCMD:
 344                 case XBEE_TYPE_EXPL_RECV:
 345                 case XBEE_TYPE_NODE_ID:
 346                 default:
 347                         printf_P(PSTR("Invalid frame\r\n"));
 348                         do_hexdump = 1;
 349                         break;
 350         }
 351
 352         if (do_hexdump)
 353                 hexdump("undecoded rx frame", frame, len);
 354
 355         /* restart command line if it was a blocking query */
 356         if (ctx != NULL) {
 357                 xbee_unregister_channel(dev, channel);
 358                 if (ctx->foreground) {
 359                         xbee_stdin_enable();
 360                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 361                 }
 362         }
 363 }
 364
 365 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 366                         int foreground)
 367 {
 368         int ret;
 369         int channel;
 370
 371         if (len > XBEE_MAX_FRAME_LEN) {
 372                 printf_P(PSTR("frame too large\r\n"));
 373                 return -1;
 374         }
 375
 376         /* register a channel */
 377         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 378                                         xbee_rx, NULL);
 379         if (channel < 0) {
 380                 printf_P(PSTR("cannot send: no free channel\r\n"));
 381                 return -1;
 382         }
 383
 384         /* copy context in the static struct table (avoiding a malloc) */
 385         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 386         ctx = &xbee_ctx[channel];
 387         xbee_set_opaque(xbee_dev, channel, ctx);
 388
 389         if (xbee_debug)
 390                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 391                          channel, type, len);
 392         if (xbee_hexdump)
 393                 hexdump("xmit frame", buf, len);
 394
 395         /* transmit the frame on this channel */
 396         ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
 397                               len);
 398         if (ret < 0) {
 399                 printf_P(PSTR("cannot send\r\n"));
 400                 xbee_unregister_channel(xbee_dev, channel);
 401                 return -1;
 402         }
 403
 404         ctx->channel = channel;
 405         xbee_load_timeout(ctx);   /* load a timeout event */
 406
 407         /* suspend command line until we have answer or timeout */
 408         if (foreground) {
 409                 ctx->foreground = 1;
 410                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 411                 xbee_stdin_disable();  /* unload file descriptor polling */
 412         }
 413
 414         return 0;
 415 }
 416
 417 /* send an AT command with parameters filled by caller. Disable
 418  * command line until we get the answer or until a timeout occurs */
 419 int xbeeapp_send_atcmd(const char *atcmd_str,
 420                        void *param, unsigned param_len, int foreground,
 421                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 422 {
 423         struct xbee_ctx ctx;
 424         struct {
 425                 struct xbee_atcmd_hdr atcmd;
 426                 char buf[XBEE_MAX_FRAME_LEN];
 427         } __attribute__((packed)) frame;
 428
 429         memset(&ctx, 0, sizeof(ctx));
 430         ctx.atcmd_query[0] = atcmd_str[0];
 431         ctx.atcmd_query[1] = atcmd_str[1];
 432         ctx.func = func;
 433         ctx.arg = arg;
 434
 435         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 436         memcpy(&frame.buf, param, param_len);
 437
 438         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 439                          sizeof(struct xbee_atcmd_hdr) +
 440                          param_len, foreground) < 0) {
 441                 return -1;
 442         }
 443
 444         return 0;
 445 }
 446
 447 int xbeeapp_send_msg(uint64_t addr, void *data,
 448                      unsigned data_len, int foreground)
 449 {
 450         struct xbee_ctx ctx;
 451         struct {
 452                 struct xbee_xmit_hdr xmit;
 453                 char buf[XBEE_MAX_FRAME_LEN];
 454         } __attribute__((packed)) frame;
 455
 456         memset(&ctx, 0, sizeof(ctx));
 457         ctx.atcmd_query[0] = '\0';
 458
 459         frame.xmit.dstaddr = htonll(addr);
 460         frame.xmit.reserved = htons(0xFFFE);
 461         frame.xmit.bcast_radius = 0;
 462         frame.xmit.opts = 0;
 463         memcpy(&frame.buf, data, data_len);
 464
 465         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 466                          sizeof(struct xbee_xmit_hdr) +
 467                          data_len, foreground) < 0) {
 468                 return -1;
 469         }
 470
 471         return 0;
 472 }
 473
 474 void xbee_stdin_enable(void)
 475 {
 476         xbee_cmdline_input_enabled = 1;
 477 }
 478
 479 void xbee_stdin_disable(void)
 480 {
 481         xbee_cmdline_input_enabled = 0;
 482 }
 483
 484 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 485                         void *arg)
 486 {
 487         struct xbee_ctx *ctx = arg;
 488
 489         printf_P(PSTR("Timeout\r\n"));
 490
 491         /* restart command line */
 492         xbee_stdin_enable();
 493         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 494
 495         /* free event */
 496         xbee_unregister_channel(xbee_dev, ctx->channel);
 497 }
 498
 499 void xbee_load_timeout(struct xbee_ctx *ctx)
 500 {
 501         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
 502 }
 503
 504 void xbee_unload_timeout(struct xbee_ctx *ctx)
 505 {
 506         callout_stop(&cm, &ctx->timeout);
 507 }
 508
 509 void bootloader(void)
 510 {
 511 #ifndef USE_USB
 512 #define BOOTLOADER_ADDR 0x3f000
 513         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 514                 printf_P(PSTR("Bootloader is not present\r\n"));
 515                 return;
 516         }
 517         cli();
 518         /* ... very specific :( */
 519         TIMSK0 = 0;
 520         TIMSK1 = 0;
 521         TIMSK2 = 0;
 522         TIMSK3 = 0;
 523         TIMSK4 = 0;
 524         TIMSK5 = 0;
 525         EIMSK = 0;
 526         UCSR0B = 0;
 527         UCSR1B = 0;
 528         UCSR2B = 0;
 529         UCSR3B = 0;
 530         SPCR = 0;
 531         TWCR = 0;
 532         ACSR = 0;
 533         ADCSRA = 0;
 534
 535         EIND = 1;
 536         __asm__ __volatile__ ("ldi r31,0xf8\n");
 537         __asm__ __volatile__ ("ldi r30,0x00\n");
 538         __asm__ __volatile__ ("eijmp\n");
 539 #endif
 540 }
 541
 542 void xbee_mainloop(void)
 543 {
 544         while (1) {
 545                 callout_manage(&cm);
 546
 547                 if (xbee_raw) {
 548                         int16_t c;
 549
 550                         /* from xbee to cmdline */
 551                         c = xbee_dev_recv(NULL);
 552                         if (c >= 0)
 553                                 cmdline_dev_send((uint8_t)c, NULL);
 554
 555                         /* from cmdline to xbee */
 556                         c = cmdline_dev_recv(NULL);
 557                         if (c == 4) { /* CTRL-d */
 558                                 xbee_raw = 0;
 559                                 rdline_newline(&xbeeboard.rdl,
 560                                                xbeeboard.prompt);
 561                         }
 562                         else if (c >= 0) {
 563                                 /* send to xbee */
 564                                 xbee_dev_send((uint8_t)c, NULL);
 565
 566                                 /* echo on cmdline */
 567                                 cmdline_dev_send((uint8_t)c, NULL);
 568                         }
 569                 }
 570                 else {
 571                         if (xbee_cmdline_input_enabled)
 572                                 cmdline_poll();
 573                         xbee_proto_rx(xbee_dev);
 574                 }
 575
 576 #ifdef USE_USB
 577                 CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
 578                 CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
 579                 USB_USBTask();
 580 #endif
 581         }
 582 }
 583
 584 /* return time in milliseconds on unsigned 16 bits */
 585 static uint16_t get_time_ms(void)
 586 {
 587         return global_ms;
 588 }
 589
 590 static void do_led_blink(struct callout_manager *cm,
 591                          struct callout *clt, void *dummy)
 592 {
 593         static uint8_t a = 0;
 594
 595 #ifdef USE_USB
 596         if (a & 1)
 597                 LEDs_SetAllLEDs(0);
 598         else
 599                 LEDs_SetAllLEDs(0xff);
 600 #else
 601         /* XXX */
 602 #endif
 603         a++;
 604 }
 605
 606 static void increment_ms(void *dummy)
 607 {
 608         global_ms++;
 609 }
 610
 611 static void main_timer_interrupt(void)
 612 {
 613         static uint8_t cpt = 0;
 614         cpt++;
 615         sei();
 616         if ((cpt & 0x3) == 0)
 617                 scheduler_interrupt();
 618 }
 619
 620 /** Main program entry point. This routine contains the overall program flow, including initial
 621  *  setup of all components and the main program loop.
 622  */
 623 int main(void)
 624 {
 625         struct callout t1;
 626         FILE *xbee_file;
 627         int8_t err;
 628         struct xbee_dev dev;
 629
 630 #ifdef USE_USB
 631         SetupHardware();
 632
 633         LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 634 #else
 635         uart_init();
 636         uart_register_rx_event(CMDLINE_UART, emergency);
 637 #endif
 638
 639         fdevopen(cmdline_dev_send, cmdline_dev_recv);
 640         xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
 641         scheduler_init();
 642         timer_init();
 643         timer0_register_OV_intr(main_timer_interrupt);
 644
 645         scheduler_add_periodical_event_priority(increment_ms, NULL,
 646                                                 1000L / SCHEDULER_UNIT,
 647                                                 LED_PRIO);
 648         cmdline_init();
 649         spi_servo_init();
 650 #ifndef USE_USB
 651         /* in usb mode, it's done in usb callback */
 652         printf_P(PSTR("\r\n"));
 653         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 654 #endif
 655         callout_manager_init(&cm, get_time_ms);
 656         callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 657
 658         /* initialize libxbee */
 659         err = xbee_init();
 660         if (err < 0)
 661                 return -1;
 662
 663         xbee_dev = &dev;
 664
 665         /* open xbee device */
 666         if (xbee_open(xbee_dev, xbee_file) < 0)
 667                 return -1;
 668
 669         /* register default channel with a callback */
 670         if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
 671                                   xbee_rx, NULL) < 0) {
 672                 fprintf(stderr, "cannot register default channel\n");
 673                 return -1;
 674         }
 675
 676         sei();
 677         xbee_mainloop();
 678         return 0;
 679 }