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 <scheduler.h>
  50 #include <clock_time.h>
  51 #include <parse.h>
  52 #include <rdline.h>
  53 #include <timer.h>
  54
  55 #include "eeprom_config.h"
  56 #include "beep.h"
  57 #include "main.h"
  58
  59 struct xbeeboard xbeeboard;
  60 volatile uint16_t global_ms;
  61 struct callout_manager cm;
  62
  63 #define TIMEOUT_MS 1000
  64
  65 /* global xbee device */
  66 struct xbee_dev *xbee_dev;
  67
  68 /* events */
  69 //static struct event stdin_read_event, xbee_read_event;
  70
  71 /* parameters */
  72 int xbee_raw = 0;
  73 int xbee_hexdump = 0;
  74 int xbee_debug = 0;
  75
  76 int xbee_cmdline_input_enabled = 1;
  77
  78 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  79
  80 static void hexdump(const char *title, const void *buf, unsigned int len)
  81 {
  82         unsigned int i, out, ofs;
  83         const unsigned char *data = buf;
  84 #define LINE_LEN 80
  85         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  86
  87         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
  88         ofs = 0;
  89         while (ofs < len) {
  90                 /* format 1 line in the buffer, then use printk to print them */
  91                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
  92                 for (i=0; ofs+i < len && i<16; i++)
  93                         out += snprintf_P(line+out, LINE_LEN - out,
  94                                           PSTR(" %02X"),
  95                                           data[ofs+i]&0xff);
  96                 for (;i<=16;i++)
  97                         out += snprintf(line+out, LINE_LEN - out, "   ");
  98                 for (i=0; ofs < len && i<16; i++, ofs++) {
  99                         unsigned char c = data[ofs];
 100                         if (!isascii(c) || !isprint(c))
 101                                 c = '.';
 102                         out += snprintf_P(line+out,
 103                                           LINE_LEN - out,
 104                                           PSTR("%c"), c);
 105                 }
 106                 printf_P(PSTR("%s\r\n"), line);
 107         }
 108 }
 109
 110 static int parse_xmit_status(struct xbee_ctx *ctx,
 111                              struct xbee_xmit_status_hdr *frame, unsigned len)
 112 {
 113         (void)len;
 114
 115         if (ctx == NULL) {
 116                 printf_P(PSTR("no context\r\n"));
 117                 return -1;
 118         }
 119
 120         /* see if it matches a xmit query (atcmd_query must be NULL) */
 121         if (ctx->atcmd_query[0] != '\0') {
 122                 printf_P(PSTR("invalid response 2\r\n"));
 123                 return -1;
 124         }
 125
 126         /* XXX use defines for these values */
 127         if (frame->delivery_status == 0x00)
 128                 printf_P(PSTR("Success\r\n"));
 129         else if (frame->delivery_status == 0x01)
 130                 printf_P(PSTR("MAC ACK Failure\r\n"));
 131         else if (frame->delivery_status == 0x15)
 132                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 133         else if (frame->delivery_status == 0x21)
 134                 printf_P(PSTR("Network ACK Failure\r\n"));
 135         else if (frame->delivery_status == 0x25)
 136                 printf_P(PSTR("Route Not Found\r\n"));
 137
 138         return 0;
 139 }
 140
 141 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 142                unsigned len)
 143 {
 144         char atcmd_str[3];
 145         const struct xbee_atcmd *cmd_pgm;
 146         struct xbee_atcmd cmd;
 147         union {
 148                 uint8_t u8;
 149                 uint16_t u16;
 150                 uint32_t u32;
 151                 int16_t s16;
 152         } __attribute__((packed)) *result;
 153
 154         if (ctx == NULL) {
 155                 printf_P(PSTR("no context\r\n"));
 156                 return -1;
 157         }
 158
 159         /* get AT command from frame */
 160         memcpy(atcmd_str, &frame->cmd, 2);
 161         atcmd_str[2] = '\0';
 162
 163         /* see if it matches query */
 164         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 165                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 166                          frame->cmd & 0xFF,
 167                          (frame->cmd >> 8) & 0xFF,
 168                          atcmd_str, ctx->atcmd_query);
 169                 return -1;
 170         }
 171
 172         /* see if it exists */
 173         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 174         if (cmd_pgm == NULL) {
 175                 printf_P(PSTR("unknown response\r\n"));
 176                 return -1;
 177         }
 178         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 179
 180         /* bad status */
 181         if (frame->status == 1) {
 182                 printf_P(PSTR("Status is error\r\n"));
 183                 return -1;
 184         }
 185         else if (frame->status == 2) {
 186                 printf_P(PSTR("Invalid command\r\n"));
 187                 return -1;
 188         }
 189         else if (frame->status == 3) {
 190                 printf_P(PSTR("Invalid parameter\r\n"));
 191                 return -1;
 192         }
 193         else if (frame->status != 0) {
 194                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 195                 return -1;
 196         }
 197
 198         /* callback */
 199         if (ctx->func != NULL)
 200                 ctx->func(frame, len, ctx->arg);
 201
 202         /* dump frame */
 203         result = (void *)frame->data;
 204         len -= offsetof(struct xbee_atresp_hdr, data);
 205         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 206                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
 207                          result->u8);
 208         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 209                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"),
 210                          atcmd_str,
 211                          ntohs(result->u16), ntohs(result->u16));
 212         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 213                 printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"),
 214                          atcmd_str,
 215                          ntohl(result->u32), ntohs(result->u32));
 216         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 217                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 218         else if (len == 0)
 219                 printf_P(PSTR("no data, status ok\r\n"));
 220         else
 221                 hexdump("atcmd answer", frame->data, len);
 222
 223
 224         return 0;
 225 }
 226
 227
 228 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 229 {
 230         unsigned int datalen;
 231         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 232
 233         if (len <  sizeof(*recvframe))
 234                 return -1;
 235
 236         datalen = len - sizeof(*recvframe);
 237         if (datalen < sizeof(struct rc_proto_hdr))
 238                 return -1;
 239
 240         switch (rch->type) {
 241 #if 0
 242                 case RC_PROTO_TYPE_CHANNEL: {
 243                         struct rc_proto_channel *rcc =
 244                                 (struct rc_proto_channel *) recvframe->data;
 245                         int16_t val;
 246                         if (datalen != sizeof(struct rc_proto_channel))
 247                                 return -1;
 248                         val = ntohs(rcc->axis[0]);
 249                         val >>= 6;
 250                         val += 512;
 251                         spi_servo_set(0, val);
 252                         break;
 253                 }
 254                 case RC_PROTO_TYPE_RANGE: {
 255                         struct rc_proto_range *rcr =
 256                                 (struct rc_proto_range *) recvframe->data;
 257
 258                         if (datalen != sizeof(struct rc_proto_range))
 259                                 return -1;
 260
 261                         if (rcr->power_level >= MAX_POWER_LEVEL)
 262                                 return -1;
 263
 264                         rc_proto_rx_range(rcr->power_level);
 265
 266                         break;
 267                 }
 268 #endif
 269                 case RC_PROTO_HELLO: {
 270                         struct rc_proto_hello *rch =
 271                                 (struct rc_proto_hello *) recvframe->data;
 272
 273                         if (xbee_debug)
 274                                 printf_P(PSTR("recv hello len=%d\r\n"),
 275                                          rch->datalen);
 276
 277                         break;
 278                 }
 279                 default:
 280                         return -1;
 281         }
 282
 283         return 0;
 284 }
 285
 286 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 287 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 288              void *frame, unsigned len, void *opaque)
 289 {
 290         struct xbee_ctx *ctx = opaque;
 291         int8_t ret = 0;
 292
 293         if (xbee_debug)
 294                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 295                          type, channel, ctx);
 296
 297         /* if ctx is !NULL, it is an answer to a query */
 298         if (ctx != NULL) {
 299                 /* XXX only delete timeout if answer matched */
 300                 xbee_unload_timeout(ctx);
 301                 if (xbee_debug && ctx->atcmd_query)
 302                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 303                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 304         }
 305
 306         /* some additional checks before sending */
 307         switch (type) {
 308                 case XBEE_TYPE_MODEM_STATUS: {
 309                         printf_P(PSTR("Received Modem Status frame\r\n"));
 310                         break;
 311                 }
 312
 313                 case XBEE_TYPE_RMT_ATRESP: {
 314                         union {
 315                                 uint64_t u64;
 316                                 struct {
 317 #if BYTE_ORDER == LITTLE_ENDIAN
 318                                         uint32_t low;
 319                                         uint32_t high;
 320 #else
 321                                         uint32_t high;
 322                                         uint32_t low;
 323 #endif
 324                                 } u32;
 325                         } addr;
 326                         memcpy(&addr, frame, sizeof(addr));
 327                         addr.u64 = ntohll(addr.u64);
 328                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 329                                  addr.u32.high, addr.u32.low);
 330
 331                         /* this answer contains an atcmd answer at offset 10 */
 332                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 333                                 ret = -1;
 334
 335                         break;
 336                 }
 337                 case XBEE_TYPE_ATRESP: {
 338                         if (dump_atcmd(ctx, frame, len) < 0)
 339                                 ret = -1;
 340
 341                         break;
 342                 }
 343
 344                 case XBEE_TYPE_XMIT_STATUS: {
 345                         if (parse_xmit_status(ctx, frame, len) < 0)
 346                                 ret = -1;
 347
 348                         break;
 349                 }
 350
 351                 case XBEE_TYPE_RECV: {
 352                         if (xbee_recv_data(frame, len) < 0)
 353                                 ret = -1;
 354
 355                         break;
 356                 }
 357
 358                 case XBEE_TYPE_ATCMD:
 359                 case XBEE_TYPE_ATCMD_Q:
 360                 case XBEE_TYPE_XMIT:
 361                 case XBEE_TYPE_EXPL_XMIT:
 362                 case XBEE_TYPE_RMT_ATCMD:
 363                 case XBEE_TYPE_EXPL_RECV:
 364                 case XBEE_TYPE_NODE_ID:
 365                 default:
 366                         printf_P(PSTR("Invalid frame\r\n"));
 367                         ret = -1;
 368                         break;
 369         }
 370
 371         if (ret < 0)
 372                 hexdump("undecoded rx frame", frame, len);
 373         else if (xbee_hexdump)
 374                 hexdump("undecoded rx frame", frame, len);
 375
 376         /* restart command line if it was a blocking query */
 377         if (ctx != NULL) {
 378                 xbee_unregister_channel(dev, channel);
 379                 if (ctx->foreground) {
 380                         xbee_stdin_enable();
 381                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 382                 }
 383         }
 384 }
 385
 386 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 387                         int foreground)
 388 {
 389         int ret;
 390         int channel;
 391
 392         if (len > XBEE_MAX_FRAME_LEN) {
 393                 printf_P(PSTR("frame too large\r\n"));
 394                 return -1;
 395         }
 396
 397         /* register a channel */
 398         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 399                                         xbeeapp_rx, NULL);
 400         if (channel < 0) {
 401                 printf_P(PSTR("cannot send: no free channel\r\n"));
 402                 return -1;
 403         }
 404
 405         /* copy context in the static struct table (avoiding a malloc) */
 406         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 407         ctx = &xbee_ctx[channel];
 408         xbee_set_opaque(xbee_dev, channel, ctx);
 409
 410         if (xbee_debug)
 411                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 412                          channel, type, len);
 413         if (xbee_hexdump)
 414                 hexdump("xmit frame", buf, len);
 415
 416         /* transmit the frame on this channel */
 417         ret = xbee_tx(xbee_dev, channel, type, buf, len);
 418         if (ret < 0) {
 419                 printf_P(PSTR("cannot send\r\n"));
 420                 xbee_unregister_channel(xbee_dev, channel);
 421                 return -1;
 422         }
 423
 424         ctx->channel = channel;
 425         xbee_load_timeout(ctx);   /* load a timeout event */
 426
 427         /* suspend command line until we have answer or timeout */
 428         if (foreground) {
 429                 ctx->foreground = 1;
 430                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 431                 xbee_stdin_disable();  /* unload file descriptor polling */
 432         }
 433
 434         return 0;
 435 }
 436
 437 /* send an AT command with parameters filled by caller. Disable
 438  * command line until we get the answer or until a timeout occurs */
 439 int xbeeapp_send_atcmd(const char *atcmd_str,
 440                        void *param, unsigned param_len, int foreground,
 441                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 442 {
 443         struct xbee_ctx ctx;
 444         struct {
 445                 struct xbee_atcmd_hdr atcmd;
 446                 char buf[XBEE_MAX_FRAME_LEN];
 447         } __attribute__((packed)) frame;
 448
 449         memset(&ctx, 0, sizeof(ctx));
 450         ctx.atcmd_query[0] = atcmd_str[0];
 451         ctx.atcmd_query[1] = atcmd_str[1];
 452         ctx.func = func;
 453         ctx.arg = arg;
 454
 455         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 456         memcpy(&frame.buf, param, param_len);
 457
 458         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 459                          sizeof(struct xbee_atcmd_hdr) +
 460                          param_len, foreground) < 0) {
 461                 return -1;
 462         }
 463
 464         return 0;
 465 }
 466
 467 int xbeeapp_send_msg(uint64_t addr, void *data,
 468                      unsigned data_len, int foreground)
 469 {
 470         struct xbee_ctx ctx;
 471         struct {
 472                 struct xbee_xmit_hdr xmit;
 473                 char buf[XBEE_MAX_FRAME_LEN];
 474         } __attribute__((packed)) frame;
 475
 476         memset(&ctx, 0, sizeof(ctx));
 477         ctx.atcmd_query[0] = '\0';
 478
 479         frame.xmit.dstaddr = htonll(addr);
 480         frame.xmit.reserved = htons(0xFFFE);
 481         frame.xmit.bcast_radius = 0;
 482         frame.xmit.opts = 0;
 483         memcpy(&frame.buf, data, data_len);
 484
 485         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 486                          sizeof(struct xbee_xmit_hdr) +
 487                          data_len, foreground) < 0) {
 488                 return -1;
 489         }
 490
 491         return 0;
 492 }
 493
 494 void xbee_stdin_enable(void)
 495 {
 496         xbee_cmdline_input_enabled = 1;
 497 }
 498
 499 void xbee_stdin_disable(void)
 500 {
 501         xbee_cmdline_input_enabled = 0;
 502 }
 503
 504 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 505                         void *arg)
 506 {
 507         struct xbee_ctx *ctx = arg;
 508
 509         (void)cm;
 510         (void)clt;
 511
 512         printf_P(PSTR("Timeout\r\n"));
 513
 514         /* restart command line */
 515         xbee_stdin_enable();
 516         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 517
 518         /* free event */
 519         xbee_unregister_channel(xbee_dev, ctx->channel);
 520 }
 521
 522 void xbee_load_timeout(struct xbee_ctx *ctx)
 523 {
 524         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
 525 }
 526
 527 void xbee_unload_timeout(struct xbee_ctx *ctx)
 528 {
 529         callout_stop(&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(&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 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         /* interrupt every 2048 cycles */
 614         cycles += 2048;
 615         if (cycles >= 12000) {
 616                 cycles -= 12000;
 617                 global_ms ++;
 618         }
 619
 620         /* LED blink */
 621         if (global_ms & 0x80)
 622                 LED1_ON();
 623         else
 624                 LED1_OFF();
 625
 626         if (cpt & beep_mask)
 627                 BUZZER_ON();
 628         else
 629                 BUZZER_OFF();
 630
 631         /* call scheduler every 682us with interrupt unlocked */
 632         sei();
 633         if ((cpt & 0x3) == 0)
 634                 scheduler_interrupt();
 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         scheduler_init();
 652         timer_init();
 653         timer0_register_OV_intr(main_timer_interrupt);
 654
 655         cmdline_init();
 656         spi_servo_init();
 657         beep_init();
 658
 659         callout_manager_init(&cm, get_time_ms);
 660         //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 661
 662         /* initialize libxbee */
 663         err = xbee_init();
 664         if (err < 0)
 665                 return -1;
 666
 667         xbee_dev = &dev;
 668
 669         /* open xbee device */
 670         if (xbee_open(xbee_dev, xbee_file) < 0)
 671                 return -1;
 672
 673         /* register default channel with a callback */
 674         if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
 675                                   xbeeapp_rx, NULL) < 0) {
 676                 fprintf(stderr, "cannot register default channel\n");
 677                 return -1;
 678         }
 679         sei();
 680
 681         eeprom_load_config();
 682
 683         printf_P(PSTR("\r\n"));
 684         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 685
 686         xbee_mainloop();
 687         return 0;
 688 }