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 "beep.h"
  56 #include "main.h"
  57
  58 struct xbeeboard xbeeboard;
  59 volatile uint16_t global_ms;
  60 struct callout_manager cm;
  61
  62 #define TIMEOUT_MS 1000
  63
  64 /* global xbee device */
  65 struct xbee_dev *xbee_dev;
  66
  67 /* events */
  68 //static struct event stdin_read_event, xbee_read_event;
  69
  70 /* parameters */
  71 int xbee_raw = 0;
  72 int xbee_hexdump = 0;
  73 int xbee_debug = 0;
  74
  75 int xbee_cmdline_input_enabled = 1;
  76
  77 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  78
  79 static void hexdump(const char *title, const void *buf, unsigned int len)
  80 {
  81         unsigned int i, out, ofs;
  82         const unsigned char *data = buf;
  83 #define LINE_LEN 80
  84         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  85
  86         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
  87         ofs = 0;
  88         while (ofs < len) {
  89                 /* format 1 line in the buffer, then use printk to print them */
  90                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
  91                 for (i=0; ofs+i < len && i<16; i++)
  92                         out += snprintf_P(line+out, LINE_LEN - out,
  93                                           PSTR(" %02X"),
  94                                           data[ofs+i]&0xff);
  95                 for (;i<=16;i++)
  96                         out += snprintf(line+out, LINE_LEN - out, "   ");
  97                 for (i=0; ofs < len && i<16; i++, ofs++) {
  98                         unsigned char c = data[ofs];
  99                         if (!isascii(c) || !isprint(c))
 100                                 c = '.';
 101                         out += snprintf_P(line+out,
 102                                           LINE_LEN - out,
 103                                           PSTR("%c"), c);
 104                 }
 105                 printf_P(PSTR("%s\r\n"), line);
 106         }
 107 }
 108
 109 static int parse_xmit_status(struct xbee_ctx *ctx,
 110                              struct xbee_xmit_status_hdr *frame, unsigned len)
 111 {
 112         (void)len;
 113
 114         if (ctx == NULL) {
 115                 printf_P(PSTR("no context\r\n"));
 116                 return -1;
 117         }
 118
 119         /* see if it matches a xmit query (atcmd_query must be NULL) */
 120         if (ctx->atcmd_query[0] != '\0') {
 121                 printf_P(PSTR("invalid response 2\r\n"));
 122                 return -1;
 123         }
 124
 125         /* XXX use defines for these values */
 126         if (frame->delivery_status == 0x00)
 127                 printf_P(PSTR("Success\r\n"));
 128         else if (frame->delivery_status == 0x01)
 129                 printf_P(PSTR("MAC ACK Failure\r\n"));
 130         else if (frame->delivery_status == 0x15)
 131                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 132         else if (frame->delivery_status == 0x21)
 133                 printf_P(PSTR("Network ACK Failure\r\n"));
 134         else if (frame->delivery_status == 0x25)
 135                 printf_P(PSTR("Route Not Found\r\n"));
 136
 137         return 0;
 138 }
 139
 140 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 141                unsigned len)
 142 {
 143         char atcmd_str[3];
 144         const struct xbee_atcmd *cmd_pgm;
 145         struct xbee_atcmd cmd;
 146         union {
 147                 uint8_t u8;
 148                 uint16_t u16;
 149                 uint32_t u32;
 150                 int16_t s16;
 151         } __attribute__((packed)) *result;
 152
 153         if (ctx == NULL) {
 154                 printf_P(PSTR("no context\r\n"));
 155                 return -1;
 156         }
 157
 158         /* get AT command from frame */
 159         memcpy(atcmd_str, &frame->cmd, 2);
 160         atcmd_str[2] = '\0';
 161
 162         /* see if it matches query */
 163         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 164                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 165                          frame->cmd & 0xFF,
 166                          (frame->cmd >> 8) & 0xFF,
 167                          atcmd_str, ctx->atcmd_query);
 168                 return -1;
 169         }
 170
 171         /* see if it exists */
 172         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 173         if (cmd_pgm == NULL) {
 174                 printf_P(PSTR("unknown response\r\n"));
 175                 return -1;
 176         }
 177         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 178
 179         /* bad status */
 180         if (frame->status == 1) {
 181                 printf_P(PSTR("Status is error\r\n"));
 182                 return -1;
 183         }
 184         else if (frame->status == 2) {
 185                 printf_P(PSTR("Invalid command\r\n"));
 186                 return -1;
 187         }
 188         else if (frame->status == 3) {
 189                 printf_P(PSTR("Invalid parameter\r\n"));
 190                 return -1;
 191         }
 192         else if (frame->status != 0) {
 193                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 194                 return -1;
 195         }
 196
 197         /* callback */
 198         if (ctx->func != NULL)
 199                 ctx->func(frame, len, ctx->arg);
 200
 201         /* dump frame */
 202         result = (void *)frame->data;
 203         len -= offsetof(struct xbee_atresp_hdr, data);
 204         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 205                 printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
 206         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 207                 printf_P(PSTR("<%s> is 0x%x\r\n"),
 208                          atcmd_str,
 209                          ntohs(result->u16));
 210         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 211                 printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
 212                          atcmd_str,
 213                          ntohl(result->u32));
 214         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 215                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 216         else if (len == 0)
 217                 printf_P(PSTR("no data, status ok\r\n"));
 218         else
 219                 hexdump("atcmd answer", frame->data, len);
 220
 221
 222         return 0;
 223 }
 224
 225
 226 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 227 {
 228         unsigned int datalen;
 229         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 230
 231         if (len <  sizeof(*recvframe))
 232                 return -1;
 233
 234         datalen = len - sizeof(*recvframe);
 235         if (datalen < sizeof(struct rc_proto_hdr))
 236                 return -1;
 237
 238         switch (rch->type) {
 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                 default:
 266                         return -1;
 267         }
 268
 269         return 0;
 270 }
 271
 272 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 273 void xbee_rx(struct xbee_dev *dev, int channel, int type,
 274              void *frame, unsigned len, void *opaque)
 275 {
 276         struct xbee_ctx *ctx = opaque;
 277         int do_hexdump = xbee_hexdump;
 278
 279         if (xbee_debug)
 280                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 281                          type, channel, ctx);
 282
 283         /* if ctx is !NULL, it is an answer to a query */
 284         if (ctx != NULL) {
 285                 /* XXX only delete timeout if answer matched */
 286                 xbee_unload_timeout(ctx);
 287                 if (xbee_debug && ctx->atcmd_query)
 288                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 289                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 290         }
 291
 292         /* some additional checks before sending */
 293         switch (type) {
 294                 case XBEE_TYPE_MODEM_STATUS: {
 295                         printf_P(PSTR("Received Modem Status frame\r\n"));
 296                         break;
 297                 }
 298
 299                 case XBEE_TYPE_RMT_ATRESP: {
 300                         union {
 301                                 uint64_t u64;
 302                                 struct {
 303 #if BYTE_ORDER == LITTLE_ENDIAN
 304                                         uint32_t low;
 305                                         uint32_t high;
 306 #else
 307                                         uint32_t high;
 308                                         uint32_t low;
 309 #endif
 310                                 } u32;
 311                         } addr;
 312                         memcpy(&addr, frame, sizeof(addr));
 313                         addr.u64 = ntohll(addr.u64);
 314                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 315                                  addr.u32.high, addr.u32.low);
 316
 317                         /* this answer contains an atcmd answer at offset 10 */
 318                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 319                                 do_hexdump = 1;
 320                         break;
 321                 }
 322                 case XBEE_TYPE_ATRESP: {
 323                         if (dump_atcmd(ctx, frame, len) < 0)
 324                                 do_hexdump = 1;
 325                         break;
 326                 }
 327
 328                 case XBEE_TYPE_XMIT_STATUS: {
 329                         if (parse_xmit_status(ctx, frame, len) < 0)
 330                                 do_hexdump = 1;
 331                         break;
 332                 }
 333
 334                 case XBEE_TYPE_RECV: {
 335                         if (xbee_recv_data(frame, len) < 0)
 336                                 do_hexdump = 1;
 337                         break;
 338                 }
 339
 340                 case XBEE_TYPE_ATCMD:
 341                 case XBEE_TYPE_ATCMD_Q:
 342                 case XBEE_TYPE_XMIT:
 343                 case XBEE_TYPE_EXPL_XMIT:
 344                 case XBEE_TYPE_RMT_ATCMD:
 345                 case XBEE_TYPE_EXPL_RECV:
 346                 case XBEE_TYPE_NODE_ID:
 347                 default:
 348                         printf_P(PSTR("Invalid frame\r\n"));
 349                         do_hexdump = 1;
 350                         break;
 351         }
 352
 353         if (do_hexdump)
 354                 hexdump("undecoded rx frame", frame, len);
 355
 356         /* restart command line if it was a blocking query */
 357         if (ctx != NULL) {
 358                 xbee_unregister_channel(dev, channel);
 359                 if (ctx->foreground) {
 360                         xbee_stdin_enable();
 361                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 362                 }
 363         }
 364 }
 365
 366 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 367                         int foreground)
 368 {
 369         int ret;
 370         int channel;
 371
 372         if (len > XBEE_MAX_FRAME_LEN) {
 373                 printf_P(PSTR("frame too large\r\n"));
 374                 return -1;
 375         }
 376
 377         /* register a channel */
 378         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 379                                         xbee_rx, NULL);
 380         if (channel < 0) {
 381                 printf_P(PSTR("cannot send: no free channel\r\n"));
 382                 return -1;
 383         }
 384
 385         /* copy context in the static struct table (avoiding a malloc) */
 386         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 387         ctx = &xbee_ctx[channel];
 388         xbee_set_opaque(xbee_dev, channel, ctx);
 389
 390         if (xbee_debug)
 391                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 392                          channel, type, len);
 393         if (xbee_hexdump)
 394                 hexdump("xmit frame", buf, len);
 395
 396         /* transmit the frame on this channel */
 397         ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
 398                               len);
 399         if (ret < 0) {
 400                 printf_P(PSTR("cannot send\r\n"));
 401                 xbee_unregister_channel(xbee_dev, channel);
 402                 return -1;
 403         }
 404
 405         ctx->channel = channel;
 406         xbee_load_timeout(ctx);   /* load a timeout event */
 407
 408         /* suspend command line until we have answer or timeout */
 409         if (foreground) {
 410                 ctx->foreground = 1;
 411                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 412                 xbee_stdin_disable();  /* unload file descriptor polling */
 413         }
 414
 415         return 0;
 416 }
 417
 418 /* send an AT command with parameters filled by caller. Disable
 419  * command line until we get the answer or until a timeout occurs */
 420 int xbeeapp_send_atcmd(const char *atcmd_str,
 421                        void *param, unsigned param_len, int foreground,
 422                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 423 {
 424         struct xbee_ctx ctx;
 425         struct {
 426                 struct xbee_atcmd_hdr atcmd;
 427                 char buf[XBEE_MAX_FRAME_LEN];
 428         } __attribute__((packed)) frame;
 429
 430         memset(&ctx, 0, sizeof(ctx));
 431         ctx.atcmd_query[0] = atcmd_str[0];
 432         ctx.atcmd_query[1] = atcmd_str[1];
 433         ctx.func = func;
 434         ctx.arg = arg;
 435
 436         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 437         memcpy(&frame.buf, param, param_len);
 438
 439         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 440                          sizeof(struct xbee_atcmd_hdr) +
 441                          param_len, foreground) < 0) {
 442                 return -1;
 443         }
 444
 445         return 0;
 446 }
 447
 448 int xbeeapp_send_msg(uint64_t addr, void *data,
 449                      unsigned data_len, int foreground)
 450 {
 451         struct xbee_ctx ctx;
 452         struct {
 453                 struct xbee_xmit_hdr xmit;
 454                 char buf[XBEE_MAX_FRAME_LEN];
 455         } __attribute__((packed)) frame;
 456
 457         memset(&ctx, 0, sizeof(ctx));
 458         ctx.atcmd_query[0] = '\0';
 459
 460         frame.xmit.dstaddr = htonll(addr);
 461         frame.xmit.reserved = htons(0xFFFE);
 462         frame.xmit.bcast_radius = 0;
 463         frame.xmit.opts = 0;
 464         memcpy(&frame.buf, data, data_len);
 465
 466         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 467                          sizeof(struct xbee_xmit_hdr) +
 468                          data_len, foreground) < 0) {
 469                 return -1;
 470         }
 471
 472         return 0;
 473 }
 474
 475 void xbee_stdin_enable(void)
 476 {
 477         xbee_cmdline_input_enabled = 1;
 478 }
 479
 480 void xbee_stdin_disable(void)
 481 {
 482         xbee_cmdline_input_enabled = 0;
 483 }
 484
 485 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 486                         void *arg)
 487 {
 488         struct xbee_ctx *ctx = arg;
 489
 490         (void)cm;
 491         (void)clt;
 492
 493         printf_P(PSTR("Timeout\r\n"));
 494
 495         /* restart command line */
 496         xbee_stdin_enable();
 497         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 498
 499         /* free event */
 500         xbee_unregister_channel(xbee_dev, ctx->channel);
 501 }
 502
 503 void xbee_load_timeout(struct xbee_ctx *ctx)
 504 {
 505         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
 506 }
 507
 508 void xbee_unload_timeout(struct xbee_ctx *ctx)
 509 {
 510         callout_stop(&cm, &ctx->timeout);
 511 }
 512
 513 void bootloader(void)
 514 {
 515 #define BOOTLOADER_ADDR 0x3f000
 516         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 517                 printf_P(PSTR("Bootloader is not present\r\n"));
 518                 return;
 519         }
 520         cli();
 521         /* ... very specific :( */
 522         TIMSK0 = 0;
 523         TIMSK1 = 0;
 524         TIMSK2 = 0;
 525         TIMSK3 = 0;
 526         EIMSK = 0;
 527         UCSR0B = 0;
 528         UCSR1B = 0;
 529         SPCR = 0;
 530         TWCR = 0;
 531         ACSR = 0;
 532         ADCSRA = 0;
 533
 534         /* XXX */
 535         /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
 536         /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
 537         /* __asm__ __volatile__ ("eijmp\n"); */
 538 }
 539
 540 void xbee_mainloop(void)
 541 {
 542         while (1) {
 543                 callout_manage(&cm);
 544
 545                 if (xbee_raw) {
 546                         int16_t c;
 547
 548                         /* from xbee to cmdline */
 549                         c = xbee_dev_recv(NULL);
 550                         if (c >= 0)
 551                                 cmdline_dev_send((uint8_t)c, NULL);
 552
 553                         /* from cmdline to xbee */
 554                         c = cmdline_dev_recv(NULL);
 555                         if (c == 4) { /* CTRL-d */
 556                                 xbee_dev_send('A', NULL);
 557                                 xbee_dev_send('T', NULL);
 558                                 xbee_dev_send('C', NULL);
 559                                 xbee_dev_send('N', NULL);
 560                                 xbee_dev_send('\n', NULL);
 561                                 xbee_raw = 0;
 562                                 rdline_newline(&xbeeboard.rdl,
 563                                                xbeeboard.prompt);
 564                         }
 565                         else if (c >= 0) {
 566                                 /* send to xbee */
 567                                 xbee_dev_send((uint8_t)c, NULL);
 568
 569                                 /* echo on cmdline */
 570                                 cmdline_dev_send((uint8_t)c, NULL);
 571                         }
 572                 }
 573                 else {
 574                         if (xbee_cmdline_input_enabled)
 575                                 cmdline_poll();
 576                         xbee_proto_rx(xbee_dev);
 577                 }
 578         }
 579 }
 580
 581 /* return time in milliseconds on unsigned 16 bits */
 582 static uint16_t get_time_ms(void)
 583 {
 584         return global_ms;
 585 }
 586
 587 static void main_timer_interrupt(void)
 588 {
 589         static uint16_t cycles;
 590         static uint8_t cpt;
 591
 592         cpt++;
 593
 594         /* interrupt every 2048 cycles */
 595         cycles += 2048;
 596         if (cycles >= 12000) {
 597                 cycles -= 12000;
 598                 global_ms ++;
 599         }
 600
 601         /* LED blink */
 602         if (global_ms & 0x80)
 603                 LED1_ON();
 604         else
 605                 LED1_OFF();
 606
 607         if (cpt & beep_mask)
 608                 BUZZER_ON();
 609         else
 610                 BUZZER_OFF();
 611
 612         /* call scheduler every 682us with interrupt unlocked */
 613         sei();
 614         if ((cpt & 0x3) == 0)
 615                 scheduler_interrupt();
 616 }
 617
 618 int main(void)
 619 {
 620         //struct callout t1;
 621         FILE *xbee_file;
 622         int8_t err;
 623         struct xbee_dev dev;
 624
 625         DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
 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         cmdline_init();
 637         spi_servo_init();
 638         beep_init();
 639
 640         printf_P(PSTR("\r\n"));
 641         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 642
 643         callout_manager_init(&cm, get_time_ms);
 644         //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 645
 646         /* initialize libxbee */
 647         err = xbee_init();
 648         if (err < 0)
 649                 return -1;
 650
 651         xbee_dev = &dev;
 652
 653         /* open xbee device */
 654         if (xbee_open(xbee_dev, xbee_file) < 0)
 655                 return -1;
 656
 657         /* register default channel with a callback */
 658         if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
 659                                   xbee_rx, NULL) < 0) {
 660                 fprintf(stderr, "cannot register default channel\n");
 661                 return -1;
 662         }
 663
 664         sei();
 665
 666         xbee_mainloop();
 667         return 0;
 668 }