git.droids-corp.org
/
protos
/
xbee-avr.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
save fuse prog command line in a comment
[protos/xbee-avr.git]
/
main.c
diff --git
a/main.c
b/main.c
index
0e52717
..
0d5cad6
100644
(file)
--- a/
main.c
+++ b/
main.c
@@
-26,7
+26,7
@@
*/
/* fuses:
*/
/* fuses:
- * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x9
9
:m -U efuse:w:0xff:m
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x9
1
:m -U efuse:w:0xff:m
*/
#include <aversive.h>
*/
#include <aversive.h>
@@
-52,6
+52,8
@@
#include <rdline.h>
#include <timer.h>
#include <rdline.h>
#include <timer.h>
+#include "eeprom_config.h"
+#include "beep.h"
#include "main.h"
struct xbeeboard xbeeboard;
#include "main.h"
struct xbeeboard xbeeboard;
@@
-246,7
+248,7
@@
int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
val += 512;
spi_servo_set(0, val);
break;
val += 512;
spi_servo_set(0, val);
break;
-
}
+ }
case RC_PROTO_TYPE_RANGE: {
struct rc_proto_range *rcr =
(struct rc_proto_range *) recvframe->data;
case RC_PROTO_TYPE_RANGE: {
struct rc_proto_range *rcr =
(struct rc_proto_range *) recvframe->data;
@@
-588,6
+590,8
@@
static void main_timer_interrupt(void)
static uint16_t cycles;
static uint8_t cpt;
static uint16_t cycles;
static uint8_t cpt;
+ cpt++;
+
/* interrupt every 2048 cycles */
cycles += 2048;
if (cycles >= 12000) {
/* interrupt every 2048 cycles */
cycles += 2048;
if (cycles >= 12000) {
@@
-601,6
+605,11
@@
static void main_timer_interrupt(void)
else
LED1_OFF();
else
LED1_OFF();
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
+
/* call scheduler every 682us with interrupt unlocked */
sei();
if ((cpt & 0x3) == 0)
/* call scheduler every 682us with interrupt unlocked */
sei();
if ((cpt & 0x3) == 0)
@@
-614,7
+623,7
@@
int main(void)
int8_t err;
struct xbee_dev dev;
int8_t err;
struct xbee_dev dev;
- DDRA = 0x07
; /* LEDs */
+ DDRA = 0x07
/* LEDs */ | 0x10 /* buzzer */;
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
@@
-627,6
+636,7
@@
int main(void)
cmdline_init();
spi_servo_init();
cmdline_init();
spi_servo_init();
+ beep_init();
printf_P(PSTR("\r\n"));
rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
printf_P(PSTR("\r\n"));
rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
@@
-651,9
+661,9
@@
int main(void)
fprintf(stderr, "cannot register default channel\n");
return -1;
}
fprintf(stderr, "cannot register default channel\n");
return -1;
}
-
sei();
sei();
+ eeprom_load_config();
xbee_mainloop();
return 0;
}
xbee_mainloop();
return 0;
}