* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ */
+
#include <aversive.h>
#include <aversive/queue.h>
#include <aversive/endian.h>
#include <rdline.h>
#include <timer.h>
-#include "xbee_neighbor.h"
-#include "xbee_atcmd.h"
-#include "xbee_stats.h"
-#include "xbee_buf.h"
-#include "xbee_proto.h"
-#include "xbee.h"
-#include "cmdline.h"
-#include "callout.h"
-#include "rc_proto.h"
-#include "spi_servo.h"
+#include "eeprom_config.h"
+#include "beep.h"
#include "main.h"
struct xbeeboard xbeeboard;
static int parse_xmit_status(struct xbee_ctx *ctx,
struct xbee_xmit_status_hdr *frame, unsigned len)
{
+ (void)len;
+
if (ctx == NULL) {
printf_P(PSTR("no context\r\n"));
return -1;
unsigned len)
{
char atcmd_str[3];
- struct xbee_atcmd_pgm *cmd_pgm;
+ const struct xbee_atcmd *cmd_pgm;
struct xbee_atcmd cmd;
union {
uint8_t u8;
int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
{
- int datalen = len - sizeof(*recvframe);
+ unsigned int datalen;
struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
+ if (len < sizeof(*recvframe))
+ return -1;
+
+ datalen = len - sizeof(*recvframe);
if (datalen < sizeof(struct rc_proto_hdr))
return -1;
switch (rch->type) {
- case RC_PROTO_TYPE_CHANNEL:
+ case RC_PROTO_TYPE_CHANNEL: {
+ struct rc_proto_channel *rcc =
+ (struct rc_proto_channel *) recvframe->data;
+ int16_t val;
if (datalen != sizeof(struct rc_proto_channel))
return -1;
+ val = ntohs(rcc->axis[0]);
+ val >>= 6;
+ val += 512;
+ spi_servo_set(0, val);
break;
+ }
case RC_PROTO_TYPE_RANGE: {
struct rc_proto_range *rcr =
(struct rc_proto_range *) recvframe->data;
{
struct xbee_ctx *ctx = arg;
+ (void)cm;
+ (void)clt;
+
printf_P(PSTR("Timeout\r\n"));
/* restart command line */
void bootloader(void)
{
-#ifndef USE_USB
#define BOOTLOADER_ADDR 0x3f000
if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
printf_P(PSTR("Bootloader is not present\r\n"));
TIMSK1 = 0;
TIMSK2 = 0;
TIMSK3 = 0;
- TIMSK4 = 0;
- TIMSK5 = 0;
EIMSK = 0;
UCSR0B = 0;
UCSR1B = 0;
- UCSR2B = 0;
- UCSR3B = 0;
SPCR = 0;
TWCR = 0;
ACSR = 0;
ADCSRA = 0;
- EIND = 1;
- __asm__ __volatile__ ("ldi r31,0xf8\n");
- __asm__ __volatile__ ("ldi r30,0x00\n");
- __asm__ __volatile__ ("eijmp\n");
-#endif
+ /* XXX */
+ /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+ /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+ /* __asm__ __volatile__ ("eijmp\n"); */
}
void xbee_mainloop(void)
/* from cmdline to xbee */
c = cmdline_dev_recv(NULL);
if (c == 4) { /* CTRL-d */
+ xbee_dev_send('A', NULL);
+ xbee_dev_send('T', NULL);
+ xbee_dev_send('C', NULL);
+ xbee_dev_send('N', NULL);
+ xbee_dev_send('\n', NULL);
xbee_raw = 0;
rdline_newline(&xbeeboard.rdl,
xbeeboard.prompt);
cmdline_poll();
xbee_proto_rx(xbee_dev);
}
-
-#ifdef USE_USB
- CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
- CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
- USB_USBTask();
-#endif
}
}
return global_ms;
}
-static void do_led_blink(struct callout_manager *cm,
- struct callout *clt, void *dummy)
+static void main_timer_interrupt(void)
{
- static uint8_t a = 0;
+ static uint16_t cycles;
+ static uint8_t cpt;
+
+ cpt++;
-#ifdef USE_USB
- if (a & 1)
- LEDs_SetAllLEDs(0);
+ /* interrupt every 2048 cycles */
+ cycles += 2048;
+ if (cycles >= 12000) {
+ cycles -= 12000;
+ global_ms ++;
+ }
+
+ /* LED blink */
+ if (global_ms & 0x80)
+ LED1_ON();
else
- LEDs_SetAllLEDs(0xff);
-#else
- /* XXX */
-#endif
- a++;
-}
+ LED1_OFF();
-static void increment_ms(void *dummy)
-{
- global_ms++;
-}
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
-static void main_timer_interrupt(void)
-{
- static uint8_t cpt = 0;
- cpt++;
+ /* call scheduler every 682us with interrupt unlocked */
sei();
if ((cpt & 0x3) == 0)
scheduler_interrupt();
}
-/** Main program entry point. This routine contains the overall program flow, including initial
- * setup of all components and the main program loop.
- */
int main(void)
{
- struct callout t1;
+ //struct callout t1;
FILE *xbee_file;
int8_t err;
struct xbee_dev dev;
- spi_servo_init();
-#ifdef USE_USB
- SetupHardware();
+ DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
- LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
-#else
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
-#endif
fdevopen(cmdline_dev_send, cmdline_dev_recv);
xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
timer_init();
timer0_register_OV_intr(main_timer_interrupt);
- scheduler_add_periodical_event_priority(increment_ms, NULL,
- 1000L / SCHEDULER_UNIT,
- LED_PRIO);
cmdline_init();
-#ifndef USE_USB
- /* in usb mode, it's done in usb callback */
+ spi_servo_init();
+ beep_init();
+
printf_P(PSTR("\r\n"));
rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-#endif
+
callout_manager_init(&cm, get_time_ms);
- callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+ //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
/* initialize libxbee */
err = xbee_init();
fprintf(stderr, "cannot register default channel\n");
return -1;
}
-
sei();
+
+ eeprom_load_config();
xbee_mainloop();
return 0;
}
git.droids-corp.org / protos / xbee-avr.git / blobdiff