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remove deprecated USE_USB macro
[protos/xbee-avr.git]
/
main.c
diff --git
a/main.c
b/main.c
index
b9fa0a8
..
2120a62
100644
(file)
--- a/
main.c
+++ b/
main.c
@@
-114,6
+114,8
@@
static void hexdump(const char *title, const void *buf, unsigned int len)
static int parse_xmit_status(struct xbee_ctx *ctx,
struct xbee_xmit_status_hdr *frame, unsigned len)
{
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;
if (ctx == NULL) {
printf_P(PSTR("no context\r\n"));
return -1;
@@
-144,7
+146,7
@@
static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
unsigned len)
{
char atcmd_str[3];
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;
struct xbee_atcmd cmd;
union {
uint8_t u8;
@@
-228,17
+230,29
@@
static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
{
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;
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) {
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;
if (datalen != sizeof(struct rc_proto_channel))
return -1;
+ val = ntohs(rcc->axis[0]);
+ val >>= 6;
+ val += 512;
+ spi_servo_set(0, val);
break;
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;
@@
-478,6
+492,9
@@
static void evt_timeout(struct callout_manager *cm, struct callout *clt,
{
struct xbee_ctx *ctx = arg;
{
struct xbee_ctx *ctx = arg;
+ (void)cm;
+ (void)clt;
+
printf_P(PSTR("Timeout\r\n"));
/* restart command line */
printf_P(PSTR("Timeout\r\n"));
/* restart command line */
@@
-500,7
+517,6
@@
void xbee_unload_timeout(struct xbee_ctx *ctx)
void bootloader(void)
{
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"));
#define BOOTLOADER_ADDR 0x3f000
if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
printf_P(PSTR("Bootloader is not present\r\n"));
@@
-512,23
+528,18
@@
void bootloader(void)
TIMSK1 = 0;
TIMSK2 = 0;
TIMSK3 = 0;
TIMSK1 = 0;
TIMSK2 = 0;
TIMSK3 = 0;
- TIMSK4 = 0;
- TIMSK5 = 0;
EIMSK = 0;
UCSR0B = 0;
UCSR1B = 0;
EIMSK = 0;
UCSR0B = 0;
UCSR1B = 0;
- UCSR2B = 0;
- UCSR3B = 0;
SPCR = 0;
TWCR = 0;
ACSR = 0;
ADCSRA = 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)
}
void xbee_mainloop(void)
@@
-564,12
+575,6
@@
void xbee_mainloop(void)
cmdline_poll();
xbee_proto_rx(xbee_dev);
}
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
}
}
}
}
@@
-584,19
+589,17
@@
static void do_led_blink(struct callout_manager *cm,
{
static uint8_t a = 0;
{
static uint8_t a = 0;
-#ifdef USE_USB
- if (a & 1)
- LEDs_SetAllLEDs(0);
- else
- LEDs_SetAllLEDs(0xff);
-#else
+ (void)cm;
+ (void)clt;
+ (void)dummy;
+
/* XXX */
/* XXX */
-#endif
a++;
}
static void increment_ms(void *dummy)
{
a++;
}
static void increment_ms(void *dummy)
{
+ (void)dummy;
global_ms++;
}
global_ms++;
}
@@
-619,15
+622,8
@@
int main(void)
int8_t err;
struct xbee_dev dev;
int8_t err;
struct xbee_dev dev;
- spi_servo_init();
-#ifdef USE_USB
- SetupHardware();
-
- LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
-#else
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
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);
fdevopen(cmdline_dev_send, cmdline_dev_recv);
xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
@@
-639,11
+635,11
@@
int main(void)
1000L / SCHEDULER_UNIT,
LED_PRIO);
cmdline_init();
1000L / SCHEDULER_UNIT,
LED_PRIO);
cmdline_init();
-#ifndef USE_USB
- /* in usb mode, it's done in usb callback */
+ spi_servo_init();
+
printf_P(PSTR("\r\n"));
rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
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_manager_init(&cm, get_time_ms);
callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);