use callout from aversive

[protos/xbee-avr.git] / main.c

diff --git a/main.c b/main.c
index 7dc45bb..3959ee4 100644 (file)
--- a/main.c
+++ b/main.c
@@ -58,7 +58,7 @@
 
 struct xbeeboard xbeeboard;
 volatile uint16_t global_ms;
-struct callout_manager cm;
+struct callout_mgr cm;
 
 #define TIMEOUT_MS 1000
 
@@ -266,6 +266,16 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
                        break;
                }
 #endif
+               case RC_PROTO_HELLO: {
+                       struct rc_proto_hello *rch =
+                               (struct rc_proto_hello *) recvframe->data;
+
+                       if (xbee_debug)
+                               printf_P(PSTR("recv hello len=%d\r\n"),
+                                        rch->datalen);
+
+                       break;
+               }
                default:
                        return -1;
        }
@@ -274,11 +284,11 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 }
 
 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
+int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
             void *frame, unsigned len, void *opaque)
 {
        struct xbee_ctx *ctx = opaque;
-       int do_hexdump = xbee_hexdump;
+       int8_t ret = 0;
 
        if (xbee_debug)
                printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
@@ -320,24 +330,28 @@ void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 
                        /* this answer contains an atcmd answer at offset 10 */
                        if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
                case XBEE_TYPE_ATRESP: {
                        if (dump_atcmd(ctx, frame, len) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
 
                case XBEE_TYPE_XMIT_STATUS: {
                        if (parse_xmit_status(ctx, frame, len) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
 
                case XBEE_TYPE_RECV: {
                        if (xbee_recv_data(frame, len) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
 
@@ -350,11 +364,13 @@ void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
                case XBEE_TYPE_NODE_ID:
                default:
                        printf_P(PSTR("Invalid frame\r\n"));
-                       do_hexdump = 1;
+                       ret = -1;
                        break;
        }
 
-       if (do_hexdump)
+       if (ret < 0)
+               hexdump("undecoded rx frame", frame, len);
+       else if (xbee_hexdump)
                hexdump("undecoded rx frame", frame, len);
 
        /* restart command line if it was a blocking query */
@@ -485,7 +501,7 @@ void xbee_stdin_disable(void)
        xbee_cmdline_input_enabled = 0;
 }
 
-static void evt_timeout(struct callout_manager *cm, struct callout *clt,
+static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
                        void *arg)
 {
        struct xbee_ctx *ctx = arg;
@@ -505,7 +521,8 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 
 void xbee_load_timeout(struct xbee_ctx *ctx)
 {
-       callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
+       callout_init(&ctx->timeout, evt_timeout, ctx, 0);
+       callout_schedule(&cm, &ctx->timeout, TIMEOUT_MS);
 }
 
 void xbee_unload_timeout(struct xbee_ctx *ctx)
@@ -640,10 +657,7 @@ int main(void)
        spi_servo_init();
        beep_init();
 
-       printf_P(PSTR("\r\n"));
-       rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-
-       callout_manager_init(&cm, get_time_ms);
+       callout_mgr_init(&cm, get_time_ms);
        //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 
        /* initialize libxbee */
@@ -666,6 +680,10 @@ int main(void)
        sei();
 
        eeprom_load_config();
+
+       printf_P(PSTR("\r\n"));
+       rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
        xbee_mainloop();
        return 0;
 }