fix compilation with latest aversive

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

diff --git a/main.c b/main.c
index 2bcb3ec..73a3409 100644 (file)
--- a/main.c
+++ b/main.c
@@ -57,6 +57,7 @@
 #include "cmdline.h"
 #include "callout.h"
 #include "rc_proto.h"
+#include "spi_servo.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -87,7 +88,7 @@ static void hexdump(const char *title, const void *buf, unsigned int len)
 #define LINE_LEN 80
        char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
 
-       printf_P(PSTR("%s at [%p], len=%d\n"), title, data, len);
+       printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
        ofs = 0;
        while (ofs < len) {
                /* format 1 line in the buffer, then use printk to print them */
@@ -113,6 +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)
 {
+       (void)len;
+
        if (ctx == NULL) {
                printf_P(PSTR("no context\r\n"));
                return -1;
@@ -143,7 +146,7 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
               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;
@@ -227,17 +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 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;
@@ -477,6 +492,9 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 {
        struct xbee_ctx *ctx = arg;
 
+       (void)cm;
+       (void)clt;
+
        printf_P(PSTR("Timeout\r\n"));
 
        /* restart command line */
@@ -499,24 +517,31 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 
 void bootloader(void)
 {
-#define BOOTLOADER_ADDR 0x1f800
+#ifndef USE_USB
+#define BOOTLOADER_ADDR 0x3f000
        if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
                printf_P(PSTR("Bootloader is not present\r\n"));
                return;
        }
        cli();
        /* ... very specific :( */
+       TIMSK0 = 0;
+       TIMSK1 = 0;
+       TIMSK2 = 0;
+       TIMSK3 = 0;
        EIMSK = 0;
+       UCSR0B = 0;
+       UCSR1B = 0;
        SPCR = 0;
        TWCR = 0;
        ACSR = 0;
        ADCSRA = 0;
 
-       __asm__ __volatile__ ("ldi r31,0xf0\n");
-       __asm__ __volatile__ ("ldi r30,0x00\n");
-       __asm__ __volatile__ ("ijmp\n");
-
-       /* never returns */
+       /* XXX */
+       /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+       /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+       /* __asm__ __volatile__ ("eijmp\n"); */
+#endif
 }
 
 void xbee_mainloop(void)
@@ -572,6 +597,10 @@ static void do_led_blink(struct callout_manager *cm,
 {
        static uint8_t a = 0;
 
+       (void)cm;
+       (void)clt;
+       (void)dummy;
+
 #ifdef USE_USB
        if (a & 1)
                LEDs_SetAllLEDs(0);
@@ -585,6 +614,7 @@ static void do_led_blink(struct callout_manager *cm,
 
 static void increment_ms(void *dummy)
 {
+       (void)dummy;
        global_ms++;
 }
 
@@ -613,6 +643,7 @@ int main(void)
        LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 #else
        uart_init();
+       uart_register_rx_event(CMDLINE_UART, emergency);
 #endif
 
        fdevopen(cmdline_dev_send, cmdline_dev_recv);
@@ -625,8 +656,10 @@ int main(void)
                                                1000L / SCHEDULER_UNIT,
                                                LED_PRIO);
        cmdline_init();
+       spi_servo_init();
 #ifndef USE_USB
        /* in usb mode, it's done in usb callback */
+       printf_P(PSTR("\r\n"));
        rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 #endif
        callout_manager_init(&cm, get_time_ms);