*/
/* fuses:
- * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m
*/
#include <aversive.h>
#include <rdline.h>
#include <timer.h>
+#include "eeprom_config.h"
+#include "beep.h"
#include "main.h"
struct xbeeboard xbeeboard;
return -1;
switch (rch->type) {
+#if 0
case RC_PROTO_TYPE_CHANNEL: {
struct rc_proto_channel *rcc =
(struct rc_proto_channel *) recvframe->data;
val += 512;
spi_servo_set(0, val);
break;
- }
+ }
case RC_PROTO_TYPE_RANGE: {
struct rc_proto_range *rcr =
(struct rc_proto_range *) recvframe->data;
break;
}
+#endif
default:
return -1;
}
}
/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbee_rx(struct xbee_dev *dev, int channel, int type,
+void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
void *frame, unsigned len, void *opaque)
{
struct xbee_ctx *ctx = opaque;
/* register a channel */
channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
- xbee_rx, NULL);
+ xbeeapp_rx, NULL);
if (channel < 0) {
printf_P(PSTR("cannot send: no free channel\r\n"));
return -1;
hexdump("xmit frame", buf, len);
/* transmit the frame on this channel */
- ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
- len);
+ ret = xbee_tx(xbee_dev, channel, type, buf, len);
if (ret < 0) {
printf_P(PSTR("cannot send\r\n"));
xbee_unregister_channel(xbee_dev, channel);
else {
if (xbee_cmdline_input_enabled)
cmdline_poll();
- xbee_proto_rx(xbee_dev);
+ xbee_rx(xbee_dev);
}
}
}
static uint16_t cycles;
static uint8_t cpt;
+ cpt++;
+
/* interrupt every 2048 cycles */
cycles += 2048;
if (cycles >= 12000) {
else
LED1_OFF();
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
+
/* call scheduler every 682us with interrupt unlocked */
sei();
if ((cpt & 0x3) == 0)
int8_t err;
struct xbee_dev dev;
- DDRA = 0x07; /* LEDs */
+ DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
cmdline_init();
spi_servo_init();
+ beep_init();
printf_P(PSTR("\r\n"));
rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
/* register default channel with a callback */
if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
- xbee_rx, NULL) < 0) {
+ xbeeapp_rx, NULL) < 0) {
fprintf(stderr, "cannot register default channel\n");
return -1;
}
-
sei();
+ eeprom_load_config();
xbee_mainloop();
return 0;
}