use xbee module from aversive

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

diff --git a/main.c b/main.c
index 1557c69..c6f13e3 100644 (file)
--- a/main.c
+++ b/main.c
@@ -26,7 +26,7 @@
  */
 
 /* 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>
@@ -52,16 +52,8 @@
 #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;
@@ -245,6 +237,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
                return -1;
 
        switch (rch->type) {
+#if 0
                case RC_PROTO_TYPE_CHANNEL: {
                        struct rc_proto_channel *rcc =
                                (struct rc_proto_channel *) recvframe->data;
@@ -256,7 +249,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
                        val += 512;
                        spi_servo_set(0, val);
                        break;
-                                 }
+               }
                case RC_PROTO_TYPE_RANGE: {
                        struct rc_proto_range *rcr =
                                (struct rc_proto_range *) recvframe->data;
@@ -271,6 +264,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 
                        break;
                }
+#endif
                default:
                        return -1;
        }
@@ -279,7 +273,7 @@ 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 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;
@@ -385,7 +379,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 
        /* 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;
@@ -403,8 +397,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
                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);
@@ -562,6 +555,11 @@ 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);
@@ -577,7 +575,7 @@ void xbee_mainloop(void)
                else {
                        if (xbee_cmdline_input_enabled)
                                cmdline_poll();
-                       xbee_proto_rx(xbee_dev);
+                       xbee_rx(xbee_dev);
                }
        }
 }
@@ -588,29 +586,37 @@ static uint16_t get_time_ms(void)
        return global_ms;
 }
 
-static void increment_ms(void *dummy)
+static void main_timer_interrupt(void)
 {
-       (void)dummy;
-       global_ms++;
+       static uint16_t cycles;
+       static uint8_t cpt;
+
+       cpt++;
+
+       /* interrupt every 2048 cycles */
+       cycles += 2048;
+       if (cycles >= 12000) {
+               cycles -= 12000;
+               global_ms ++;
+       }
 
+       /* LED blink */
        if (global_ms & 0x80)
                LED1_ON();
        else
                LED1_OFF();
-}
 
-static void main_timer_interrupt(void)
-{
-       static uint8_t cpt = 0;
-       cpt++;
+       if (cpt & beep_mask)
+               BUZZER_ON();
+       else
+               BUZZER_OFF();
+
+       /* 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;
@@ -618,11 +624,7 @@ int main(void)
        int8_t err;
        struct xbee_dev dev;
 
-       DDRA = 0x07; /* LEDs */
-       LED2_ON();
-       wait_ms(1000);
-       LED3_ON();
-       wait_ms(1000);
+       DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
 
        uart_init();
        uart_register_rx_event(CMDLINE_UART, emergency);
@@ -633,11 +635,9 @@ int main(void)
        timer_init();
        timer0_register_OV_intr(main_timer_interrupt);
 
-       scheduler_add_periodical_event_priority(increment_ms, NULL,
-                                               1000L / SCHEDULER_UNIT,
-                                               LED_PRIO);
        cmdline_init();
        spi_servo_init();
+       beep_init();
 
        printf_P(PSTR("\r\n"));
        rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
@@ -658,13 +658,13 @@ int main(void)
 
        /* 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;
 }