#include "cmdline.h"
#include "callout.h"
#include "rc_proto.h"
+#include "spi_servo.h"
#include "main.h"
struct xbeeboard xbeeboard;
+volatile uint16_t global_ms;
+struct callout_manager cm;
#define TIMEOUT_MS 1000
#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 */
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;
void bootloader(void)
{
-#define BOOTLOADER_ADDR 0x1e000
+#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;
+ TIMSK4 = 0;
+ TIMSK5 = 0;
EIMSK = 0;
+ UCSR0B = 0;
+ UCSR1B = 0;
+ UCSR2B = 0;
+ UCSR3B = 0;
SPCR = 0;
TWCR = 0;
ACSR = 0;
ADCSRA = 0;
- __asm__ __volatile__ ("ldi r31,0xf0\n");
+ EIND = 1;
+ __asm__ __volatile__ ("ldi r31,0xf8\n");
__asm__ __volatile__ ("ldi r30,0x00\n");
- __asm__ __volatile__ ("ijmp\n");
-
- /* never returns */
+ __asm__ __volatile__ ("eijmp\n");
+#endif
}
void xbee_mainloop(void)
int16_t c;
/* from xbee to cmdline */
- c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
+ c = xbee_dev_recv(NULL);
if (c >= 0)
- CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
- (uint8_t)c);
+ cmdline_dev_send((uint8_t)c, NULL);
/* from cmdline to xbee */
- c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
+ c = cmdline_dev_recv(NULL);
if (c == 4) { /* CTRL-d */
xbee_raw = 0;
rdline_newline(&xbeeboard.rdl,
}
else if (c >= 0) {
/* send to xbee */
- CDC_Device_SendByte(&VirtualSerial2_CDC_Interface,
- (uint8_t)c);
+ xbee_dev_send((uint8_t)c, NULL);
+
/* echo on cmdline */
- CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
- (uint8_t)c);
+ cmdline_dev_send((uint8_t)c, NULL);
}
}
else {
xbee_proto_rx(xbee_dev);
}
+#ifdef USE_USB
CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
USB_USBTask();
+#endif
}
}
+
+/* return time in milliseconds on unsigned 16 bits */
+static uint16_t get_time_ms(void)
+{
+ return global_ms;
+}
+
+static void do_led_blink(struct callout_manager *cm,
+ struct callout *clt, void *dummy)
+{
+ static uint8_t a = 0;
+
+#ifdef USE_USB
+ if (a & 1)
+ LEDs_SetAllLEDs(0);
+ else
+ LEDs_SetAllLEDs(0xff);
+#else
+ /* XXX */
+#endif
+ a++;
+}
+
+static void increment_ms(void *dummy)
+{
+ global_ms++;
+}
+
+static void main_timer_interrupt(void)
+{
+ static uint8_t cpt = 0;
+ cpt++;
+ 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;
+ FILE *xbee_file;
+ int8_t err;
+ struct xbee_dev dev;
+
+#ifdef USE_USB
+ SetupHardware();
+
+ LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
+#else
+ 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);
+ scheduler_init();
+ 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();
+#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);
+ callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+
+ /* initialize libxbee */
+ err = xbee_init();
+ if (err < 0)
+ return -1;
+
+ xbee_dev = &dev;
+
+ /* open xbee device */
+ if (xbee_open(xbee_dev, xbee_file) < 0)
+ return -1;
+
+ /* register default channel with a callback */
+ if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
+ xbee_rx, NULL) < 0) {
+ fprintf(stderr, "cannot register default channel\n");
+ return -1;
+ }
+
+ sei();
+ xbee_mainloop();
+ return 0;
+}
git.droids-corp.org / protos / xbee-avr.git / blobdiff