* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
+#include <aversive.h>
+#include <aversive/queue.h>
+#include <aversive/pgmspace.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <scheduler.h>
+#include <clock_time.h>
+#include <parse.h>
+#include <rdline.h>
+#include <timer.h>
+#include <xbee.h>
+
+#include "cmdline.h"
+#include "callout.h"
+#include "rc_proto.h"
+#include "spi_servo.h"
+
+extern volatile uint16_t global_ms;
+
#define NB_LOGS 4
/** ERROR NUMS */
#define E_USER_DEFAULT 194
-#define LED1_ON() sbi(PORTE, 2)
-#define LED1_OFF() cbi(PORTE, 2)
+#define LED1_ON() sbi(PORTA, 2)
+#define LED1_OFF() cbi(PORTA, 2)
-#define LED2_ON() sbi(PORTE, 3)
-#define LED2_OFF() cbi(PORTE, 3)
+#define LED2_ON() sbi(PORTA, 1)
+#define LED2_OFF() cbi(PORTA, 1)
-#define LED3_ON() sbi(PORTB, 3)
-#define LED3_OFF() cbi(PORTB, 3)
+#define LED3_ON() sbi(PORTA, 0)
+#define LED3_OFF() cbi(PORTA, 0)
-#define LED4_ON() sbi(PORTB, 4)
-#define LED4_OFF() cbi(PORTB, 4)
+#define BUZZER_ON() sbi(PORTA, 4)
+#define BUZZER_OFF() cbi(PORTA, 4)
+/* highest priority */
#define LED_PRIO 170
#define TIME_PRIO 160
+#define BEEP_PRIO 130
+#define SPI_PRIO 100 /* users of spi_servo must have lower prio */
+/* lowest priority */
#define MAX_POWER_LEVEL 5
/* generic to all boards */
void bootloader(void);
-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);
int xbeeapp_send_atcmd(const char *atcmd_str,
void *param, unsigned param_len, int foreground,