X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=0d5cad65d3558c8456c7eab9d8bb35128a094730;hp=0e527174acb8da3843fde169eb013addf17f9466;hb=f74db5fd03bcd38af3ca533e7531dd70454dfaaf;hpb=70415e123a0febc5b74b8ddd98778be116f2700b

diff --git a/main.c b/main.c
index 0e52717..0d5cad6 100644
--- 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>
@@ -52,6 +52,8 @@
 #include <rdline.h>
 #include <timer.h>
 
+#include "eeprom_config.h"
+#include "beep.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -246,7 +248,7 @@ 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;
@@ -588,6 +590,8 @@ static void main_timer_interrupt(void)
 	static uint16_t cycles;
 	static uint8_t cpt;
 
+	cpt++;
+
 	/* interrupt every 2048 cycles */
 	cycles += 2048;
 	if (cycles >= 12000) {
@@ -601,6 +605,11 @@ static void main_timer_interrupt(void)
 	else
 		LED1_OFF();
 
+	if (cpt & beep_mask)
+		BUZZER_ON();
+	else
+		BUZZER_OFF();
+
 	/* call scheduler every 682us with interrupt unlocked */
 	sei();
 	if ((cpt & 0x3) == 0)
@@ -614,7 +623,7 @@ int main(void)
 	int8_t err;
 	struct xbee_dev dev;
 
-	DDRA = 0x07; /* LEDs */
+	DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
 
 	uart_init();
 	uart_register_rx_event(CMDLINE_UART, emergency);
@@ -627,6 +636,7 @@ int main(void)
 
 	cmdline_init();
 	spi_servo_init();
+	beep_init();
 
 	printf_P(PSTR("\r\n"));
 	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
@@ -651,9 +661,9 @@ int main(void)
 		fprintf(stderr, "cannot register default channel\n");
 		return -1;
 	}
-
 	sei();
 
+	eeprom_load_config();
 	xbee_mainloop();
 	return 0;
 }