X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=0d5cad65d3558c8456c7eab9d8bb35128a094730;hp=1557c693d867086e3f5e65d8a86d006a8d15a72f;hb=f74db5fd03bcd38af3ca533e7531dd70454dfaaf;hpb=a4e51d8b2a5b13308d314aaf72e58672346dfb1f

diff --git a/main.c b/main.c
index 1557c69..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>
@@ -52,16 +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;
@@ -256,7 +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;
@@ -562,6 +554,11 @@ 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);
@@ -588,29 +585,37 @@ 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 +623,7 @@ 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 +634,9 @@ 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);
@@ -662,9 +661,9 @@ int main(void)
 		fprintf(stderr, "cannot register default channel\n");
 		return -1;
 	}
-
 	sei();
 
+	eeprom_load_config();
 	xbee_mainloop();
 	return 0;
 }