X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=1557c693d867086e3f5e65d8a86d006a8d15a72f;hp=5f7a638848d076b703bf10d549535f77c8d70d5a;hb=a4e51d8b2a5b13308d314aaf72e58672346dfb1f;hpb=ac0a51399fea5e3b0f3d8489b0c1319b216cf434

diff --git a/main.c b/main.c
index 5f7a638..1557c69 100644
--- a/main.c
+++ b/main.c
@@ -25,6 +25,10 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ */
+
 #include <aversive.h>
 #include <aversive/queue.h>
 #include <aversive/endian.h>
@@ -57,6 +61,7 @@
 #include "cmdline.h"
 #include "callout.h"
 #include "rc_proto.h"
+#include "spi_servo.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -113,6 +118,8 @@ static void hexdump(const char *title, const void *buf, unsigned int len)
 static int parse_xmit_status(struct xbee_ctx *ctx,
 			     struct xbee_xmit_status_hdr *frame, unsigned len)
 {
+	(void)len;
+
 	if (ctx == NULL) {
 		printf_P(PSTR("no context\r\n"));
 		return -1;
@@ -143,7 +150,7 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 	       unsigned len)
 {
 	char atcmd_str[3];
-	struct xbee_atcmd_pgm *cmd_pgm;
+	const struct xbee_atcmd *cmd_pgm;
 	struct xbee_atcmd cmd;
 	union {
 		uint8_t u8;
@@ -227,17 +234,29 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 
 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 {
-	int datalen = len - sizeof(*recvframe);
+	unsigned int datalen;
 	struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 
+	if (len <  sizeof(*recvframe))
+		return -1;
+
+	datalen = len - sizeof(*recvframe);
 	if (datalen < sizeof(struct rc_proto_hdr))
 		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;
@@ -477,6 +496,9 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 {
 	struct xbee_ctx *ctx = arg;
 
+	(void)cm;
+	(void)clt;
+
 	printf_P(PSTR("Timeout\r\n"));
 
 	/* restart command line */
@@ -499,7 +521,6 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 
 void bootloader(void)
 {
-#ifndef USE_USB
 #define BOOTLOADER_ADDR 0x3f000
 	if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 		printf_P(PSTR("Bootloader is not present\r\n"));
@@ -511,23 +532,18 @@ void bootloader(void)
 	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;
 
-	EIND = 1;
-	__asm__ __volatile__ ("ldi r31,0xf8\n");
-	__asm__ __volatile__ ("ldi r30,0x00\n");
-	__asm__ __volatile__ ("eijmp\n");
-#endif
+	/* XXX */
+	/* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+	/* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+	/* __asm__ __volatile__ ("eijmp\n"); */
 }
 
 void xbee_mainloop(void)
@@ -563,12 +579,6 @@ void xbee_mainloop(void)
 				cmdline_poll();
 			xbee_proto_rx(xbee_dev);
 		}
-
-#ifdef USE_USB
-		CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
-		CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
-		USB_USBTask();
-#endif
 	}
 }
 
@@ -578,25 +588,15 @@ 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)
 {
+	(void)dummy;
 	global_ms++;
+
+	if (global_ms & 0x80)
+		LED1_ON();
+	else
+		LED1_OFF();
 }
 
 static void main_timer_interrupt(void)
@@ -613,18 +613,19 @@ static void main_timer_interrupt(void)
  */
 int main(void)
 {
-	struct callout t1;
+	//struct callout t1;
 	FILE *xbee_file;
 	int8_t err;
 	struct xbee_dev dev;
 
-#ifdef USE_USB
-	SetupHardware();
+	DDRA = 0x07; /* LEDs */
+	LED2_ON();
+	wait_ms(1000);
+	LED3_ON();
+	wait_ms(1000);
 
-	LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
-#else
 	uart_init();
-#endif
+	uart_register_rx_event(CMDLINE_UART, emergency);
 
 	fdevopen(cmdline_dev_send, cmdline_dev_recv);
 	xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
@@ -636,13 +637,13 @@ int main(void)
 						1000L / SCHEDULER_UNIT,
 						LED_PRIO);
 	cmdline_init();
-#ifndef USE_USB
-	/* in usb mode, it's done in usb callback */
+	spi_servo_init();
+
 	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);
+	//callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 
 	/* initialize libxbee */
 	err = xbee_init();
@@ -663,6 +664,7 @@ int main(void)
 	}
 
 	sei();
+
 	xbee_mainloop();
 	return 0;
 }