X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=20e26b01ab166dd77e65198e63eb17b50378c738;hp=2120a62451643efd35dcccad963c6468f79dcffe;hb=21d10011bc4b009d7a09131b955953fa7aba3815;hpb=701d7cbf7d30c49e1d21943ce47d00bf250c70e7

diff --git a/main.c b/main.c
index 2120a62..20e26b0 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>
@@ -48,16 +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;
@@ -252,7 +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;
@@ -558,6 +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);
@@ -584,44 +585,46 @@ 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 void main_timer_interrupt(void)
 {
-	static uint8_t a = 0;
+	static uint16_t cycles;
+	static uint8_t cpt;
 
-	(void)cm;
-	(void)clt;
-	(void)dummy;
+	cpt++;
 
-	/* XXX */
-	a++;
-}
+	/* interrupt every 2048 cycles */
+	cycles += 2048;
+	if (cycles >= 12000) {
+		cycles -= 12000;
+		global_ms ++;
+	}
 
-static void increment_ms(void *dummy)
-{
-	(void)dummy;
-	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;
+	//struct callout t1;
 	FILE *xbee_file;
 	int8_t err;
 	struct xbee_dev dev;
 
+	DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
+
 	uart_init();
 	uart_register_rx_event(CMDLINE_UART, emergency);
 
@@ -631,17 +634,15 @@ 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);
 
 	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();
@@ -660,8 +661,9 @@ int main(void)
 		fprintf(stderr, "cannot register default channel\n");
 		return -1;
 	}
-
 	sei();
+
+	eeprom_load_config();
 	xbee_mainloop();
 	return 0;
 }