X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=2bcb3ec974bf6c2ad45334c4b03cd506e24b4279;hp=d5c3f5a34bf1df30f013a09b653287c3f1e3848e;hb=0e1c93804369af27043c82ccc778c42bf54a9bd4;hpb=1a0d8b2d8fb17cf4b2c845c52b22dc932efa080b

diff --git a/main.c b/main.c
index d5c3f5a..2bcb3ec 100644
--- a/main.c
+++ b/main.c
@@ -60,6 +60,8 @@
 #include "main.h"
 
 struct xbeeboard xbeeboard;
+volatile uint16_t global_ms;
+struct callout_manager cm;
 
 #define TIMEOUT_MS 1000
 
@@ -497,7 +499,7 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 
 void bootloader(void)
 {
-#define BOOTLOADER_ADDR 0x1e000
+#define BOOTLOADER_ADDR 0x1f800
 	if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 		printf_P(PSTR("Bootloader is not present\r\n"));
 		return;
@@ -526,13 +528,12 @@ void xbee_mainloop(void)
 			int16_t c;
 
 			/* from xbee to cmdline */
-			c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
+			c = xbee_dev_recv(NULL);
 			if (c >= 0)
-				CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
-						    (uint8_t)c);
+				cmdline_dev_send((uint8_t)c, NULL);
 
 			/* from cmdline to xbee */
-			c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
+			c = cmdline_dev_recv(NULL);
 			if (c == 4) { /* CTRL-d */
 				xbee_raw = 0;
 				rdline_newline(&xbeeboard.rdl,
@@ -540,11 +541,10 @@ void xbee_mainloop(void)
 			}
 			else if (c >= 0) {
 				/* send to xbee */
-				CDC_Device_SendByte(&VirtualSerial2_CDC_Interface,
-						    (uint8_t)c);
+				xbee_dev_send((uint8_t)c, NULL);
+
 				/* echo on cmdline */
-				CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
-						    (uint8_t)c);
+				cmdline_dev_send((uint8_t)c, NULL);
 			}
 		}
 		else {
@@ -553,8 +553,104 @@ void xbee_mainloop(void)
 			xbee_proto_rx(xbee_dev);
 		}
 
+#ifdef USE_USB
 		CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
 		CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
 		USB_USBTask();
+#endif
 	}
 }
+
+/* return time in milliseconds on unsigned 16 bits */
+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)
+{
+	global_ms++;
+}
+
+static void main_timer_interrupt(void)
+{
+	static uint8_t cpt = 0;
+	cpt++;
+	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;
+	FILE *xbee_file;
+	int8_t err;
+	struct xbee_dev dev;
+
+#ifdef USE_USB
+	SetupHardware();
+
+	LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
+#else
+	uart_init();
+#endif
+
+	fdevopen(cmdline_dev_send, cmdline_dev_recv);
+	xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
+	scheduler_init();
+	timer_init();
+	timer0_register_OV_intr(main_timer_interrupt);
+
+	scheduler_add_periodical_event_priority(increment_ms, NULL,
+						1000L / SCHEDULER_UNIT,
+						LED_PRIO);
+	cmdline_init();
+#ifndef USE_USB
+	/* in usb mode, it's done in usb callback */
+	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+#endif
+	callout_manager_init(&cm, get_time_ms);
+	callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+
+	/* initialize libxbee */
+	err = xbee_init();
+	if (err < 0)
+		return -1;
+
+	xbee_dev = &dev;
+
+	/* open xbee device */
+	if (xbee_open(xbee_dev, xbee_file) < 0)
+		return -1;
+
+	/* register default channel with a callback */
+	if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
+				  xbee_rx, NULL) < 0) {
+		fprintf(stderr, "cannot register default channel\n");
+		return -1;
+	}
+
+	sei();
+	xbee_mainloop();
+	return 0;
+}