X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=3959ee4ffa53699c40127dfed3b2b122feb0f05d;hp=6d1710f961e53cf94c749d4ddea613d6e860a8fe;hb=8a9ba904e4215b92930a6d71c06c97514bcc6688;hpb=2710a676cfb8d84c4e4de9d4e0ba2e8f3b553120

diff --git a/main.c b/main.c
index 6d1710f..3959ee4 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>
@@ -52,11 +52,13 @@
 #include <rdline.h>
 #include <timer.h>
 
+#include "eeprom_config.h"
+#include "beep.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
 volatile uint16_t global_ms;
-struct callout_manager cm;
+struct callout_mgr cm;
 
 #define TIMEOUT_MS 1000
 
@@ -201,15 +203,16 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 	result = (void *)frame->data;
 	len -= offsetof(struct xbee_atresp_hdr, data);
 	if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
-		printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
+		printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
+			 result->u8);
 	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
-		printf_P(PSTR("<%s> is 0x%x\r\n"),
+		printf_P(PSTR("<%s> is 0x%x (%d)\r\n"),
 			 atcmd_str,
-			 ntohs(result->u16));
+			 ntohs(result->u16), ntohs(result->u16));
 	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
-		printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
+		printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"),
 			 atcmd_str,
-			 ntohl(result->u32));
+			 ntohl(result->u32), ntohs(result->u32));
 	else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 		printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 	else if (len == 0)
@@ -235,6 +238,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 		return -1;
 
 	switch (rch->type) {
+#if 0
 		case RC_PROTO_TYPE_CHANNEL: {
 			struct rc_proto_channel *rcc =
 				(struct rc_proto_channel *) recvframe->data;
@@ -246,7 +250,7 @@ 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;
@@ -259,6 +263,17 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 
 			rc_proto_rx_range(rcr->power_level);
 
+			break;
+		}
+#endif
+		case RC_PROTO_HELLO: {
+			struct rc_proto_hello *rch =
+				(struct rc_proto_hello *) recvframe->data;
+
+			if (xbee_debug)
+				printf_P(PSTR("recv hello len=%d\r\n"),
+					 rch->datalen);
+
 			break;
 		}
 		default:
@@ -269,11 +284,11 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 }
 
 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbee_rx(struct xbee_dev *dev, int channel, int type,
+int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 	     void *frame, unsigned len, void *opaque)
 {
 	struct xbee_ctx *ctx = opaque;
-	int do_hexdump = xbee_hexdump;
+	int8_t ret = 0;
 
 	if (xbee_debug)
 		printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
@@ -315,24 +330,28 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type,
 
 			/* this answer contains an atcmd answer at offset 10 */
 			if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
-				do_hexdump = 1;
+				ret = -1;
+
 			break;
 		}
 		case XBEE_TYPE_ATRESP: {
 			if (dump_atcmd(ctx, frame, len) < 0)
-				do_hexdump = 1;
+				ret = -1;
+
 			break;
 		}
 
 		case XBEE_TYPE_XMIT_STATUS: {
 			if (parse_xmit_status(ctx, frame, len) < 0)
-				do_hexdump = 1;
+				ret = -1;
+
 			break;
 		}
 
 		case XBEE_TYPE_RECV: {
 			if (xbee_recv_data(frame, len) < 0)
-				do_hexdump = 1;
+				ret = -1;
+
 			break;
 		}
 
@@ -345,11 +364,13 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type,
 		case XBEE_TYPE_NODE_ID:
 		default:
 			printf_P(PSTR("Invalid frame\r\n"));
-			do_hexdump = 1;
+			ret = -1;
 			break;
 	}
 
-	if (do_hexdump)
+	if (ret < 0)
+		hexdump("undecoded rx frame", frame, len);
+	else if (xbee_hexdump)
 		hexdump("undecoded rx frame", frame, len);
 
 	/* restart command line if it was a blocking query */
@@ -375,7 +396,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 
 	/* register a channel */
 	channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
-					xbee_rx, NULL);
+					xbeeapp_rx, NULL);
 	if (channel < 0) {
 		printf_P(PSTR("cannot send: no free channel\r\n"));
 		return -1;
@@ -393,8 +414,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 		hexdump("xmit frame", buf, len);
 
 	/* transmit the frame on this channel */
-	ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
-			      len);
+	ret = xbee_tx(xbee_dev, channel, type, buf, len);
 	if (ret < 0) {
 		printf_P(PSTR("cannot send\r\n"));
 		xbee_unregister_channel(xbee_dev, channel);
@@ -481,7 +501,7 @@ void xbee_stdin_disable(void)
 	xbee_cmdline_input_enabled = 0;
 }
 
-static void evt_timeout(struct callout_manager *cm, struct callout *clt,
+static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 			void *arg)
 {
 	struct xbee_ctx *ctx = arg;
@@ -501,7 +521,8 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 
 void xbee_load_timeout(struct xbee_ctx *ctx)
 {
-	callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
+	callout_init(&ctx->timeout, evt_timeout, ctx, 0);
+	callout_schedule(&cm, &ctx->timeout, TIMEOUT_MS);
 }
 
 void xbee_unload_timeout(struct xbee_ctx *ctx)
@@ -552,6 +573,11 @@ 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);
@@ -567,7 +593,7 @@ void xbee_mainloop(void)
 		else {
 			if (xbee_cmdline_input_enabled)
 				cmdline_poll();
-			xbee_proto_rx(xbee_dev);
+			xbee_rx(xbee_dev);
 		}
 	}
 }
@@ -583,6 +609,8 @@ static void main_timer_interrupt(void)
 	static uint16_t cycles;
 	static uint8_t cpt;
 
+	cpt++;
+
 	/* interrupt every 2048 cycles */
 	cycles += 2048;
 	if (cycles >= 12000) {
@@ -596,6 +624,11 @@ 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)
@@ -609,7 +642,7 @@ 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);
@@ -622,11 +655,9 @@ int main(void)
 
 	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_mgr_init(&cm, get_time_ms);
 	//callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
 
 	/* initialize libxbee */
@@ -642,13 +673,17 @@ int main(void)
 
 	/* register default channel with a callback */
 	if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
-				  xbee_rx, NULL) < 0) {
+				  xbeeapp_rx, NULL) < 0) {
 		fprintf(stderr, "cannot register default channel\n");
 		return -1;
 	}
-
 	sei();
 
+	eeprom_load_config();
+
+	printf_P(PSTR("\r\n"));
+	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
 	xbee_mainloop();
 	return 0;
 }