X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=73a3409cb32a246c3b15487f4fe6a23d292e2155;hp=2bcb3ec974bf6c2ad45334c4b03cd506e24b4279;hb=57895b3bb2fe0582c589685b7df34f3968b346ec;hpb=0e1c93804369af27043c82ccc778c42bf54a9bd4

diff --git a/main.c b/main.c
index 2bcb3ec..73a3409 100644
--- a/main.c
+++ b/main.c
@@ -57,6 +57,7 @@
 #include "cmdline.h"
 #include "callout.h"
 #include "rc_proto.h"
+#include "spi_servo.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -87,7 +88,7 @@ static void hexdump(const char *title, const void *buf, unsigned int len)
 #define LINE_LEN 80
 	char line[LINE_LEN];	/* space needed 8+16*3+3+16 == 75 */
 
-	printf_P(PSTR("%s at [%p], len=%d\n"), title, data, len);
+	printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
 	ofs = 0;
 	while (ofs < len) {
 		/* format 1 line in the buffer, then use printk to print them */
@@ -113,6 +114,8 @@ 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 +146,7 @@ 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 +230,29 @@ 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 +492,9 @@ 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 */
@@ -499,24 +517,31 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 
 void bootloader(void)
 {
-#define BOOTLOADER_ADDR 0x1f800
+#ifndef USE_USB
+#define BOOTLOADER_ADDR 0x3f000
 	if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 		printf_P(PSTR("Bootloader is not present\r\n"));
 		return;
 	}
 	cli();
 	/* ... very specific :( */
+	TIMSK0 = 0;
+	TIMSK1 = 0;
+	TIMSK2 = 0;
+	TIMSK3 = 0;
 	EIMSK = 0;
+	UCSR0B = 0;
+	UCSR1B = 0;
 	SPCR = 0;
 	TWCR = 0;
 	ACSR = 0;
 	ADCSRA = 0;
 
-	__asm__ __volatile__ ("ldi r31,0xf0\n");
-	__asm__ __volatile__ ("ldi r30,0x00\n");
-	__asm__ __volatile__ ("ijmp\n");
-
-	/* never returns */
+	/* XXX */
+	/* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+	/* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+	/* __asm__ __volatile__ ("eijmp\n"); */
+#endif
 }
 
 void xbee_mainloop(void)
@@ -572,6 +597,10 @@ static void do_led_blink(struct callout_manager *cm,
 {
 	static uint8_t a = 0;
 
+	(void)cm;
+	(void)clt;
+	(void)dummy;
+
 #ifdef USE_USB
 	if (a & 1)
 		LEDs_SetAllLEDs(0);
@@ -585,6 +614,7 @@ static void do_led_blink(struct callout_manager *cm,
 
 static void increment_ms(void *dummy)
 {
+	(void)dummy;
 	global_ms++;
 }
 
@@ -613,6 +643,7 @@ int main(void)
 	LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
 #else
 	uart_init();
+	uart_register_rx_event(CMDLINE_UART, emergency);
 #endif
 
 	fdevopen(cmdline_dev_send, cmdline_dev_recv);
@@ -625,8 +656,10 @@ int main(void)
 						1000L / SCHEDULER_UNIT,
 						LED_PRIO);
 	cmdline_init();
+	spi_servo_init();
 #ifndef USE_USB
 	/* in usb mode, it's done in usb callback */
+	printf_P(PSTR("\r\n"));
 	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 #endif
 	callout_manager_init(&cm, get_time_ms);