X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=c6f13e3715dee230db91032bf872529e68e1b394;hp=0e527174acb8da3843fde169eb013addf17f9466;hb=d590ebe19bfe60a544717606a0ff2b348cc32229;hpb=70415e123a0febc5b74b8ddd98778be116f2700b

diff --git a/main.c b/main.c
index 0e52717..c6f13e3 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>
@@ -52,6 +52,8 @@
 #include <rdline.h>
 #include <timer.h>
 
+#include "eeprom_config.h"
+#include "beep.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
@@ -235,6 +237,7 @@ 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 +249,7 @@ 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;
@@ -261,6 +264,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 
 			break;
 		}
+#endif
 		default:
 			return -1;
 	}
@@ -269,7 +273,7 @@ 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,
+void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 	     void *frame, unsigned len, void *opaque)
 {
 	struct xbee_ctx *ctx = opaque;
@@ -375,7 +379,7 @@ 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 +397,7 @@ 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);
@@ -572,7 +575,7 @@ void xbee_mainloop(void)
 		else {
 			if (xbee_cmdline_input_enabled)
 				cmdline_poll();
-			xbee_proto_rx(xbee_dev);
+			xbee_rx(xbee_dev);
 		}
 	}
 }
@@ -588,6 +591,8 @@ static void main_timer_interrupt(void)
 	static uint16_t cycles;
 	static uint8_t cpt;
 
+	cpt++;
+
 	/* interrupt every 2048 cycles */
 	cycles += 2048;
 	if (cycles >= 12000) {
@@ -601,6 +606,11 @@ 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)
@@ -614,7 +624,7 @@ 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);
@@ -627,6 +637,7 @@ int main(void)
 
 	cmdline_init();
 	spi_servo_init();
+	beep_init();
 
 	printf_P(PSTR("\r\n"));
 	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
@@ -647,13 +658,13 @@ 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();
 	xbee_mainloop();
 	return 0;
 }