X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=d12ed7af5288c90c49fc7253126790184501e1ff;hp=ad94ba86191cbcad3f3235284be1fb6d07942b43;hb=f97044f0c5ecbbc665bd7ac1d454fd9479476a78;hpb=df3e1edad5cbbc0cba317a5088bf9fdcfba85c0e

diff --git a/main.c b/main.c
index ad94ba8..d12ed7a 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;
@@ -499,24 +500,35 @@ 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;
+	TIMSK4 = 0;
+	TIMSK5 = 0;
 	EIMSK = 0;
+	UCSR0B = 0;
+	UCSR1B = 0;
+	UCSR2B = 0;
+	UCSR3B = 0;
 	SPCR = 0;
 	TWCR = 0;
 	ACSR = 0;
 	ADCSRA = 0;
 
-	__asm__ __volatile__ ("ldi r31,0xf0\n");
+	EIND = 1;
+	__asm__ __volatile__ ("ldi r31,0xf8\n");
 	__asm__ __volatile__ ("ldi r30,0x00\n");
-	__asm__ __volatile__ ("ijmp\n");
-
-	/* never returns */
+	__asm__ __volatile__ ("eijmp\n");
+#endif
 }
 
 void xbee_mainloop(void)
@@ -607,6 +619,7 @@ int main(void)
 	int8_t err;
 	struct xbee_dev dev;
 
+	spi_servo_init();
 #ifdef USE_USB
 	SetupHardware();