X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.h;h=18ddf0514d8c19c763a1599512b4e68b717b6dfc;hp=4ed5259d85bac22aa1612f23ab51e925434a585e;hb=49ab9eea94ed30f2b1ea6c731c2d42ac32d9650e;hpb=d6014994e06ebe952d51bef2e36a795f624c4b4d

diff --git a/main.h b/main.h
index 4ed5259..18ddf05 100644
--- a/main.h
+++ b/main.h
@@ -25,25 +25,46 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <aversive.h>
+#include <aversive/queue.h>
+#include <aversive/pgmspace.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <parse.h>
+#include <rdline.h>
+#include <timer.h>
+#include <xbee.h>
+#include <callout.h>
+
+#include "cmdline.h"
+#include "rc_proto.h"
+#include "spi_servo.h"
+
 #define NB_LOGS 4
 
 /** ERROR NUMS */
 #define E_USER_DEFAULT           194
 
-#define LED1_ON()       sbi(PORTE, 2)
-#define LED1_OFF()      cbi(PORTE, 2)
+#define LED1_ON()       sbi(PORTA, 2)
+#define LED1_OFF()      cbi(PORTA, 2)
 
-#define LED2_ON()       sbi(PORTE, 3)
-#define LED2_OFF()      cbi(PORTE, 3)
+#define LED2_ON()       sbi(PORTA, 1)
+#define LED2_OFF()      cbi(PORTA, 1)
 
-#define LED3_ON()       sbi(PORTB, 3)
-#define LED3_OFF()      cbi(PORTB, 3)
+#define LED3_ON()       sbi(PORTA, 0)
+#define LED3_OFF()      cbi(PORTA, 0)
 
-#define LED4_ON()       sbi(PORTB, 4)
-#define LED4_OFF()      cbi(PORTB, 4)
+#define BUZZER_ON()       sbi(PORTA, 4)
+#define BUZZER_OFF()      cbi(PORTA, 4)
 
-#define LED_PRIO           170
-#define TIME_PRIO          160
+/* highest priority */
+#define LED_PRIO           160
+#define TIME_PRIO          140
+#define BEEP_PRIO          120
+#define SPI_PRIO           100 /* users of spi_servo must have lower prio */
+#define XBEE_PRIO           80
+/* lowest priority */
 
 #define MAX_POWER_LEVEL 5
 /* generic to all boards */
@@ -52,6 +73,12 @@ struct xbeeboard {
 	struct rdline rdl;
 	char prompt[RDLINE_PROMPT_SIZE];
 
+	struct callout_mgr mainloop_cm;
+	struct callout_mgr intr_cm;
+	struct callout spi_timer;
+	struct callout beep_timer;
+	struct callout xbee_rx_poll_timer;
+
 	/* log */
 	uint8_t logs[NB_LOGS+1];
 	uint8_t log_level;
@@ -59,41 +86,6 @@ struct xbeeboard {
 };
 extern struct xbeeboard xbeeboard;
 
-
-/* used for timeouts and xbee rx callback */
-struct xbee_ctx {
-	int foreground;
-	int channel;
-	char atcmd_query[2];
-	int (*func)(void *frame, unsigned len, void *arg);
-	void *arg;
-	struct callout timeout;
-};
-
-//extern cmdline_parse_ctx_t main_ctx;
-extern struct xbee_dev *xbee_dev;
-extern int xbee_raw;
-extern int xbee_hexdump;
-extern int xbee_debug;
-
-extern struct callout_manager cm;
-
+extern volatile uint32_t global_ms;
 
 void bootloader(void);
-
-void xbee_rx(struct xbee_dev *dev, int channel, int type,
-	     void *frame, unsigned len, void *opaque);
-int xbeeapp_send_atcmd(const char *atcmd_str,
-		       void *param, unsigned param_len, int foreground,
-		       int (*func)(void *frame, unsigned len, void *arg),
-		       void *arg);
-int xbeeapp_send_msg(uint64_t addr, void *data,
-		     unsigned data_len, int foreground);
-
-void xbee_stdin_enable(void);
-void xbee_stdin_disable(void);
-
-void xbee_load_timeout(struct xbee_ctx *ctx);
-void xbee_unload_timeout(struct xbee_ctx *ctx);
-
-void xbee_mainloop(void);