X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.h;h=30a92625037217d99d831535318d612279a1e196;hp=617628e922ac47f1659a15dbc24f620bf25683a0;hb=a53014b7f52462e163a7d7ac64866aa75977422f;hpb=a4e51d8b2a5b13308d314aaf72e58672346dfb1f

diff --git a/main.h b/main.h
index 617628e..30a9262 100644
--- a/main.h
+++ b/main.h
@@ -25,6 +25,22 @@
  * 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 "cmdline.h"
+#include "callout.h"
+#include "rc_proto.h"
+#include "spi_servo.h"
+
 #define NB_LOGS 4
 
 /** ERROR NUMS */
@@ -39,8 +55,15 @@
 #define LED3_ON()       sbi(PORTA, 0)
 #define LED3_OFF()      cbi(PORTA, 0)
 
+#define BUZZER_ON()       sbi(PORTA, 4)
+#define BUZZER_OFF()      cbi(PORTA, 4)
+
+/* highest priority */
 #define LED_PRIO           170
 #define TIME_PRIO          160
+#define BEEP_PRIO          130
+#define SPI_PRIO           100 /* users of spi_servo must have lower prio */
+/* lowest priority */
 
 #define MAX_POWER_LEVEL 5
 /* generic to all boards */
@@ -49,6 +72,11 @@ 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;
+
 	/* log */
 	uint8_t logs[NB_LOGS+1];
 	uint8_t log_level;
@@ -72,14 +100,12 @@ 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);
+int8_t xbeeapp_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),