X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=rc_proto.c;h=442eb909347be1c7666cfafb22a14ef6afde03e1;hp=fe5c928bcc048ea45e2847e48b85a4d347a3b6c8;hb=e39c5d534eaa4d29fea56d7851343612fdab9a23;hpb=d590ebe19bfe60a544717606a0ff2b348cc32229

diff --git a/rc_proto.c b/rc_proto.c
index fe5c928..442eb90 100644
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -25,6 +25,8 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <string.h>
+
 #include <aversive.h>
 #include <aversive/queue.h>
 
@@ -32,8 +34,6 @@
 
 #include <uart.h>
 
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
@@ -41,6 +41,7 @@
 
 #include "callout.h"
 #include "rc_proto.h"
+#include "xbee_user.h"
 #include "main.h"
 
 /* */
@@ -51,12 +52,17 @@ struct rc_proto_power_levels {
 static struct rc_proto_power_levels power_levels[MAX_POWER_LEVEL];
 
 /* update power level when we receive the answer from DB */
-static int update_power_level(void *frame, unsigned len, void *arg)
+static int8_t update_power_level(int8_t retcode, void *frame, unsigned len,
+	void *arg)
 {
 	struct xbee_atresp_hdr *atresp = (struct xbee_atresp_hdr *)frame;
 	int level = (intptr_t)arg;
 	uint8_t db;
 
+	/* nothing more to do, error is already logged by xbee_user */
+	if (retcode < 0)
+		return retcode;
+
 	/* XXX check if this test is correct */
 	if (len < sizeof(struct xbee_atresp_hdr) + sizeof(uint8_t)) {
 		/* XXX stats */
@@ -73,9 +79,28 @@ static int update_power_level(void *frame, unsigned len, void *arg)
 void rc_proto_rx_power_probe(int power_level)
 {
 	(void)power_level;
-	xbeeapp_send_atcmd("DB", NULL, 0, 0, update_power_level, NULL);
+	xbeeapp_send_atcmd("DB", NULL, 0, update_power_level, NULL);
 }
 
+/* send a hello message */
+int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len)
+{
+	struct rc_proto_echo_req hdr;
+	struct xbee_msg msg;
+
+	hdr.type = RC_PROTO_HELLO;
+	hdr.datalen = data_len;
+
+	msg.iovlen = 2;
+	msg.iov[0].buf = &hdr;
+	msg.iov[0].len = sizeof(hdr);
+	msg.iov[1].buf = data;
+	msg.iov[1].len = data_len;
+
+	return xbeeapp_send_msg(addr, &msg, NULL, NULL);
+}
+
+
 #if 0
 #define N_SERVO 6
 #define SERVO_NBITS 10