2 * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the University of California, Berkeley nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
16 * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29 #include <aversive/queue.h>
30 #include <aversive/pgmspace.h>
31 #include <aversive/error.h>
34 #include <scheduler.h>
35 #include <clock_time.h>
40 #include "xbee_neighbor.h"
41 #include "xbee_atcmd.h"
42 #include "xbee_stats.h"
44 #include "xbee_proto.h"
49 #include "spi_servo.h"
51 extern volatile uint16_t global_ms;
56 #define E_USER_DEFAULT 194
58 #define LED1_ON() sbi(PORTA, 2)
59 #define LED1_OFF() cbi(PORTA, 2)
61 #define LED2_ON() sbi(PORTA, 1)
62 #define LED2_OFF() cbi(PORTA, 1)
64 #define LED3_ON() sbi(PORTA, 0)
65 #define LED3_OFF() cbi(PORTA, 0)
67 #define BUZZER_ON() sbi(PORTA, 4)
68 #define BUZZER_OFF() cbi(PORTA, 4)
70 /* highest priority */
74 #define SPI_PRIO 100 /* users of spi_servo must have lower prio */
77 #define MAX_POWER_LEVEL 5
78 /* generic to all boards */
80 /* command line interface */
82 char prompt[RDLINE_PROMPT_SIZE];
85 uint8_t logs[NB_LOGS+1];
89 extern struct xbeeboard xbeeboard;
92 /* used for timeouts and xbee rx callback */
97 int (*func)(void *frame, unsigned len, void *arg);
99 struct callout timeout;
102 //extern cmdline_parse_ctx_t main_ctx;
103 extern struct xbee_dev *xbee_dev;
105 extern int xbee_hexdump;
106 extern int xbee_debug;
108 extern struct callout_manager cm;
111 void bootloader(void);
113 void xbee_rx(struct xbee_dev *dev, int channel, int type,
114 void *frame, unsigned len, void *opaque);
115 int xbeeapp_send_atcmd(const char *atcmd_str,
116 void *param, unsigned param_len, int foreground,
117 int (*func)(void *frame, unsigned len, void *arg),
119 int xbeeapp_send_msg(uint64_t addr, void *data,
120 unsigned data_len, int foreground);
122 void xbee_stdin_enable(void);
123 void xbee_stdin_disable(void);
125 void xbee_load_timeout(struct xbee_ctx *ctx);
126 void xbee_unload_timeout(struct xbee_ctx *ctx);
128 void xbee_mainloop(void);