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>
44 #include "spi_servo.h"
46 extern volatile uint16_t global_ms;
51 #define E_USER_DEFAULT 194
53 #define LED1_ON() sbi(PORTA, 2)
54 #define LED1_OFF() cbi(PORTA, 2)
56 #define LED2_ON() sbi(PORTA, 1)
57 #define LED2_OFF() cbi(PORTA, 1)
59 #define LED3_ON() sbi(PORTA, 0)
60 #define LED3_OFF() cbi(PORTA, 0)
62 #define BUZZER_ON() sbi(PORTA, 4)
63 #define BUZZER_OFF() cbi(PORTA, 4)
65 /* highest priority */
69 #define SPI_PRIO 100 /* users of spi_servo must have lower prio */
72 #define MAX_POWER_LEVEL 5
73 /* generic to all boards */
75 /* command line interface */
77 char prompt[RDLINE_PROMPT_SIZE];
80 uint8_t logs[NB_LOGS+1];
84 extern struct xbeeboard xbeeboard;
87 /* used for timeouts and xbee rx callback */
92 int (*func)(void *frame, unsigned len, void *arg);
94 struct callout timeout;
97 //extern cmdline_parse_ctx_t main_ctx;
98 extern struct xbee_dev *xbee_dev;
100 extern int xbee_hexdump;
101 extern int xbee_debug;
103 extern struct callout_mgr cm;
106 void bootloader(void);
108 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
109 void *frame, unsigned len, void *opaque);
110 int xbeeapp_send_atcmd(const char *atcmd_str,
111 void *param, unsigned param_len, int foreground,
112 int (*func)(void *frame, unsigned len, void *arg),
114 int xbeeapp_send_msg(uint64_t addr, void *data,
115 unsigned data_len, int foreground);
117 void xbee_stdin_enable(void);
118 void xbee_stdin_disable(void);
120 void xbee_load_timeout(struct xbee_ctx *ctx);
121 void xbee_unload_timeout(struct xbee_ctx *ctx);
123 void xbee_mainloop(void);