X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;ds=sidebyside;f=main.c;h=3959ee4ffa53699c40127dfed3b2b122feb0f05d;hb=8a9ba904e4215b92930a6d71c06c97514bcc6688;hp=d5c3f5a34bf1df30f013a09b653287c3f1e3848e;hpb=8a557d146e15bf4bff2cf9214220c8f8e751658c;p=protos%2Fxbee-avr.git diff --git a/main.c b/main.c index d5c3f5a..3959ee4 100644 --- a/main.c +++ b/main.c @@ -25,6 +25,10 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ +/* fuses: + * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m + */ + #include #include #include @@ -48,18 +52,13 @@ #include #include -#include "xbee_neighbor.h" -#include "xbee_atcmd.h" -#include "xbee_stats.h" -#include "xbee_buf.h" -#include "xbee_proto.h" -#include "xbee.h" -#include "cmdline.h" -#include "callout.h" -#include "rc_proto.h" +#include "eeprom_config.h" +#include "beep.h" #include "main.h" struct xbeeboard xbeeboard; +volatile uint16_t global_ms; +struct callout_mgr cm; #define TIMEOUT_MS 1000 @@ -85,7 +84,7 @@ static void hexdump(const char *title, const void *buf, unsigned int len) #define LINE_LEN 80 char line[LINE_LEN]; /* space needed 8+16*3+3+16 == 75 */ - printf_P(PSTR("%s at [%p], len=%d\n"), title, data, len); + printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len); ofs = 0; while (ofs < len) { /* format 1 line in the buffer, then use printk to print them */ @@ -111,6 +110,8 @@ static void hexdump(const char *title, const void *buf, unsigned int len) static int parse_xmit_status(struct xbee_ctx *ctx, struct xbee_xmit_status_hdr *frame, unsigned len) { + (void)len; + if (ctx == NULL) { printf_P(PSTR("no context\r\n")); return -1; @@ -141,7 +142,7 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame, unsigned len) { char atcmd_str[3]; - struct xbee_atcmd_pgm *cmd_pgm; + const struct xbee_atcmd *cmd_pgm; struct xbee_atcmd cmd; union { uint8_t u8; @@ -202,15 +203,16 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame, result = (void *)frame->data; len -= offsetof(struct xbee_atresp_hdr, data); if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t)) - printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8); + printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8, + result->u8); else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t)) - printf_P(PSTR("<%s> is 0x%x\r\n"), + printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, - ntohs(result->u16)); + ntohs(result->u16), ntohs(result->u16)); else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t)) - printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"), + printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"), atcmd_str, - ntohl(result->u32)); + ntohl(result->u32), ntohs(result->u32)); else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t)) printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16)); else if (len == 0) @@ -225,17 +227,30 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame, int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len) { - int datalen = len - sizeof(*recvframe); + unsigned int datalen; struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data; + if (len < sizeof(*recvframe)) + return -1; + + datalen = len - sizeof(*recvframe); if (datalen < sizeof(struct rc_proto_hdr)) return -1; switch (rch->type) { - case RC_PROTO_TYPE_CHANNEL: +#if 0 + case RC_PROTO_TYPE_CHANNEL: { + struct rc_proto_channel *rcc = + (struct rc_proto_channel *) recvframe->data; + int16_t val; if (datalen != sizeof(struct rc_proto_channel)) return -1; + val = ntohs(rcc->axis[0]); + val >>= 6; + val += 512; + spi_servo_set(0, val); break; + } case RC_PROTO_TYPE_RANGE: { struct rc_proto_range *rcr = (struct rc_proto_range *) recvframe->data; @@ -248,6 +263,17 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len) rc_proto_rx_range(rcr->power_level); + break; + } +#endif + case RC_PROTO_HELLO: { + struct rc_proto_hello *rch = + (struct rc_proto_hello *) recvframe->data; + + if (xbee_debug) + printf_P(PSTR("recv hello len=%d\r\n"), + rch->datalen); + break; } default: @@ -258,11 +284,11 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len) } /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */ -void xbee_rx(struct xbee_dev *dev, int channel, int type, +int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type, void *frame, unsigned len, void *opaque) { struct xbee_ctx *ctx = opaque; - int do_hexdump = xbee_hexdump; + int8_t ret = 0; if (xbee_debug) printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"), @@ -304,24 +330,28 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type, /* this answer contains an atcmd answer at offset 10 */ if (dump_atcmd(ctx, frame + 10, len - 10) < 0) - do_hexdump = 1; + ret = -1; + break; } case XBEE_TYPE_ATRESP: { if (dump_atcmd(ctx, frame, len) < 0) - do_hexdump = 1; + ret = -1; + break; } case XBEE_TYPE_XMIT_STATUS: { if (parse_xmit_status(ctx, frame, len) < 0) - do_hexdump = 1; + ret = -1; + break; } case XBEE_TYPE_RECV: { if (xbee_recv_data(frame, len) < 0) - do_hexdump = 1; + ret = -1; + break; } @@ -334,11 +364,13 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type, case XBEE_TYPE_NODE_ID: default: printf_P(PSTR("Invalid frame\r\n")); - do_hexdump = 1; + ret = -1; break; } - if (do_hexdump) + if (ret < 0) + hexdump("undecoded rx frame", frame, len); + else if (xbee_hexdump) hexdump("undecoded rx frame", frame, len); /* restart command line if it was a blocking query */ @@ -364,7 +396,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len, /* register a channel */ channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY, - xbee_rx, NULL); + xbeeapp_rx, NULL); if (channel < 0) { printf_P(PSTR("cannot send: no free channel\r\n")); return -1; @@ -382,8 +414,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len, hexdump("xmit frame", buf, len); /* transmit the frame on this channel */ - ret = xbee_proto_xmit(xbee_dev, channel, type, buf, - len); + ret = xbee_tx(xbee_dev, channel, type, buf, len); if (ret < 0) { printf_P(PSTR("cannot send\r\n")); xbee_unregister_channel(xbee_dev, channel); @@ -470,11 +501,14 @@ void xbee_stdin_disable(void) xbee_cmdline_input_enabled = 0; } -static void evt_timeout(struct callout_manager *cm, struct callout *clt, +static void evt_timeout(struct callout_mgr *cm, struct callout *clt, void *arg) { struct xbee_ctx *ctx = arg; + (void)cm; + (void)clt; + printf_P(PSTR("Timeout\r\n")); /* restart command line */ @@ -487,7 +521,8 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt, void xbee_load_timeout(struct xbee_ctx *ctx) { - callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx); + callout_init(&ctx->timeout, evt_timeout, ctx, 0); + callout_schedule(&cm, &ctx->timeout, TIMEOUT_MS); } void xbee_unload_timeout(struct xbee_ctx *ctx) @@ -497,24 +532,29 @@ void xbee_unload_timeout(struct xbee_ctx *ctx) void bootloader(void) { -#define BOOTLOADER_ADDR 0x1e000 +#define BOOTLOADER_ADDR 0x3f000 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) { printf_P(PSTR("Bootloader is not present\r\n")); return; } cli(); /* ... very specific :( */ + TIMSK0 = 0; + TIMSK1 = 0; + TIMSK2 = 0; + TIMSK3 = 0; EIMSK = 0; + UCSR0B = 0; + UCSR1B = 0; SPCR = 0; TWCR = 0; ACSR = 0; ADCSRA = 0; - __asm__ __volatile__ ("ldi r31,0xf0\n"); - __asm__ __volatile__ ("ldi r30,0x00\n"); - __asm__ __volatile__ ("ijmp\n"); - - /* never returns */ + /* XXX */ + /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */ + /* __asm__ __volatile__ ("ldi r30,0x00\n"); */ + /* __asm__ __volatile__ ("eijmp\n"); */ } void xbee_mainloop(void) @@ -526,35 +566,124 @@ void xbee_mainloop(void) int16_t c; /* from xbee to cmdline */ - c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface); + c = xbee_dev_recv(NULL); if (c >= 0) - CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, - (uint8_t)c); + cmdline_dev_send((uint8_t)c, NULL); /* from cmdline to xbee */ - c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface); + c = cmdline_dev_recv(NULL); if (c == 4) { /* CTRL-d */ + xbee_dev_send('A', NULL); + xbee_dev_send('T', NULL); + xbee_dev_send('C', NULL); + xbee_dev_send('N', NULL); + xbee_dev_send('\n', NULL); xbee_raw = 0; rdline_newline(&xbeeboard.rdl, xbeeboard.prompt); } else if (c >= 0) { /* send to xbee */ - CDC_Device_SendByte(&VirtualSerial2_CDC_Interface, - (uint8_t)c); + xbee_dev_send((uint8_t)c, NULL); + /* echo on cmdline */ - CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, - (uint8_t)c); + cmdline_dev_send((uint8_t)c, NULL); } } else { if (xbee_cmdline_input_enabled) cmdline_poll(); - xbee_proto_rx(xbee_dev); + xbee_rx(xbee_dev); } + } +} + +/* return time in milliseconds on unsigned 16 bits */ +static uint16_t get_time_ms(void) +{ + return global_ms; +} + +static void main_timer_interrupt(void) +{ + static uint16_t cycles; + static uint8_t cpt; + + cpt++; - CDC_Device_USBTask(&VirtualSerial1_CDC_Interface); - CDC_Device_USBTask(&VirtualSerial2_CDC_Interface); - USB_USBTask(); + /* interrupt every 2048 cycles */ + cycles += 2048; + if (cycles >= 12000) { + cycles -= 12000; + global_ms ++; } + + /* LED blink */ + if (global_ms & 0x80) + LED1_ON(); + else + LED1_OFF(); + + if (cpt & beep_mask) + BUZZER_ON(); + else + BUZZER_OFF(); + + /* call scheduler every 682us with interrupt unlocked */ + sei(); + if ((cpt & 0x3) == 0) + scheduler_interrupt(); +} + +int main(void) +{ + //struct callout t1; + FILE *xbee_file; + int8_t err; + struct xbee_dev dev; + + DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */; + + uart_init(); + uart_register_rx_event(CMDLINE_UART, emergency); + + fdevopen(cmdline_dev_send, cmdline_dev_recv); + xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv); + scheduler_init(); + timer_init(); + timer0_register_OV_intr(main_timer_interrupt); + + cmdline_init(); + spi_servo_init(); + beep_init(); + + callout_mgr_init(&cm, get_time_ms); + //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL); + + /* initialize libxbee */ + err = xbee_init(); + if (err < 0) + return -1; + + xbee_dev = &dev; + + /* open xbee device */ + if (xbee_open(xbee_dev, xbee_file) < 0) + return -1; + + /* register default channel with a callback */ + if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL, + xbeeapp_rx, NULL) < 0) { + fprintf(stderr, "cannot register default channel\n"); + return -1; + } + sei(); + + eeprom_load_config(); + + printf_P(PSTR("\r\n")); + rdline_newline(&xbeeboard.rdl, xbeeboard.prompt); + + xbee_mainloop(); + return 0; }