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 * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
33 #include <aversive/queue.h>
34 #include <aversive/endian.h>
35 #include <aversive/wait.h>
36 #include <aversive/error.h>
49 #include <scheduler.h>
50 #include <clock_time.h>
58 struct xbeeboard xbeeboard;
59 volatile uint16_t global_ms;
60 struct callout_manager cm;
62 #define TIMEOUT_MS 1000
64 /* global xbee device */
65 struct xbee_dev *xbee_dev;
68 //static struct event stdin_read_event, xbee_read_event;
75 int xbee_cmdline_input_enabled = 1;
77 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
79 static void hexdump(const char *title, const void *buf, unsigned int len)
81 unsigned int i, out, ofs;
82 const unsigned char *data = buf;
84 char line[LINE_LEN]; /* space needed 8+16*3+3+16 == 75 */
86 printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
89 /* format 1 line in the buffer, then use printk to print them */
90 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
91 for (i=0; ofs+i < len && i<16; i++)
92 out += snprintf_P(line+out, LINE_LEN - out,
96 out += snprintf(line+out, LINE_LEN - out, " ");
97 for (i=0; ofs < len && i<16; i++, ofs++) {
98 unsigned char c = data[ofs];
99 if (!isascii(c) || !isprint(c))
101 out += snprintf_P(line+out,
105 printf_P(PSTR("%s\r\n"), line);
109 static int parse_xmit_status(struct xbee_ctx *ctx,
110 struct xbee_xmit_status_hdr *frame, unsigned len)
115 printf_P(PSTR("no context\r\n"));
119 /* see if it matches a xmit query (atcmd_query must be NULL) */
120 if (ctx->atcmd_query[0] != '\0') {
121 printf_P(PSTR("invalid response 2\r\n"));
125 /* XXX use defines for these values */
126 if (frame->delivery_status == 0x00)
127 printf_P(PSTR("Success\r\n"));
128 else if (frame->delivery_status == 0x01)
129 printf_P(PSTR("MAC ACK Failure\r\n"));
130 else if (frame->delivery_status == 0x15)
131 printf_P(PSTR("Invalid destination endpoint\r\n"));
132 else if (frame->delivery_status == 0x21)
133 printf_P(PSTR("Network ACK Failure\r\n"));
134 else if (frame->delivery_status == 0x25)
135 printf_P(PSTR("Route Not Found\r\n"));
140 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
144 const struct xbee_atcmd *cmd_pgm;
145 struct xbee_atcmd cmd;
151 } __attribute__((packed)) *result;
154 printf_P(PSTR("no context\r\n"));
158 /* get AT command from frame */
159 memcpy(atcmd_str, &frame->cmd, 2);
162 /* see if it matches query */
163 if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
164 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
166 (frame->cmd >> 8) & 0xFF,
167 atcmd_str, ctx->atcmd_query);
171 /* see if it exists */
172 cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
173 if (cmd_pgm == NULL) {
174 printf_P(PSTR("unknown response\r\n"));
177 memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
180 if (frame->status == 1) {
181 printf_P(PSTR("Status is error\r\n"));
184 else if (frame->status == 2) {
185 printf_P(PSTR("Invalid command\r\n"));
188 else if (frame->status == 3) {
189 printf_P(PSTR("Invalid parameter\r\n"));
192 else if (frame->status != 0) {
193 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
198 if (ctx->func != NULL)
199 ctx->func(frame, len, ctx->arg);
202 result = (void *)frame->data;
203 len -= offsetof(struct xbee_atresp_hdr, data);
204 if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
205 printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
206 else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
207 printf_P(PSTR("<%s> is 0x%x\r\n"),
210 else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
211 printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
214 else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
215 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
217 printf_P(PSTR("no data, status ok\r\n"));
219 hexdump("atcmd answer", frame->data, len);
226 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
228 unsigned int datalen;
229 struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
231 if (len < sizeof(*recvframe))
234 datalen = len - sizeof(*recvframe);
235 if (datalen < sizeof(struct rc_proto_hdr))
239 case RC_PROTO_TYPE_CHANNEL: {
240 struct rc_proto_channel *rcc =
241 (struct rc_proto_channel *) recvframe->data;
243 if (datalen != sizeof(struct rc_proto_channel))
245 val = ntohs(rcc->axis[0]);
248 spi_servo_set(0, val);
251 case RC_PROTO_TYPE_RANGE: {
252 struct rc_proto_range *rcr =
253 (struct rc_proto_range *) recvframe->data;
255 if (datalen != sizeof(struct rc_proto_range))
258 if (rcr->power_level >= MAX_POWER_LEVEL)
261 rc_proto_rx_range(rcr->power_level);
272 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
273 void xbee_rx(struct xbee_dev *dev, int channel, int type,
274 void *frame, unsigned len, void *opaque)
276 struct xbee_ctx *ctx = opaque;
277 int do_hexdump = xbee_hexdump;
280 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
283 /* if ctx is !NULL, it is an answer to a query */
285 /* XXX only delete timeout if answer matched */
286 xbee_unload_timeout(ctx);
287 if (xbee_debug && ctx->atcmd_query)
288 printf_P(PSTR("Received answer to query <%c%c>\r\n"),
289 ctx->atcmd_query[0], ctx->atcmd_query[1]);
292 /* some additional checks before sending */
294 case XBEE_TYPE_MODEM_STATUS: {
295 printf_P(PSTR("Received Modem Status frame\r\n"));
299 case XBEE_TYPE_RMT_ATRESP: {
303 #if BYTE_ORDER == LITTLE_ENDIAN
312 memcpy(&addr, frame, sizeof(addr));
313 addr.u64 = ntohll(addr.u64);
314 printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
315 addr.u32.high, addr.u32.low);
317 /* this answer contains an atcmd answer at offset 10 */
318 if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
322 case XBEE_TYPE_ATRESP: {
323 if (dump_atcmd(ctx, frame, len) < 0)
328 case XBEE_TYPE_XMIT_STATUS: {
329 if (parse_xmit_status(ctx, frame, len) < 0)
334 case XBEE_TYPE_RECV: {
335 if (xbee_recv_data(frame, len) < 0)
340 case XBEE_TYPE_ATCMD:
341 case XBEE_TYPE_ATCMD_Q:
343 case XBEE_TYPE_EXPL_XMIT:
344 case XBEE_TYPE_RMT_ATCMD:
345 case XBEE_TYPE_EXPL_RECV:
346 case XBEE_TYPE_NODE_ID:
348 printf_P(PSTR("Invalid frame\r\n"));
354 hexdump("undecoded rx frame", frame, len);
356 /* restart command line if it was a blocking query */
358 xbee_unregister_channel(dev, channel);
359 if (ctx->foreground) {
361 rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
366 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
372 if (len > XBEE_MAX_FRAME_LEN) {
373 printf_P(PSTR("frame too large\r\n"));
377 /* register a channel */
378 channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
381 printf_P(PSTR("cannot send: no free channel\r\n"));
385 /* copy context in the static struct table (avoiding a malloc) */
386 memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
387 ctx = &xbee_ctx[channel];
388 xbee_set_opaque(xbee_dev, channel, ctx);
391 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
394 hexdump("xmit frame", buf, len);
396 /* transmit the frame on this channel */
397 ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
400 printf_P(PSTR("cannot send\r\n"));
401 xbee_unregister_channel(xbee_dev, channel);
405 ctx->channel = channel;
406 xbee_load_timeout(ctx); /* load a timeout event */
408 /* suspend command line until we have answer or timeout */
411 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
412 xbee_stdin_disable(); /* unload file descriptor polling */
418 /* send an AT command with parameters filled by caller. Disable
419 * command line until we get the answer or until a timeout occurs */
420 int xbeeapp_send_atcmd(const char *atcmd_str,
421 void *param, unsigned param_len, int foreground,
422 int (*func)(void *frame, unsigned len, void *arg), void *arg)
426 struct xbee_atcmd_hdr atcmd;
427 char buf[XBEE_MAX_FRAME_LEN];
428 } __attribute__((packed)) frame;
430 memset(&ctx, 0, sizeof(ctx));
431 ctx.atcmd_query[0] = atcmd_str[0];
432 ctx.atcmd_query[1] = atcmd_str[1];
436 memcpy(&frame.atcmd.cmd, atcmd_str, 2);
437 memcpy(&frame.buf, param, param_len);
439 if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
440 sizeof(struct xbee_atcmd_hdr) +
441 param_len, foreground) < 0) {
448 int xbeeapp_send_msg(uint64_t addr, void *data,
449 unsigned data_len, int foreground)
453 struct xbee_xmit_hdr xmit;
454 char buf[XBEE_MAX_FRAME_LEN];
455 } __attribute__((packed)) frame;
457 memset(&ctx, 0, sizeof(ctx));
458 ctx.atcmd_query[0] = '\0';
460 frame.xmit.dstaddr = htonll(addr);
461 frame.xmit.reserved = htons(0xFFFE);
462 frame.xmit.bcast_radius = 0;
464 memcpy(&frame.buf, data, data_len);
466 if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
467 sizeof(struct xbee_xmit_hdr) +
468 data_len, foreground) < 0) {
475 void xbee_stdin_enable(void)
477 xbee_cmdline_input_enabled = 1;
480 void xbee_stdin_disable(void)
482 xbee_cmdline_input_enabled = 0;
485 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
488 struct xbee_ctx *ctx = arg;
493 printf_P(PSTR("Timeout\r\n"));
495 /* restart command line */
497 rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
500 xbee_unregister_channel(xbee_dev, ctx->channel);
503 void xbee_load_timeout(struct xbee_ctx *ctx)
505 callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
508 void xbee_unload_timeout(struct xbee_ctx *ctx)
510 callout_stop(&cm, &ctx->timeout);
513 void bootloader(void)
515 #define BOOTLOADER_ADDR 0x3f000
516 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
517 printf_P(PSTR("Bootloader is not present\r\n"));
521 /* ... very specific :( */
535 /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
536 /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
537 /* __asm__ __volatile__ ("eijmp\n"); */
540 void xbee_mainloop(void)
548 /* from xbee to cmdline */
549 c = xbee_dev_recv(NULL);
551 cmdline_dev_send((uint8_t)c, NULL);
553 /* from cmdline to xbee */
554 c = cmdline_dev_recv(NULL);
555 if (c == 4) { /* CTRL-d */
556 xbee_dev_send('A', NULL);
557 xbee_dev_send('T', NULL);
558 xbee_dev_send('C', NULL);
559 xbee_dev_send('N', NULL);
560 xbee_dev_send('\n', NULL);
562 rdline_newline(&xbeeboard.rdl,
567 xbee_dev_send((uint8_t)c, NULL);
569 /* echo on cmdline */
570 cmdline_dev_send((uint8_t)c, NULL);
574 if (xbee_cmdline_input_enabled)
576 xbee_proto_rx(xbee_dev);
581 /* return time in milliseconds on unsigned 16 bits */
582 static uint16_t get_time_ms(void)
587 static void main_timer_interrupt(void)
589 static uint16_t cycles;
594 /* interrupt every 2048 cycles */
596 if (cycles >= 12000) {
602 if (global_ms & 0x80)
612 /* call scheduler every 682us with interrupt unlocked */
614 if ((cpt & 0x3) == 0)
615 scheduler_interrupt();
625 DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
628 uart_register_rx_event(CMDLINE_UART, emergency);
630 fdevopen(cmdline_dev_send, cmdline_dev_recv);
631 xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
634 timer0_register_OV_intr(main_timer_interrupt);
640 printf_P(PSTR("\r\n"));
641 rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
643 callout_manager_init(&cm, get_time_ms);
644 //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
646 /* initialize libxbee */
653 /* open xbee device */
654 if (xbee_open(xbee_dev, xbee_file) < 0)
657 /* register default channel with a callback */
658 if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
659 xbee_rx, NULL) < 0) {
660 fprintf(stderr, "cannot register default channel\n");