main.c

   1 /*
   2  * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
   3  * All rights reserved.
   4  * Redistribution and use in source and binary forms, with or without
   5  * modification, are permitted provided that the following conditions are met:
   6  *
   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.
  15  *
  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.
  26  */
  27
  28 #include <aversive.h>
  29 #include <aversive/queue.h>
  30 #include <aversive/endian.h>
  31 #include <aversive/wait.h>
  32 #include <aversive/error.h>
  33
  34 #include <uart.h>
  35
  36 #include <stdio.h>
  37 #include <string.h>
  38 #include <stdint.h>
  39 #include <inttypes.h>
  40 #include <stdlib.h>
  41 #include <stdarg.h>
  42 #include <errno.h>
  43 #include <ctype.h>
  44
  45 #include <scheduler.h>
  46 #include <clock_time.h>
  47 #include <parse.h>
  48 #include <rdline.h>
  49 #include <timer.h>
  50
  51 #include "xbee_neighbor.h"
  52 #include "xbee_atcmd.h"
  53 #include "xbee_stats.h"
  54 #include "xbee_buf.h"
  55 #include "xbee_proto.h"
  56 #include "xbee.h"
  57 #include "cmdline.h"
  58 #include "callout.h"
  59 #include "rc_proto.h"
  60 #include "main.h"
  61
  62 struct xbeeboard xbeeboard;
  63
  64 #define TIMEOUT_MS 1000
  65
  66 /* global xbee device */
  67 struct xbee_dev *xbee_dev;
  68
  69 /* events */
  70 //static struct event stdin_read_event, xbee_read_event;
  71
  72 /* parameters */
  73 int xbee_raw = 0;
  74 int xbee_hexdump = 0;
  75 int xbee_debug = 0;
  76
  77 int xbee_cmdline_input_enabled = 1;
  78
  79 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  80
  81 static void hexdump(const char *title, const void *buf, unsigned int len)
  82 {
  83         unsigned int i, out, ofs;
  84         const unsigned char *data = buf;
  85 #define LINE_LEN 80
  86         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  87
  88         printf("%s at [%p], len=%d\n", title, data, len);
  89         ofs = 0;
  90         while (ofs < len) {
  91                 /* format 1 line in the buffer, then use printk to print them */
  92                 out = snprintf(line, LINE_LEN, "%08X", ofs);
  93                 for (i=0; ofs+i < len && i<16; i++)
  94                         out += snprintf(line+out, LINE_LEN - out, " %02X",
  95                                         data[ofs+i]&0xff);
  96                 for (;i<=16;i++)
  97                         out += snprintf(line+out, LINE_LEN - out, "   ");
  98                 for (i=0; ofs < len && i<16; i++, ofs++) {
  99                         unsigned char c = data[ofs];
 100                         if (!isascii(c) || !isprint(c))
 101                                 c = '.';
 102                         out += snprintf(line+out, LINE_LEN - out, "%c", c);
 103                 }
 104                 printf("%s\n", line);
 105         }
 106 }
 107
 108 static int parse_xmit_status(struct xbee_ctx *ctx,
 109                              struct xbee_xmit_status_hdr *frame, unsigned len)
 110 {
 111         if (ctx == NULL) {
 112                 printf("no context\n");
 113                 return -1;
 114         }
 115
 116         /* see if it matches a xmit query (atcmd_query must be NULL) */
 117         if (ctx->atcmd_query[0] == '\0') {
 118                 printf("invalid response 2\n");
 119                 return -1;
 120         }
 121
 122         /* XXX use defines for these values */
 123         if (frame->delivery_status == 0x00)
 124                 printf("Success\n");
 125         else if (frame->delivery_status == 0x01)
 126                 printf("MAC ACK Failure\n");
 127         else if (frame->delivery_status == 0x15)
 128                 printf("Invalid destination endpoint\n");
 129         else if (frame->delivery_status == 0x21)
 130                 printf("Network ACK Failure\n");
 131         else if (frame->delivery_status == 0x25)
 132                 printf("Route Not Found\n");
 133
 134         return 0;
 135 }
 136
 137 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 138                unsigned len)
 139 {
 140         char atcmd_str[3];
 141         struct xbee_atcmd_pgm *cmd_pgm;
 142         struct xbee_atcmd cmd;
 143         union {
 144                 uint8_t u8;
 145                 uint16_t u16;
 146                 uint32_t u32;
 147                 int16_t s16;
 148         } __attribute__((packed)) *result;
 149
 150         if (ctx == NULL) {
 151                 printf("no context\n");
 152                 return -1;
 153         }
 154
 155         /* get AT command from frame */
 156         memcpy(atcmd_str, &frame->cmd, 2);
 157         atcmd_str[2] = '\0';
 158
 159         /* see if it matches query */
 160         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 161                 printf("invalid response <%c%c><%s><%s>\n",
 162                        frame->cmd & 0xFF,
 163                        (frame->cmd >> 8) & 0xFF,
 164                        atcmd_str, ctx->atcmd_query);
 165                 return -1;
 166         }
 167
 168         /* see if it exists */
 169         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 170         if (cmd_pgm == NULL) {
 171                 printf("unknown response\n");
 172                 return -1;
 173         }
 174         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 175
 176         /* bad status */
 177         if (frame->status == 1) {
 178                 printf("Status is error\n");
 179                 return -1;
 180         }
 181         else if (frame->status == 2) {
 182                 printf("Invalid command\n");
 183                 return -1;
 184         }
 185         else if (frame->status == 3) {
 186                 printf("Invalid parameter\n");
 187                 return -1;
 188         }
 189         else if (frame->status != 0) {
 190                 printf("Unknown status error %d\n", frame->status);
 191                 return -1;
 192         }
 193
 194         /* callback */
 195         if (ctx->func != NULL)
 196                 ctx->func(frame, len, ctx->arg);
 197
 198         /* dump frame */
 199         result = (void *)frame->data;
 200         len -= offsetof(struct xbee_atresp_hdr, data);
 201         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 202                 printf("<%s> is 0x%x\n", atcmd_str, result->u8);
 203         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 204                 printf("<%s> is 0x%x\n", atcmd_str, ntohs(result->u16));
 205         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 206                 printf("<%s> is 0x%"PRIx32"\n", atcmd_str, ntohl(result->u32));
 207         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 208                 printf("<%s> is %d\n", atcmd_str, ntohs(result->s16));
 209         else if (len == 0)
 210                 printf("no data, status ok\n");
 211         else
 212                 hexdump("atcmd answer", frame->data, len);
 213
 214
 215         return 0;
 216 }
 217
 218
 219 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 220 {
 221         int datalen = len - sizeof(*recvframe);
 222         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) recvframe;
 223
 224         if (datalen < sizeof(struct rc_proto_hdr))
 225                 return -1;
 226
 227         switch (rch->type) {
 228                 case RC_PROTO_TYPE_CHANNEL:
 229                         if (datalen != sizeof(struct rc_proto_channel))
 230                                 return -1;
 231                         break;
 232                 case RC_PROTO_TYPE_RANGE: {
 233                         struct rc_proto_range *rcr =
 234                                 (struct rc_proto_range *) recvframe;
 235
 236                         if (datalen != sizeof(struct rc_proto_range))
 237                                 return -1;
 238
 239                         if (rcr->power_level >= MAX_POWER_LEVEL)
 240                                 return -1;
 241
 242                         rc_proto_rx_range(rcr->power_level);
 243
 244                         break;
 245                 }
 246                 default:
 247                         return -1;
 248         }
 249
 250         return 0;
 251 }
 252
 253 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 254 void xbee_rx(struct xbee_dev *dev, int channel, int type,
 255              void *frame, unsigned len, void *opaque)
 256 {
 257         struct xbee_ctx *ctx = opaque;
 258         int do_hexdump = xbee_hexdump;
 259
 260         if (xbee_debug)
 261                 printf("type=0x%x, channel=%d, ctx=%p\n", type, channel, ctx);
 262
 263         /* if ctx is !NULL, it is an answer to a query */
 264         if (ctx != NULL) {
 265                 /* XXX only delete timeout if answer matched */
 266                 xbee_unload_timeout(ctx);
 267                 if (xbee_debug && ctx->atcmd_query)
 268                         printf("Received answer to query <%c%c>\n",
 269                                ctx->atcmd_query[0], ctx->atcmd_query[1]);
 270         }
 271
 272         /* some additional checks before sending */
 273         switch (type) {
 274                 case XBEE_TYPE_MODEM_STATUS: {
 275                         printf("Received Modem Status frame\n");
 276                         break;
 277                 }
 278
 279                 case XBEE_TYPE_RMT_ATRESP: {
 280                         union {
 281                                 uint64_t u64;
 282                                 struct {
 283 #if BYTE_ORDER == LITTLE_ENDIAN
 284                                         uint32_t low;
 285                                         uint32_t high;
 286 #else
 287                                         uint32_t high;
 288                                         uint32_t low;
 289 #endif
 290                                 } u32;
 291                         } addr;
 292                         memcpy(&addr, frame, sizeof(addr));
 293                         addr.u64 = ntohll(addr.u64);
 294                         printf("from remote address %"PRIx32"%"PRIx32"\n",
 295                                addr.u32.high, addr.u32.low);
 296
 297                         /* this answer contains an atcmd answer at offset 10 */
 298                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 299                                 do_hexdump = 1;
 300                         break;
 301                 }
 302                 case XBEE_TYPE_ATRESP: {
 303                         if (dump_atcmd(ctx, frame, len) < 0)
 304                                 do_hexdump = 1;
 305                         break;
 306                 }
 307
 308                 case XBEE_TYPE_XMIT_STATUS: {
 309                         if (parse_xmit_status(ctx, frame, len) < 0)
 310                                 do_hexdump = 1;
 311                         break;
 312                 }
 313
 314                 case XBEE_TYPE_RECV: {
 315                         if (xbee_recv_data(frame, len) < 0)
 316                                 do_hexdump = 1;
 317                         break;
 318                 }
 319
 320                 case XBEE_TYPE_ATCMD:
 321                 case XBEE_TYPE_ATCMD_Q:
 322                 case XBEE_TYPE_XMIT:
 323                 case XBEE_TYPE_EXPL_XMIT:
 324                 case XBEE_TYPE_RMT_ATCMD:
 325                 case XBEE_TYPE_EXPL_RECV:
 326                 case XBEE_TYPE_NODE_ID:
 327                 default:
 328                         printf("Invalid frame\n");
 329                         do_hexdump = 1;
 330                         break;
 331         }
 332
 333         if (do_hexdump)
 334                 hexdump("undecoded rx frame", frame, len);
 335
 336         /* restart command line if it was a blocking query */
 337         if (ctx != NULL) {
 338                 xbee_unregister_channel(dev, channel);
 339                 if (ctx->foreground) {
 340                         xbee_stdin_enable();
 341                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 342                 }
 343         }
 344 }
 345
 346 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 347                         int foreground)
 348 {
 349         int ret;
 350         int channel;
 351
 352         if (len > XBEE_MAX_FRAME_LEN) {
 353                 printf("frame too large\n");
 354                 return -1;
 355         }
 356
 357         /* register a channel */
 358         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 359                                         xbee_rx, NULL);
 360         if (channel < 0) {
 361                 printf("cannot send: no free channel\n");
 362                 return -1;
 363         }
 364
 365         /* copy context in the static struct table (avoiding a malloc) */
 366         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 367         ctx = &xbee_ctx[channel];
 368         xbee_set_opaque(xbee_dev, channel, ctx);
 369
 370         if (xbee_debug)
 371                 printf("send frame channel=%d type=0x%x len=%d\n",
 372                        channel, type, len);
 373         if (xbee_hexdump)
 374                 hexdump("xmit frame", buf, len);
 375
 376         /* transmit the frame on this channel */
 377         ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
 378                               len);
 379         if (ret < 0) {
 380                 printf("cannot send\n");
 381                 xbee_unregister_channel(xbee_dev, channel);
 382                 return -1;
 383         }
 384
 385         ctx->channel = channel;
 386         xbee_load_timeout(ctx);   /* load a timeout event */
 387
 388         /* suspend command line until we have answer or timeout */
 389         if (foreground) {
 390                 ctx->foreground = 1;
 391                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 392                 xbee_stdin_disable();  /* unload file descriptor polling */
 393         }
 394
 395         return 0;
 396 }
 397
 398 /* send an AT command with parameters filled by caller. Disable
 399  * command line until we get the answer or until a timeout occurs */
 400 int xbeeapp_send_atcmd(const char *atcmd_str,
 401                        void *param, unsigned param_len, int foreground,
 402                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 403 {
 404         struct xbee_ctx ctx;
 405         struct {
 406                 struct xbee_atcmd_hdr atcmd;
 407                 char buf[XBEE_MAX_FRAME_LEN];
 408         } __attribute__((packed)) frame;
 409
 410         memset(&ctx, 0, sizeof(ctx));
 411         ctx.atcmd_query[0] = atcmd_str[0];
 412         ctx.atcmd_query[1] = atcmd_str[1];
 413         ctx.func = func;
 414         ctx.arg = arg;
 415
 416         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 417         memcpy(&frame.buf, param, param_len);
 418
 419         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 420                          sizeof(struct xbee_atcmd_hdr) +
 421                          param_len, foreground) < 0) {
 422                 return -1;
 423         }
 424
 425         return 0;
 426 }
 427
 428 int xbeeapp_send_msg(uint64_t addr, void *data,
 429                      unsigned data_len, int foreground)
 430 {
 431         struct xbee_ctx ctx;
 432         struct {
 433                 struct xbee_xmit_hdr xmit;
 434                 char buf[XBEE_MAX_FRAME_LEN];
 435         } __attribute__((packed)) frame;
 436
 437         memset(&ctx, 0, sizeof(ctx));
 438         ctx.atcmd_query[0] = '\0';
 439
 440         frame.xmit.dstaddr = htonll(addr);
 441         frame.xmit.reserved = htons(0xFFFE);
 442         frame.xmit.bcast_radius = 0;
 443         frame.xmit.opts = 0;
 444         memcpy(&frame.buf, data, data_len);
 445
 446         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 447                          sizeof(struct xbee_xmit_hdr) +
 448                          data_len, foreground) < 0) {
 449                 return -1;
 450         }
 451
 452         return 0;
 453 }
 454
 455 void xbee_stdin_enable(void)
 456 {
 457         xbee_cmdline_input_enabled = 1;
 458 }
 459
 460 void xbee_stdin_disable(void)
 461 {
 462         xbee_cmdline_input_enabled = 0;
 463 }
 464
 465 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 466                         void *arg)
 467 {
 468         struct xbee_ctx *ctx = arg;
 469
 470         printf("Timeout\n");
 471
 472         /* restart command line */
 473         xbee_stdin_enable();
 474         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 475
 476         /* free event */
 477         xbee_unregister_channel(xbee_dev, ctx->channel);
 478 }
 479
 480 void xbee_load_timeout(struct xbee_ctx *ctx)
 481 {
 482         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
 483 }
 484
 485 void xbee_unload_timeout(struct xbee_ctx *ctx)
 486 {
 487         callout_stop(&cm, &ctx->timeout);
 488 }
 489
 490 void bootloader(void)
 491 {
 492 #define BOOTLOADER_ADDR 0x1e000
 493         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 494                 printf_P(PSTR("Bootloader is not present\r\n"));
 495                 return;
 496         }
 497         cli();
 498         /* ... very specific :( */
 499         EIMSK = 0;
 500         SPCR = 0;
 501         TWCR = 0;
 502         ACSR = 0;
 503         ADCSRA = 0;
 504
 505         __asm__ __volatile__ ("ldi r31,0xf0\n");
 506         __asm__ __volatile__ ("ldi r30,0x00\n");
 507         __asm__ __volatile__ ("ijmp\n");
 508
 509         /* never returns */
 510 }
 511
 512 void xbee_mainloop(void)
 513 {
 514         while (1) {
 515                 callout_manage(&cm);
 516
 517                 if (xbee_raw) {
 518                         int16_t c;
 519
 520                         /* from xbee to cmdline */
 521                         c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
 522                         if (c >= 0)
 523                                 CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
 524                                                     (uint8_t)c);
 525
 526                         /* from cmdline to xbee */
 527                         c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
 528                         if (c == 4) { /* CTRL-d */
 529                                 xbee_raw = 0;
 530                                 rdline_newline(&xbeeboard.rdl,
 531                                                xbeeboard.prompt);
 532                         }
 533                         else if (c >= 0) {
 534                                 /* send to xbee */
 535                                 CDC_Device_SendByte(&VirtualSerial2_CDC_Interface,
 536                                                     (uint8_t)c);
 537                                 /* echo on cmdline */
 538                                 CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
 539                                                     (uint8_t)c);
 540                         }
 541                 }
 542                 else {
 543                         if (xbee_cmdline_input_enabled)
 544                                 cmdline_poll();
 545                         xbee_proto_rx(xbee_dev);
 546                 }
 547
 548                 CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
 549                 CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
 550                 USB_USBTask();
 551         }
 552 }