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_P(PSTR("%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_P(line, LINE_LEN, PSTR("%08X"), ofs);
  93                 for (i=0; ofs+i < len && i<16; i++)
  94                         out += snprintf_P(line+out, LINE_LEN - out,
  95                                           PSTR(" %02X"),
  96                                           data[ofs+i]&0xff);
  97                 for (;i<=16;i++)
  98                         out += snprintf(line+out, LINE_LEN - out, "   ");
  99                 for (i=0; ofs < len && i<16; i++, ofs++) {
 100                         unsigned char c = data[ofs];
 101                         if (!isascii(c) || !isprint(c))
 102                                 c = '.';
 103                         out += snprintf_P(line+out,
 104                                           LINE_LEN - out,
 105                                           PSTR("%c"), c);
 106                 }
 107                 printf_P(PSTR("%s\r\n"), line);
 108         }
 109 }
 110
 111 static int parse_xmit_status(struct xbee_ctx *ctx,
 112                              struct xbee_xmit_status_hdr *frame, unsigned len)
 113 {
 114         if (ctx == NULL) {
 115                 printf_P(PSTR("no context\r\n"));
 116                 return -1;
 117         }
 118
 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"));
 122                 return -1;
 123         }
 124
 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"));
 136
 137         return 0;
 138 }
 139
 140 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 141                unsigned len)
 142 {
 143         char atcmd_str[3];
 144         struct xbee_atcmd_pgm *cmd_pgm;
 145         struct xbee_atcmd cmd;
 146         union {
 147                 uint8_t u8;
 148                 uint16_t u16;
 149                 uint32_t u32;
 150                 int16_t s16;
 151         } __attribute__((packed)) *result;
 152
 153         if (ctx == NULL) {
 154                 printf_P(PSTR("no context\r\n"));
 155                 return -1;
 156         }
 157
 158         /* get AT command from frame */
 159         memcpy(atcmd_str, &frame->cmd, 2);
 160         atcmd_str[2] = '\0';
 161
 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"),
 165                          frame->cmd & 0xFF,
 166                          (frame->cmd >> 8) & 0xFF,
 167                          atcmd_str, ctx->atcmd_query);
 168                 return -1;
 169         }
 170
 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"));
 175                 return -1;
 176         }
 177         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 178
 179         /* bad status */
 180         if (frame->status == 1) {
 181                 printf_P(PSTR("Status is error\r\n"));
 182                 return -1;
 183         }
 184         else if (frame->status == 2) {
 185                 printf_P(PSTR("Invalid command\r\n"));
 186                 return -1;
 187         }
 188         else if (frame->status == 3) {
 189                 printf_P(PSTR("Invalid parameter\r\n"));
 190                 return -1;
 191         }
 192         else if (frame->status != 0) {
 193                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 194                 return -1;
 195         }
 196
 197         /* callback */
 198         if (ctx->func != NULL)
 199                 ctx->func(frame, len, ctx->arg);
 200
 201         /* dump frame */
 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"),
 208                          atcmd_str,
 209                          ntohs(result->u16));
 210         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 211                 printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
 212                          atcmd_str,
 213                          ntohl(result->u32));
 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));
 216         else if (len == 0)
 217                 printf_P(PSTR("no data, status ok\r\n"));
 218         else
 219                 hexdump("atcmd answer", frame->data, len);
 220
 221
 222         return 0;
 223 }
 224
 225
 226 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 227 {
 228         int datalen = len - sizeof(*recvframe);
 229         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 230
 231         if (datalen < sizeof(struct rc_proto_hdr))
 232                 return -1;
 233
 234         switch (rch->type) {
 235                 case RC_PROTO_TYPE_CHANNEL:
 236                         if (datalen != sizeof(struct rc_proto_channel))
 237                                 return -1;
 238                         break;
 239                 case RC_PROTO_TYPE_RANGE: {
 240                         struct rc_proto_range *rcr =
 241                                 (struct rc_proto_range *) recvframe->data;
 242
 243                         if (datalen != sizeof(struct rc_proto_range))
 244                                 return -1;
 245
 246                         if (rcr->power_level >= MAX_POWER_LEVEL)
 247                                 return -1;
 248
 249                         rc_proto_rx_range(rcr->power_level);
 250
 251                         break;
 252                 }
 253                 default:
 254                         return -1;
 255         }
 256
 257         return 0;
 258 }
 259
 260 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 261 void xbee_rx(struct xbee_dev *dev, int channel, int type,
 262              void *frame, unsigned len, void *opaque)
 263 {
 264         struct xbee_ctx *ctx = opaque;
 265         int do_hexdump = xbee_hexdump;
 266
 267         if (xbee_debug)
 268                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 269                          type, channel, ctx);
 270
 271         /* if ctx is !NULL, it is an answer to a query */
 272         if (ctx != NULL) {
 273                 /* XXX only delete timeout if answer matched */
 274                 xbee_unload_timeout(ctx);
 275                 if (xbee_debug && ctx->atcmd_query)
 276                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 277                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 278         }
 279
 280         /* some additional checks before sending */
 281         switch (type) {
 282                 case XBEE_TYPE_MODEM_STATUS: {
 283                         printf_P(PSTR("Received Modem Status frame\r\n"));
 284                         break;
 285                 }
 286
 287                 case XBEE_TYPE_RMT_ATRESP: {
 288                         union {
 289                                 uint64_t u64;
 290                                 struct {
 291 #if BYTE_ORDER == LITTLE_ENDIAN
 292                                         uint32_t low;
 293                                         uint32_t high;
 294 #else
 295                                         uint32_t high;
 296                                         uint32_t low;
 297 #endif
 298                                 } u32;
 299                         } addr;
 300                         memcpy(&addr, frame, sizeof(addr));
 301                         addr.u64 = ntohll(addr.u64);
 302                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 303                                  addr.u32.high, addr.u32.low);
 304
 305                         /* this answer contains an atcmd answer at offset 10 */
 306                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 307                                 do_hexdump = 1;
 308                         break;
 309                 }
 310                 case XBEE_TYPE_ATRESP: {
 311                         if (dump_atcmd(ctx, frame, len) < 0)
 312                                 do_hexdump = 1;
 313                         break;
 314                 }
 315
 316                 case XBEE_TYPE_XMIT_STATUS: {
 317                         if (parse_xmit_status(ctx, frame, len) < 0)
 318                                 do_hexdump = 1;
 319                         break;
 320                 }
 321
 322                 case XBEE_TYPE_RECV: {
 323                         if (xbee_recv_data(frame, len) < 0)
 324                                 do_hexdump = 1;
 325                         break;
 326                 }
 327
 328                 case XBEE_TYPE_ATCMD:
 329                 case XBEE_TYPE_ATCMD_Q:
 330                 case XBEE_TYPE_XMIT:
 331                 case XBEE_TYPE_EXPL_XMIT:
 332                 case XBEE_TYPE_RMT_ATCMD:
 333                 case XBEE_TYPE_EXPL_RECV:
 334                 case XBEE_TYPE_NODE_ID:
 335                 default:
 336                         printf_P(PSTR("Invalid frame\r\n"));
 337                         do_hexdump = 1;
 338                         break;
 339         }
 340
 341         if (do_hexdump)
 342                 hexdump("undecoded rx frame", frame, len);
 343
 344         /* restart command line if it was a blocking query */
 345         if (ctx != NULL) {
 346                 xbee_unregister_channel(dev, channel);
 347                 if (ctx->foreground) {
 348                         xbee_stdin_enable();
 349                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 350                 }
 351         }
 352 }
 353
 354 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 355                         int foreground)
 356 {
 357         int ret;
 358         int channel;
 359
 360         if (len > XBEE_MAX_FRAME_LEN) {
 361                 printf_P(PSTR("frame too large\r\n"));
 362                 return -1;
 363         }
 364
 365         /* register a channel */
 366         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 367                                         xbee_rx, NULL);
 368         if (channel < 0) {
 369                 printf_P(PSTR("cannot send: no free channel\r\n"));
 370                 return -1;
 371         }
 372
 373         /* copy context in the static struct table (avoiding a malloc) */
 374         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 375         ctx = &xbee_ctx[channel];
 376         xbee_set_opaque(xbee_dev, channel, ctx);
 377
 378         if (xbee_debug)
 379                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 380                          channel, type, len);
 381         if (xbee_hexdump)
 382                 hexdump("xmit frame", buf, len);
 383
 384         /* transmit the frame on this channel */
 385         ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
 386                               len);
 387         if (ret < 0) {
 388                 printf_P(PSTR("cannot send\r\n"));
 389                 xbee_unregister_channel(xbee_dev, channel);
 390                 return -1;
 391         }
 392
 393         ctx->channel = channel;
 394         xbee_load_timeout(ctx);   /* load a timeout event */
 395
 396         /* suspend command line until we have answer or timeout */
 397         if (foreground) {
 398                 ctx->foreground = 1;
 399                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 400                 xbee_stdin_disable();  /* unload file descriptor polling */
 401         }
 402
 403         return 0;
 404 }
 405
 406 /* send an AT command with parameters filled by caller. Disable
 407  * command line until we get the answer or until a timeout occurs */
 408 int xbeeapp_send_atcmd(const char *atcmd_str,
 409                        void *param, unsigned param_len, int foreground,
 410                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 411 {
 412         struct xbee_ctx ctx;
 413         struct {
 414                 struct xbee_atcmd_hdr atcmd;
 415                 char buf[XBEE_MAX_FRAME_LEN];
 416         } __attribute__((packed)) frame;
 417
 418         memset(&ctx, 0, sizeof(ctx));
 419         ctx.atcmd_query[0] = atcmd_str[0];
 420         ctx.atcmd_query[1] = atcmd_str[1];
 421         ctx.func = func;
 422         ctx.arg = arg;
 423
 424         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 425         memcpy(&frame.buf, param, param_len);
 426
 427         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 428                          sizeof(struct xbee_atcmd_hdr) +
 429                          param_len, foreground) < 0) {
 430                 return -1;
 431         }
 432
 433         return 0;
 434 }
 435
 436 int xbeeapp_send_msg(uint64_t addr, void *data,
 437                      unsigned data_len, int foreground)
 438 {
 439         struct xbee_ctx ctx;
 440         struct {
 441                 struct xbee_xmit_hdr xmit;
 442                 char buf[XBEE_MAX_FRAME_LEN];
 443         } __attribute__((packed)) frame;
 444
 445         memset(&ctx, 0, sizeof(ctx));
 446         ctx.atcmd_query[0] = '\0';
 447
 448         frame.xmit.dstaddr = htonll(addr);
 449         frame.xmit.reserved = htons(0xFFFE);
 450         frame.xmit.bcast_radius = 0;
 451         frame.xmit.opts = 0;
 452         memcpy(&frame.buf, data, data_len);
 453
 454         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 455                          sizeof(struct xbee_xmit_hdr) +
 456                          data_len, foreground) < 0) {
 457                 return -1;
 458         }
 459
 460         return 0;
 461 }
 462
 463 void xbee_stdin_enable(void)
 464 {
 465         xbee_cmdline_input_enabled = 1;
 466 }
 467
 468 void xbee_stdin_disable(void)
 469 {
 470         xbee_cmdline_input_enabled = 0;
 471 }
 472
 473 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 474                         void *arg)
 475 {
 476         struct xbee_ctx *ctx = arg;
 477
 478         printf_P(PSTR("Timeout\r\n"));
 479
 480         /* restart command line */
 481         xbee_stdin_enable();
 482         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 483
 484         /* free event */
 485         xbee_unregister_channel(xbee_dev, ctx->channel);
 486 }
 487
 488 void xbee_load_timeout(struct xbee_ctx *ctx)
 489 {
 490         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
 491 }
 492
 493 void xbee_unload_timeout(struct xbee_ctx *ctx)
 494 {
 495         callout_stop(&cm, &ctx->timeout);
 496 }
 497
 498 void bootloader(void)
 499 {
 500 #define BOOTLOADER_ADDR 0x1e000
 501         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 502                 printf_P(PSTR("Bootloader is not present\r\n"));
 503                 return;
 504         }
 505         cli();
 506         /* ... very specific :( */
 507         EIMSK = 0;
 508         SPCR = 0;
 509         TWCR = 0;
 510         ACSR = 0;
 511         ADCSRA = 0;
 512
 513         __asm__ __volatile__ ("ldi r31,0xf0\n");
 514         __asm__ __volatile__ ("ldi r30,0x00\n");
 515         __asm__ __volatile__ ("ijmp\n");
 516
 517         /* never returns */
 518 }
 519
 520 void xbee_mainloop(void)
 521 {
 522         while (1) {
 523                 callout_manage(&cm);
 524
 525                 if (xbee_raw) {
 526                         int16_t c;
 527
 528                         /* from xbee to cmdline */
 529                         c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
 530                         if (c >= 0)
 531                                 CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
 532                                                     (uint8_t)c);
 533
 534                         /* from cmdline to xbee */
 535                         c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
 536                         if (c == 4) { /* CTRL-d */
 537                                 xbee_raw = 0;
 538                                 rdline_newline(&xbeeboard.rdl,
 539                                                xbeeboard.prompt);
 540                         }
 541                         else if (c >= 0) {
 542                                 /* send to xbee */
 543                                 CDC_Device_SendByte(&VirtualSerial2_CDC_Interface,
 544                                                     (uint8_t)c);
 545                                 /* echo on cmdline */
 546                                 CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
 547                                                     (uint8_t)c);
 548                         }
 549                 }
 550                 else {
 551                         if (xbee_cmdline_input_enabled)
 552                                 cmdline_poll();
 553                         xbee_proto_rx(xbee_dev);
 554                 }
 555
 556                 CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
 557                 CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
 558                 USB_USBTask();
 559         }
 560 }