xbee_user.c

   1 /*
   2  * Copyright (c) 2014, 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 <stdio.h>
  29 #include <stdint.h>
  30 #include <stdlib.h>
  31 #include <string.h>
  32 #include <stddef.h>
  33 #include <ctype.h>
  34
  35 #include <aversive.h>
  36 #include <aversive/endian.h>
  37 #include <aversive/pgmspace.h>
  38
  39 #include <rdline.h>
  40 #include <xbee.h>
  41
  42 #include "rc_proto.h"
  43 #include "xbee_user.h"
  44 #include "main.h"
  45
  46 #define XBEE_TIMEOUT_MS 1000
  47
  48 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  49
  50 int xbee_cmdline_input_enabled = 1;
  51
  52 /* parameters */
  53 int xbee_raw = 0;
  54 int xbee_hexdump = 0;
  55 int xbee_debug = 0;
  56
  57 static void hexdump(const char *title, const void *buf, unsigned int len)
  58 {
  59         unsigned int i, out, ofs;
  60         const unsigned char *data = buf;
  61 #define LINE_LEN 80
  62         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  63
  64         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
  65         ofs = 0;
  66         while (ofs < len) {
  67                 /* format 1 line in the buffer, then use printk to print them */
  68                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
  69                 for (i=0; ofs+i < len && i<16; i++)
  70                         out += snprintf_P(line+out, LINE_LEN - out,
  71                                           PSTR(" %02X"),
  72                                           data[ofs+i]&0xff);
  73                 for (;i<=16;i++)
  74                         out += snprintf(line+out, LINE_LEN - out, "   ");
  75                 for (i=0; ofs < len && i<16; i++, ofs++) {
  76                         unsigned char c = data[ofs];
  77                         if (!isascii(c) || !isprint(c))
  78                                 c = '.';
  79                         out += snprintf_P(line+out,
  80                                           LINE_LEN - out,
  81                                           PSTR("%c"), c);
  82                 }
  83                 printf_P(PSTR("%s\r\n"), line);
  84         }
  85 }
  86
  87 static int parse_xmit_status(struct xbee_ctx *ctx,
  88                              struct xbee_xmit_status_hdr *frame, unsigned len)
  89 {
  90         (void)len;
  91
  92         if (ctx == NULL) {
  93                 printf_P(PSTR("no context\r\n"));
  94                 return -1;
  95         }
  96
  97         /* see if it matches a xmit query (atcmd_query must be NULL) */
  98         if (ctx->atcmd_query[0] != '\0') {
  99                 printf_P(PSTR("invalid response 2\r\n"));
 100                 return -1;
 101         }
 102
 103         /* XXX use defines for these values */
 104         if (frame->delivery_status == 0x00)
 105                 printf_P(PSTR("Success\r\n"));
 106         else if (frame->delivery_status == 0x01)
 107                 printf_P(PSTR("MAC ACK Failure\r\n"));
 108         else if (frame->delivery_status == 0x15)
 109                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 110         else if (frame->delivery_status == 0x21)
 111                 printf_P(PSTR("Network ACK Failure\r\n"));
 112         else if (frame->delivery_status == 0x25)
 113                 printf_P(PSTR("Route Not Found\r\n"));
 114
 115         return 0;
 116 }
 117
 118 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 119                unsigned len)
 120 {
 121         char atcmd_str[3];
 122         const struct xbee_atcmd *cmd_pgm;
 123         struct xbee_atcmd cmd;
 124         union {
 125                 uint8_t u8;
 126                 uint16_t u16;
 127                 uint32_t u32;
 128                 int16_t s16;
 129         } __attribute__((packed)) *result;
 130
 131         if (ctx == NULL) {
 132                 printf_P(PSTR("no context\r\n"));
 133                 return -1;
 134         }
 135
 136         /* get AT command from frame */
 137         memcpy(atcmd_str, &frame->cmd, 2);
 138         atcmd_str[2] = '\0';
 139
 140         /* see if it matches query */
 141         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 142                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 143                          frame->cmd & 0xFF,
 144                          (frame->cmd >> 8) & 0xFF,
 145                          atcmd_str, ctx->atcmd_query);
 146                 return -1;
 147         }
 148
 149         /* see if it exists */
 150         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 151         if (cmd_pgm == NULL) {
 152                 printf_P(PSTR("unknown response\r\n"));
 153                 return -1;
 154         }
 155         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 156
 157         /* bad status */
 158         if (frame->status == 1) {
 159                 printf_P(PSTR("Status is error\r\n"));
 160                 return -1;
 161         }
 162         else if (frame->status == 2) {
 163                 printf_P(PSTR("Invalid command\r\n"));
 164                 return -1;
 165         }
 166         else if (frame->status == 3) {
 167                 printf_P(PSTR("Invalid parameter\r\n"));
 168                 return -1;
 169         }
 170         else if (frame->status != 0) {
 171                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 172                 return -1;
 173         }
 174
 175         /* callback */
 176         if (ctx->func != NULL)
 177                 ctx->func(frame, len, ctx->arg);
 178
 179         /* dump frame */
 180         result = (void *)frame->data;
 181         len -= offsetof(struct xbee_atresp_hdr, data);
 182         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 183                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
 184                          result->u8);
 185         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 186                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"),
 187                          atcmd_str,
 188                          ntohs(result->u16), ntohs(result->u16));
 189         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 190                 printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"),
 191                          atcmd_str,
 192                          ntohl(result->u32), ntohs(result->u32));
 193         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 194                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 195         else if (len == 0)
 196                 printf_P(PSTR("no data, status ok\r\n"));
 197         else
 198                 hexdump("atcmd answer", frame->data, len);
 199
 200
 201         return 0;
 202 }
 203
 204
 205 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 206 {
 207         unsigned int datalen;
 208         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 209
 210         if (len <  sizeof(*recvframe))
 211                 return -1;
 212
 213         datalen = len - sizeof(*recvframe);
 214         if (datalen < sizeof(struct rc_proto_hdr))
 215                 return -1;
 216
 217         switch (rch->type) {
 218 #if 0
 219                 case RC_PROTO_TYPE_CHANNEL: {
 220                         struct rc_proto_channel *rcc =
 221                                 (struct rc_proto_channel *) recvframe->data;
 222                         int16_t val;
 223                         if (datalen != sizeof(struct rc_proto_channel))
 224                                 return -1;
 225                         val = ntohs(rcc->axis[0]);
 226                         val >>= 6;
 227                         val += 512;
 228                         spi_servo_set(0, val);
 229                         break;
 230                 }
 231                 case RC_PROTO_TYPE_RANGE: {
 232                         struct rc_proto_range *rcr =
 233                                 (struct rc_proto_range *) recvframe->data;
 234
 235                         if (datalen != sizeof(struct rc_proto_range))
 236                                 return -1;
 237
 238                         if (rcr->power_level >= MAX_POWER_LEVEL)
 239                                 return -1;
 240
 241                         rc_proto_rx_range(rcr->power_level);
 242
 243                         break;
 244                 }
 245 #endif
 246                 case RC_PROTO_HELLO: {
 247                         struct rc_proto_hello *rch =
 248                                 (struct rc_proto_hello *) recvframe->data;
 249
 250                         if (xbee_debug)
 251                                 printf_P(PSTR("recv hello len=%d\r\n"),
 252                                          rch->datalen);
 253
 254                         break;
 255                 }
 256                 default:
 257                         return -1;
 258         }
 259
 260         return 0;
 261 }
 262
 263 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 264 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 265              void *frame, unsigned len, void *opaque)
 266 {
 267         struct xbee_ctx *ctx = opaque;
 268         int8_t ret = 0;
 269
 270         if (xbee_debug)
 271                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 272                          type, channel, ctx);
 273
 274         /* if ctx is !NULL, it is an answer to a query */
 275         if (ctx != NULL) {
 276                 /* XXX only delete timeout if answer matched */
 277                 xbee_unload_timeout(ctx);
 278                 if (xbee_debug && ctx->atcmd_query)
 279                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 280                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 281         }
 282
 283         /* some additional checks before sending */
 284         switch (type) {
 285                 case XBEE_TYPE_MODEM_STATUS: {
 286                         printf_P(PSTR("Received Modem Status frame\r\n"));
 287                         break;
 288                 }
 289
 290                 case XBEE_TYPE_RMT_ATRESP: {
 291                         union {
 292                                 uint64_t u64;
 293                                 struct {
 294 #if BYTE_ORDER == LITTLE_ENDIAN
 295                                         uint32_t low;
 296                                         uint32_t high;
 297 #else
 298                                         uint32_t high;
 299                                         uint32_t low;
 300 #endif
 301                                 } u32;
 302                         } addr;
 303                         memcpy(&addr, frame, sizeof(addr));
 304                         addr.u64 = ntohll(addr.u64);
 305                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 306                                  addr.u32.high, addr.u32.low);
 307
 308                         /* this answer contains an atcmd answer at offset 10 */
 309                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 310                                 ret = -1;
 311
 312                         break;
 313                 }
 314                 case XBEE_TYPE_ATRESP: {
 315                         if (dump_atcmd(ctx, frame, len) < 0)
 316                                 ret = -1;
 317
 318                         break;
 319                 }
 320
 321                 case XBEE_TYPE_XMIT_STATUS: {
 322                         if (parse_xmit_status(ctx, frame, len) < 0)
 323                                 ret = -1;
 324
 325                         break;
 326                 }
 327
 328                 case XBEE_TYPE_RECV: {
 329                         if (xbee_recv_data(frame, len) < 0)
 330                                 ret = -1;
 331
 332                         break;
 333                 }
 334
 335                 case XBEE_TYPE_ATCMD:
 336                 case XBEE_TYPE_ATCMD_Q:
 337                 case XBEE_TYPE_XMIT:
 338                 case XBEE_TYPE_EXPL_XMIT:
 339                 case XBEE_TYPE_RMT_ATCMD:
 340                 case XBEE_TYPE_EXPL_RECV:
 341                 case XBEE_TYPE_NODE_ID:
 342                 default:
 343                         printf_P(PSTR("Invalid frame\r\n"));
 344                         ret = -1;
 345                         break;
 346         }
 347
 348         if (ret < 0)
 349                 hexdump("undecoded rx frame", frame, len);
 350         else if (xbee_hexdump)
 351                 hexdump("undecoded rx frame", frame, len);
 352
 353         /* restart command line if it was a blocking query */
 354         if (ctx != NULL) {
 355                 xbee_unregister_channel(dev, channel);
 356                 if (ctx->foreground) {
 357                         xbee_stdin_enable();
 358                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 359                 }
 360         }
 361
 362         return ret;
 363 }
 364
 365 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 366                         int foreground)
 367 {
 368         int ret;
 369         int channel;
 370
 371         if (len > XBEE_MAX_FRAME_LEN) {
 372                 printf_P(PSTR("frame too large\r\n"));
 373                 return -1;
 374         }
 375
 376         /* register a channel */
 377         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 378                                         xbeeapp_rx, NULL);
 379         if (channel < 0) {
 380                 printf_P(PSTR("cannot send: no free channel\r\n"));
 381                 return -1;
 382         }
 383
 384         /* copy context in the static struct table (avoiding a malloc) */
 385         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 386         ctx = &xbee_ctx[channel];
 387         xbee_set_opaque(xbee_dev, channel, ctx);
 388
 389         if (xbee_debug)
 390                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
 391                          channel, type, len);
 392         if (xbee_hexdump)
 393                 hexdump("xmit frame", buf, len);
 394
 395         /* transmit the frame on this channel */
 396         ret = xbee_tx(xbee_dev, channel, type, buf, len);
 397         if (ret < 0) {
 398                 printf_P(PSTR("cannot send\r\n"));
 399                 xbee_unregister_channel(xbee_dev, channel);
 400                 return -1;
 401         }
 402
 403         ctx->channel = channel;
 404         xbee_load_timeout(ctx);   /* load a timeout event */
 405
 406         /* suspend command line until we have answer or timeout */
 407         if (foreground) {
 408                 ctx->foreground = 1;
 409                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 410                 xbee_stdin_disable();  /* unload file descriptor polling */
 411         }
 412
 413         return 0;
 414 }
 415
 416 /* send an AT command with parameters filled by caller. Disable
 417  * command line until we get the answer or until a timeout occurs */
 418 int xbeeapp_send_atcmd(const char *atcmd_str,
 419                        void *param, unsigned param_len, int foreground,
 420                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
 421 {
 422         struct xbee_ctx ctx;
 423         struct {
 424                 struct xbee_atcmd_hdr atcmd;
 425                 char buf[XBEE_MAX_FRAME_LEN];
 426         } __attribute__((packed)) frame;
 427
 428         memset(&ctx, 0, sizeof(ctx));
 429         ctx.atcmd_query[0] = atcmd_str[0];
 430         ctx.atcmd_query[1] = atcmd_str[1];
 431         ctx.func = func;
 432         ctx.arg = arg;
 433
 434         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 435         memcpy(&frame.buf, param, param_len);
 436
 437         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
 438                          sizeof(struct xbee_atcmd_hdr) +
 439                          param_len, foreground) < 0) {
 440                 return -1;
 441         }
 442
 443         return 0;
 444 }
 445
 446 int xbeeapp_send_msg(uint64_t addr, void *data,
 447                      unsigned data_len, int foreground)
 448 {
 449         struct xbee_ctx ctx;
 450         struct {
 451                 struct xbee_xmit_hdr xmit;
 452                 char buf[XBEE_MAX_FRAME_LEN];
 453         } __attribute__((packed)) frame;
 454
 455         memset(&ctx, 0, sizeof(ctx));
 456         ctx.atcmd_query[0] = '\0';
 457
 458         frame.xmit.dstaddr = htonll(addr);
 459         frame.xmit.reserved = htons(0xFFFE);
 460         frame.xmit.bcast_radius = 0;
 461         frame.xmit.opts = 0;
 462         memcpy(&frame.buf, data, data_len);
 463
 464         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
 465                          sizeof(struct xbee_xmit_hdr) +
 466                          data_len, foreground) < 0) {
 467                 return -1;
 468         }
 469
 470         return 0;
 471 }
 472
 473 static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 474         void *arg)
 475 {
 476         struct xbee_ctx *ctx = arg;
 477
 478         (void)cm;
 479         (void)clt;
 480
 481         printf_P(PSTR("Timeout\r\n"));
 482
 483         /* restart command line */
 484         xbee_stdin_enable();
 485         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 486
 487         /* free event */
 488         xbee_unregister_channel(xbee_dev, ctx->channel);
 489
 490         callout_stop(cm, clt);
 491 }
 492
 493 void xbee_load_timeout(struct xbee_ctx *ctx)
 494 {
 495         callout_init(&ctx->timeout, evt_timeout, ctx, 0);
 496         callout_schedule(&xbeeboard.mainloop_cm, &ctx->timeout, XBEE_TIMEOUT_MS);
 497 }
 498
 499 void xbee_unload_timeout(struct xbee_ctx *ctx)
 500 {
 501         callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
 502 }
 503
 504 void xbee_mainloop(void)
 505 {
 506         while (1) {
 507                 callout_manage(&xbeeboard.mainloop_cm);
 508
 509                 if (xbee_raw) {
 510                         int16_t c;
 511
 512                         /* from xbee to cmdline */
 513                         c = xbee_dev_recv(NULL);
 514                         if (c >= 0)
 515                                 cmdline_dev_send((uint8_t)c, NULL);
 516
 517                         /* from cmdline to xbee */
 518                         c = cmdline_dev_recv(NULL);
 519                         if (c == 4) { /* CTRL-d */
 520                                 xbee_dev_send('A', NULL);
 521                                 xbee_dev_send('T', NULL);
 522                                 xbee_dev_send('C', NULL);
 523                                 xbee_dev_send('N', NULL);
 524                                 xbee_dev_send('\n', NULL);
 525                                 xbee_raw = 0;
 526                                 rdline_newline(&xbeeboard.rdl,
 527                                                xbeeboard.prompt);
 528                         }
 529                         else if (c >= 0) {
 530                                 /* send to xbee */
 531                                 xbee_dev_send((uint8_t)c, NULL);
 532
 533                                 /* echo on cmdline */
 534                                 cmdline_dev_send((uint8_t)c, NULL);
 535                         }
 536                 }
 537                 else {
 538                         if (xbee_cmdline_input_enabled)
 539                                 cmdline_poll();
 540                         xbee_rx(xbee_dev);
 541                 }
 542         }
 543 }
 544
 545 void xbee_stdin_enable(void)
 546 {
 547         xbee_cmdline_input_enabled = 1;
 548 }
 549
 550 void xbee_stdin_disable(void)
 551 {
 552         xbee_cmdline_input_enabled = 0;
 553 }