2 * Copyright (c) 2014, 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.
36 #include <aversive/endian.h>
37 #include <aversive/wait.h>
38 #include <aversive/pgmspace.h>
43 #include <xbee_rxtx.h>
46 #include "xbee_user.h"
49 #define XBEE_TIMEOUT_MS 1000
50 #define XBEE_POLL_TIMER_MS 5
52 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
54 int xbee_cmdline_input_enabled = 1;
59 static void __hexdump(const void *buf, unsigned int len)
61 unsigned int i, out, ofs;
62 const unsigned char *data = buf;
64 char line[LINE_LEN]; /* space needed 8+16*3+3+16 == 75 */
68 /* format 1 line in the buffer, then use printk to print them */
69 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
70 for (i=0; ofs+i < len && i<16; i++)
71 out += snprintf_P(line+out, LINE_LEN - out,
75 out += snprintf(line+out, LINE_LEN - out, " ");
76 for (i=0; ofs < len && i<16; i++, ofs++) {
77 unsigned char c = data[ofs];
78 if (!isascii(c) || !isprint(c))
80 out += snprintf_P(line+out,
84 DEBUG(E_USER_XBEE, "%s", line);
88 static void hexdump_msg(const char *title, const struct xbee_msg *msg)
92 DEBUG(E_USER_XBEE, "dump %s", title);
94 for (i = 0; i < msg->iovlen; i++) {
95 DEBUG(E_USER_XBEE, "iovec %d at %p, len=%d", i,
96 msg->iov[i].buf, msg->iov[i].len);
97 __hexdump(msg->iov[i].buf, msg->iov[i].len);
101 void hexdump(const char *title, const void *buf, unsigned int len)
103 DEBUG(E_USER_XBEE, "dump %s at [%p], len=%d", title, buf, len);
107 static int parse_xmit_status(struct xbee_ctx *ctx,
108 struct xbee_xmit_status_hdr *frame, unsigned len)
113 ERROR(E_USER_XBEE, "no context");
117 /* see if it matches a xmit query (atcmd_query must be \0) */
118 if (ctx->atcmd_query[0] != '\0') {
119 ERROR(E_USER_XBEE, "invalid response 2");
123 /* XXX use defines for these values */
124 if (frame->delivery_status == 0x00)
125 NOTICE(E_USER_XBEE, "Success");
126 else if (frame->delivery_status == 0x01)
127 WARNING(E_USER_XBEE, "MAC ACK Failure");
128 else if (frame->delivery_status == 0x15)
129 WARNING(E_USER_XBEE, "Invalid destination endpoint");
130 else if (frame->delivery_status == 0x21)
131 WARNING(E_USER_XBEE, "Network ACK Failure");
132 else if (frame->delivery_status == 0x25)
133 WARNING(E_USER_XBEE, "Route Not Found");
138 /* Write in a human readable format the content of an atcmd response frame. It
139 * assumes the frame is valid .*/
140 void atresp_to_str(char *buf, unsigned len, const struct xbee_atresp_hdr *frame)
147 } __attribute__((packed)) *result;
149 const struct xbee_atcmd *cmd_pgm;
150 struct xbee_atcmd cmd;
152 /* get AT command from frame */
153 memcpy(atcmd_str, &frame->cmd, 2);
156 /* see if it exists */
157 cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
158 if (cmd_pgm == NULL) {
159 snprintf(buf, len, "<%s> (unknown cmd)", atcmd_str);
162 memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
165 result = (void *)frame->data;
166 len -= offsetof(struct xbee_atresp_hdr, data);
167 if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
168 snprintf(buf, len, "<%s> is 0x%x (%d)", atcmd_str,
169 result->u8, result->u8);
170 else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
171 snprintf(buf, len, "<%s> is 0x%x (%d)", atcmd_str,
172 ntohs(result->u16), ntohs(result->u16));
173 else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
174 snprintf(buf, len, "<%s> is 0x%"PRIx32" (%"PRIu32")",
175 atcmd_str, ntohl(result->u32), ntohl(result->u32));
176 else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
177 snprintf(buf, len, "<%s> is %d",
178 atcmd_str, ntohs(result->s16));
180 snprintf(buf, len, "<%s> no data", atcmd_str);
183 static int parse_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
190 ERROR(E_USER_XBEE, "no context");
194 /* get AT command from frame */
195 memcpy(atcmd_str, &frame->cmd, 2);
198 /* see if it matches query */
199 if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
200 ERROR(E_USER_XBEE, "invalid response <%c%c><%s><%s>",
202 (frame->cmd >> 8) & 0xFF,
203 atcmd_str, ctx->atcmd_query);
208 if (frame->status == 1) {
209 WARNING(E_USER_XBEE, "Status is error");
212 else if (frame->status == 2) {
213 WARNING(E_USER_XBEE, "Invalid command");
216 else if (frame->status == 3) {
217 WARNING(E_USER_XBEE, "Invalid parameter");
220 else if (frame->status != 0) {
221 WARNING(E_USER_XBEE, "Unknown status error %d",
226 len -= offsetof(struct xbee_atresp_hdr, data);
228 atresp_to_str(buf, sizeof(buf), frame);
229 NOTICE(E_USER_XBEE, "status ok, len=%d, %s", len, buf);
232 hexdump("atcmd answer", frame->data, len);
238 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
240 unsigned int datalen;
241 struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
243 if (len < sizeof(*recvframe))
246 datalen = len - sizeof(*recvframe);
247 if (datalen < sizeof(struct rc_proto_hdr))
252 case RC_PROTO_TYPE_CHANNEL: {
253 struct rc_proto_channel *rcc =
254 (struct rc_proto_channel *) recvframe->data;
256 if (datalen != sizeof(struct rc_proto_channel))
258 val = ntohs(rcc->axis[0]);
261 spi_servo_set(0, val);
265 case RC_PROTO_POWER_PROBE: {
266 struct rc_proto_power_probe *rcpb =
267 (struct rc_proto_power_probe *) recvframe->data;
269 if (datalen != sizeof(*rcpb))
272 if (rcpb->power_level >= MAX_POWER_LEVEL)
275 //rc_proto_rx_range(rcpb->power_level);
280 case RC_PROTO_HELLO: {
281 struct rc_proto_hello *rch =
282 (struct rc_proto_hello *) recvframe->data;
284 NOTICE(E_USER_XBEE, "recv hello len=%d",
296 /* main rx entry point for application */
297 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
298 void *frame, unsigned len, void *opaque)
300 struct xbee_ctx *ctx = opaque;
301 int8_t ret = XBEE_USER_RETCODE_OK;
303 NOTICE(E_USER_XBEE, "type=0x%x, channel=%d, ctx=%p",
306 /* if ctx is !NULL, it is an answer to a query */
308 xbee_unload_timeout(ctx);
309 if (ctx->atcmd_query)
310 NOTICE(E_USER_XBEE, "Received answer to query <%c%c>",
311 ctx->atcmd_query[0], ctx->atcmd_query[1]);
314 /* some additional checks before sending */
316 case XBEE_TYPE_MODEM_STATUS: {
317 NOTICE(E_USER_XBEE, "Received Modem Status frame");
321 case XBEE_TYPE_RMT_ATRESP: {
325 #if BYTE_ORDER == LITTLE_ENDIAN
334 memcpy(&addr, frame, sizeof(addr));
335 addr.u64 = ntohll(addr.u64);
337 "from remote address %"PRIx32"%"PRIx32"",
338 addr.u32.high, addr.u32.low);
340 /* this answer contains an atcmd answer at offset 10 */
341 if (parse_atcmd(ctx, frame + 10, len - 10) < 0)
342 ret = XBEE_USER_RETCODE_BAD_FRAME;
346 case XBEE_TYPE_ATRESP: {
347 if (parse_atcmd(ctx, frame, len) < 0)
348 ret = XBEE_USER_RETCODE_BAD_FRAME;
353 case XBEE_TYPE_XMIT_STATUS: {
354 if (parse_xmit_status(ctx, frame, len) < 0)
355 ret = XBEE_USER_RETCODE_BAD_FRAME;
360 case XBEE_TYPE_RECV: {
361 if (xbee_recv_data(frame, len) < 0)
362 ret = XBEE_USER_RETCODE_BAD_FRAME;
367 case XBEE_TYPE_ATCMD:
368 case XBEE_TYPE_ATCMD_Q:
370 case XBEE_TYPE_EXPL_XMIT:
371 case XBEE_TYPE_RMT_ATCMD:
372 case XBEE_TYPE_EXPL_RECV:
373 case XBEE_TYPE_NODE_ID:
375 ERROR(E_USER_XBEE, "Invalid frame");
376 ret = XBEE_USER_RETCODE_BAD_FRAME;
380 WARNING(E_USER_XBEE, "undecoded rx frame");
381 hexdump("undecoded rx frame", frame, len);
385 if (ctx->rx_cb != NULL)
386 ret = ctx->rx_cb(ret, frame, len, ctx->arg);
388 /* free channel now, it implicitely frees the context too */
389 xbee_unregister_channel(dev, channel);
395 /* called with callout prio == XBEE_PRIO */
396 static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg)
401 /* register a channel */
402 channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
405 ERROR(E_USER_XBEE, "cannot send: no free channel");
409 /* copy context in the static struct table (avoiding a malloc) */
410 memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
411 ctx = &xbee_ctx[channel];
412 xbee_set_opaque(xbee_dev, channel, ctx);
414 NOTICE(E_USER_XBEE, "send frame channel=%d type=0x%x", channel, type);
415 hexdump_msg("xmit frame", msg);
417 /* transmit the frame on this channel */
418 ret = xbee_tx_iovec(xbee_dev, channel, type, msg);
420 ERROR(E_USER_XBEE, "cannot send");
421 xbee_unregister_channel(xbee_dev, channel);
425 ctx->channel = channel;
426 xbee_load_timeout(ctx); /* load a timeout event */
431 /* send an AT command with parameters filled by caller. param is the argument
432 * of the atcmd (if any). */
433 int xbeeapp_send_atcmd(char *atcmd_str, void *param, unsigned param_len,
434 xbee_user_rx_cb_t *rx_cb, void *arg)
437 /* struct xbee_atcmd_hdr atcmd_hdr; -> no needed same than atcmd_str */
442 memset(&ctx, 0, sizeof(ctx));
443 ctx.atcmd_query[0] = atcmd_str[0];
444 ctx.atcmd_query[1] = atcmd_str[1];
449 msg.iov[0].buf = atcmd_str;
451 msg.iov[1].buf = param;
452 msg.iov[1].len = param_len;
454 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
455 if (prio > XBEE_PRIO)
456 ERROR(E_USER_XBEE, "invalid prio = %d\n", prio);
457 ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg);
458 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
463 int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg,
464 xbee_user_rx_cb_t *rx_cb, void *arg)
467 struct xbee_xmit_hdr xmit_hdr;
468 struct xbee_msg msg2;
473 if (msg->iovlen + 2 > XBEE_MSG_MAXIOV) {
474 ERROR(E_USER_XBEE, "too many iovecs");
478 xmit_hdr.dstaddr = htonll(addr);
479 xmit_hdr.reserved = htons(0xFFFE);
480 xmit_hdr.bcast_radius = 0;
483 msg2.iovlen = msg->iovlen + 1;
484 msg2.iov[0].buf = &xmit_hdr;
485 msg2.iov[0].len = sizeof(xmit_hdr);
486 for (i = 0; i < msg->iovlen; i++)
487 msg2.iov[i+1] = msg->iov[i];
489 memset(&ctx, 0, sizeof(ctx));
493 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
494 if (prio > XBEE_PRIO)
495 ERROR(E_USER_XBEE, "invalid prio = %d\n", prio);
496 ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2);
497 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
502 static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
505 struct xbee_ctx *ctx = arg;
510 WARNING(E_USER_XBEE, "Timeout");
513 if (ctx->rx_cb != NULL)
514 ctx->rx_cb(XBEE_USER_RETCODE_TIMEOUT, NULL, 0, ctx->arg);
516 /* free channel, it implicitely frees the context too */
517 xbee_unregister_channel(xbee_dev, ctx->channel);
518 callout_stop(cm, clt);
521 void xbee_load_timeout(struct xbee_ctx *ctx)
525 callout_init(&ctx->timeout, evt_timeout, ctx, XBEE_PRIO);
526 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
527 callout_schedule(&xbeeboard.intr_cm, &ctx->timeout, XBEE_TIMEOUT_MS);
528 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
531 void xbee_unload_timeout(struct xbee_ctx *ctx)
535 prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
536 callout_stop(&xbeeboard.intr_cm, &ctx->timeout);
537 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
540 static void xbee_rx_poll_timer_cb(struct callout_mgr *cm, struct callout *tim,
545 callout_reschedule(cm, tim, XBEE_POLL_TIMER_MS);
548 void xbee_mainloop(void)
556 /* from xbee to cmdline */
557 c = xbee_dev_recv(NULL);
559 cmdline_dev_send((uint8_t)c, NULL);
561 /* from cmdline to xbee */
562 c = cmdline_dev_recv(NULL);
563 if (c == 4) { /* CTRL-d */
564 prio = callout_mgr_set_prio(&xbeeboard.intr_cm,
566 xbee_dev_send('A', NULL);
567 xbee_dev_send('T', NULL);
568 xbee_dev_send('C', NULL);
569 xbee_dev_send('N', NULL);
570 xbee_dev_send('\n', NULL);
571 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
573 rdline_newline(&xbeeboard.rdl,
578 xbee_dev_send((uint8_t)c, NULL);
580 /* echo on cmdline */
581 cmdline_dev_send((uint8_t)c, NULL);
585 if (xbee_cmdline_input_enabled)
587 /* xbee rx polling is done in a timer, so we can block
588 * the cmdline without loosing incoming packets */
593 void xbee_stdin_enable(void)
595 xbee_cmdline_input_enabled = 1;
598 void xbee_stdin_disable(void)
600 xbee_cmdline_input_enabled = 0;
603 void xbeeapp_init(void)
605 callout_init(&xbeeboard.xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
607 callout_schedule(&xbeeboard.intr_cm,
608 &xbeeboard.xbee_rx_poll_timer, XBEE_POLL_TIMER_MS);