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 <callout.h>
  40 #include <rdline.h>
  41 #include <xbee.h>
  42 #include <xbee_rxtx.h>
  43
  44 #include "rc_proto.h"
  45 #include "xbee_user.h"
  46 #include "main.h"
  47
  48 #define XBEE_TIMEOUT_MS    1000
  49 #define XBEE_POLL_TIMER_MS 5
  50
  51 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
  52
  53 int xbee_cmdline_input_enabled = 1;
  54
  55 /* parameters */
  56 int xbee_raw = 0;
  57 int xbee_hexdump = 0;
  58 int xbee_debug = 0;
  59
  60 static void __hexdump(const void *buf, unsigned int len)
  61 {
  62         unsigned int i, out, ofs;
  63         const unsigned char *data = buf;
  64 #define LINE_LEN 80
  65         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
  66
  67         ofs = 0;
  68         while (ofs < len) {
  69                 /* format 1 line in the buffer, then use printk to print them */
  70                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
  71                 for (i=0; ofs+i < len && i<16; i++)
  72                         out += snprintf_P(line+out, LINE_LEN - out,
  73                                           PSTR(" %02X"),
  74                                           data[ofs+i]&0xff);
  75                 for (;i<=16;i++)
  76                         out += snprintf(line+out, LINE_LEN - out, "   ");
  77                 for (i=0; ofs < len && i<16; i++, ofs++) {
  78                         unsigned char c = data[ofs];
  79                         if (!isascii(c) || !isprint(c))
  80                                 c = '.';
  81                         out += snprintf_P(line+out,
  82                                           LINE_LEN - out,
  83                                           PSTR("%c"), c);
  84                 }
  85                 printf_P(PSTR("%s\r\n"), line);
  86         }
  87 }
  88
  89 static void hexdump_msg(const char *title, const struct xbee_msg *msg)
  90 {
  91         unsigned i;
  92
  93         printf_P(PSTR("dump %s\r\n"), title);
  94         for (i = 0; i < msg->iovlen; i++) {
  95                 printf_P(PSTR("iovec %d at %p, len=%d\r\n"), i,
  96                         msg->iov[i].buf, msg->iov[i].len);
  97                 __hexdump(msg->iov[i].buf, msg->iov[i].len);
  98         }
  99 }
 100
 101 static void hexdump(const char *title, const void *buf, unsigned int len)
 102 {
 103         printf_P(PSTR("dump %s at [%p], len=%d\r\n"), title, buf, len);
 104         __hexdump(buf, len);
 105 }
 106
 107 static int parse_xmit_status(struct xbee_ctx *ctx,
 108         struct xbee_xmit_status_hdr *frame, unsigned len)
 109 {
 110         (void)len;
 111
 112         if (ctx == NULL) {
 113                 printf_P(PSTR("no context\r\n"));
 114                 return -1;
 115         }
 116
 117         /* see if it matches a xmit query (atcmd_query must be NULL) */
 118         if (ctx->atcmd_query[0] != '\0') {
 119                 printf_P(PSTR("invalid response 2\r\n"));
 120                 return -1;
 121         }
 122
 123         /* XXX use defines for these values */
 124         if (frame->delivery_status == 0x00)
 125                 printf_P(PSTR("Success\r\n"));
 126         else if (frame->delivery_status == 0x01)
 127                 printf_P(PSTR("MAC ACK Failure\r\n"));
 128         else if (frame->delivery_status == 0x15)
 129                 printf_P(PSTR("Invalid destination endpoint\r\n"));
 130         else if (frame->delivery_status == 0x21)
 131                 printf_P(PSTR("Network ACK Failure\r\n"));
 132         else if (frame->delivery_status == 0x25)
 133                 printf_P(PSTR("Route Not Found\r\n"));
 134
 135         return 0;
 136 }
 137
 138 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 139         unsigned len)
 140 {
 141         char atcmd_str[3];
 142         const struct xbee_atcmd *cmd_pgm;
 143         struct xbee_atcmd cmd;
 144         union {
 145                 uint8_t u8;
 146                 uint16_t u16;
 147                 uint32_t u32;
 148                 int16_t s16;
 149         } __attribute__((packed)) *result;
 150
 151         if (ctx == NULL) {
 152                 printf_P(PSTR("no context\r\n"));
 153                 return -1;
 154         }
 155
 156         /* get AT command from frame */
 157         memcpy(atcmd_str, &frame->cmd, 2);
 158         atcmd_str[2] = '\0';
 159
 160         /* see if it matches query */
 161         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
 162                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
 163                          frame->cmd & 0xFF,
 164                          (frame->cmd >> 8) & 0xFF,
 165                          atcmd_str, ctx->atcmd_query);
 166                 return -1;
 167         }
 168
 169         /* see if it exists */
 170         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
 171         if (cmd_pgm == NULL) {
 172                 printf_P(PSTR("unknown response\r\n"));
 173                 return -1;
 174         }
 175         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 176
 177         /* bad status */
 178         if (frame->status == 1) {
 179                 printf_P(PSTR("Status is error\r\n"));
 180                 return -1;
 181         }
 182         else if (frame->status == 2) {
 183                 printf_P(PSTR("Invalid command\r\n"));
 184                 return -1;
 185         }
 186         else if (frame->status == 3) {
 187                 printf_P(PSTR("Invalid parameter\r\n"));
 188                 return -1;
 189         }
 190         else if (frame->status != 0) {
 191                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 192                 return -1;
 193         }
 194
 195         /* callback */
 196         if (ctx->func != NULL)
 197                 ctx->func(frame, len, ctx->arg);
 198
 199         /* dump frame */
 200         result = (void *)frame->data;
 201         len -= offsetof(struct xbee_atresp_hdr, data);
 202         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
 203                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
 204                          result->u8);
 205         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
 206                 printf_P(PSTR("<%s> is 0x%x (%d)\r\n"),
 207                          atcmd_str,
 208                          ntohs(result->u16), ntohs(result->u16));
 209         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
 210                 printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"),
 211                          atcmd_str,
 212                          ntohl(result->u32), ntohs(result->u32));
 213         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
 214                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 215         else if (len == 0)
 216                 printf_P(PSTR("no data, status ok\r\n"));
 217         else
 218                 hexdump("atcmd answer", frame->data, len);
 219
 220
 221         return 0;
 222 }
 223
 224
 225 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 226 {
 227         unsigned int datalen;
 228         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
 229
 230         if (len <  sizeof(*recvframe))
 231                 return -1;
 232
 233         datalen = len - sizeof(*recvframe);
 234         if (datalen < sizeof(struct rc_proto_hdr))
 235                 return -1;
 236
 237         switch (rch->type) {
 238 #if 0
 239                 case RC_PROTO_TYPE_CHANNEL: {
 240                         struct rc_proto_channel *rcc =
 241                                 (struct rc_proto_channel *) recvframe->data;
 242                         int16_t val;
 243                         if (datalen != sizeof(struct rc_proto_channel))
 244                                 return -1;
 245                         val = ntohs(rcc->axis[0]);
 246                         val >>= 6;
 247                         val += 512;
 248                         spi_servo_set(0, val);
 249                         break;
 250                 }
 251                 case RC_PROTO_TYPE_RANGE: {
 252                         struct rc_proto_range *rcr =
 253                                 (struct rc_proto_range *) recvframe->data;
 254
 255                         if (datalen != sizeof(struct rc_proto_range))
 256                                 return -1;
 257
 258                         if (rcr->power_level >= MAX_POWER_LEVEL)
 259                                 return -1;
 260
 261                         rc_proto_rx_range(rcr->power_level);
 262
 263                         break;
 264                 }
 265 #endif
 266                 case RC_PROTO_HELLO: {
 267                         struct rc_proto_hello *rch =
 268                                 (struct rc_proto_hello *) recvframe->data;
 269
 270                         if (xbee_debug)
 271                                 printf_P(PSTR("recv hello len=%d\r\n"),
 272                                          rch->datalen);
 273
 274                         break;
 275                 }
 276                 default:
 277                         return -1;
 278         }
 279
 280         return 0;
 281 }
 282
 283 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
 284 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 285              void *frame, unsigned len, void *opaque)
 286 {
 287         struct xbee_ctx *ctx = opaque;
 288         int8_t ret = 0;
 289
 290         if (xbee_debug)
 291                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
 292                          type, channel, ctx);
 293
 294         /* if ctx is !NULL, it is an answer to a query */
 295         if (ctx != NULL) {
 296                 /* XXX only delete timeout if answer matched */
 297                 xbee_unload_timeout(ctx);
 298                 if (xbee_debug && ctx->atcmd_query)
 299                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
 300                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
 301         }
 302
 303         /* some additional checks before sending */
 304         switch (type) {
 305                 case XBEE_TYPE_MODEM_STATUS: {
 306                         printf_P(PSTR("Received Modem Status frame\r\n"));
 307                         break;
 308                 }
 309
 310                 case XBEE_TYPE_RMT_ATRESP: {
 311                         union {
 312                                 uint64_t u64;
 313                                 struct {
 314 #if BYTE_ORDER == LITTLE_ENDIAN
 315                                         uint32_t low;
 316                                         uint32_t high;
 317 #else
 318                                         uint32_t high;
 319                                         uint32_t low;
 320 #endif
 321                                 } u32;
 322                         } addr;
 323                         memcpy(&addr, frame, sizeof(addr));
 324                         addr.u64 = ntohll(addr.u64);
 325                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
 326                                  addr.u32.high, addr.u32.low);
 327
 328                         /* this answer contains an atcmd answer at offset 10 */
 329                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
 330                                 ret = -1;
 331
 332                         break;
 333                 }
 334                 case XBEE_TYPE_ATRESP: {
 335                         if (dump_atcmd(ctx, frame, len) < 0)
 336                                 ret = -1;
 337
 338                         break;
 339                 }
 340
 341                 case XBEE_TYPE_XMIT_STATUS: {
 342                         if (parse_xmit_status(ctx, frame, len) < 0)
 343                                 ret = -1;
 344
 345                         break;
 346                 }
 347
 348                 case XBEE_TYPE_RECV: {
 349                         if (xbee_recv_data(frame, len) < 0)
 350                                 ret = -1;
 351
 352                         break;
 353                 }
 354
 355                 case XBEE_TYPE_ATCMD:
 356                 case XBEE_TYPE_ATCMD_Q:
 357                 case XBEE_TYPE_XMIT:
 358                 case XBEE_TYPE_EXPL_XMIT:
 359                 case XBEE_TYPE_RMT_ATCMD:
 360                 case XBEE_TYPE_EXPL_RECV:
 361                 case XBEE_TYPE_NODE_ID:
 362                 default:
 363                         printf_P(PSTR("Invalid frame\r\n"));
 364                         ret = -1;
 365                         break;
 366         }
 367
 368         if (ret < 0)
 369                 hexdump("undecoded rx frame", frame, len);
 370         else if (xbee_hexdump)
 371                 hexdump("undecoded rx frame", frame, len);
 372
 373         /* restart command line if it was a blocking query */
 374         if (ctx != NULL) {
 375                 xbee_unregister_channel(dev, channel);
 376                 if (ctx->foreground) {
 377                         xbee_stdin_enable();
 378                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 379                 }
 380         }
 381
 382         return ret;
 383 }
 384
 385 static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg,
 386         int foreground)
 387 {
 388         int ret;
 389         int channel;
 390
 391         /* register a channel */
 392         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 393                                         xbeeapp_rx, NULL);
 394         if (channel < 0) {
 395                 printf_P(PSTR("cannot send: no free channel\r\n"));
 396                 return -1;
 397         }
 398
 399         /* copy context in the static struct table (avoiding a malloc) */
 400         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
 401         ctx = &xbee_ctx[channel];
 402         xbee_set_opaque(xbee_dev, channel, ctx);
 403
 404         if (xbee_debug)
 405                 printf_P(PSTR("send frame channel=%d type=0x%x\r\n"),
 406                         channel, type);
 407         if (xbee_hexdump)
 408                 hexdump_msg("xmit frame", msg);
 409
 410         /* transmit the frame on this channel */
 411         ret = xbee_tx_iovec(xbee_dev, channel, type, msg);
 412         if (ret < 0) {
 413                 printf_P(PSTR("cannot send\r\n"));
 414                 xbee_unregister_channel(xbee_dev, channel);
 415                 return -1;
 416         }
 417
 418         ctx->channel = channel;
 419         xbee_load_timeout(ctx);   /* load a timeout event */
 420
 421         /* suspend command line until we have answer or timeout */
 422         if (foreground) {
 423                 ctx->foreground = 1;
 424                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
 425                 xbee_stdin_disable();  /* unload file descriptor polling */
 426         }
 427
 428         return 0;
 429 }
 430
 431 /* send an AT command with parameters filled by caller. Disable
 432  * command line until we get the answer or until a timeout occurs */
 433 int xbeeapp_send_atcmd(char *atcmd_str, void *param,
 434         unsigned param_len, int foreground,
 435         int (*func)(void *frame, unsigned len, void *arg), void *arg)
 436 {
 437         struct xbee_ctx ctx;
 438         /* struct xbee_atcmd_hdr atcmd_hdr; -> no needed same than atcmd_str */
 439         struct xbee_msg msg;
 440         uint8_t prio;
 441         int ret;
 442
 443         memset(&ctx, 0, sizeof(ctx));
 444         ctx.atcmd_query[0] = atcmd_str[0];
 445         ctx.atcmd_query[1] = atcmd_str[1];
 446         ctx.func = func;
 447         ctx.arg = arg;
 448
 449         msg.iovlen = 2;
 450         msg.iov[0].buf = atcmd_str;
 451         msg.iov[0].len = 2;
 452         msg.iov[1].buf = param;
 453         msg.iov[1].len = param_len;
 454
 455         prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
 456         ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg, foreground);
 457         callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 458
 459         return ret;
 460 }
 461
 462 int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
 463 {
 464         struct xbee_ctx ctx;
 465         struct xbee_xmit_hdr xmit_hdr;
 466         struct xbee_msg msg2;
 467         unsigned i;
 468         uint8_t prio;
 469         int ret;
 470
 471         if (msg->iovlen + 2 > XBEE_MSG_MAXIOV) {
 472                 printf_P(PSTR("too many iovecs\r\n"));
 473                 return -1;
 474         }
 475
 476
 477         xmit_hdr.dstaddr = htonll(addr);
 478         xmit_hdr.reserved = htons(0xFFFE);
 479         xmit_hdr.bcast_radius = 0;
 480         xmit_hdr.opts = 0;
 481
 482         msg2.iovlen = msg->iovlen + 1;
 483         msg2.iov[0].buf = &xmit_hdr;
 484         msg2.iov[0].len = sizeof(xmit_hdr);
 485         for (i = 0; i < msg->iovlen; i++)
 486                 msg2.iov[i+1] = msg->iov[i];
 487
 488         memset(&ctx, 0, sizeof(ctx));
 489         ctx.atcmd_query[0] = '\0';
 490
 491         prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
 492         ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2, foreground);
 493         callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 494
 495         return ret;
 496 }
 497
 498 static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 499         void *arg)
 500 {
 501         struct xbee_ctx *ctx = arg;
 502
 503         (void)cm;
 504         (void)clt;
 505
 506         printf_P(PSTR("Timeout\r\n"));
 507
 508         /* restart command line */
 509         xbee_stdin_enable();
 510         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 511
 512         /* free event */
 513         xbee_unregister_channel(xbee_dev, ctx->channel);
 514
 515         callout_stop(cm, clt);
 516 }
 517
 518 void xbee_load_timeout(struct xbee_ctx *ctx)
 519 {
 520         uint8_t prio;
 521
 522         callout_init(&ctx->timeout, evt_timeout, ctx, XBEE_PRIO);
 523         prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
 524         callout_schedule(&xbeeboard.intr_cm, &ctx->timeout, XBEE_TIMEOUT_MS);
 525         callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 526 }
 527
 528 void xbee_unload_timeout(struct xbee_ctx *ctx)
 529 {
 530         uint8_t prio;
 531
 532         prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
 533         callout_stop(&xbeeboard.intr_cm, &ctx->timeout);
 534         callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 535 }
 536
 537 static void xbee_rx_poll_timer_cb(struct callout_mgr *cm, struct callout *tim,
 538         void *arg)
 539 {
 540         (void) arg;
 541         xbee_rx(xbee_dev);
 542         callout_reschedule(cm, tim, XBEE_POLL_TIMER_MS);
 543 }
 544
 545 void xbee_mainloop(void)
 546 {
 547         uint8_t prio;
 548
 549         while (1) {
 550                 if (xbee_raw) {
 551                         int16_t c;
 552
 553                         /* from xbee to cmdline */
 554                         c = xbee_dev_recv(NULL);
 555                         if (c >= 0)
 556                                 cmdline_dev_send((uint8_t)c, NULL);
 557
 558                         /* from cmdline to xbee */
 559                         c = cmdline_dev_recv(NULL);
 560                         if (c == 4) { /* CTRL-d */
 561                                 prio = callout_mgr_set_prio(&xbeeboard.intr_cm,
 562                                         XBEE_PRIO);
 563                                 xbee_dev_send('A', NULL);
 564                                 xbee_dev_send('T', NULL);
 565                                 xbee_dev_send('C', NULL);
 566                                 xbee_dev_send('N', NULL);
 567                                 xbee_dev_send('\n', NULL);
 568                                 callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 569                                 xbee_raw = 0;
 570                                 rdline_newline(&xbeeboard.rdl,
 571                                                xbeeboard.prompt);
 572                         }
 573                         else if (c >= 0) {
 574                                 /* send to xbee */
 575                                 xbee_dev_send((uint8_t)c, NULL);
 576
 577                                 /* echo on cmdline */
 578                                 cmdline_dev_send((uint8_t)c, NULL);
 579                         }
 580                 }
 581                 else {
 582                         if (xbee_cmdline_input_enabled)
 583                                 cmdline_poll();
 584                         /* xbee rx polling is done in a timer, so we can block
 585                          * the cmdline without loosing incoming packets */
 586                 }
 587         }
 588 }
 589
 590 void xbee_stdin_enable(void)
 591 {
 592         xbee_cmdline_input_enabled = 1;
 593 }
 594
 595 void xbee_stdin_disable(void)
 596 {
 597         xbee_cmdline_input_enabled = 0;
 598 }
 599
 600 void xbeeapp_init(void)
 601 {
 602         callout_init(&xbeeboard.xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
 603                 NULL, XBEE_PRIO);
 604         callout_schedule(&xbeeboard.intr_cm,
 605                 &xbeeboard.xbee_rx_poll_timer, XBEE_POLL_TIMER_MS);
 606 }