#include <parse_num.h>
#include <uart.h>
#include <xbee.h>
+#include <callout.h>
-#include "callout.h"
#include "parse_atcmd.h"
#include "parse_neighbor.h"
#include "parse_monitor.h"
#include "spi_servo.h"
#include "rc_proto.h"
+#include "xbee_user.h"
#include "main.h"
#include "cmdline.h"
#include "beep.h"
extern const parse_inst_t PROGMEM cmd_log_show;
extern const parse_inst_t PROGMEM cmd_log_type;
extern const parse_inst_t PROGMEM cmd_stack_space;
-extern const parse_inst_t PROGMEM cmd_scheduler;
+extern const parse_inst_t PROGMEM cmd_callout;
static int monitor_period_ms = 1000;
static int monitor_running = 0;
static int range_count = 100;
static int range_cur_count = 0;
-static void monitor_cb(struct callout_manager *cm,
+static void monitor_cb(struct callout_mgr *cm,
struct callout *clt, void *dummy)
{
(void)clt;
if (monitor_current == NULL)
monitor_current = LIST_FIRST(&xbee_monitor_list);
- xbeeapp_send_atcmd(monitor_current->atcmd, NULL, 0, 0, NULL, NULL);
+ /* no rx_cb given: the user must check the monitored values in logs */
+ xbeeapp_send_atcmd(monitor_current->atcmd, NULL, 0, NULL, NULL);
monitor_current = LIST_NEXT(monitor_current, next);
- callout_reset(cm, &monitor_event,
- monitor_period_ms / monitor_count,
- SINGLE, monitor_cb, NULL);
+ callout_reschedule(cm, clt, monitor_period_ms / monitor_count);
}
-static void range_cb(struct callout_manager *cm,
+static void range_cb(struct callout_mgr *cm,
struct callout *clt, void *dummy)
{
(void)cm;
if (range_cur_count == 0) {
range_running = 0;
- return;
+ callout_stop(cm, clt);
}
- callout_reset(cm, &range_event,
- range_period_ms,
- SINGLE, range_cb, NULL);
+ callout_reschedule(cm, clt, range_period_ms);
#endif
+/* callback invoked when a xbee_send is done */
+static int8_t send_msg_cb(int8_t retcode, void *frame, unsigned len,
+ void *arg)
+{
+ struct xbee_recv_hdr *recvframe = frame;
+ uint8_t *done = arg;
+
+ *done = 1;
+ if (retcode == XBEE_USER_RETCODE_TIMEOUT) {
+ printf_P(PSTR("timeout\r\n"));
+ return retcode;
+ }
+ if (retcode == XBEE_USER_RETCODE_BAD_FRAME ||
+ len < sizeof(*recvframe)) {
+ printf_P(PSTR("invalid frame\r\n"));
+ return XBEE_USER_RETCODE_BAD_FRAME;
+ }
+
+ printf_P(PSTR("ok\r\n"));
+ return XBEE_USER_RETCODE_OK;
+}
+
+/* callback invoked to dump the response to AT command */
+static int8_t dump_xbee_atresp_cb(int8_t retcode, void *frame, unsigned len,
+ void *arg)
+{
+ struct xbee_atresp_hdr *recvframe = frame;
+ char atcmd_str[3];
+ char buf[32];
+ uint8_t *done = arg;
+
+ *done = 1;
+ if (retcode == XBEE_USER_RETCODE_TIMEOUT) {
+ printf_P(PSTR("timeout\r\n"));
+ return retcode;
+ }
+ if (retcode == XBEE_USER_RETCODE_BAD_FRAME ||
+ len < sizeof(*recvframe)) {
+ printf_P(PSTR("invalid frame\r\n"));
+ return XBEE_USER_RETCODE_BAD_FRAME;
+ }
+
+ /* get AT command from frame */
+ memcpy(atcmd_str, &recvframe->cmd, 2);
+ atcmd_str[2] = '\0';
+
+ len -= sizeof(*recvframe);
+ atresp_to_str(buf, sizeof(buf), frame);
+ NOTICE(E_USER_XBEE, "status ok, len=%d, %s", len, buf);
+ return XBEE_USER_RETCODE_OK;
}
/* this structure is filled when cmd_help is parsed successfully */
},
};
-
-
-
/* ************* */
/* this structure is filled when cmd_read is parsed successfully */
struct cmd_read_result *res = parsed_result;
struct xbee_atcmd copy;
char cmd[3];
+ volatile uint8_t done = 0;
(void)data;
memcpy_P(©, res->cmd, sizeof(copy));
memcpy_P(&cmd, copy.name, 2);
cmd[2] = '\0';
- xbeeapp_send_atcmd(cmd, NULL, 0, 1, NULL, NULL);
+ xbeeapp_send_atcmd(cmd, NULL, 0, dump_xbee_atresp_cb, (void *)&done);
+ while (done == 0);
}
const char PROGMEM str_read_read[] = "read";
char cmd[3];
int len;
void *param;
+ volatile uint8_t done = 0;
(void)data;
memcpy_P(©, res->cmd, sizeof(copy));
}
memcpy_P(&cmd, copy.name, 2);
cmd[2] = '\0';
- xbeeapp_send_atcmd(cmd, param, len, 1, NULL, NULL);
+ xbeeapp_send_atcmd(cmd, param, len, dump_xbee_atresp_cb, (void *)&done);
+ while (done == 0);
}
const char PROGMEM str_write_none[] = "write";
static void cmd_sendmsg_parsed(void *parsed_result, void *data)
{
struct cmd_sendmsg_result *res = parsed_result;
+ struct xbee_msg msg;
+ volatile uint8_t done = 0;
(void)data;
- xbeeapp_send_msg(res->addr, res->data, strlen(res->data), 1);
+
+ msg.iovlen = 1;
+ msg.iov[0].buf = res->data;
+ msg.iov[0].len = strlen(res->data);
+
+ xbeeapp_send_msg(res->addr, &msg, send_msg_cb, (void *)&done);
+ while (done == 0);
}
const char PROGMEM str_sendmsg[] = "sendmsg";
/* ************* */
+/* this structure is filled when cmd_send_hello is parsed successfully */
+struct cmd_send_hello_result {
+ fixed_string_t send_hello;
+ uint64_t addr;
+ struct xbee_neigh *neigh;
+ uint16_t period;
+ uint16_t count;
+ fixed_string_t data;
+};
+
+/* function called when cmd_send_hello is parsed successfully */
+static void cmd_send_hello_parsed(void *parsed_result, void *use_neigh)
+{
+ struct cmd_send_hello_result *res = parsed_result;
+ uint16_t now, next, diff;
+ uint8_t flags;
+ uint64_t addr;
+
+ if (use_neigh)
+ addr = res->neigh->addr;
+ else
+ addr = res->addr;
+
+ IRQ_LOCK(flags);
+ now = global_ms;
+ IRQ_UNLOCK(flags);
+
+ next = now;
+
+ while (!cmdline_keypressed() && res->count != 0) {
+ IRQ_LOCK(flags);
+ now = global_ms;
+ IRQ_UNLOCK(flags);
+
+ diff = now - next;
+ if (diff < res->period)
+ continue;
+
+ rc_proto_send_hello(addr, res->data, strlen(res->data));
+ next += res->period;
+ res->count--;
+ }
+}
+
+const char PROGMEM str_send_hello[] = "send_hello";
+
+const parse_token_string_t PROGMEM cmd_send_hello_send_hello =
+ TOKEN_STRING_INITIALIZER(struct cmd_send_hello_result, send_hello,
+ str_send_hello);
+
+const parse_token_num_t PROGMEM cmd_send_hello_addr =
+ TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, addr, UINT64);
+
+const parse_token_num_t PROGMEM cmd_send_hello_period =
+ TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, period, UINT16);
+
+const parse_token_num_t PROGMEM cmd_send_hello_count =
+ TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, count, UINT16);
+
+const parse_token_string_t PROGMEM cmd_send_hello_data =
+ TOKEN_STRING_INITIALIZER(struct cmd_send_hello_result, data, NULL);
+
+const char PROGMEM help_send_hello[] =
+ "Send hello msg to a node: addr, period_ms, count, str";
+
+const parse_inst_t PROGMEM cmd_send_hello = {
+ .f = cmd_send_hello_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_send_hello,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_send_hello_send_hello,
+ (PGM_P)&cmd_send_hello_addr,
+ (PGM_P)&cmd_send_hello_period,
+ (PGM_P)&cmd_send_hello_count,
+ (PGM_P)&cmd_send_hello_data,
+ NULL,
+ },
+};
+
+const parse_token_neighbor_t PROGMEM cmd_send_hello_neigh =
+ TOKEN_NEIGHBOR_INITIALIZER(struct cmd_send_hello_result, neigh,
+ &xbee_dev);
+
+const parse_inst_t PROGMEM cmd_send_hello_name = {
+ .f = cmd_send_hello_parsed, /* function to call */
+ .data = (void *)1, /* 2nd arg of func */
+ .help_str = help_send_hello,
+ .tokens = { /* token list, NULL terminated */
+ (PGM_P)&cmd_send_hello_send_hello,
+ (PGM_P)&cmd_send_hello_neigh,
+ (PGM_P)&cmd_send_hello_period,
+ (PGM_P)&cmd_send_hello_count,
+ (PGM_P)&cmd_send_hello_data,
+ NULL,
+ },
+};
+
+/* ************* */
+
/* this structure is filled when cmd_sendmsg_name is parsed successfully */
struct cmd_sendmsg_name_result {
fixed_string_t sendmsg_name;
static void cmd_sendmsg_name_parsed(void *parsed_result, void *data)
{
struct cmd_sendmsg_name_result *res = parsed_result;
+ struct xbee_msg msg;
+ volatile uint8_t done = 0;
(void)data;
- xbeeapp_send_msg(res->neigh->addr, res->data, strlen(res->data), 1);
+
+ msg.iovlen = 1;
+ msg.iov[0].buf = res->data;
+ msg.iov[0].len = strlen(res->data);
+
+ xbeeapp_send_msg(res->neigh->addr, &msg, send_msg_cb, (void *)&done);
+ while (done == 0);
}
const parse_token_string_t PROGMEM cmd_sendmsg_name_sendmsg_name =
return;
}
range_cur_count = range_count;
- callout_init(&range_event);
- callout_reset(&cm, &range_event, 0,
- SINGLE, range_cb, NULL);
+ callout_init(&range_event, range_cb, NULL, LOW_PRIO);
range_running = 1;
+ callout_schedule(&xbeeboard.intr_cm,
+ &range_event, 0); /* immediate */
}
else if (!strcmp(res->action, "end")) {
if (range_running == 0) {
printf_P(PSTR("not running\r\n"));
return;
}
+ callout_stop(&xbeeboard.intr_cm, &range_event);
range_running = 0;
- callout_stop(&cm, &range_event);
}
}
printf_P(PSTR("no regs to be monitored\r\n"));
return;
}
- callout_init(&monitor_event);
- callout_reset(&cm, &monitor_event, 0, SINGLE, monitor_cb, NULL);
+ callout_init(&monitor_event, monitor_cb, NULL, 1);
monitor_running = 1;
monitor_current = LIST_FIRST(&xbee_monitor_list);
+ callout_schedule(&xbeeboard.intr_cm,
+ &monitor_event, 0); /* immediate */
printf_P(PSTR("monitor cb: %S %s\r\n"),
monitor_current->desc,
monitor_current->atcmd);
printf_P(PSTR("not running\r\n"));
return;
}
+ callout_stop(&xbeeboard.intr_cm, &monitor_event);
monitor_running = 0;
- callout_stop(&cm, &monitor_event);
}
}
monitor_count --;
if (monitor_count == 0) {
printf_P(PSTR("Disable monitoring, no more event\r\n"));
- callout_stop(&cm, &monitor_event);
+ callout_stop(&xbeeboard.intr_cm, &monitor_event);
monitor_running = 0;
return;
}
/* function called when cmd_ping is parsed successfully */
static void cmd_ping_parsed(void *parsed_result, void *data)
{
+ volatile uint8_t done = 0;
+
(void)parsed_result;
(void)data;
- xbeeapp_send_atcmd("VL", NULL, 0, 1, NULL, NULL);
+ xbeeapp_send_atcmd("VL", NULL, 0, dump_xbee_atresp_cb, (void *)&done);
+ while (done == 0);
}
const char PROGMEM str_ping[] = "ping";
{
(void)parsed_result;
(void)data;
+
+ if (range_running || monitor_running) {
+ printf_P(PSTR("stop running range or monitor first\r\n"));
+ return;
+ }
printf_P(PSTR("switched to raw mode, CTRL-D to exit\r\n"));
rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
xbee_raw = 1;
},
};
-/* ************* */
-
-/* this structure is filled when cmd_dump is parsed successfully */
-struct cmd_dump_result {
- fixed_string_t dump;
- fixed_string_t onoff;
-};
-
-/* function called when cmd_dump is parsed successfully */
-static void cmd_dump_parsed(void *parsed_result, void *data)
-{
- struct cmd_dump_result *res = parsed_result;
-
- (void)data;
- if (!strcmp(res->onoff, "on"))
- xbee_hexdump = 1;
- else
- xbee_hexdump = 0;
-}
-
-const char PROGMEM str_dump[] = "dump";
-const char PROGMEM str_dump_onoff[] = "on#off";
-
-const parse_token_string_t PROGMEM cmd_dump_dump =
- TOKEN_STRING_INITIALIZER(struct cmd_dump_result, dump,
- str_dump);
-
-const parse_token_string_t PROGMEM cmd_dump_onoff =
- TOKEN_STRING_INITIALIZER(struct cmd_dump_result, onoff,
- str_dump_onoff);
-
-const char PROGMEM help_dump[] = "enable/disable hexdump of received packets";
-
-const parse_inst_t PROGMEM cmd_dump = {
- .f = cmd_dump_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_dump,
- .tokens = { /* token list, NULL terminated */
- (PGM_P)&cmd_dump_dump,
- (PGM_P)&cmd_dump_onoff,
- NULL,
- },
-};
-
-/* ************* */
-
-/* this structure is filled when cmd_debug is parsed successfully */
-struct cmd_debug_result {
- fixed_string_t debug;
- fixed_string_t onoff;
-};
-
-/* function called when cmd_debug is parsed successfully */
-static void cmd_debug_parsed(void *parsed_result, void *data)
-{
- struct cmd_debug_result *res = parsed_result;
-
- (void)data;
- if (!strcmp(res->onoff, "on"))
- xbee_debug = 1;
- else
- xbee_debug = 0;
-}
-
-const char PROGMEM str_debug[] = "debug";
-const char PROGMEM str_debug_onoff[] = "on#off";
-
-const parse_token_string_t PROGMEM cmd_debug_debug =
- TOKEN_STRING_INITIALIZER(struct cmd_debug_result, debug,
- str_debug);
-
-const parse_token_string_t PROGMEM cmd_debug_onoff =
- TOKEN_STRING_INITIALIZER(struct cmd_debug_result, onoff,
- str_debug_onoff);
-
-const char PROGMEM help_debug[] = "enable/disable additionnal debug";
-
-const parse_inst_t PROGMEM cmd_debug = {
- .f = cmd_debug_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_debug,
- .tokens = { /* token list, NULL terminated */
- (PGM_P)&cmd_debug_debug,
- (PGM_P)&cmd_debug_onoff,
- NULL,
- },
-};
-
/**********************************************************/
/* this structure is filled when cmd_baudrate is parsed successfully */
&cmd_log_show,
&cmd_log_type,
&cmd_stack_space,
- &cmd_scheduler,
+ &cmd_callout,
&cmd_help,
&cmd_neigh_del,
&cmd_neigh_add,
&cmd_write_u16,
&cmd_write_u32,
&cmd_sendmsg,
+ &cmd_send_hello,
+ &cmd_send_hello_name,
&cmd_sendmsg_name,
&cmd_range,
&cmd_range_period,
&cmd_monitor_del,
&cmd_ping,
&cmd_raw,
- &cmd_dump,
- &cmd_debug,
&cmd_baudrate,
&cmd_beep,
&cmd_servo_set,
git.droids-corp.org / protos / xbee-avr.git / blobdiff