* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ */
+
#include <aversive.h>
#include <aversive/queue.h>
#include <aversive/endian.h>
#include <rdline.h>
#include <timer.h>
-#include "xbee_neighbor.h"
-#include "xbee_atcmd.h"
-#include "xbee_stats.h"
-#include "xbee_buf.h"
-#include "xbee_proto.h"
-#include "xbee.h"
-#include "cmdline.h"
-#include "callout.h"
-#include "rc_proto.h"
+#include "eeprom_config.h"
+#include "beep.h"
#include "main.h"
struct xbeeboard xbeeboard;
+volatile uint16_t global_ms;
+struct callout_manager cm;
#define TIMEOUT_MS 1000
#define LINE_LEN 80
char line[LINE_LEN]; /* space needed 8+16*3+3+16 == 75 */
- printf("%s at [%p], len=%d\n", title, data, len);
+ printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
ofs = 0;
while (ofs < len) {
/* format 1 line in the buffer, then use printk to print them */
- out = snprintf(line, LINE_LEN, "%08X", ofs);
+ out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
for (i=0; ofs+i < len && i<16; i++)
- out += snprintf(line+out, LINE_LEN - out, " %02X",
- data[ofs+i]&0xff);
+ out += snprintf_P(line+out, LINE_LEN - out,
+ PSTR(" %02X"),
+ data[ofs+i]&0xff);
for (;i<=16;i++)
out += snprintf(line+out, LINE_LEN - out, " ");
for (i=0; ofs < len && i<16; i++, ofs++) {
unsigned char c = data[ofs];
if (!isascii(c) || !isprint(c))
c = '.';
- out += snprintf(line+out, LINE_LEN - out, "%c", c);
+ out += snprintf_P(line+out,
+ LINE_LEN - out,
+ PSTR("%c"), c);
}
- printf("%s\n", line);
+ printf_P(PSTR("%s\r\n"), line);
}
}
static int parse_xmit_status(struct xbee_ctx *ctx,
struct xbee_xmit_status_hdr *frame, unsigned len)
{
+ (void)len;
+
if (ctx == NULL) {
- printf("no context\n");
+ printf_P(PSTR("no context\r\n"));
return -1;
}
/* see if it matches a xmit query (atcmd_query must be NULL) */
if (ctx->atcmd_query[0] != '\0') {
- printf("invalid response 2\n");
+ printf_P(PSTR("invalid response 2\r\n"));
return -1;
}
/* XXX use defines for these values */
if (frame->delivery_status == 0x00)
- printf("Success\n");
+ printf_P(PSTR("Success\r\n"));
else if (frame->delivery_status == 0x01)
- printf("MAC ACK Failure\n");
+ printf_P(PSTR("MAC ACK Failure\r\n"));
else if (frame->delivery_status == 0x15)
- printf("Invalid destination endpoint\n");
+ printf_P(PSTR("Invalid destination endpoint\r\n"));
else if (frame->delivery_status == 0x21)
- printf("Network ACK Failure\n");
+ printf_P(PSTR("Network ACK Failure\r\n"));
else if (frame->delivery_status == 0x25)
- printf("Route Not Found\n");
+ printf_P(PSTR("Route Not Found\r\n"));
return 0;
}
unsigned len)
{
char atcmd_str[3];
- struct xbee_atcmd_pgm *cmd_pgm;
+ const struct xbee_atcmd *cmd_pgm;
struct xbee_atcmd cmd;
union {
uint8_t u8;
} __attribute__((packed)) *result;
if (ctx == NULL) {
- printf("no context\n");
+ printf_P(PSTR("no context\r\n"));
return -1;
}
/* see if it matches query */
if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
- printf("invalid response <%c%c><%s><%s>\n",
- frame->cmd & 0xFF,
- (frame->cmd >> 8) & 0xFF,
- atcmd_str, ctx->atcmd_query);
+ printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
+ frame->cmd & 0xFF,
+ (frame->cmd >> 8) & 0xFF,
+ atcmd_str, ctx->atcmd_query);
return -1;
}
/* see if it exists */
cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
if (cmd_pgm == NULL) {
- printf("unknown response\n");
+ printf_P(PSTR("unknown response\r\n"));
return -1;
}
memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
/* bad status */
if (frame->status == 1) {
- printf("Status is error\n");
+ printf_P(PSTR("Status is error\r\n"));
return -1;
}
else if (frame->status == 2) {
- printf("Invalid command\n");
+ printf_P(PSTR("Invalid command\r\n"));
return -1;
}
else if (frame->status == 3) {
- printf("Invalid parameter\n");
+ printf_P(PSTR("Invalid parameter\r\n"));
return -1;
}
else if (frame->status != 0) {
- printf("Unknown status error %d\n", frame->status);
+ printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
return -1;
}
result = (void *)frame->data;
len -= offsetof(struct xbee_atresp_hdr, data);
if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
- printf("<%s> is 0x%x\n", atcmd_str, result->u8);
+ printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
- printf("<%s> is 0x%x\n", atcmd_str, ntohs(result->u16));
+ printf_P(PSTR("<%s> is 0x%x\r\n"),
+ atcmd_str,
+ ntohs(result->u16));
else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
- printf("<%s> is 0x%"PRIx32"\n", atcmd_str, ntohl(result->u32));
+ printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
+ atcmd_str,
+ ntohl(result->u32));
else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
- printf("<%s> is %d\n", atcmd_str, ntohs(result->s16));
+ printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
else if (len == 0)
- printf("no data, status ok\n");
+ printf_P(PSTR("no data, status ok\r\n"));
else
hexdump("atcmd answer", frame->data, len);
int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
{
- int datalen = len - sizeof(*recvframe);
+ unsigned int datalen;
struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
+ if (len < sizeof(*recvframe))
+ return -1;
+
+ datalen = len - sizeof(*recvframe);
if (datalen < sizeof(struct rc_proto_hdr))
return -1;
switch (rch->type) {
- case RC_PROTO_TYPE_CHANNEL:
+ case RC_PROTO_TYPE_CHANNEL: {
+ struct rc_proto_channel *rcc =
+ (struct rc_proto_channel *) recvframe->data;
+ int16_t val;
if (datalen != sizeof(struct rc_proto_channel))
return -1;
+ val = ntohs(rcc->axis[0]);
+ val >>= 6;
+ val += 512;
+ spi_servo_set(0, val);
break;
+ }
case RC_PROTO_TYPE_RANGE: {
struct rc_proto_range *rcr =
(struct rc_proto_range *) recvframe->data;
int do_hexdump = xbee_hexdump;
if (xbee_debug)
- printf("type=0x%x, channel=%d, ctx=%p\n", type, channel, ctx);
+ printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
+ type, channel, ctx);
/* if ctx is !NULL, it is an answer to a query */
if (ctx != NULL) {
/* XXX only delete timeout if answer matched */
xbee_unload_timeout(ctx);
if (xbee_debug && ctx->atcmd_query)
- printf("Received answer to query <%c%c>\n",
- ctx->atcmd_query[0], ctx->atcmd_query[1]);
+ printf_P(PSTR("Received answer to query <%c%c>\r\n"),
+ ctx->atcmd_query[0], ctx->atcmd_query[1]);
}
/* some additional checks before sending */
switch (type) {
case XBEE_TYPE_MODEM_STATUS: {
- printf("Received Modem Status frame\n");
+ printf_P(PSTR("Received Modem Status frame\r\n"));
break;
}
} addr;
memcpy(&addr, frame, sizeof(addr));
addr.u64 = ntohll(addr.u64);
- printf("from remote address %"PRIx32"%"PRIx32"\n",
- addr.u32.high, addr.u32.low);
+ printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
+ addr.u32.high, addr.u32.low);
/* this answer contains an atcmd answer at offset 10 */
if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
case XBEE_TYPE_EXPL_RECV:
case XBEE_TYPE_NODE_ID:
default:
- printf("Invalid frame\n");
+ printf_P(PSTR("Invalid frame\r\n"));
do_hexdump = 1;
break;
}
int channel;
if (len > XBEE_MAX_FRAME_LEN) {
- printf("frame too large\n");
+ printf_P(PSTR("frame too large\r\n"));
return -1;
}
channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
xbee_rx, NULL);
if (channel < 0) {
- printf("cannot send: no free channel\n");
+ printf_P(PSTR("cannot send: no free channel\r\n"));
return -1;
}
xbee_set_opaque(xbee_dev, channel, ctx);
if (xbee_debug)
- printf("send frame channel=%d type=0x%x len=%d\n",
- channel, type, len);
+ printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
+ channel, type, len);
if (xbee_hexdump)
hexdump("xmit frame", buf, len);
ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
len);
if (ret < 0) {
- printf("cannot send\n");
+ printf_P(PSTR("cannot send\r\n"));
xbee_unregister_channel(xbee_dev, channel);
return -1;
}
{
struct xbee_ctx *ctx = arg;
- printf("Timeout\n");
+ (void)cm;
+ (void)clt;
+
+ printf_P(PSTR("Timeout\r\n"));
/* restart command line */
xbee_stdin_enable();
void bootloader(void)
{
-#define BOOTLOADER_ADDR 0x1e000
+#define BOOTLOADER_ADDR 0x3f000
if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
printf_P(PSTR("Bootloader is not present\r\n"));
return;
}
cli();
/* ... very specific :( */
+ TIMSK0 = 0;
+ TIMSK1 = 0;
+ TIMSK2 = 0;
+ TIMSK3 = 0;
EIMSK = 0;
+ UCSR0B = 0;
+ UCSR1B = 0;
SPCR = 0;
TWCR = 0;
ACSR = 0;
ADCSRA = 0;
- __asm__ __volatile__ ("ldi r31,0xf0\n");
- __asm__ __volatile__ ("ldi r30,0x00\n");
- __asm__ __volatile__ ("ijmp\n");
-
- /* never returns */
+ /* XXX */
+ /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+ /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+ /* __asm__ __volatile__ ("eijmp\n"); */
}
void xbee_mainloop(void)
int16_t c;
/* from xbee to cmdline */
- c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
+ c = xbee_dev_recv(NULL);
if (c >= 0)
- CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
- (uint8_t)c);
+ cmdline_dev_send((uint8_t)c, NULL);
/* from cmdline to xbee */
- c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
+ c = cmdline_dev_recv(NULL);
if (c == 4) { /* CTRL-d */
+ xbee_dev_send('A', NULL);
+ xbee_dev_send('T', NULL);
+ xbee_dev_send('C', NULL);
+ xbee_dev_send('N', NULL);
+ xbee_dev_send('\n', NULL);
xbee_raw = 0;
rdline_newline(&xbeeboard.rdl,
xbeeboard.prompt);
}
else if (c >= 0) {
/* send to xbee */
- CDC_Device_SendByte(&VirtualSerial2_CDC_Interface,
- (uint8_t)c);
+ xbee_dev_send((uint8_t)c, NULL);
+
/* echo on cmdline */
- CDC_Device_SendByte(&VirtualSerial1_CDC_Interface,
- (uint8_t)c);
+ cmdline_dev_send((uint8_t)c, NULL);
}
}
else {
cmdline_poll();
xbee_proto_rx(xbee_dev);
}
+ }
+}
+
+/* return time in milliseconds on unsigned 16 bits */
+static uint16_t get_time_ms(void)
+{
+ return global_ms;
+}
+
+static void main_timer_interrupt(void)
+{
+ static uint16_t cycles;
+ static uint8_t cpt;
+
+ cpt++;
+
+ /* interrupt every 2048 cycles */
+ cycles += 2048;
+ if (cycles >= 12000) {
+ cycles -= 12000;
+ global_ms ++;
+ }
+
+ /* LED blink */
+ if (global_ms & 0x80)
+ LED1_ON();
+ else
+ LED1_OFF();
- CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
- CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
- USB_USBTask();
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
+
+ /* call scheduler every 682us with interrupt unlocked */
+ sei();
+ if ((cpt & 0x3) == 0)
+ scheduler_interrupt();
+}
+
+int main(void)
+{
+ //struct callout t1;
+ FILE *xbee_file;
+ int8_t err;
+ struct xbee_dev dev;
+
+ DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
+
+ uart_init();
+ uart_register_rx_event(CMDLINE_UART, emergency);
+
+ fdevopen(cmdline_dev_send, cmdline_dev_recv);
+ xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
+ scheduler_init();
+ timer_init();
+ timer0_register_OV_intr(main_timer_interrupt);
+
+ cmdline_init();
+ spi_servo_init();
+ beep_init();
+
+ printf_P(PSTR("\r\n"));
+ rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
+ callout_manager_init(&cm, get_time_ms);
+ //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+
+ /* initialize libxbee */
+ err = xbee_init();
+ if (err < 0)
+ return -1;
+
+ xbee_dev = &dev;
+
+ /* open xbee device */
+ if (xbee_open(xbee_dev, xbee_file) < 0)
+ return -1;
+
+ /* register default channel with a callback */
+ if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
+ xbee_rx, NULL) < 0) {
+ fprintf(stderr, "cannot register default channel\n");
+ return -1;
}
+ sei();
+
+ eeprom_load_config();
+ xbee_mainloop();
+ return 0;
}
git.droids-corp.org / protos / xbee-avr.git / blobdiff