* 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:0x91:m -U efuse:w:0xff:m
+ * -> it failed but I answered y, then make reset and it was ok
+ */
+
#include <aversive.h>
#include <aversive/queue.h>
#include <aversive/endian.h>
#include <errno.h>
#include <ctype.h>
-#include <scheduler.h>
-#include <clock_time.h>
#include <parse.h>
#include <rdline.h>
#include <timer.h>
+#include <i2c.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 "spi_servo.h"
+#include "../fpv-common/i2c_commands.h"
+#include "eeprom_config.h"
+#include "beep.h"
+#include "xbee_user.h"
+#include "i2c_protocol.h"
#include "main.h"
struct xbeeboard xbeeboard;
-volatile uint16_t global_ms;
-struct callout_manager cm;
-
-#define TIMEOUT_MS 1000
+volatile uint32_t global_ms;
/* global xbee device */
struct xbee_dev *xbee_dev;
-/* events */
-//static struct event stdin_read_event, xbee_read_event;
-
-/* parameters */
-int xbee_raw = 0;
-int xbee_hexdump = 0;
-int xbee_debug = 0;
-
-int xbee_cmdline_input_enabled = 1;
-
-static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
-
-static void hexdump(const char *title, const void *buf, unsigned int len)
-{
- unsigned int i, out, ofs;
- const unsigned char *data = buf;
-#define LINE_LEN 80
- char line[LINE_LEN]; /* space needed 8+16*3+3+16 == 75 */
-
- 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_P(line, LINE_LEN, PSTR("%08X"), ofs);
- for (i=0; ofs+i < len && i<16; i++)
- 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_P(line+out,
- LINE_LEN - out,
- PSTR("%c"), c);
- }
- 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_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_P(PSTR("invalid response 2\r\n"));
- return -1;
- }
-
- /* XXX use defines for these values */
- if (frame->delivery_status == 0x00)
- printf_P(PSTR("Success\r\n"));
- else if (frame->delivery_status == 0x01)
- printf_P(PSTR("MAC ACK Failure\r\n"));
- else if (frame->delivery_status == 0x15)
- printf_P(PSTR("Invalid destination endpoint\r\n"));
- else if (frame->delivery_status == 0x21)
- printf_P(PSTR("Network ACK Failure\r\n"));
- else if (frame->delivery_status == 0x25)
- printf_P(PSTR("Route Not Found\r\n"));
-
- return 0;
-}
-
-static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
- unsigned len)
-{
- char atcmd_str[3];
- const struct xbee_atcmd *cmd_pgm;
- struct xbee_atcmd cmd;
- union {
- uint8_t u8;
- uint16_t u16;
- uint32_t u32;
- int16_t s16;
- } __attribute__((packed)) *result;
-
- if (ctx == NULL) {
- printf_P(PSTR("no context\r\n"));
- return -1;
- }
-
- /* get AT command from frame */
- memcpy(atcmd_str, &frame->cmd, 2);
- atcmd_str[2] = '\0';
-
- /* see if it matches query */
- if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
- 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_P(PSTR("unknown response\r\n"));
- return -1;
- }
- memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
-
- /* bad status */
- if (frame->status == 1) {
- printf_P(PSTR("Status is error\r\n"));
- return -1;
- }
- else if (frame->status == 2) {
- printf_P(PSTR("Invalid command\r\n"));
- return -1;
- }
- else if (frame->status == 3) {
- printf_P(PSTR("Invalid parameter\r\n"));
- return -1;
- }
- else if (frame->status != 0) {
- printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
- return -1;
- }
-
- /* callback */
- if (ctx->func != NULL)
- ctx->func(frame, len, ctx->arg);
-
- /* dump frame */
- result = (void *)frame->data;
- len -= offsetof(struct xbee_atresp_hdr, data);
- if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
- 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_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_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_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
- else if (len == 0)
- printf_P(PSTR("no data, status ok\r\n"));
- else
- hexdump("atcmd answer", frame->data, len);
-
-
- return 0;
-}
-
-
-int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
-{
- 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: {
- 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;
-
- if (datalen != sizeof(struct rc_proto_range))
- return -1;
-
- if (rcr->power_level >= MAX_POWER_LEVEL)
- return -1;
-
- rc_proto_rx_range(rcr->power_level);
-
- break;
- }
- default:
- return -1;
- }
-
- return 0;
-}
-
-/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbee_rx(struct xbee_dev *dev, int channel, int type,
- void *frame, unsigned len, void *opaque)
-{
- struct xbee_ctx *ctx = opaque;
- int do_hexdump = xbee_hexdump;
-
- if (xbee_debug)
- 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_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_P(PSTR("Received Modem Status frame\r\n"));
- break;
- }
-
- case XBEE_TYPE_RMT_ATRESP: {
- union {
- uint64_t u64;
- struct {
-#if BYTE_ORDER == LITTLE_ENDIAN
- uint32_t low;
- uint32_t high;
-#else
- uint32_t high;
- uint32_t low;
-#endif
- } u32;
- } addr;
- memcpy(&addr, frame, sizeof(addr));
- addr.u64 = ntohll(addr.u64);
- 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)
- do_hexdump = 1;
- break;
- }
- case XBEE_TYPE_ATRESP: {
- if (dump_atcmd(ctx, frame, len) < 0)
- do_hexdump = 1;
- break;
- }
-
- case XBEE_TYPE_XMIT_STATUS: {
- if (parse_xmit_status(ctx, frame, len) < 0)
- do_hexdump = 1;
- break;
- }
-
- case XBEE_TYPE_RECV: {
- if (xbee_recv_data(frame, len) < 0)
- do_hexdump = 1;
- break;
- }
-
- case XBEE_TYPE_ATCMD:
- case XBEE_TYPE_ATCMD_Q:
- case XBEE_TYPE_XMIT:
- case XBEE_TYPE_EXPL_XMIT:
- case XBEE_TYPE_RMT_ATCMD:
- case XBEE_TYPE_EXPL_RECV:
- case XBEE_TYPE_NODE_ID:
- default:
- printf_P(PSTR("Invalid frame\r\n"));
- do_hexdump = 1;
- break;
- }
-
- if (do_hexdump)
- hexdump("undecoded rx frame", frame, len);
-
- /* restart command line if it was a blocking query */
- if (ctx != NULL) {
- xbee_unregister_channel(dev, channel);
- if (ctx->foreground) {
- xbee_stdin_enable();
- rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
- }
- }
-}
-
-static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
- int foreground)
-{
- int ret;
- int channel;
-
- if (len > XBEE_MAX_FRAME_LEN) {
- printf_P(PSTR("frame too large\r\n"));
- return -1;
- }
-
- /* register a channel */
- channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
- xbee_rx, NULL);
- if (channel < 0) {
- printf_P(PSTR("cannot send: no free channel\r\n"));
- return -1;
- }
-
- /* copy context in the static struct table (avoiding a malloc) */
- memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
- ctx = &xbee_ctx[channel];
- xbee_set_opaque(xbee_dev, channel, ctx);
-
- if (xbee_debug)
- 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);
-
- /* transmit the frame on this channel */
- ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
- len);
- if (ret < 0) {
- printf_P(PSTR("cannot send\r\n"));
- xbee_unregister_channel(xbee_dev, channel);
- return -1;
- }
-
- ctx->channel = channel;
- xbee_load_timeout(ctx); /* load a timeout event */
-
- /* suspend command line until we have answer or timeout */
- if (foreground) {
- ctx->foreground = 1;
- rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
- xbee_stdin_disable(); /* unload file descriptor polling */
- }
-
- return 0;
-}
-
-/* send an AT command with parameters filled by caller. Disable
- * command line until we get the answer or until a timeout occurs */
-int xbeeapp_send_atcmd(const char *atcmd_str,
- void *param, unsigned param_len, int foreground,
- int (*func)(void *frame, unsigned len, void *arg), void *arg)
-{
- struct xbee_ctx ctx;
- struct {
- struct xbee_atcmd_hdr atcmd;
- char buf[XBEE_MAX_FRAME_LEN];
- } __attribute__((packed)) frame;
-
- memset(&ctx, 0, sizeof(ctx));
- ctx.atcmd_query[0] = atcmd_str[0];
- ctx.atcmd_query[1] = atcmd_str[1];
- ctx.func = func;
- ctx.arg = arg;
-
- memcpy(&frame.atcmd.cmd, atcmd_str, 2);
- memcpy(&frame.buf, param, param_len);
-
- if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
- sizeof(struct xbee_atcmd_hdr) +
- param_len, foreground) < 0) {
- return -1;
- }
-
- return 0;
-}
-
-int xbeeapp_send_msg(uint64_t addr, void *data,
- unsigned data_len, int foreground)
-{
- struct xbee_ctx ctx;
- struct {
- struct xbee_xmit_hdr xmit;
- char buf[XBEE_MAX_FRAME_LEN];
- } __attribute__((packed)) frame;
-
- memset(&ctx, 0, sizeof(ctx));
- ctx.atcmd_query[0] = '\0';
-
- frame.xmit.dstaddr = htonll(addr);
- frame.xmit.reserved = htons(0xFFFE);
- frame.xmit.bcast_radius = 0;
- frame.xmit.opts = 0;
- memcpy(&frame.buf, data, data_len);
-
- if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
- sizeof(struct xbee_xmit_hdr) +
- data_len, foreground) < 0) {
- return -1;
- }
-
- return 0;
-}
-
-void xbee_stdin_enable(void)
-{
- xbee_cmdline_input_enabled = 1;
-}
-
-void xbee_stdin_disable(void)
-{
- xbee_cmdline_input_enabled = 0;
-}
-
-static void evt_timeout(struct callout_manager *cm, struct callout *clt,
- void *arg)
-{
- struct xbee_ctx *ctx = arg;
-
- (void)cm;
- (void)clt;
-
- printf_P(PSTR("Timeout\r\n"));
-
- /* restart command line */
- xbee_stdin_enable();
- rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-
- /* free event */
- xbee_unregister_channel(xbee_dev, ctx->channel);
-}
-
-void xbee_load_timeout(struct xbee_ctx *ctx)
-{
- callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
-}
-
-void xbee_unload_timeout(struct xbee_ctx *ctx)
-{
- callout_stop(&cm, &ctx->timeout);
-}
-
void bootloader(void)
{
-#ifndef USE_USB
#define BOOTLOADER_ADDR 0x3f000
if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
printf_P(PSTR("Bootloader is not present\r\n"));
/* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
/* __asm__ __volatile__ ("ldi r30,0x00\n"); */
/* __asm__ __volatile__ ("eijmp\n"); */
-#endif
-}
-
-void xbee_mainloop(void)
-{
- while (1) {
- callout_manage(&cm);
-
- if (xbee_raw) {
- int16_t c;
-
- /* from xbee to cmdline */
- c = xbee_dev_recv(NULL);
- if (c >= 0)
- cmdline_dev_send((uint8_t)c, NULL);
-
- /* from cmdline to xbee */
- c = cmdline_dev_recv(NULL);
- if (c == 4) { /* CTRL-d */
- xbee_raw = 0;
- rdline_newline(&xbeeboard.rdl,
- xbeeboard.prompt);
- }
- else if (c >= 0) {
- /* send to xbee */
- xbee_dev_send((uint8_t)c, NULL);
-
- /* echo on cmdline */
- cmdline_dev_send((uint8_t)c, NULL);
- }
- }
- else {
- if (xbee_cmdline_input_enabled)
- cmdline_poll();
- xbee_proto_rx(xbee_dev);
- }
-
-#ifdef USE_USB
- CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
- CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
- USB_USBTask();
-#endif
- }
}
/* return time in milliseconds on unsigned 16 bits */
-static uint16_t get_time_ms(void)
+uint16_t get_time_ms(void)
{
- return global_ms;
+ uint16_t ms;
+ uint8_t flags;
+ IRQ_LOCK(flags);
+ ms = global_ms;
+ IRQ_UNLOCK(flags);
+ return ms;
}
-static void do_led_blink(struct callout_manager *cm,
- struct callout *clt, void *dummy)
+static void main_timer_interrupt(void)
{
- static uint8_t a = 0;
+ static uint16_t cycles;
+ static uint8_t cpt = 0;
+ static uint8_t stack = 0;
- (void)cm;
- (void)clt;
- (void)dummy;
+ cpt++;
-#ifdef USE_USB
- if (a & 1)
- LEDs_SetAllLEDs(0);
+ /* LED blink */
+ if (global_ms & 0x80)
+ LED1_ON();
else
- LEDs_SetAllLEDs(0xff);
-#else
- /* XXX */
-#endif
- a++;
-}
+ LED1_OFF();
-static void increment_ms(void *dummy)
-{
- (void)dummy;
- global_ms++;
-}
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
-static void main_timer_interrupt(void)
-{
- static uint8_t cpt = 0;
- cpt++;
+ if ((cpt & 0x03) != 0)
+ return;
+
+ /* the following code is only called one interrupt among 4: every 682us
+ * (at 12 Mhz) = 8192 cycles */
+ cycles += 8192;
+ if (cycles >= 12000) {
+ cycles -= 12000;
+ global_ms ++;
+ }
+
+ /* called */
+ if (stack++ == 0)
+ LED2_ON();
sei();
if ((cpt & 0x3) == 0)
- scheduler_interrupt();
+ callout_manage(&xbeeboard.intr_cm);
+ cli();
+ if (--stack == 0)
+ LED2_OFF();
}
-/** Main program entry point. This routine contains the overall program flow, including initial
- * setup of all components and the main program loop.
- */
int main(void)
{
- struct callout t1;
FILE *xbee_file;
int8_t err;
struct xbee_dev dev;
-#ifdef USE_USB
- SetupHardware();
+ DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
- LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
-#else
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
-#endif
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);
- scheduler_add_periodical_event_priority(increment_ms, NULL,
- 1000L / SCHEDULER_UNIT,
- LED_PRIO);
+ callout_mgr_init(&xbeeboard.intr_cm, get_time_ms);
+
cmdline_init();
+ /* LOGS */
+ error_register_emerg(mylog);
+ error_register_error(mylog);
+ error_register_warning(mylog);
+ error_register_notice(mylog);
+ error_register_debug(mylog);
+
+ /* I2C */
+ i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
+ i2c_protocol_init();
+ i2c_register_recv_event(i2c_recvevent);
+ i2c_register_send_event(i2c_sendevent);
+
spi_servo_init();
-#ifndef USE_USB
- /* in usb mode, it's done in usb callback */
- printf_P(PSTR("\r\n"));
- rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-#endif
- callout_manager_init(&cm, get_time_ms);
- callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+ beep_init();
/* initialize libxbee */
err = xbee_init();
/* register default channel with a callback */
if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
- xbee_rx, NULL) < 0) {
+ xbeeapp_rx, NULL) < 0) {
fprintf(stderr, "cannot register default channel\n");
return -1;
}
+ xbeeapp_init();
+
+ rc_proto_init();
+
sei();
+
+ eeprom_load_config();
+
+ printf_P(PSTR("\r\n"));
+ rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
xbee_mainloop();
return 0;
}
git.droids-corp.org / protos / xbee-avr.git / blobdiff