prevent going in raw mode when monitor/range is running

[protos/xbee-avr.git] / main.c

diff --git a/main.c b/main.c
index c6f13e3..b81e0a8 100644 (file)
--- a/main.c
+++ b/main.c
@@ -46,8 +46,6 @@
 #include <errno.h>
 #include <ctype.h>
 
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
@@ -57,8 +55,7 @@
 #include "main.h"
 
 struct xbeeboard xbeeboard;
-volatile uint16_t global_ms;
-struct callout_manager cm;
+volatile uint32_t global_ms;
 
 #define TIMEOUT_MS 1000
 
@@ -203,15 +200,16 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *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);
+               printf_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
+                        result->u8);
        else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
-               printf_P(PSTR("<%s> is 0x%x\r\n"),
+               printf_P(PSTR("<%s> is 0x%x (%d)\r\n"),
                         atcmd_str,
-                        ntohs(result->u16));
+                        ntohs(result->u16), 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"),
+               printf_P(PSTR("<%s> is 0x%"PRIx32" (%"PRIu32")\r\n"),
                         atcmd_str,
-                        ntohl(result->u32));
+                        ntohl(result->u32), ntohs(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)
@@ -265,6 +263,16 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
                        break;
                }
 #endif
+               case RC_PROTO_HELLO: {
+                       struct rc_proto_hello *rch =
+                               (struct rc_proto_hello *) recvframe->data;
+
+                       if (xbee_debug)
+                               printf_P(PSTR("recv hello len=%d\r\n"),
+                                        rch->datalen);
+
+                       break;
+               }
                default:
                        return -1;
        }
@@ -273,11 +281,11 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 }
 
 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
+int8_t xbeeapp_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;
+       int8_t ret = 0;
 
        if (xbee_debug)
                printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
@@ -319,24 +327,28 @@ void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 
                        /* this answer contains an atcmd answer at offset 10 */
                        if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
                case XBEE_TYPE_ATRESP: {
                        if (dump_atcmd(ctx, frame, len) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
 
                case XBEE_TYPE_XMIT_STATUS: {
                        if (parse_xmit_status(ctx, frame, len) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
 
                case XBEE_TYPE_RECV: {
                        if (xbee_recv_data(frame, len) < 0)
-                               do_hexdump = 1;
+                               ret = -1;
+
                        break;
                }
 
@@ -349,11 +361,13 @@ void xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
                case XBEE_TYPE_NODE_ID:
                default:
                        printf_P(PSTR("Invalid frame\r\n"));
-                       do_hexdump = 1;
+                       ret = -1;
                        break;
        }
 
-       if (do_hexdump)
+       if (ret < 0)
+               hexdump("undecoded rx frame", frame, len);
+       else if (xbee_hexdump)
                hexdump("undecoded rx frame", frame, len);
 
        /* restart command line if it was a blocking query */
@@ -484,7 +498,7 @@ void xbee_stdin_disable(void)
        xbee_cmdline_input_enabled = 0;
 }
 
-static void evt_timeout(struct callout_manager *cm, struct callout *clt,
+static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
                        void *arg)
 {
        struct xbee_ctx *ctx = arg;
@@ -500,16 +514,19 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 
        /* free event */
        xbee_unregister_channel(xbee_dev, ctx->channel);
+
+       callout_stop(cm, clt);
 }
 
 void xbee_load_timeout(struct xbee_ctx *ctx)
 {
-       callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
+       callout_init(&ctx->timeout, evt_timeout, ctx, 0);
+       callout_schedule(&xbeeboard.mainloop_cm, &ctx->timeout, TIMEOUT_MS);
 }
 
 void xbee_unload_timeout(struct xbee_ctx *ctx)
 {
-       callout_stop(&cm, &ctx->timeout);
+       callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
 }
 
 void bootloader(void)
@@ -542,7 +559,7 @@ void bootloader(void)
 void xbee_mainloop(void)
 {
        while (1) {
-               callout_manage(&cm);
+               callout_manage(&xbeeboard.mainloop_cm);
 
                if (xbee_raw) {
                        int16_t c;
@@ -583,7 +600,7 @@ void xbee_mainloop(void)
 /* return time in milliseconds on unsigned 16 bits */
 static uint16_t get_time_ms(void)
 {
-       return global_ms;
+       return (uint16_t)global_ms;
 }
 
 static void main_timer_interrupt(void)
@@ -593,13 +610,6 @@ static void main_timer_interrupt(void)
 
        cpt++;
 
-       /* interrupt every 2048 cycles */
-       cycles += 2048;
-       if (cycles >= 12000) {
-               cycles -= 12000;
-               global_ms ++;
-       }
-
        /* LED blink */
        if (global_ms & 0x80)
                LED1_ON();
@@ -611,10 +621,17 @@ static void main_timer_interrupt(void)
        else
                BUZZER_OFF();
 
-       /* call scheduler every 682us with interrupt unlocked */
+       /* interrupt every 2048 cycles */
+       cycles += 2048;
+       if (cycles >= 12000) {
+               cycles -= 12000;
+               global_ms ++;
+       }
+
+       /* called every 682us (at 12 Mhz), but global_ms is not incremented at
+        * each call */
        sei();
-       if ((cpt & 0x3) == 0)
-               scheduler_interrupt();
+       callout_manage(&xbeeboard.intr_cm);
 }
 
 int main(void)
@@ -631,20 +648,16 @@ int main(void)
 
        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);
 
+       callout_mgr_init(&xbeeboard.intr_cm, get_time_ms);
+       callout_mgr_init(&xbeeboard.mainloop_cm, get_time_ms);
+
        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)
@@ -665,6 +678,10 @@ int main(void)
        sei();
 
        eeprom_load_config();
+
+       printf_P(PSTR("\r\n"));
+       rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
        xbee_mainloop();
        return 0;
 }