* 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
+ */
+
#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 "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 uint32_t global_ms;
#define TIMEOUT_MS 1000
#define LINE_LEN 80
char line[LINE_LEN]; /* space needed 8+16*3+3+16 == 75 */
- printf_P(PSTR("%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 */
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;
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;
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)
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:
+#if 0
+ 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;
rc_proto_rx_range(rcr->power_level);
+ 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:
}
/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbee_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"),
/* 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;
}
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 */
/* register a channel */
channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
- xbee_rx, NULL);
+ xbeeapp_rx, NULL);
if (channel < 0) {
printf_P(PSTR("cannot send: no free channel\r\n"));
return -1;
hexdump("xmit frame", buf, len);
/* transmit the frame on this channel */
- ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
- len);
+ ret = xbee_tx(xbee_dev, channel, type, buf, len);
if (ret < 0) {
printf_P(PSTR("cannot send\r\n"));
xbee_unregister_channel(xbee_dev, channel);
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;
+ (void)cm;
+ (void)clt;
+
printf_P(PSTR("Timeout\r\n"));
/* restart command line */
/* 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)
{
-#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)
{
while (1) {
- callout_manage(&cm);
+ callout_manage(&xbeeboard.mainloop_cm);
if (xbee_raw) {
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 {
if (xbee_cmdline_input_enabled)
cmdline_poll();
- xbee_proto_rx(xbee_dev);
+ xbee_rx(xbee_dev);
}
+ }
+}
+
+/* return time in milliseconds on unsigned 16 bits */
+static uint16_t get_time_ms(void)
+{
+ return (uint16_t)global_ms;
+}
+
+static void main_timer_interrupt(void)
+{
+ static uint16_t cycles;
+ static uint8_t cpt;
- CDC_Device_USBTask(&VirtualSerial1_CDC_Interface);
- CDC_Device_USBTask(&VirtualSerial2_CDC_Interface);
- USB_USBTask();
+ cpt++;
+
+ /* LED blink */
+ if (global_ms & 0x80)
+ LED1_ON();
+ else
+ LED1_OFF();
+
+ if (cpt & beep_mask)
+ BUZZER_ON();
+ else
+ BUZZER_OFF();
+
+ /* 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();
+ callout_manage(&xbeeboard.intr_cm);
+}
+
+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);
+ 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();
+
+ /* 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,
+ xbeeapp_rx, NULL) < 0) {
+ fprintf(stderr, "cannot register default channel\n");
+ return -1;
+ }
+ sei();
+
+ eeprom_load_config();
+
+ printf_P(PSTR("\r\n"));
+ rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
+ xbee_mainloop();
+ return 0;
}