#include <aversive.h>
#include <aversive/endian.h>
+#include <aversive/wait.h>
#include <aversive/pgmspace.h>
+#include <callout.h>
#include <rdline.h>
#include <xbee.h>
+#include <xbee_rxtx.h>
#include "rc_proto.h"
#include "xbee_user.h"
#include "main.h"
-#define XBEE_TIMEOUT_MS 1000
+#define XBEE_TIMEOUT_MS 1000
+#define XBEE_POLL_TIMER_MS 5
static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
/* parameters */
int xbee_raw = 0;
-int xbee_hexdump = 0;
-int xbee_debug = 0;
-static void hexdump(const char *title, const void *buf, unsigned int len)
+static void __hexdump(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 */
LINE_LEN - out,
PSTR("%c"), c);
}
- printf_P(PSTR("%s\r\n"), line);
+ DEBUG(E_USER_XBEE, "%s");
+ }
+}
+
+static void hexdump_msg(const char *title, const struct xbee_msg *msg)
+{
+ unsigned i;
+
+ DEBUG(E_USER_XBEE, "dump %s", title);
+ for (i = 0; i < msg->iovlen; i++) {
+ DEBUG(E_USER_XBEE, "iovec %d at %p, len=%d", i,
+ msg->iov[i].buf, msg->iov[i].len);
+ __hexdump(msg->iov[i].buf, msg->iov[i].len);
}
}
+static void hexdump(const char *title, const void *buf, unsigned int len)
+{
+ DEBUG(E_USER_XBEE, "dump %s at [%p], len=%d", title, buf, len);
+ __hexdump(buf, len);
+}
+
static int parse_xmit_status(struct xbee_ctx *ctx,
- struct xbee_xmit_status_hdr *frame, unsigned len)
+ struct xbee_xmit_status_hdr *frame, unsigned len)
{
(void)len;
if (ctx == NULL) {
- printf_P(PSTR("no context\r\n"));
+ ERROR(E_USER_XBEE, "no context");
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"));
+ ERROR(E_USER_XBEE, "invalid response 2");
return -1;
}
/* XXX use defines for these values */
if (frame->delivery_status == 0x00)
- printf_P(PSTR("Success\r\n"));
+ NOTICE(E_USER_XBEE, "Success");
else if (frame->delivery_status == 0x01)
- printf_P(PSTR("MAC ACK Failure\r\n"));
+ WARNING(E_USER_XBEE, "MAC ACK Failure");
else if (frame->delivery_status == 0x15)
- printf_P(PSTR("Invalid destination endpoint\r\n"));
+ WARNING(E_USER_XBEE, "Invalid destination endpoint");
else if (frame->delivery_status == 0x21)
- printf_P(PSTR("Network ACK Failure\r\n"));
+ WARNING(E_USER_XBEE, "Network ACK Failure");
else if (frame->delivery_status == 0x25)
- printf_P(PSTR("Route Not Found\r\n"));
+ WARNING(E_USER_XBEE, "Route Not Found");
return 0;
}
static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
- unsigned len)
+ unsigned len)
{
char atcmd_str[3];
const struct xbee_atcmd *cmd_pgm;
} __attribute__((packed)) *result;
if (ctx == NULL) {
- printf_P(PSTR("no context\r\n"));
+ ERROR(E_USER_XBEE, "no context");
return -1;
}
/* see if it matches query */
if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
- printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
+ ERROR(E_USER_XBEE, "invalid response <%c%c><%s><%s>",
frame->cmd & 0xFF,
(frame->cmd >> 8) & 0xFF,
atcmd_str, ctx->atcmd_query);
/* see if it exists */
cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
if (cmd_pgm == NULL) {
- printf_P(PSTR("unknown response\r\n"));
+ ERROR(E_USER_XBEE, "unknown response");
return -1;
}
memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
/* bad status */
if (frame->status == 1) {
- printf_P(PSTR("Status is error\r\n"));
+ WARNING(E_USER_XBEE, "Status is error");
return -1;
}
else if (frame->status == 2) {
- printf_P(PSTR("Invalid command\r\n"));
+ WARNING(E_USER_XBEE, "Invalid command");
return -1;
}
else if (frame->status == 3) {
- printf_P(PSTR("Invalid parameter\r\n"));
+ WARNING(E_USER_XBEE, "Invalid parameter");
return -1;
}
else if (frame->status != 0) {
- printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
+ WARNING(E_USER_XBEE, "Unknown status error %d",
+ 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_P(PSTR("<%s> is 0x%x (%d)\r\n"), atcmd_str, result->u8,
- result->u8);
+ NOTICE(E_USER_XBEE, "<%s> is 0x%x (%d)", 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 (%d)\r\n"),
- atcmd_str,
- ntohs(result->u16), ntohs(result->u16));
+ NOTICE(E_USER_XBEE, "<%s> is 0x%x (%d)", atcmd_str,
+ 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" (%"PRIu32")\r\n"),
- atcmd_str,
- ntohl(result->u32), ntohs(result->u32));
+ NOTICE(E_USER_XBEE, "<%s> is 0x%"PRIx32" (%"PRIu32")",
+ atcmd_str, 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));
+ NOTICE(E_USER_XBEE, "<%s> is %d",
+ atcmd_str, ntohs(result->s16));
else if (len == 0)
- printf_P(PSTR("no data, status ok\r\n"));
+ NOTICE(E_USER_XBEE, "no data, status ok");
else
hexdump("atcmd answer", frame->data, len);
-
return 0;
}
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);
-
+ NOTICE(E_USER_XBEE, "recv hello len=%d",
+ rch->datalen);
+ /* XXX stats */
break;
}
default:
struct xbee_ctx *ctx = opaque;
int8_t ret = 0;
- if (xbee_debug)
- printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
- type, channel, ctx);
+ NOTICE(E_USER_XBEE, "type=0x%x, channel=%d, ctx=%p",
+ 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]);
+ if (ctx->atcmd_query)
+ NOTICE(E_USER_XBEE, "Received answer to query <%c%c>",
+ 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"));
+ NOTICE(E_USER_XBEE, "Received Modem Status frame");
break;
}
} addr;
memcpy(&addr, frame, sizeof(addr));
addr.u64 = ntohll(addr.u64);
- printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
+ NOTICE(E_USER_XBEE, "from remote address %"PRIx32"%"PRIx32"",
addr.u32.high, addr.u32.low);
/* this answer contains an atcmd answer at offset 10 */
case XBEE_TYPE_EXPL_RECV:
case XBEE_TYPE_NODE_ID:
default:
- printf_P(PSTR("Invalid frame\r\n"));
+ ERROR(E_USER_XBEE, "Invalid frame");
ret = -1;
break;
}
- if (ret < 0)
- hexdump("undecoded rx frame", frame, len);
- else if (xbee_hexdump)
- hexdump("undecoded rx frame", frame, len);
+ WARNING(E_USER_XBEE, "undecoded rx frame");
+ hexdump("undecoded rx frame", frame, len);
/* restart command line if it was a blocking query */
if (ctx != NULL) {
return ret;
}
-static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
- int foreground)
+static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg,
+ 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,
xbeeapp_rx, NULL);
if (channel < 0) {
- printf_P(PSTR("cannot send: no free channel\r\n"));
+ ERROR(E_USER_XBEE, "cannot send: no free channel");
return -1;
}
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);
+ NOTICE(E_USER_XBEE, "send frame channel=%d type=0x%x",
+ channel, type);
+ hexdump_msg("xmit frame", msg);
/* transmit the frame on this channel */
- ret = xbee_tx(xbee_dev, channel, type, buf, len);
+ ret = xbee_tx_iovec(xbee_dev, channel, type, msg);
if (ret < 0) {
- printf_P(PSTR("cannot send\r\n"));
+ ERROR(E_USER_XBEE, "cannot send");
xbee_unregister_channel(xbee_dev, channel);
return -1;
}
/* 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)
+int xbeeapp_send_atcmd(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;
+ /* struct xbee_atcmd_hdr atcmd_hdr; -> no needed same than atcmd_str */
+ struct xbee_msg msg;
+ uint8_t prio;
+ int ret;
memset(&ctx, 0, sizeof(ctx));
ctx.atcmd_query[0] = atcmd_str[0];
ctx.func = func;
ctx.arg = arg;
- memcpy(&frame.atcmd.cmd, atcmd_str, 2);
- memcpy(&frame.buf, param, param_len);
+ msg.iovlen = 2;
+ msg.iov[0].buf = atcmd_str;
+ msg.iov[0].len = 2;
+ msg.iov[1].buf = param;
+ msg.iov[1].len = param_len;
- if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
- sizeof(struct xbee_atcmd_hdr) +
- param_len, foreground) < 0) {
- return -1;
- }
+ prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+ ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg, foreground);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
- return 0;
+ return ret;
}
-int xbeeapp_send_msg(uint64_t addr, void *data,
- unsigned data_len, int foreground)
+int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
{
struct xbee_ctx ctx;
- struct {
- struct xbee_xmit_hdr xmit;
- char buf[XBEE_MAX_FRAME_LEN];
- } __attribute__((packed)) frame;
+ struct xbee_xmit_hdr xmit_hdr;
+ struct xbee_msg msg2;
+ unsigned i;
+ uint8_t prio;
+ int ret;
+
+ if (msg->iovlen + 2 > XBEE_MSG_MAXIOV) {
+ ERROR(E_USER_XBEE, "too many iovecs");
+ return -1;
+ }
+
+
+ xmit_hdr.dstaddr = htonll(addr);
+ xmit_hdr.reserved = htons(0xFFFE);
+ xmit_hdr.bcast_radius = 0;
+ xmit_hdr.opts = 0;
+
+ msg2.iovlen = msg->iovlen + 1;
+ msg2.iov[0].buf = &xmit_hdr;
+ msg2.iov[0].len = sizeof(xmit_hdr);
+ for (i = 0; i < msg->iovlen; i++)
+ msg2.iov[i+1] = msg->iov[i];
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);
+ prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+ ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2, foreground);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
- if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
- sizeof(struct xbee_xmit_hdr) +
- data_len, foreground) < 0) {
- return -1;
- }
-
- return 0;
+ return ret;
}
static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
(void)cm;
(void)clt;
- printf_P(PSTR("Timeout\r\n"));
+ WARNING(E_USER_XBEE, "Timeout");
/* restart command line */
xbee_stdin_enable();
void xbee_load_timeout(struct xbee_ctx *ctx)
{
- callout_init(&ctx->timeout, evt_timeout, ctx, 0);
- callout_schedule(&xbeeboard.mainloop_cm, &ctx->timeout, XBEE_TIMEOUT_MS);
+ uint8_t prio;
+
+ callout_init(&ctx->timeout, evt_timeout, ctx, XBEE_PRIO);
+ prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+ callout_schedule(&xbeeboard.intr_cm, &ctx->timeout, XBEE_TIMEOUT_MS);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
}
void xbee_unload_timeout(struct xbee_ctx *ctx)
{
- callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
+ uint8_t prio;
+
+ prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+ callout_stop(&xbeeboard.intr_cm, &ctx->timeout);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
+}
+
+static void xbee_rx_poll_timer_cb(struct callout_mgr *cm, struct callout *tim,
+ void *arg)
+{
+ (void) arg;
+ xbee_rx(xbee_dev);
+ callout_reschedule(cm, tim, XBEE_POLL_TIMER_MS);
}
void xbee_mainloop(void)
{
- while (1) {
- callout_manage(&xbeeboard.mainloop_cm);
+ uint8_t prio;
+ while (1) {
if (xbee_raw) {
int16_t c;
/* from cmdline to xbee */
c = cmdline_dev_recv(NULL);
if (c == 4) { /* CTRL-d */
+ prio = callout_mgr_set_prio(&xbeeboard.intr_cm,
+ XBEE_PRIO);
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);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
xbee_raw = 0;
rdline_newline(&xbeeboard.rdl,
xbeeboard.prompt);
else {
if (xbee_cmdline_input_enabled)
cmdline_poll();
- xbee_rx(xbee_dev);
+ /* xbee rx polling is done in a timer, so we can block
+ * the cmdline without loosing incoming packets */
}
}
}
{
xbee_cmdline_input_enabled = 0;
}
+
+void xbeeapp_init(void)
+{
+ callout_init(&xbeeboard.xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
+ NULL, XBEE_PRIO);
+ callout_schedule(&xbeeboard.intr_cm,
+ &xbeeboard.xbee_rx_poll_timer, XBEE_POLL_TIMER_MS);
+}
git.droids-corp.org / protos / xbee-avr.git / blobdiff