#include <aversive.h>
#include <aversive/endian.h>
+#include <aversive/wait.h>
#include <aversive/pgmspace.h>
#include <callout.h>
/* parameters */
int xbee_raw = 0;
-int xbee_hexdump = 0;
-int xbee_debug = 0;
+
+static struct callout xbee_rx_poll_timer;
static void __hexdump(const void *buf, unsigned int len)
{
LINE_LEN - out,
PSTR("%c"), c);
}
- printf_P(PSTR("%s\r\n"), line);
+ DEBUG(E_USER_XBEE, "%s", line);
}
}
{
unsigned i;
- printf_P(PSTR("dump %s\r\n"), title);
+ DEBUG(E_USER_XBEE, "dump %s", title);
+
for (i = 0; i < msg->iovlen; i++) {
- printf_P(PSTR("iovec %d at %p, len=%d\r\n"), 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)
+void hexdump(const char *title, const void *buf, unsigned int len)
{
- printf_P(PSTR("dump %s at [%p], len=%d\r\n"), title, buf, len);
+ DEBUG(E_USER_XBEE, "dump %s at [%p], len=%d", title, buf, len);
__hexdump(buf, 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) */
+ /* see if it matches a xmit query (atcmd_query must be \0) */
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,
+/* Write in a human readable format the content of an atcmd response frame. It
+ * assumes the frame is valid .*/
+void atresp_to_str(char *buf, unsigned buflen, const 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;
+ char atcmd_str[3];
+ const struct xbee_atcmd *cmd_pgm;
+ struct xbee_atcmd cmd;
+
+ /* get AT command from frame */
+ memcpy(atcmd_str, &frame->cmd, 2);
+ atcmd_str[2] = '\0';
+
+
+ /* see if it exists */
+ cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
+ if (cmd_pgm == NULL) {
+ snprintf(buf, buflen, "<%s> (unknown cmd)", atcmd_str);
+ return;
+ }
+ memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
+ len -= sizeof(*frame);
+
+ /* dump frame */
+ result = (void *)frame->data;
+
+ if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
+ snprintf(buf, buflen, "<%s> is 0x%x (%d)", atcmd_str,
+ result->u8, result->u8);
+ else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
+ snprintf(buf, buflen, "<%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))
+ snprintf(buf, buflen, "<%s> is 0x%"PRIx32" (%"PRIu32")",
+ atcmd_str, ntohl(result->u32), ntohl(result->u32));
+ else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
+ snprintf(buf, buflen, "<%s> is %d",
+ atcmd_str, ntohs(result->s16));
+ else if (len == 0)
+ snprintf(buf, buflen, "<%s> no data", atcmd_str);
+ else
+ snprintf(buf, buflen, "invalid atresp");
+}
+
+static int parse_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
+ unsigned len)
+{
+ char atcmd_str[3];
+ char buf[32];
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);
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"));
+ 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;
}
- /* callback */
- if (ctx->func != NULL)
- ctx->func(frame, len, ctx->arg);
+ atresp_to_str(buf, sizeof(buf), frame, len);
- /* 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 (%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 (%d)\r\n"),
- 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));
- 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);
+ len -= sizeof(*frame);
+ NOTICE(E_USER_XBEE, "status ok, datalen=%d, %s", len, buf);
+ if (len != 0)
+ 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) {
-#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;
-
- 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;
- }
-#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;
- }
-
- return 0;
-}
-
-/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
+/* Main xbee rx entry point for application. It decodes the xbee frame type and
+ * dispatch to the application layer. Then "len" argument does not include the
+ * xbee_hdr structure (delimiter, len, type, id) and checksum. */
int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
void *frame, unsigned len, void *opaque)
{
struct xbee_ctx *ctx = opaque;
- int8_t ret = 0;
+ int8_t ret = XBEE_USER_RETCODE_OK;
- 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);
+ __hexdump(frame, len);
/* 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[0])
+ 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 */
- if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
- ret = -1;
+ if (parse_atcmd(ctx, frame + 10, len - 10) < 0)
+ ret = XBEE_USER_RETCODE_BAD_FRAME;
break;
}
case XBEE_TYPE_ATRESP: {
- if (dump_atcmd(ctx, frame, len) < 0)
- ret = -1;
+ if (parse_atcmd(ctx, frame, len) < 0)
+ ret = XBEE_USER_RETCODE_BAD_FRAME;
break;
}
case XBEE_TYPE_XMIT_STATUS: {
if (parse_xmit_status(ctx, frame, len) < 0)
- ret = -1;
+ ret = XBEE_USER_RETCODE_BAD_FRAME;
break;
}
case XBEE_TYPE_RECV: {
- if (xbee_recv_data(frame, len) < 0)
- ret = -1;
+ if (rc_proto_rx(frame, len) < 0)
+ ret = XBEE_USER_RETCODE_BAD_FRAME;
break;
}
case XBEE_TYPE_EXPL_RECV:
case XBEE_TYPE_NODE_ID:
default:
- printf_P(PSTR("Invalid frame\r\n"));
- ret = -1;
+ ERROR(E_USER_XBEE, "Invalid frame");
+ ret = XBEE_USER_RETCODE_BAD_FRAME;
break;
}
- if (ret < 0)
- hexdump("undecoded rx frame", frame, len);
- else if (xbee_hexdump)
- hexdump("undecoded rx frame", frame, len);
+ if (ret != XBEE_USER_RETCODE_OK) {
+ WARNING(E_USER_XBEE, "undecoded rx frame");
+ }
- /* restart command line if it was a blocking query */
if (ctx != NULL) {
+ /* callback */
+ if (ctx->rx_cb != NULL)
+ ret = ctx->rx_cb(ret, frame, len, ctx->arg);
+
+ /* free channel now, it implicitely frees the context too */
xbee_unregister_channel(dev, channel);
- if (ctx->foreground) {
- xbee_stdin_enable();
- rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
- }
}
return ret;
}
-static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg,
- int foreground)
+/* called with callout prio == XBEE_PRIO */
+static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg)
{
int ret;
int 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\r\n"),
- channel, type);
- if (xbee_hexdump)
- hexdump_msg("xmit frame", msg);
+ 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_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;
}
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(char *atcmd_str, void *param,
- unsigned param_len, int foreground,
- int (*func)(void *frame, unsigned len, void *arg), void *arg)
+/* send an AT command with parameters filled by caller. param is the argument
+ * of the atcmd (if any). */
+int xbeeapp_send_atcmd(char *atcmd_str, void *param, unsigned param_len,
+ xbee_user_rx_cb_t *rx_cb, void *arg)
{
struct xbee_ctx ctx;
/* struct xbee_atcmd_hdr atcmd_hdr; -> no needed same than atcmd_str */
memset(&ctx, 0, sizeof(ctx));
ctx.atcmd_query[0] = atcmd_str[0];
ctx.atcmd_query[1] = atcmd_str[1];
- ctx.func = func;
+ ctx.rx_cb = rx_cb;
ctx.arg = arg;
- 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 (param_len == 0) {
+ msg.iovlen = 1;
+ msg.iov[0].buf = atcmd_str;
+ msg.iov[0].len = 2;
+ }
+ else {
+ 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;
+ }
prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
- ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg, foreground);
- callout_mgr_set_prio(&xbeeboard.intr_cm, prio);
+ if (prio > XBEE_PRIO)
+ ERROR(E_USER_XBEE, "invalid prio = %d\n", prio);
+ ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
return ret;
}
-int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
+int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg,
+ xbee_user_rx_cb_t *rx_cb, void *arg)
{
struct xbee_ctx ctx;
struct xbee_xmit_hdr xmit_hdr;
int ret;
if (msg->iovlen + 2 > XBEE_MSG_MAXIOV) {
- printf_P(PSTR("too many iovecs\r\n"));
+ ERROR(E_USER_XBEE, "too many iovecs");
return -1;
}
-
xmit_hdr.dstaddr = htonll(addr);
xmit_hdr.reserved = htons(0xFFFE);
xmit_hdr.bcast_radius = 0;
msg2.iov[i+1] = msg->iov[i];
memset(&ctx, 0, sizeof(ctx));
- ctx.atcmd_query[0] = '\0';
+ ctx.rx_cb = rx_cb;
+ ctx.arg = arg;
prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
- ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2, foreground);
- callout_mgr_set_prio(&xbeeboard.intr_cm, prio);
+ if (prio > XBEE_PRIO)
+ ERROR(E_USER_XBEE, "invalid prio = %d\n", prio);
+ ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
return ret;
}
(void)cm;
(void)clt;
- printf_P(PSTR("Timeout\r\n"));
+ WARNING(E_USER_XBEE, "Timeout");
- /* restart command line */
- xbee_stdin_enable();
- rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+ /* callback */
+ if (ctx->rx_cb != NULL)
+ ctx->rx_cb(XBEE_USER_RETCODE_TIMEOUT, NULL, 0, ctx->arg);
- /* free event */
+ /* free channel, it implicitely frees the context too */
xbee_unregister_channel(xbee_dev, ctx->channel);
-
callout_stop(cm, clt);
}
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,
uint8_t prio;
while (1) {
- callout_manage(&xbeeboard.mainloop_cm);
-
if (xbee_raw) {
int16_t c;
xbee_dev_send('C', NULL);
xbee_dev_send('N', NULL);
xbee_dev_send('\n', NULL);
- callout_mgr_set_prio(&xbeeboard.intr_cm, prio);
+ callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
xbee_raw = 0;
rdline_newline(&xbeeboard.rdl,
xbeeboard.prompt);
void xbeeapp_init(void)
{
- callout_init(&xbeeboard.xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
+ callout_init(&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);
+ callout_schedule(&xbeeboard.intr_cm, &xbee_rx_poll_timer,
+ XBEE_POLL_TIMER_MS);
}
git.droids-corp.org / protos / xbee-avr.git / blobdiff