X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=2bcb3ec974bf6c2ad45334c4b03cd506e24b4279;hp=24fba694e914b892f6b5540729dd86965364c07d;hb=0f9366b7328777d91aa72f4b92cfcb232969e1ce;hpb=8c3e14e4eb2604046ff2b10ebdcc8a7b8381490e

diff --git a/main.c b/main.c
index 24fba69..2bcb3ec 100644
--- a/main.c
+++ b/main.c
@@ -60,6 +60,8 @@
 #include "main.h"
 
 struct xbeeboard xbeeboard;
+volatile uint16_t global_ms;
+struct callout_manager cm;
 
 #define TIMEOUT_MS 1000
 
@@ -85,23 +87,26 @@ static void hexdump(const char *title, const void *buf, unsigned int len)
 #define LINE_LEN 80
 	char line[LINE_LEN];	/* space needed 8+16*3+3+16 == 75 */
 
-	printf("%s at [%p], len=%d\n", title, data, len);
+	printf_P(PSTR("%s at [%p], len=%d\n"), title, data, len);
 	ofs = 0;
 	while (ofs < len) {
 		/* format 1 line in the buffer, then use printk to print them */
-		out = snprintf(line, LINE_LEN, "%08X", ofs);
+		out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
 		for (i=0; ofs+i < len && i<16; i++)
-			out += snprintf(line+out, LINE_LEN - out, " %02X",
-					data[ofs+i]&0xff);
+			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(line+out, LINE_LEN - out, "%c", c);
+			out += snprintf_P(line+out,
+					  LINE_LEN - out,
+					  PSTR("%c"), c);
 		}
-		printf("%s\n", line);
+		printf_P(PSTR("%s\r\n"), line);
 	}
 }
 
@@ -109,27 +114,27 @@ static int parse_xmit_status(struct xbee_ctx *ctx,
 			     struct xbee_xmit_status_hdr *frame, unsigned len)
 {
 	if (ctx == NULL) {
-		printf("no context\n");
+		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("invalid response 2\n");
+	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("Success\n");
+		printf_P(PSTR("Success\r\n"));
 	else if (frame->delivery_status == 0x01)
-		printf("MAC ACK Failure\n");
+		printf_P(PSTR("MAC ACK Failure\r\n"));
 	else if (frame->delivery_status == 0x15)
-		printf("Invalid destination endpoint\n");
+		printf_P(PSTR("Invalid destination endpoint\r\n"));
 	else if (frame->delivery_status == 0x21)
-		printf("Network ACK Failure\n");
+		printf_P(PSTR("Network ACK Failure\r\n"));
 	else if (frame->delivery_status == 0x25)
-		printf("Route Not Found\n");
+		printf_P(PSTR("Route Not Found\r\n"));
 
 	return 0;
 }
@@ -148,7 +153,7 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 	} __attribute__((packed)) *result;
 
 	if (ctx == NULL) {
-		printf("no context\n");
+		printf_P(PSTR("no context\r\n"));
 		return -1;
 	}
 
@@ -158,36 +163,36 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 
 	/* see if it matches query */
 	if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
-		printf("invalid response <%c%c><%s><%s>\n",
-		       frame->cmd & 0xFF,
-		       (frame->cmd >> 8) & 0xFF,
-		       atcmd_str, ctx->atcmd_query);
+		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("unknown response\n");
+		printf_P(PSTR("unknown response\r\n"));
 		return -1;
 	}
 	memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
 
 	/* bad status */
 	if (frame->status == 1) {
-		printf("Status is error\n");
+		printf_P(PSTR("Status is error\r\n"));
 		return -1;
 	}
 	else if (frame->status == 2) {
-		printf("Invalid command\n");
+		printf_P(PSTR("Invalid command\r\n"));
 		return -1;
 	}
 	else if (frame->status == 3) {
-		printf("Invalid parameter\n");
+		printf_P(PSTR("Invalid parameter\r\n"));
 		return -1;
 	}
 	else if (frame->status != 0) {
-		printf("Unknown status error %d\n", frame->status);
+		printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
 		return -1;
 	}
 
@@ -199,15 +204,19 @@ 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("<%s> is 0x%x\n", atcmd_str, result->u8);
+		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("<%s> is 0x%x\n", atcmd_str, ntohs(result->u16));
+		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("<%s> is 0x%"PRIx32"\n", atcmd_str, ntohl(result->u32));
+		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("<%s> is %d\n", atcmd_str, ntohs(result->s16));
+		printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
 	else if (len == 0)
-		printf("no data, status ok\n");
+		printf_P(PSTR("no data, status ok\r\n"));
 	else
 		hexdump("atcmd answer", frame->data, len);
 
@@ -231,7 +240,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
 			break;
 		case RC_PROTO_TYPE_RANGE: {
 			struct rc_proto_range *rcr =
-				(struct rc_proto_range *) recvframe;
+				(struct rc_proto_range *) recvframe->data;
 
 			if (datalen != sizeof(struct rc_proto_range))
 				return -1;
@@ -258,21 +267,22 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type,
 	int do_hexdump = xbee_hexdump;
 
 	if (xbee_debug)
-		printf("type=0x%x, channel=%d, ctx=%p\n", type, channel, ctx);
+		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("Received answer to query <%c%c>\n",
-			       ctx->atcmd_query[0], ctx->atcmd_query[1]);
+			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("Received Modem Status frame\n");
+			printf_P(PSTR("Received Modem Status frame\r\n"));
 			break;
 		}
 
@@ -291,8 +301,8 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type,
 			} addr;
 			memcpy(&addr, frame, sizeof(addr));
 			addr.u64 = ntohll(addr.u64);
-			printf("from remote address %"PRIx32"%"PRIx32"\n",
-			       addr.u32.high, addr.u32.low);
+			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)
@@ -325,7 +335,7 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type,
 		case XBEE_TYPE_EXPL_RECV:
 		case XBEE_TYPE_NODE_ID:
 		default:
-			printf("Invalid frame\n");
+			printf_P(PSTR("Invalid frame\r\n"));
 			do_hexdump = 1;
 			break;
 	}
@@ -350,7 +360,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 	int channel;
 
 	if (len > XBEE_MAX_FRAME_LEN) {
-		printf("frame too large\n");
+		printf_P(PSTR("frame too large\r\n"));
 		return -1;
 	}
 
@@ -358,7 +368,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 	channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
 					xbee_rx, NULL);
 	if (channel < 0) {
-		printf("cannot send: no free channel\n");
+		printf_P(PSTR("cannot send: no free channel\r\n"));
 		return -1;
 	}
 
@@ -368,8 +378,8 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 	xbee_set_opaque(xbee_dev, channel, ctx);
 
 	if (xbee_debug)
-		printf("send frame channel=%d type=0x%x len=%d\n",
-		       channel, type, len);
+		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);
 
@@ -377,7 +387,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 	ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
 			      len);
 	if (ret < 0) {
-		printf("cannot send\n");
+		printf_P(PSTR("cannot send\r\n"));
 		xbee_unregister_channel(xbee_dev, channel);
 		return -1;
 	}
@@ -467,7 +477,7 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt,
 {
 	struct xbee_ctx *ctx = arg;
 
-	printf("Timeout\n");
+	printf_P(PSTR("Timeout\r\n"));
 
 	/* restart command line */
 	xbee_stdin_enable();
@@ -489,7 +499,7 @@ void xbee_unload_timeout(struct xbee_ctx *ctx)
 
 void bootloader(void)
 {
-#define BOOTLOADER_ADDR 0x1e000
+#define BOOTLOADER_ADDR 0x1f800
 	if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 		printf_P(PSTR("Bootloader is not present\r\n"));
 		return;
@@ -518,13 +528,12 @@ void xbee_mainloop(void)
 			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_raw = 0;
 				rdline_newline(&xbeeboard.rdl,
@@ -532,11 +541,10 @@ void xbee_mainloop(void)
 			}
 			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 {
@@ -545,8 +553,104 @@ void xbee_mainloop(void)
 			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)
+{
+	return global_ms;
+}
+
+static void do_led_blink(struct callout_manager *cm,
+			 struct callout *clt, void *dummy)
+{
+	static uint8_t a = 0;
+
+#ifdef USE_USB
+	if (a & 1)
+		LEDs_SetAllLEDs(0);
+	else
+		LEDs_SetAllLEDs(0xff);
+#else
+	/* XXX */
+#endif
+	a++;
+}
+
+static void increment_ms(void *dummy)
+{
+	global_ms++;
+}
+
+static void main_timer_interrupt(void)
+{
+	static uint8_t cpt = 0;
+	cpt++;
+	sei();
+	if ((cpt & 0x3) == 0)
+		scheduler_interrupt();
+}
+
+/** 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();
+
+	LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY);
+#else
+	uart_init();
+#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);
+	cmdline_init();
+#ifndef USE_USB
+	/* in usb mode, it's done in usb callback */
+	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+#endif
+	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)
+		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,
+				  xbee_rx, NULL) < 0) {
+		fprintf(stderr, "cannot register default channel\n");
+		return -1;
+	}
+
+	sei();
+	xbee_mainloop();
+	return 0;
+}