X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=aded3128ed26a3fdecaae993016e70fd51b15e73;hp=2d1dd158f1a2c63d8b9936c7d564cc64400c62b9;hb=HEAD;hpb=a8c1b4c97c02a29a202362263597e90d36f25c18

diff --git a/main.c b/main.c
index 2d1dd15..aded312 100644
--- a/main.c
+++ b/main.c
@@ -26,7 +26,8 @@
  */
 
 /* fuses:
- * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m
+ * -> it failed but I answered y, then make reset and it was ok
  */
 
 #include <aversive.h>
@@ -46,479 +47,24 @@
 #include <errno.h>
 #include <ctype.h>
 
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
+#include <i2c.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 "spi_servo.h"
+#include "../fpv-common/i2c_commands.h"
+#include "eeprom_config.h"
+#include "beep.h"
+#include "xbee_user.h"
+#include "i2c_protocol.h"
 #include "main.h"
 
 struct xbeeboard xbeeboard;
-volatile uint16_t global_ms;
-struct callout_manager cm;
-
-#define TIMEOUT_MS 1000
+volatile uint32_t global_ms;
 
 /* global xbee device */
 struct xbee_dev *xbee_dev;
 
-/* events */
-//static struct event stdin_read_event, xbee_read_event;
-
-/* parameters */
-int xbee_raw = 0;
-int xbee_hexdump = 0;
-int xbee_debug = 0;
-
-int xbee_cmdline_input_enabled = 1;
-
-static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
-
-static void hexdump(const char *title, 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 */
-		out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
-		for (i=0; ofs+i < len && i<16; i++)
-			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_P(line+out,
-					  LINE_LEN - out,
-					  PSTR("%c"), c);
-		}
-		printf_P(PSTR("%s\r\n"), line);
-	}
-}
-
-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;
-	}
-
-	/* 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"));
-		return -1;
-	}
-
-	/* XXX use defines for these values */
-	if (frame->delivery_status == 0x00)
-		printf_P(PSTR("Success\r\n"));
-	else if (frame->delivery_status == 0x01)
-		printf_P(PSTR("MAC ACK Failure\r\n"));
-	else if (frame->delivery_status == 0x15)
-		printf_P(PSTR("Invalid destination endpoint\r\n"));
-	else if (frame->delivery_status == 0x21)
-		printf_P(PSTR("Network ACK Failure\r\n"));
-	else if (frame->delivery_status == 0x25)
-		printf_P(PSTR("Route Not Found\r\n"));
-
-	return 0;
-}
-
-static int dump_atcmd(struct xbee_ctx *ctx, 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;
-
-	if (ctx == NULL) {
-		printf_P(PSTR("no context\r\n"));
-		return -1;
-	}
-
-	/* get AT command from frame */
-	memcpy(atcmd_str, &frame->cmd, 2);
-	atcmd_str[2] = '\0';
-
-	/* see if it matches query */
-	if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
-		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_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"));
-		return -1;
-	}
-	else if (frame->status == 2) {
-		printf_P(PSTR("Invalid command\r\n"));
-		return -1;
-	}
-	else if (frame->status == 3) {
-		printf_P(PSTR("Invalid parameter\r\n"));
-		return -1;
-	}
-	else if (frame->status != 0) {
-		printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
-		return -1;
-	}
-
-	/* callback */
-	if (ctx->func != NULL)
-		ctx->func(frame, len, ctx->arg);
-
-	/* 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\r\n"), atcmd_str, result->u8);
-	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
-		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_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_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);
-
-
-	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) {
-		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;
-		}
-		default:
-			return -1;
-	}
-
-	return 0;
-}
-
-/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
-void xbee_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;
-
-	if (xbee_debug)
-		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_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_P(PSTR("Received Modem Status frame\r\n"));
-			break;
-		}
-
-		case XBEE_TYPE_RMT_ATRESP: {
-			union {
-				uint64_t u64;
-				struct {
-#if BYTE_ORDER == LITTLE_ENDIAN
-					uint32_t low;
-					uint32_t high;
-#else
-					uint32_t high;
-					uint32_t low;
-#endif
-				} u32;
-			} addr;
-			memcpy(&addr, frame, sizeof(addr));
-			addr.u64 = ntohll(addr.u64);
-			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)
-				do_hexdump = 1;
-			break;
-		}
-		case XBEE_TYPE_ATRESP: {
-			if (dump_atcmd(ctx, frame, len) < 0)
-				do_hexdump = 1;
-			break;
-		}
-
-		case XBEE_TYPE_XMIT_STATUS: {
-			if (parse_xmit_status(ctx, frame, len) < 0)
-				do_hexdump = 1;
-			break;
-		}
-
-		case XBEE_TYPE_RECV: {
-			if (xbee_recv_data(frame, len) < 0)
-				do_hexdump = 1;
-			break;
-		}
-
-		case XBEE_TYPE_ATCMD:
-		case XBEE_TYPE_ATCMD_Q:
-		case XBEE_TYPE_XMIT:
-		case XBEE_TYPE_EXPL_XMIT:
-		case XBEE_TYPE_RMT_ATCMD:
-		case XBEE_TYPE_EXPL_RECV:
-		case XBEE_TYPE_NODE_ID:
-		default:
-			printf_P(PSTR("Invalid frame\r\n"));
-			do_hexdump = 1;
-			break;
-	}
-
-	if (do_hexdump)
-		hexdump("undecoded rx frame", frame, len);
-
-	/* restart command line if it was a blocking query */
-	if (ctx != NULL) {
-		xbee_unregister_channel(dev, channel);
-		if (ctx->foreground) {
-			xbee_stdin_enable();
-			rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-		}
-	}
-}
-
-static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
-			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,
-					xbee_rx, NULL);
-	if (channel < 0) {
-		printf_P(PSTR("cannot send: no free channel\r\n"));
-		return -1;
-	}
-
-	/* copy context in the static struct table (avoiding a malloc) */
-	memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
-	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);
-
-	/* transmit the frame on this channel */
-	ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
-			      len);
-	if (ret < 0) {
-		printf_P(PSTR("cannot send\r\n"));
-		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(const 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;
-
-	memset(&ctx, 0, sizeof(ctx));
-	ctx.atcmd_query[0] = atcmd_str[0];
-	ctx.atcmd_query[1] = atcmd_str[1];
-	ctx.func = func;
-	ctx.arg = arg;
-
-	memcpy(&frame.atcmd.cmd, atcmd_str, 2);
-	memcpy(&frame.buf, param, param_len);
-
-	if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
-			 sizeof(struct xbee_atcmd_hdr) +
-			 param_len, foreground) < 0) {
-		return -1;
-	}
-
-	return 0;
-}
-
-int xbeeapp_send_msg(uint64_t addr, void *data,
-		     unsigned data_len, int foreground)
-{
-	struct xbee_ctx ctx;
-	struct {
-		struct xbee_xmit_hdr xmit;
-		char buf[XBEE_MAX_FRAME_LEN];
-	} __attribute__((packed)) frame;
-
-	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);
-
-	if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
-			 sizeof(struct xbee_xmit_hdr) +
-			 data_len, foreground) < 0) {
-		return -1;
-	}
-
-	return 0;
-}
-
-void xbee_stdin_enable(void)
-{
-	xbee_cmdline_input_enabled = 1;
-}
-
-void xbee_stdin_disable(void)
-{
-	xbee_cmdline_input_enabled = 0;
-}
-
-static void evt_timeout(struct callout_manager *cm, struct callout *clt,
-			void *arg)
-{
-	struct xbee_ctx *ctx = arg;
-
-	(void)cm;
-	(void)clt;
-
-	printf_P(PSTR("Timeout\r\n"));
-
-	/* restart command line */
-	xbee_stdin_enable();
-	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-
-	/* free event */
-	xbee_unregister_channel(xbee_dev, ctx->channel);
-}
-
-void xbee_load_timeout(struct xbee_ctx *ctx)
-{
-	callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
-}
-
-void xbee_unload_timeout(struct xbee_ctx *ctx)
-{
-	callout_stop(&cm, &ctx->timeout);
-}
-
 void bootloader(void)
 {
 #define BOOTLOADER_ADDR 0x3f000
@@ -546,59 +92,24 @@ void bootloader(void)
 	/* __asm__ __volatile__ ("eijmp\n"); */
 }
 
-void xbee_mainloop(void)
-{
-	while (1) {
-		callout_manage(&cm);
-
-		if (xbee_raw) {
-			int16_t c;
-
-			/* from xbee to cmdline */
-			c = xbee_dev_recv(NULL);
-			if (c >= 0)
-				cmdline_dev_send((uint8_t)c, NULL);
-
-			/* from cmdline to xbee */
-			c = cmdline_dev_recv(NULL);
-			if (c == 4) { /* CTRL-d */
-				xbee_raw = 0;
-				rdline_newline(&xbeeboard.rdl,
-					       xbeeboard.prompt);
-			}
-			else if (c >= 0) {
-				/* send to xbee */
-				xbee_dev_send((uint8_t)c, NULL);
-
-				/* echo on cmdline */
-				cmdline_dev_send((uint8_t)c, NULL);
-			}
-		}
-		else {
-			if (xbee_cmdline_input_enabled)
-				cmdline_poll();
-			xbee_proto_rx(xbee_dev);
-		}
-	}
-}
-
 /* return time in milliseconds on unsigned 16 bits */
-static uint16_t get_time_ms(void)
+uint16_t get_time_ms(void)
 {
-	return global_ms;
+	uint16_t ms;
+	uint8_t flags;
+	IRQ_LOCK(flags);
+	ms = global_ms;
+	IRQ_UNLOCK(flags);
+	return ms;
 }
 
 static void main_timer_interrupt(void)
 {
 	static uint16_t cycles;
-	static uint8_t cpt;
+	static uint8_t cpt = 0;
+	static uint8_t stack = 0;
 
-	/* interrupt every 2048 cycles */
-	cycles += 2048;
-	if (cycles >= 12000) {
-		cycles -= 12000;
-		global_ms ++;
-	}
+	cpt++;
 
 	/* LED blink */
 	if (global_ms & 0x80)
@@ -606,38 +117,67 @@ static void main_timer_interrupt(void)
 	else
 		LED1_OFF();
 
-	/* call scheduler every 682us with interrupt unlocked */
+	if (cpt & beep_mask)
+		BUZZER_ON();
+	else
+		BUZZER_OFF();
+
+	if ((cpt & 0x03) != 0)
+		return;
+
+	/* the following code is only called one interrupt among 4: every 682us
+	 * (at 12 Mhz) = 8192 cycles */
+	cycles += 8192;
+	if (cycles >= 12000) {
+		cycles -= 12000;
+		global_ms ++;
+	}
+
+	/* called  */
+	if (stack++ == 0)
+		LED2_ON();
 	sei();
 	if ((cpt & 0x3) == 0)
-		scheduler_interrupt();
+		callout_manage(&xbeeboard.intr_cm);
+	cli();
+	if (--stack == 0)
+		LED2_OFF();
 }
 
 int main(void)
 {
-	//struct callout t1;
 	FILE *xbee_file;
 	int8_t err;
 	struct xbee_dev dev;
 
-	DDRA = 0x07; /* LEDs */
+	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);
-	scheduler_init();
 	timer_init();
 	timer0_register_OV_intr(main_timer_interrupt);
 
-	cmdline_init();
-	spi_servo_init();
+	callout_mgr_init(&xbeeboard.intr_cm, get_time_ms);
 
-	printf_P(PSTR("\r\n"));
-	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+	cmdline_init();
+	/* LOGS */
+	error_register_emerg(mylog);
+	error_register_error(mylog);
+	error_register_warning(mylog);
+	error_register_notice(mylog);
+	error_register_debug(mylog);
+
+	/* I2C */
+	i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
+	i2c_protocol_init();
+	i2c_register_recv_event(i2c_recvevent);
+	i2c_register_send_event(i2c_sendevent);
 
-	callout_manager_init(&cm, get_time_ms);
-	//callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
+	spi_servo_init();
+	beep_init();
 
 	/* initialize libxbee */
 	err = xbee_init();
@@ -652,13 +192,22 @@ int main(void)
 
 	/* register default channel with a callback */
 	if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
-				  xbee_rx, NULL) < 0) {
+				  xbeeapp_rx, NULL) < 0) {
 		fprintf(stderr, "cannot register default channel\n");
 		return -1;
 	}
 
+	xbeeapp_init();
+
+	rc_proto_init();
+
 	sei();
 
+	eeprom_load_config();
+
+	printf_P(PSTR("\r\n"));
+	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
 	xbee_mainloop();
 	return 0;
 }