X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=main.c;h=b81e0a8c82fcb45b16fa42e2ae17d0515430027c;hp=e9454c405bf6902bff2a1ae3dd67f64d9f45119f;hb=58822b8f01bbc479c273d2c440e6415c754cba9e;hpb=9a9b64112aee5ab26398b46cb13b7e49c292a355 diff --git a/main.c b/main.c index e9454c4..b81e0a8 100644 --- a/main.c +++ b/main.c @@ -25,6 +25,10 @@ * 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 #include #include @@ -42,27 +46,16 @@ #include #include -#include -#include #include #include #include -#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 "eeprom_config.h" +#include "beep.h" #include "main.h" struct xbeeboard xbeeboard; -volatile uint16_t global_ms; -struct callout_manager cm; +volatile uint32_t global_ms; #define TIMEOUT_MS 1000 @@ -114,6 +107,8 @@ static void hexdump(const char *title, const void *buf, unsigned int len) 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; @@ -144,7 +139,7 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame, 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; @@ -205,15 +200,16 @@ 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_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) @@ -228,13 +224,18 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame, 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) { +#if 0 case RC_PROTO_TYPE_CHANNEL: { struct rc_proto_channel *rcc = (struct rc_proto_channel *) recvframe->data; @@ -246,7 +247,7 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len) val += 512; spi_servo_set(0, val); break; - } + } case RC_PROTO_TYPE_RANGE: { struct rc_proto_range *rcr = (struct rc_proto_range *) recvframe->data; @@ -259,6 +260,17 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len) 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: @@ -269,11 +281,11 @@ int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len) } /* 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"), @@ -315,24 +327,28 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type, /* 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; } @@ -345,11 +361,13 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type, 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 */ @@ -375,7 +393,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len, /* 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; @@ -393,8 +411,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len, 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); @@ -481,11 +498,14 @@ void xbee_stdin_disable(void) 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 */ @@ -494,21 +514,23 @@ static void evt_timeout(struct callout_manager *cm, struct callout *clt, /* 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) { -#ifndef USE_USB #define BOOTLOADER_ADDR 0x3f000 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) { printf_P(PSTR("Bootloader is not present\r\n")); @@ -520,29 +542,24 @@ void bootloader(void) TIMSK1 = 0; TIMSK2 = 0; TIMSK3 = 0; - TIMSK4 = 0; - TIMSK5 = 0; EIMSK = 0; UCSR0B = 0; UCSR1B = 0; - UCSR2B = 0; - UCSR3B = 0; SPCR = 0; TWCR = 0; ACSR = 0; ADCSRA = 0; - EIND = 1; - __asm__ __volatile__ ("ldi r31,0xf8\n"); - __asm__ __volatile__ ("ldi r30,0x00\n"); - __asm__ __volatile__ ("eijmp\n"); -#endif + /* 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; @@ -555,6 +572,11 @@ void xbee_mainloop(void) /* from cmdline to xbee */ 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); @@ -570,90 +592,71 @@ void xbee_mainloop(void) else { if (xbee_cmdline_input_enabled) cmdline_poll(); - xbee_proto_rx(xbee_dev); + xbee_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; + return (uint16_t)global_ms; } -static void do_led_blink(struct callout_manager *cm, - struct callout *clt, void *dummy) +static void main_timer_interrupt(void) { - static uint8_t a = 0; + static uint16_t cycles; + static uint8_t cpt; + + cpt++; -#ifdef USE_USB - if (a & 1) - LEDs_SetAllLEDs(0); + /* LED blink */ + if (global_ms & 0x80) + LED1_ON(); else - LEDs_SetAllLEDs(0xff); -#else - /* XXX */ -#endif - a++; -} + LED1_OFF(); -static void increment_ms(void *dummy) -{ - global_ms++; -} + if (cpt & beep_mask) + BUZZER_ON(); + else + BUZZER_OFF(); -static void main_timer_interrupt(void) -{ - static uint8_t cpt = 0; - cpt++; + /* 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(); - if ((cpt & 0x3) == 0) - scheduler_interrupt(); + callout_manage(&xbeeboard.intr_cm); } -/** 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; + //struct callout t1; FILE *xbee_file; int8_t err; struct xbee_dev dev; -#ifdef USE_USB - SetupHardware(); + DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */; - LEDs_SetAllLEDs(LEDMASK_USB_NOTREADY); -#else uart_init(); uart_register_rx_event(CMDLINE_UART, emergency); -#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); + callout_mgr_init(&xbeeboard.intr_cm, get_time_ms); + callout_mgr_init(&xbeeboard.mainloop_cm, get_time_ms); + cmdline_init(); spi_servo_init(); -#ifndef USE_USB - /* in usb mode, it's done in usb callback */ - printf_P(PSTR("\r\n")); - rdline_newline(&xbeeboard.rdl, xbeeboard.prompt); -#endif - callout_manager_init(&cm, get_time_ms); - callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL); + beep_init(); /* initialize libxbee */ err = xbee_init(); @@ -668,12 +671,17 @@ 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; } - sei(); + + eeprom_load_config(); + + printf_P(PSTR("\r\n")); + rdline_newline(&xbeeboard.rdl, xbeeboard.prompt); + xbee_mainloop(); return 0; }