+/*
+ * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the University of California, Berkeley nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stddef.h>
+#include <ctype.h>
+
+#include <aversive.h>
+#include <aversive/endian.h>
+#include <aversive/pgmspace.h>
+
+#include <rdline.h>
+#include <xbee.h>
+
+#include "rc_proto.h"
+#include "xbee_user.h"
+#include "main.h"
+
+#define XBEE_TIMEOUT_MS 1000
+
+static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
+
+int xbee_cmdline_input_enabled = 1;
+
+/* 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)
+{
+ 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 (%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);
+
+
+ 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 */
+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;
+
+ 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)
+ ret = -1;
+
+ break;
+ }
+ case XBEE_TYPE_ATRESP: {
+ if (dump_atcmd(ctx, frame, len) < 0)
+ ret = -1;
+
+ break;
+ }
+
+ case XBEE_TYPE_XMIT_STATUS: {
+ if (parse_xmit_status(ctx, frame, len) < 0)
+ ret = -1;
+
+ break;
+ }
+
+ case XBEE_TYPE_RECV: {
+ if (xbee_recv_data(frame, len) < 0)
+ ret = -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"));
+ ret = -1;
+ break;
+ }
+
+ 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 */
+ if (ctx != NULL) {
+ 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, 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,
+ xbeeapp_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_tx(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;
+}
+
+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 */
+ xbee_stdin_enable();
+ rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+
+ /* free event */
+ 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);
+}
+
+void xbee_unload_timeout(struct xbee_ctx *ctx)
+{
+ callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
+}
+
+void xbee_mainloop(void)
+{
+ while (1) {
+ callout_manage(&xbeeboard.mainloop_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_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);
+ }
+ 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_rx(xbee_dev);
+ }
+ }
+}
+
+void xbee_stdin_enable(void)
+{
+ xbee_cmdline_input_enabled = 1;
+}
+
+void xbee_stdin_disable(void)
+{
+ xbee_cmdline_input_enabled = 0;
+}
git.droids-corp.org / protos / xbee-avr.git / commitdiff