20e26b01ab166dd77e65198e63eb17b50378c738
[protos/xbee-avr.git] / main.c
1 /*
2  * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
3  * All rights reserved.
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions are met:
6  *
7  *     * Redistributions of source code must retain the above copyright
8  *       notice, this list of conditions and the following disclaimer.
9  *     * Redistributions in binary form must reproduce the above copyright
10  *       notice, this list of conditions and the following disclaimer in the
11  *       documentation and/or other materials provided with the distribution.
12  *     * Neither the name of the University of California, Berkeley nor the
13  *       names of its contributors may be used to endorse or promote products
14  *       derived from this software without specific prior written permission.
15  *
16  * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
17  * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19  * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
20  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26  */
27
28 /* fuses:
29  * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x99:m -U efuse:w:0xff:m
30  */
31
32 #include <aversive.h>
33 #include <aversive/queue.h>
34 #include <aversive/endian.h>
35 #include <aversive/wait.h>
36 #include <aversive/error.h>
37
38 #include <uart.h>
39
40 #include <stdio.h>
41 #include <string.h>
42 #include <stdint.h>
43 #include <inttypes.h>
44 #include <stdlib.h>
45 #include <stdarg.h>
46 #include <errno.h>
47 #include <ctype.h>
48
49 #include <scheduler.h>
50 #include <clock_time.h>
51 #include <parse.h>
52 #include <rdline.h>
53 #include <timer.h>
54
55 #include "eeprom_config.h"
56 #include "beep.h"
57 #include "main.h"
58
59 struct xbeeboard xbeeboard;
60 volatile uint16_t global_ms;
61 struct callout_manager cm;
62
63 #define TIMEOUT_MS 1000
64
65 /* global xbee device */
66 struct xbee_dev *xbee_dev;
67
68 /* events */
69 //static struct event stdin_read_event, xbee_read_event;
70
71 /* parameters */
72 int xbee_raw = 0;
73 int xbee_hexdump = 0;
74 int xbee_debug = 0;
75
76 int xbee_cmdline_input_enabled = 1;
77
78 static struct xbee_ctx xbee_ctx[XBEE_MAX_CHANNEL];
79
80 static void hexdump(const char *title, const void *buf, unsigned int len)
81 {
82         unsigned int i, out, ofs;
83         const unsigned char *data = buf;
84 #define LINE_LEN 80
85         char line[LINE_LEN];    /* space needed 8+16*3+3+16 == 75 */
86
87         printf_P(PSTR("%s at [%p], len=%d\r\n"), title, data, len);
88         ofs = 0;
89         while (ofs < len) {
90                 /* format 1 line in the buffer, then use printk to print them */
91                 out = snprintf_P(line, LINE_LEN, PSTR("%08X"), ofs);
92                 for (i=0; ofs+i < len && i<16; i++)
93                         out += snprintf_P(line+out, LINE_LEN - out,
94                                           PSTR(" %02X"),
95                                           data[ofs+i]&0xff);
96                 for (;i<=16;i++)
97                         out += snprintf(line+out, LINE_LEN - out, "   ");
98                 for (i=0; ofs < len && i<16; i++, ofs++) {
99                         unsigned char c = data[ofs];
100                         if (!isascii(c) || !isprint(c))
101                                 c = '.';
102                         out += snprintf_P(line+out,
103                                           LINE_LEN - out,
104                                           PSTR("%c"), c);
105                 }
106                 printf_P(PSTR("%s\r\n"), line);
107         }
108 }
109
110 static int parse_xmit_status(struct xbee_ctx *ctx,
111                              struct xbee_xmit_status_hdr *frame, unsigned len)
112 {
113         (void)len;
114
115         if (ctx == NULL) {
116                 printf_P(PSTR("no context\r\n"));
117                 return -1;
118         }
119
120         /* see if it matches a xmit query (atcmd_query must be NULL) */
121         if (ctx->atcmd_query[0] != '\0') {
122                 printf_P(PSTR("invalid response 2\r\n"));
123                 return -1;
124         }
125
126         /* XXX use defines for these values */
127         if (frame->delivery_status == 0x00)
128                 printf_P(PSTR("Success\r\n"));
129         else if (frame->delivery_status == 0x01)
130                 printf_P(PSTR("MAC ACK Failure\r\n"));
131         else if (frame->delivery_status == 0x15)
132                 printf_P(PSTR("Invalid destination endpoint\r\n"));
133         else if (frame->delivery_status == 0x21)
134                 printf_P(PSTR("Network ACK Failure\r\n"));
135         else if (frame->delivery_status == 0x25)
136                 printf_P(PSTR("Route Not Found\r\n"));
137
138         return 0;
139 }
140
141 static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
142                unsigned len)
143 {
144         char atcmd_str[3];
145         const struct xbee_atcmd *cmd_pgm;
146         struct xbee_atcmd cmd;
147         union {
148                 uint8_t u8;
149                 uint16_t u16;
150                 uint32_t u32;
151                 int16_t s16;
152         } __attribute__((packed)) *result;
153
154         if (ctx == NULL) {
155                 printf_P(PSTR("no context\r\n"));
156                 return -1;
157         }
158
159         /* get AT command from frame */
160         memcpy(atcmd_str, &frame->cmd, 2);
161         atcmd_str[2] = '\0';
162
163         /* see if it matches query */
164         if (memcmp(atcmd_str, ctx->atcmd_query, 2)) {
165                 printf_P(PSTR("invalid response <%c%c><%s><%s>\r\n"),
166                          frame->cmd & 0xFF,
167                          (frame->cmd >> 8) & 0xFF,
168                          atcmd_str, ctx->atcmd_query);
169                 return -1;
170         }
171
172         /* see if it exists */
173         cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
174         if (cmd_pgm == NULL) {
175                 printf_P(PSTR("unknown response\r\n"));
176                 return -1;
177         }
178         memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
179
180         /* bad status */
181         if (frame->status == 1) {
182                 printf_P(PSTR("Status is error\r\n"));
183                 return -1;
184         }
185         else if (frame->status == 2) {
186                 printf_P(PSTR("Invalid command\r\n"));
187                 return -1;
188         }
189         else if (frame->status == 3) {
190                 printf_P(PSTR("Invalid parameter\r\n"));
191                 return -1;
192         }
193         else if (frame->status != 0) {
194                 printf_P(PSTR("Unknown status error %d\r\n"), frame->status);
195                 return -1;
196         }
197
198         /* callback */
199         if (ctx->func != NULL)
200                 ctx->func(frame, len, ctx->arg);
201
202         /* dump frame */
203         result = (void *)frame->data;
204         len -= offsetof(struct xbee_atresp_hdr, data);
205         if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
206                 printf_P(PSTR("<%s> is 0x%x\r\n"), atcmd_str, result->u8);
207         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
208                 printf_P(PSTR("<%s> is 0x%x\r\n"),
209                          atcmd_str,
210                          ntohs(result->u16));
211         else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
212                 printf_P(PSTR("<%s> is 0x%"PRIx32"\r\n"),
213                          atcmd_str,
214                          ntohl(result->u32));
215         else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
216                 printf_P(PSTR("<%s> is %d\r\n"), atcmd_str, ntohs(result->s16));
217         else if (len == 0)
218                 printf_P(PSTR("no data, status ok\r\n"));
219         else
220                 hexdump("atcmd answer", frame->data, len);
221
222
223         return 0;
224 }
225
226
227 int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
228 {
229         unsigned int datalen;
230         struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
231
232         if (len <  sizeof(*recvframe))
233                 return -1;
234
235         datalen = len - sizeof(*recvframe);
236         if (datalen < sizeof(struct rc_proto_hdr))
237                 return -1;
238
239         switch (rch->type) {
240                 case RC_PROTO_TYPE_CHANNEL: {
241                         struct rc_proto_channel *rcc =
242                                 (struct rc_proto_channel *) recvframe->data;
243                         int16_t val;
244                         if (datalen != sizeof(struct rc_proto_channel))
245                                 return -1;
246                         val = ntohs(rcc->axis[0]);
247                         val >>= 6;
248                         val += 512;
249                         spi_servo_set(0, val);
250                         break;
251                 }
252                 case RC_PROTO_TYPE_RANGE: {
253                         struct rc_proto_range *rcr =
254                                 (struct rc_proto_range *) recvframe->data;
255
256                         if (datalen != sizeof(struct rc_proto_range))
257                                 return -1;
258
259                         if (rcr->power_level >= MAX_POWER_LEVEL)
260                                 return -1;
261
262                         rc_proto_rx_range(rcr->power_level);
263
264                         break;
265                 }
266                 default:
267                         return -1;
268         }
269
270         return 0;
271 }
272
273 /* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
274 void xbee_rx(struct xbee_dev *dev, int channel, int type,
275              void *frame, unsigned len, void *opaque)
276 {
277         struct xbee_ctx *ctx = opaque;
278         int do_hexdump = xbee_hexdump;
279
280         if (xbee_debug)
281                 printf_P(PSTR("type=0x%x, channel=%d, ctx=%p\r\n"),
282                          type, channel, ctx);
283
284         /* if ctx is !NULL, it is an answer to a query */
285         if (ctx != NULL) {
286                 /* XXX only delete timeout if answer matched */
287                 xbee_unload_timeout(ctx);
288                 if (xbee_debug && ctx->atcmd_query)
289                         printf_P(PSTR("Received answer to query <%c%c>\r\n"),
290                                  ctx->atcmd_query[0], ctx->atcmd_query[1]);
291         }
292
293         /* some additional checks before sending */
294         switch (type) {
295                 case XBEE_TYPE_MODEM_STATUS: {
296                         printf_P(PSTR("Received Modem Status frame\r\n"));
297                         break;
298                 }
299
300                 case XBEE_TYPE_RMT_ATRESP: {
301                         union {
302                                 uint64_t u64;
303                                 struct {
304 #if BYTE_ORDER == LITTLE_ENDIAN
305                                         uint32_t low;
306                                         uint32_t high;
307 #else
308                                         uint32_t high;
309                                         uint32_t low;
310 #endif
311                                 } u32;
312                         } addr;
313                         memcpy(&addr, frame, sizeof(addr));
314                         addr.u64 = ntohll(addr.u64);
315                         printf_P(PSTR("from remote address %"PRIx32"%"PRIx32"\r\n"),
316                                  addr.u32.high, addr.u32.low);
317
318                         /* this answer contains an atcmd answer at offset 10 */
319                         if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
320                                 do_hexdump = 1;
321                         break;
322                 }
323                 case XBEE_TYPE_ATRESP: {
324                         if (dump_atcmd(ctx, frame, len) < 0)
325                                 do_hexdump = 1;
326                         break;
327                 }
328
329                 case XBEE_TYPE_XMIT_STATUS: {
330                         if (parse_xmit_status(ctx, frame, len) < 0)
331                                 do_hexdump = 1;
332                         break;
333                 }
334
335                 case XBEE_TYPE_RECV: {
336                         if (xbee_recv_data(frame, len) < 0)
337                                 do_hexdump = 1;
338                         break;
339                 }
340
341                 case XBEE_TYPE_ATCMD:
342                 case XBEE_TYPE_ATCMD_Q:
343                 case XBEE_TYPE_XMIT:
344                 case XBEE_TYPE_EXPL_XMIT:
345                 case XBEE_TYPE_RMT_ATCMD:
346                 case XBEE_TYPE_EXPL_RECV:
347                 case XBEE_TYPE_NODE_ID:
348                 default:
349                         printf_P(PSTR("Invalid frame\r\n"));
350                         do_hexdump = 1;
351                         break;
352         }
353
354         if (do_hexdump)
355                 hexdump("undecoded rx frame", frame, len);
356
357         /* restart command line if it was a blocking query */
358         if (ctx != NULL) {
359                 xbee_unregister_channel(dev, channel);
360                 if (ctx->foreground) {
361                         xbee_stdin_enable();
362                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
363                 }
364         }
365 }
366
367 static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
368                         int foreground)
369 {
370         int ret;
371         int channel;
372
373         if (len > XBEE_MAX_FRAME_LEN) {
374                 printf_P(PSTR("frame too large\r\n"));
375                 return -1;
376         }
377
378         /* register a channel */
379         channel = xbee_register_channel(xbee_dev, XBEE_CHANNEL_ANY,
380                                         xbee_rx, NULL);
381         if (channel < 0) {
382                 printf_P(PSTR("cannot send: no free channel\r\n"));
383                 return -1;
384         }
385
386         /* copy context in the static struct table (avoiding a malloc) */
387         memcpy(&xbee_ctx[channel], ctx, sizeof(*ctx));
388         ctx = &xbee_ctx[channel];
389         xbee_set_opaque(xbee_dev, channel, ctx);
390
391         if (xbee_debug)
392                 printf_P(PSTR("send frame channel=%d type=0x%x len=%d\r\n"),
393                          channel, type, len);
394         if (xbee_hexdump)
395                 hexdump("xmit frame", buf, len);
396
397         /* transmit the frame on this channel */
398         ret = xbee_proto_xmit(xbee_dev, channel, type, buf,
399                               len);
400         if (ret < 0) {
401                 printf_P(PSTR("cannot send\r\n"));
402                 xbee_unregister_channel(xbee_dev, channel);
403                 return -1;
404         }
405
406         ctx->channel = channel;
407         xbee_load_timeout(ctx);   /* load a timeout event */
408
409         /* suspend command line until we have answer or timeout */
410         if (foreground) {
411                 ctx->foreground = 1;
412                 rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
413                 xbee_stdin_disable();  /* unload file descriptor polling */
414         }
415
416         return 0;
417 }
418
419 /* send an AT command with parameters filled by caller. Disable
420  * command line until we get the answer or until a timeout occurs */
421 int xbeeapp_send_atcmd(const char *atcmd_str,
422                        void *param, unsigned param_len, int foreground,
423                        int (*func)(void *frame, unsigned len, void *arg), void *arg)
424 {
425         struct xbee_ctx ctx;
426         struct {
427                 struct xbee_atcmd_hdr atcmd;
428                 char buf[XBEE_MAX_FRAME_LEN];
429         } __attribute__((packed)) frame;
430
431         memset(&ctx, 0, sizeof(ctx));
432         ctx.atcmd_query[0] = atcmd_str[0];
433         ctx.atcmd_query[1] = atcmd_str[1];
434         ctx.func = func;
435         ctx.arg = arg;
436
437         memcpy(&frame.atcmd.cmd, atcmd_str, 2);
438         memcpy(&frame.buf, param, param_len);
439
440         if (xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &frame,
441                          sizeof(struct xbee_atcmd_hdr) +
442                          param_len, foreground) < 0) {
443                 return -1;
444         }
445
446         return 0;
447 }
448
449 int xbeeapp_send_msg(uint64_t addr, void *data,
450                      unsigned data_len, int foreground)
451 {
452         struct xbee_ctx ctx;
453         struct {
454                 struct xbee_xmit_hdr xmit;
455                 char buf[XBEE_MAX_FRAME_LEN];
456         } __attribute__((packed)) frame;
457
458         memset(&ctx, 0, sizeof(ctx));
459         ctx.atcmd_query[0] = '\0';
460
461         frame.xmit.dstaddr = htonll(addr);
462         frame.xmit.reserved = htons(0xFFFE);
463         frame.xmit.bcast_radius = 0;
464         frame.xmit.opts = 0;
465         memcpy(&frame.buf, data, data_len);
466
467         if (xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &frame,
468                          sizeof(struct xbee_xmit_hdr) +
469                          data_len, foreground) < 0) {
470                 return -1;
471         }
472
473         return 0;
474 }
475
476 void xbee_stdin_enable(void)
477 {
478         xbee_cmdline_input_enabled = 1;
479 }
480
481 void xbee_stdin_disable(void)
482 {
483         xbee_cmdline_input_enabled = 0;
484 }
485
486 static void evt_timeout(struct callout_manager *cm, struct callout *clt,
487                         void *arg)
488 {
489         struct xbee_ctx *ctx = arg;
490
491         (void)cm;
492         (void)clt;
493
494         printf_P(PSTR("Timeout\r\n"));
495
496         /* restart command line */
497         xbee_stdin_enable();
498         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
499
500         /* free event */
501         xbee_unregister_channel(xbee_dev, ctx->channel);
502 }
503
504 void xbee_load_timeout(struct xbee_ctx *ctx)
505 {
506         callout_reset(&cm, &ctx->timeout, TIMEOUT_MS, SINGLE, evt_timeout, ctx);
507 }
508
509 void xbee_unload_timeout(struct xbee_ctx *ctx)
510 {
511         callout_stop(&cm, &ctx->timeout);
512 }
513
514 void bootloader(void)
515 {
516 #define BOOTLOADER_ADDR 0x3f000
517         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
518                 printf_P(PSTR("Bootloader is not present\r\n"));
519                 return;
520         }
521         cli();
522         /* ... very specific :( */
523         TIMSK0 = 0;
524         TIMSK1 = 0;
525         TIMSK2 = 0;
526         TIMSK3 = 0;
527         EIMSK = 0;
528         UCSR0B = 0;
529         UCSR1B = 0;
530         SPCR = 0;
531         TWCR = 0;
532         ACSR = 0;
533         ADCSRA = 0;
534
535         /* XXX */
536         /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
537         /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
538         /* __asm__ __volatile__ ("eijmp\n"); */
539 }
540
541 void xbee_mainloop(void)
542 {
543         while (1) {
544                 callout_manage(&cm);
545
546                 if (xbee_raw) {
547                         int16_t c;
548
549                         /* from xbee to cmdline */
550                         c = xbee_dev_recv(NULL);
551                         if (c >= 0)
552                                 cmdline_dev_send((uint8_t)c, NULL);
553
554                         /* from cmdline to xbee */
555                         c = cmdline_dev_recv(NULL);
556                         if (c == 4) { /* CTRL-d */
557                                 xbee_dev_send('A', NULL);
558                                 xbee_dev_send('T', NULL);
559                                 xbee_dev_send('C', NULL);
560                                 xbee_dev_send('N', NULL);
561                                 xbee_dev_send('\n', NULL);
562                                 xbee_raw = 0;
563                                 rdline_newline(&xbeeboard.rdl,
564                                                xbeeboard.prompt);
565                         }
566                         else if (c >= 0) {
567                                 /* send to xbee */
568                                 xbee_dev_send((uint8_t)c, NULL);
569
570                                 /* echo on cmdline */
571                                 cmdline_dev_send((uint8_t)c, NULL);
572                         }
573                 }
574                 else {
575                         if (xbee_cmdline_input_enabled)
576                                 cmdline_poll();
577                         xbee_proto_rx(xbee_dev);
578                 }
579         }
580 }
581
582 /* return time in milliseconds on unsigned 16 bits */
583 static uint16_t get_time_ms(void)
584 {
585         return global_ms;
586 }
587
588 static void main_timer_interrupt(void)
589 {
590         static uint16_t cycles;
591         static uint8_t cpt;
592
593         cpt++;
594
595         /* interrupt every 2048 cycles */
596         cycles += 2048;
597         if (cycles >= 12000) {
598                 cycles -= 12000;
599                 global_ms ++;
600         }
601
602         /* LED blink */
603         if (global_ms & 0x80)
604                 LED1_ON();
605         else
606                 LED1_OFF();
607
608         if (cpt & beep_mask)
609                 BUZZER_ON();
610         else
611                 BUZZER_OFF();
612
613         /* call scheduler every 682us with interrupt unlocked */
614         sei();
615         if ((cpt & 0x3) == 0)
616                 scheduler_interrupt();
617 }
618
619 int main(void)
620 {
621         //struct callout t1;
622         FILE *xbee_file;
623         int8_t err;
624         struct xbee_dev dev;
625
626         DDRA = 0x07 /* LEDs */ | 0x10 /* buzzer */;
627
628         uart_init();
629         uart_register_rx_event(CMDLINE_UART, emergency);
630
631         fdevopen(cmdline_dev_send, cmdline_dev_recv);
632         xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
633         scheduler_init();
634         timer_init();
635         timer0_register_OV_intr(main_timer_interrupt);
636
637         cmdline_init();
638         spi_servo_init();
639         beep_init();
640
641         printf_P(PSTR("\r\n"));
642         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
643
644         callout_manager_init(&cm, get_time_ms);
645         //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
646
647         /* initialize libxbee */
648         err = xbee_init();
649         if (err < 0)
650                 return -1;
651
652         xbee_dev = &dev;
653
654         /* open xbee device */
655         if (xbee_open(xbee_dev, xbee_file) < 0)
656                 return -1;
657
658         /* register default channel with a callback */
659         if (xbee_register_channel(xbee_dev, XBEE_DEFAULT_CHANNEL,
660                                   xbee_rx, NULL) < 0) {
661                 fprintf(stderr, "cannot register default channel\n");
662                 return -1;
663         }
664         sei();
665
666         eeprom_load_config();
667         xbee_mainloop();
668         return 0;
669 }