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RIOT/drivers/xbee/xbee.c

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/*
* Copyright (C) 2014 INRIA
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup driver_xbee
* @{
*
* @file
* @brief High-level driver implementation for the XBee S1 802.15.4 modem
*
* @author Kévin Roussel <kevin.roussel@inria.fr>
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <string.h>
#include "xbee.h"
#include "xtimer.h"
#include "msg.h"
#include "net/eui64.h"
#include "net/ieee802154.h"
#include "periph/cpuid.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
/**
* @brief Internal driver event type when RX is finished
*/
#define ISR_EVENT_RX_DONE (0x0001)
/**
* @brief Delay when entering command mode, must be > 1s
*/
#define ENTER_CMD_MODE_DELAY (1100U * 1000U)
/**
* @brief Delay when resetting the device, 10ms
*/
#define RESET_DELAY (10U * 1000U)
/**
* @brief Start delimiter in API frame mode
*/
#define API_START_DELIMITER (0x7e)
/**
* @brief Command IDs when communicating in API frame mode
* @{
*/
#define API_ID_MODEM_STATUS (0x8a) /**< modem status frame */
#define API_ID_AT (0x08) /**< AT command request frame */
#define API_ID_AT_QUEUE (0x09) /**< queued AT command frame */
#define API_ID_AT_RESP (0x88) /**< AT command response frame */
#define API_ID_TX_LONG_ADDR (0x00) /**< TX frame (long address) */
#define API_ID_TX_SHORT_ADDR (0x01) /**< TX frame (short address) */
#define API_ID_TX_RESP (0x89) /**< TX response frame */
#define API_ID_RX_LONG_ADDR (0x80) /**< RX frame (long address) */
#define API_ID_RX_SHORT_ADDR (0x81) /**< RX frame (short address) */
/** @} */
/**
* @brief Internal option flags (to be expanded if needed)
* @{
*/
#define OPT_DIS_AUTO_ACK (0x01) /**< disable sending of auto ACKs */
/** @} */
/**
* @brief Data-structure describing AT command response frames
*/
typedef struct {
uint8_t status; /**< AT command response status, 0 for success */
uint8_t data[8]; /**< returned data from the AT command */
uint8_t data_len; /**< number ob bytes written to @p data */
} resp_t;
/*
* Driver's internal utility functions
*/
static uint8_t _cksum(uint8_t *buf, size_t size)
{
uint8_t res = 0xff;
for (int i = 3; i < size; i++) {
res -= buf[i];
}
return res;
}
static void _at_cmd(xbee_t *dev, const char *cmd)
{
DEBUG("xbee: AT_CMD: %s", cmd);
for (int i = 0; cmd[i] != '\0'; i++) {
uart_write_blocking(dev->uart, cmd[i]);
}
}
static void _api_at_cmd(xbee_t *dev, uint8_t *cmd, uint8_t size, resp_t *resp)
{
/* acquire TX lock */
mutex_lock(&(dev->tx_lock));
/* construct API frame */
dev->tx_buf[0] = API_START_DELIMITER;
dev->tx_buf[1] = (size + 2) >> 8;
dev->tx_buf[2] = (size + 2) & 0xff;
dev->tx_buf[3] = API_ID_AT;
dev->tx_buf[4] = 1; /* use fixed frame id */
memcpy(dev->tx_buf + 5, cmd, size);
dev->tx_buf[size + 5] = _cksum(dev->tx_buf, size + 5);
/* prepare UART for sending out the data and receiving the response */
dev->tx_limit = size + 6;
dev->tx_count = 0;
dev->resp_count = 0;
/* start send data */
uart_tx_begin(dev->uart);
/* wait for results */
while (dev->resp_limit != dev->resp_count) {
mutex_lock(&(dev->resp_lock));
}
/* populate response data structure */
resp->status = dev->resp_buf[3];
resp->data_len = dev->resp_limit - 5;
if (resp->data_len > 0) {
memcpy(resp->data, &(dev->resp_buf[4]), resp->data_len);
}
}
/*
* Interrupt callbacks
*/
static int _tx_cb(void *arg)
{
xbee_t *dev = (xbee_t *)arg;
if (dev->tx_count < dev->tx_limit) {
/* more data to send */
char c = (char)(dev->tx_buf[dev->tx_count++]);
uart_write(dev->uart, c);
return 1;
}
/* release TX lock */
mutex_unlock(&(dev->tx_lock));
return 0;
}
static void _rx_cb(void *arg, char c)
{
xbee_t *dev = (xbee_t *)arg;
msg_t msg;
switch (dev->int_state) {
case XBEE_INT_STATE_IDLE:
/* check for beginning of new data frame */
if (c == API_START_DELIMITER) {
dev->int_state = XBEE_INT_STATE_SIZE1;
}
break;
case XBEE_INT_STATE_SIZE1:
dev->int_size = ((uint16_t)c) << 8;
dev->int_state = XBEE_INT_STATE_SIZE2;
break;
case XBEE_INT_STATE_SIZE2:
dev->int_size += (uint8_t)c;
dev->int_state = XBEE_INT_STATE_TYPE;
break;
case XBEE_INT_STATE_TYPE:
if (c == API_ID_RX_SHORT_ADDR || c == API_ID_RX_LONG_ADDR) {
/* in case old data was not processed, ignore incoming data */
if (dev->rx_count != 0) {
dev->int_state = XBEE_INT_STATE_IDLE;
return;
}
dev->rx_limit = dev->int_size + 1;
dev->rx_buf[dev->rx_count++] = (uint8_t)c;
dev->int_state = XBEE_INT_STATE_RX;
}
else if (c == API_ID_AT_RESP) {
dev->resp_limit = dev->int_size;
dev->int_state = XBEE_INT_STATE_RESP;
}
else {
dev->int_state = XBEE_INT_STATE_IDLE;
}
break;
case XBEE_INT_STATE_RESP:
dev->resp_buf[dev->resp_count++] = (uint8_t)c;
if (dev->resp_count == dev->resp_limit) {
/* here we ignore the checksum to prevent deadlocks */
mutex_unlock(&(dev->resp_lock));
dev->int_state = XBEE_INT_STATE_IDLE;
}
break;
case XBEE_INT_STATE_RX:
dev->rx_buf[dev->rx_count++] = (uint8_t)c;
if (dev->rx_count == dev->rx_limit) {
/* packet is complete */
msg.type = GNRC_NETDEV_MSG_TYPE_EVENT;
msg.content.value = ISR_EVENT_RX_DONE;
msg_send_int(&msg, dev->mac_pid);
dev->int_state = XBEE_INT_STATE_IDLE;
}
break;
default:
/* this should never be the case */
break;
}
}
/*
* Getter and setter functions
*/
static int _get_addr_short(xbee_t *dev, uint8_t *val, size_t len)
{
uint8_t cmd[2];
resp_t resp;
if (len < 2) {
return -EOVERFLOW;
}
cmd[0] = 'M';
cmd[1] = 'Y';
_api_at_cmd(dev, cmd, 2, &resp);
if (resp.status == 0) {
memcpy(val, resp.data, 2);
return 2;
}
return -ECANCELED;
}
static int _get_addr_long(xbee_t *dev, uint8_t *val, size_t len)
{
uint8_t cmd[2];
resp_t resp;
if (len < 8) {
return -EOVERFLOW;
}
/* read 4 high byte - AT command: SH*/
cmd[0] = 'S';
cmd[1] = 'H';
_api_at_cmd(dev, cmd, 2, &resp);
if (resp.status == 0) {
memcpy(val, resp.data, 4);
}
else {
return -ECANCELED;
}
/* read next 4 byte - AT command: SL */
cmd[1] = 'L';
_api_at_cmd(dev, cmd, 2, &resp);
if (resp.status == 0) {
memcpy(val + 4, resp.data, 4);
return 8;
}
return -ECANCELED;
}
static int _set_addr(xbee_t *dev, uint8_t *val, size_t len)
{
uint8_t cmd[4];
resp_t resp;
/* device only supports setting the short address */
if (len != 2) {
return -ENOTSUP;
}
cmd[0] = 'M';
cmd[1] = 'Y';
cmd[2] = val[0];
cmd[3] = val[1];
_api_at_cmd(dev, cmd, 4, &resp);
if (resp.status == 0) {
memcpy(dev->addr_short, val, 2);
return 2;
}
return -ECANCELED;
}
static int _set_addr_len(xbee_t *dev, uint16_t *val, size_t len)
{
if (len != sizeof(uint16_t)) {
return -EOVERFLOW;
}
switch (*val) {
case 8:
dev->addr_flags |= XBEE_ADDR_FLAGS_LONG;
break;
case 2:
dev->addr_flags &= ~XBEE_ADDR_FLAGS_LONG;
break;
default:
return -EINVAL;
}
return sizeof(uint16_t);
}
static int _get_channel(xbee_t *dev, uint8_t *val, size_t max)
{
uint8_t cmd[2];
resp_t resp;
if (max < 2) {
return -EOVERFLOW;
}
cmd[0] = 'C';
cmd[1] = 'H';
_api_at_cmd(dev, cmd, 2, &resp);
if (resp.status == 0) {
val[0] = resp.data[0];
val[1] = 0;
return 2;
}
return -ECANCELED;
}
static int _set_channel(xbee_t *dev, uint8_t *val, size_t len)
{
uint8_t cmd[3];
resp_t resp;
if (len != 2 || val[1] != 0) {
return -EINVAL;
}
cmd[0] = 'C';
cmd[1] = 'H';
cmd[2] = val[0];
_api_at_cmd(dev, cmd, 3, &resp);
if (resp.status == 0) {
return 2;
}
return -EINVAL;
}
static int _get_panid(xbee_t *dev, uint8_t *val, size_t max)
{
uint8_t cmd[2];
resp_t resp;
if (max < 2) {
return -EOVERFLOW;
}
cmd[0] = 'I';
cmd[1] = 'D';
_api_at_cmd(dev, cmd, 2, &resp);
if (resp.status == 0) {
val[0] = resp.data[1];
val[1] = resp.data[0];
return 2;
}
return -ECANCELED;
}
static int _set_panid(xbee_t *dev, uint8_t *val, size_t len)
{
uint8_t cmd[4];
resp_t resp;
if (len != 2) {
return -EINVAL;
}
cmd[0] = 'I';
cmd[1] = 'D';
cmd[2] = val[1];
cmd[3] = val[0];
_api_at_cmd(dev, cmd, 4, &resp);
if (resp.status == 0) {
return 2;
}
return -EINVAL;
}
static int _get_proto(xbee_t *dev, uint8_t *val, size_t max)
{
if (max < sizeof(gnrc_nettype_t)) {
return -EOVERFLOW;
}
memcpy(val, &(dev->proto), sizeof(gnrc_nettype_t));
return sizeof(gnrc_nettype_t);
}
static int _set_proto(xbee_t *dev, uint8_t *val, size_t len)
{
if (len != sizeof(gnrc_nettype_t)) {
return -EINVAL;
}
memcpy(&(dev->proto), val, sizeof(gnrc_nettype_t));
return sizeof(gnrc_nettype_t);
}
/*
* Driver's "public" functions
*/
int xbee_init(xbee_t *dev, uart_t uart, uint32_t baudrate,
gpio_t reset_pin, gpio_t sleep_pin)
{
uint8_t tmp[2];
/* check device and bus parameters */
if (dev == NULL) {
return -ENODEV;
}
if (uart >= UART_NUMOF) {
return -ENXIO;
}
/* set device driver */
dev->driver = &xbee_driver;
/* set peripherals to use */
dev->uart = uart;
dev->reset_pin = reset_pin;
dev->sleep_pin = sleep_pin;
/* set default options */
dev->addr_flags = 0;
dev->proto = XBEE_DEFAULT_PROTOCOL;
dev->options = 0;
/* initialize buffers and locks*/
mutex_init(&(dev->tx_lock));
mutex_init(&(dev->resp_lock));
dev->resp_limit = 1; /* needs to be greater then 0 initially */
dev->rx_count = 0;
/* initialize UART and GPIO pins */
if (uart_init(uart, baudrate, _rx_cb, _tx_cb, dev) < 0) {
DEBUG("xbee: Error initializing UART\n");
return -ENXIO;
}
if (reset_pin != GPIO_UNDEF) {
if (gpio_init(reset_pin, GPIO_DIR_OUT, GPIO_NOPULL) < 0) {
DEBUG("xbee: Error initializing RESET pin\n");
return -ENXIO;
}
gpio_set(reset_pin);
}
if (sleep_pin != GPIO_UNDEF) {
if (gpio_init(sleep_pin, GPIO_DIR_OUT, GPIO_NOPULL) < 0) {
DEBUG("xbee: Error initializing SLEEP pin\n");
return -ENXIO;
}
gpio_clear(sleep_pin);
}
/* if reset pin is connected, do a hardware reset */
if (reset_pin != GPIO_UNDEF) {
gpio_clear(reset_pin);
xtimer_usleep(RESET_DELAY);
gpio_set(reset_pin);
}
/* put the XBee device into command mode */
xtimer_usleep(ENTER_CMD_MODE_DELAY);
_at_cmd(dev, "+++");
xtimer_usleep(ENTER_CMD_MODE_DELAY);
/* disable non IEEE802.15.4 extensions */
_at_cmd(dev, "ATMM2\r");
/* put XBee module in "API mode without escaped characters" */
_at_cmd(dev, "ATAP1\r");
/* apply AT commands */
_at_cmd(dev, "ATAC\r");
/* exit command mode */
_at_cmd(dev, "ATCN\r");
/* load long address (we can not set it, its read only for Xbee devices) */
_get_addr_long(dev, dev->addr_long.uint8, 8);
/* set default channel */
_set_addr(dev, &((dev->addr_long).uint8[6]), 2);
tmp[1] = 0;
tmp[0] = XBEE_DEFAULT_CHANNEL;
_set_channel(dev, tmp, 2);
/* set default PAN ID */
tmp[1] = (uint8_t)(XBEE_DEFAULT_PANID >> 8);
tmp[0] = (uint8_t)(XBEE_DEFAULT_PANID & 0xff);
_set_panid(dev, tmp, 2);
DEBUG("xbee: Initialization successful\n");
return 0;
}
static inline bool _is_broadcast(gnrc_netif_hdr_t *hdr)
{
/* IEEE 802.15.4 does not support multicast so we need to check both flags */
return (bool)(hdr->flags & (GNRC_NETIF_HDR_FLAGS_BROADCAST |
GNRC_NETIF_HDR_FLAGS_MULTICAST));
}
static int _send(gnrc_netdev_t *netdev, gnrc_pktsnip_t *pkt)
{
xbee_t *dev = (xbee_t *)netdev;
size_t size;
size_t pos;
gnrc_netif_hdr_t *hdr;
gnrc_pktsnip_t *payload;
/* check device descriptor and packet */
if (pkt == NULL) {
return -ENOMSG;
}
if (dev == NULL) {
gnrc_pktbuf_release(pkt);
return -ENODEV;
}
/* figure out the size of the payload to send */
size = gnrc_pkt_len(pkt->next);
if (size > XBEE_MAX_PAYLOAD_LENGTH) {
DEBUG("xbee: Error sending data, payload length exceeds limit\n");
gnrc_pktbuf_release(pkt);
return -EOVERFLOW;
}
/* get netif header check address length and flags */
hdr = (gnrc_netif_hdr_t *)pkt->data;
if (!((hdr->dst_l2addr_len == 2) || (hdr->dst_l2addr_len == 8) ||
_is_broadcast(hdr))) {
gnrc_pktbuf_release(pkt);
return -ENOMSG;
}
/* acquire TX lock */
mutex_lock(&(dev->tx_lock));
/* put together the API frame */
dev->tx_buf[0] = API_START_DELIMITER;
dev->tx_buf[4] = 0; /* set to zero to disable response frame */
/* set size, API id and address field depending on dst address length */
if (_is_broadcast(hdr)) {
dev->tx_buf[1] = (uint8_t)((size + 5) >> 8);
dev->tx_buf[2] = (uint8_t)(size + 5);
dev->tx_buf[3] = API_ID_TX_SHORT_ADDR;
dev->tx_buf[4] = 0xff;
dev->tx_buf[5] = 0xff;
}
if (hdr->dst_l2addr_len == 2) {
dev->tx_buf[1] = (uint8_t)((size + 5) >> 8);
dev->tx_buf[2] = (uint8_t)(size + 5);
dev->tx_buf[3] = API_ID_TX_SHORT_ADDR;
memcpy(dev->tx_buf + 5, gnrc_netif_hdr_get_dst_addr(hdr), 2);
pos = 7;
}
else {
dev->tx_buf[1] = (uint8_t)((size + 11) >> 8);
dev->tx_buf[2] = (uint8_t)(size + 11);
dev->tx_buf[3] = API_ID_TX_LONG_ADDR;
memcpy(dev->tx_buf + 5, gnrc_netif_hdr_get_dst_addr(hdr), 8);
pos = 13;
}
/* set options */
dev->tx_buf[pos++] = dev->options;
/* copy payload */
payload = pkt->next;
while (payload) {
memcpy(&(dev->tx_buf[pos]), payload->data, payload->size);
pos += payload->size;
payload = payload->next;
}
/* set checksum */
dev->tx_buf[pos] = _cksum(dev->tx_buf, pos);
/* prepare transmission */
dev->tx_limit = (uint16_t)pos + 1;
dev->tx_count = 0;
/* start transmission */
uart_tx_begin(dev->uart);
/* release data */
gnrc_pktbuf_release(pkt);
/* return number of payload byte */
return (int)size;
}
static int _add_cb(gnrc_netdev_t *dev, gnrc_netdev_event_cb_t cb)
{
if (dev == NULL) {
return -ENODEV;
}
if (dev->event_cb != NULL) {
return -ENOBUFS;
}
dev->event_cb = cb;
return 0;
}
static int _rem_cb(gnrc_netdev_t *dev, gnrc_netdev_event_cb_t cb)
{
if (dev == NULL) {
return -ENODEV;
}
if (dev->event_cb != cb) {
return -ENOENT;
}
dev->event_cb = NULL;
return 0;
}
static int _get(gnrc_netdev_t *netdev, netopt_t opt, void *value, size_t max_len)
{
xbee_t *dev = (xbee_t *)netdev;
if (dev == NULL) {
return -ENODEV;
}
switch (opt) {
case NETOPT_ADDRESS:
return _get_addr_short(dev, (uint8_t *)value, max_len);
case NETOPT_ADDRESS_LONG:
return _get_addr_long(dev, (uint8_t *)value, max_len);
case NETOPT_ADDR_LEN:
case NETOPT_SRC_LEN:
if (max_len < sizeof(uint16_t)) {
return -EOVERFLOW;
}
if (dev->addr_flags & XBEE_ADDR_FLAGS_LONG) {
*((uint16_t *)value) = 8;
}
else {
*((uint16_t *)value) = 2;
}
return sizeof(uint16_t);
case NETOPT_IPV6_IID:
if (max_len < sizeof(eui64_t)) {
return -EOVERFLOW;
}
if (dev->addr_flags & XBEE_ADDR_FLAGS_LONG) {
ieee802154_get_iid(value, (uint8_t *)&dev->addr_long, 8);
}
else {
ieee802154_get_iid(value, (uint8_t *)&dev->addr_short, 2);
}
return sizeof(eui64_t);
case NETOPT_CHANNEL:
return _get_channel(dev, (uint8_t *)value, max_len);
case NETOPT_MAX_PACKET_SIZE:
if (max_len < sizeof(uint16_t)) {
return -EOVERFLOW;
}
*((uint16_t *)value) = XBEE_MAX_PAYLOAD_LENGTH;
return sizeof(uint16_t);
case NETOPT_NID:
return _get_panid(dev, (uint8_t *)value, max_len);
case NETOPT_PROTO:
return _get_proto(dev, (uint8_t *)value, max_len);
default:
return -ENOTSUP;
}
}
static int _set(gnrc_netdev_t *netdev, netopt_t opt, void *value, size_t value_len)
{
xbee_t *dev = (xbee_t *)netdev;
if (dev == NULL) {
return -ENODEV;
}
switch (opt) {
case NETOPT_ADDRESS:
return _set_addr(dev, (uint8_t *)value, value_len);
case NETOPT_ADDR_LEN:
case NETOPT_SRC_LEN:
return _set_addr_len(dev, value, value_len);
case NETOPT_CHANNEL:
return _set_channel(dev, (uint8_t *)value, value_len);
case NETOPT_NID:
return _set_panid(dev, (uint8_t *)value, value_len);
case NETOPT_PROTO:
return _set_proto(dev, (uint8_t *)value, value_len);
default:
return -ENOTSUP;
}
}
static void _isr_event(gnrc_netdev_t *netdev, uint32_t event_type)
{
xbee_t *dev = (xbee_t *)netdev;
gnrc_pktsnip_t *pkt_head;
gnrc_pktsnip_t *pkt;
gnrc_netif_hdr_t *hdr;
size_t pos;
size_t addr_len;
uint8_t cksum = 0;
/* check device */
if (dev == NULL) {
return;
}
/* check rx callback and event type */
if (event_type != ISR_EVENT_RX_DONE || dev->event_cb == NULL) {
dev->rx_count = 0;
return;
}
/* read address length */
if (dev->rx_buf[0] == API_ID_RX_SHORT_ADDR) {
addr_len = 2;
}
else {
addr_len = 8;
}
/* check checksum for correctness */
for (int i = 0; i < dev->rx_limit; i++) {
cksum += dev->rx_buf[i];
}
if (cksum != 0xff) {
DEBUG("xbee: Received packet with incorrect checksum, dropping it\n");
dev->rx_count = 0;
return;
}
/* allocate and fill interface header */
pkt_head = gnrc_pktbuf_add(NULL, NULL,
sizeof(gnrc_netif_hdr_t) + (2 * addr_len),
GNRC_NETTYPE_NETIF);
if (pkt_head == NULL) {
DEBUG("xbee: Error allocating netif header in packet buffer on RX\n");
dev->rx_count = 0;
return;
}
hdr = (gnrc_netif_hdr_t *)pkt_head->data;
hdr->src_l2addr_len = (uint8_t)addr_len;
hdr->dst_l2addr_len = (uint8_t)addr_len;
hdr->if_pid = dev->mac_pid;
hdr->rssi = dev->rx_buf[2 + addr_len];
hdr->lqi = 0;
gnrc_netif_hdr_set_src_addr(hdr, &(dev->rx_buf[1]), addr_len);
if (addr_len == 2) {
gnrc_netif_hdr_set_dst_addr(hdr, dev->addr_short, 2);
}
else {
gnrc_netif_hdr_set_dst_addr(hdr, dev->addr_long.uint8, 8);
}
pos = 3 + addr_len;
/* allocate and copy payload */
pkt = gnrc_pktbuf_add(pkt_head, &(dev->rx_buf[pos]), dev->rx_limit - pos - 1,
dev->proto);
if (pkt == NULL) {
DEBUG("xbee: Error allocating payload in packet buffer on RX\n");
gnrc_pktbuf_release(pkt_head);
dev->rx_count = 0;
return;
}
/* pass on the received packet */
dev->event_cb(NETDEV_EVENT_RX_COMPLETE, pkt);
/* reset RX byte counter to enable receiving of the next packet */
dev->rx_count = 0;
}
/*
* The drivers netdev interface
*/
const gnrc_netdev_driver_t xbee_driver = {
.send_data = _send,
.add_event_callback = _add_cb,
.rem_event_callback = _rem_cb,
.get = _get,
.set = _set,
.isr_event = _isr_event,
};
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