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nuttx/drivers/wireless/ieee802154/xbee/xbee.h
Gregory Nutt 9568600ab1 Squashed commit of the following: 
This commit backs out most of commit b4747286b1.  That change was added because sem_wait() would sometimes cause cancellation points inappropriated.  But with these recent changes, nxsem_wait() is used instead and it is not a cancellation point.

    In the OS, all calls to sem_wait() changed to nxsem_wait().  nxsem_wait() does not return errors via errno so each place where nxsem_wait() is now called must not examine the errno variable.

    In all OS functions (not libraries), change sem_wait() to nxsem_wait().  This will prevent the OS from creating bogus cancellation points and from modifying the per-task errno variable.

    sched/semaphore:  Add the function nxsem_wait().  This is a new internal OS interface.  It is functionally equivalent to sem_wait() except that (1) it is not a cancellation point, and (2) it does not set the per-thread errno value on return.
2017-10-04 15:22:27 -06:00

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/****************************************************************************
* drivers/wireless/ieee802154/xbee/xbee.h
*
* Copyright (C) 2017 Verge Inc. All rights reserved.
* Author: Anthony Merlino <anthony@vergeaero.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name NuttX 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 COPYRIGHT HOLDERS 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
* COPYRIGHT OWNER OR 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.
*
****************************************************************************/
#ifndef __DRIVERS_WIRELESS_IEEE802154_XBEE_H
#define __DRIVERS_WIRELESS_IEEE802154_XBEE_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <semaphore.h>
#include <nuttx/wqueue.h>
#include <nuttx/spi/spi.h>
#include <nuttx/wireless/ieee802154/xbee.h>
#include "xbee_notif.h"
#include "xbee_dataind.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration *************************************************************/
#ifndef CONFIG_SCHED_HPWORK
# error High priority work queue required in this driver
#endif
#ifndef CONFIG_IEEE802154_XBEE_FREQUENCY
# define CONFIG_IEEE802154_XBEE_FREQUENCY 2000000
#endif
#ifndef CONFIG_SPI_EXCHANGE
# error CONFIG_SPI_EXCHANGE required for this driver
#endif
#if !defined(CONFIG_XBEE_NNOTIF) || CONFIG_XBEE_NNOTIF <= 0
# undef CONFIG_XBEE_NNOTIF
# define CONFIG_XBEE_NNOTIF 6
#endif
#if !defined(CONFIG_XBEE_NDATAIND) || CONFIG_XBEE_NDATAIND <= 0
# undef CONFIG_XBEE_NDATAIND
# define CONFIG_XBEE_NDATAIND 8
#endif
#define XBEE_APIFRAME_MODEMSTATUS 0x8A
#define XBEE_APIFRAME_ATCOMMMAND 0x08
#define XBEE_APIFRAME_ATCOMMMANDQUEUED 0x09
#define XBEE_APIFRAME_ATRESPONSE 0x88
#define XBEE_APIFRAME_REMOTEREQUEST 0x17
#define XBEE_APIFRAME_REMOTERESPONSE 0x97
#define XBEE_APIFRAME_TXREQ_EADDR 0x00
#define XBEE_APIFRAME_TXREQ_SADDR 0x01
#define XBEE_APIFRAME_TXSTATUS 0x89
#define XBEE_APIFRAME_RX_EADDR 0x80
#define XBEE_APIFRAME_RX_SADDR 0x81
#define XBEE_APIFRAME_RXIO_EADDR 0x82
#define XBEE_APIFRAME_RXIO_SADDR 0x83
#define XBEE_EPASSOCFLAGS_PANID_REASSIGN 1
#define XBEE_EPASSOCFLAGS_CHAN_REASSIGN 2
#define XBEE_EPASSOCFLAGS_AUTOASSOC 4
#define XBEE_EPASSOCFLAGS_POLLONWAKE 8
#define XBEE_COORDASSOCFLAGS_PANID_REASSIGN 1
#define XBEE_COORDASSOCFLAGS_CHAN_REASSIGN 2
#define XBEE_COORDASSOCFLAGS_ALLOWASSOC 4
/* Size of read buffer active for all of the transaction. i.e. must be big enough
* to handle full transmit and receive.
*/
#define XBEE_RXBUF_SIZE 256
#define XBEE_STARTBYTE 0x7E
#define XBEE_APIFRAME_OVERHEAD 4
#define XBEE_APIFRAMEINDEX_STARTBYTE 0
#define XBEE_APIFRAMEINDEX_LENGTHMSB 1
#define XBEE_APIFRAMEINDEX_LENGTHLSB 2
#define XBEE_APIFRAMEINDEX_TYPE 3
/****************************************************************************
* Public Types
****************************************************************************/
/* Enumeration of Modem Status values */
enum xbee_modemstatus_e
{
XBEE_MODEMSTATUS_HARDRESET = 0,
XBEE_MODEMSTATUS_WATCHDOGRESET,
XBEE_MODEMSTATUS_ASSOCIATED,
XBEE_MODEMSTATUS_NONETWORK,
XBEE_MODEMSTATUS_COORD,
XBEE_MODEMSTATUS_VOLTAGETOOHIGH,
};
enum xbee_response_e
{
XBEE_RESP_MODEMSTATUS,
XBEE_RESP_AT_FIRMWAREVERSION,
XBEE_RESP_AT_HARDWAREVERSION,
XBEE_RESP_AT_NETWORKID,
XBEE_RESP_AT_SERIALHIGH,
XBEE_RESP_AT_SERIALLOW,
XBEE_RESP_AT_SOURCEADDR,
XBEE_RESP_AT_CHAN,
/* Skip some allow for new AT commands */
};
struct xbee_respwaiter_s
{
FAR struct xbee_respwaiter_s *flink;
sem_t sem;
enum xbee_response_e resp_id;
};
/* An XBee device instance */
struct xbee_priv_s
{
/* Low-level MCU-specific support */
FAR const struct xbee_lower_s *lower;
FAR struct spi_dev_s *spi; /* Saved SPI interface instance */
FAR struct xbee_maccb_s *cb; /* Head of a list of XBee MAC callbacks */
FAR struct iob_s *rx_apiframes; /* List of incoming API frames to process */
struct work_s attnwork; /* For deferring interrupt work to work queue */
sem_t exclsem; /* Exclusive access to this struct */
WDOG_ID assocwd; /* Association watchdog */
struct work_s assocwork; /* For polling for association status */
volatile bool attn_latched; /* Latched state of ATTN */
sq_queue_t waiter_queue; /* List of response waiters */
sq_queue_t tx_queue; /* List of pending TX requests */
uint8_t frameid; /* For differentiating AT request/response */
uint16_t firmwareversion;
/************* Fields related to addressing and coordinator *****************/
/* Holds all address information (Extended, Short, and PAN ID) for the MAC. */
struct ieee802154_addr_s addr;
struct ieee802154_pandesc_s pandesc;
/******************* Fields related to notifications ************************/
/* Pre-allocated notifications to be passed to the registered callback. These
* need to be freed by the application using xbee_xxxxnotif_free when
* the callee layer is finished with it's use.
*/
FAR struct xbee_notif_s *notif_free;
struct xbee_notif_s notif_pool[CONFIG_XBEE_NNOTIF];
sem_t notif_sem;
uint8_t nclients;
/******************* Fields related to data indications *********************/
/* Pre-allocated notifications to be passed to the registered callback. These
* need to be freed by the application using xbee_dataind_free when
* the callee layer is finished with it's use.
*/
FAR struct xbee_dataind_s *dataind_free;
struct xbee_dataind_s dataind_pool[CONFIG_XBEE_NDATAIND];
sem_t dataind_sem;
/****************** Uncategorized MAC PIB attributes ***********************/
/* What type of device is this node acting as */
enum ieee802154_devmode_e devmode : 2;
/****************** PHY attributes ***********************/
uint8_t chan;
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Inline Functions
****************************************************************************/
#define xbee_givesem(s) nxsem_post(s)
static inline int xbee_takesem(sem_t *sem, bool allowinterrupt)
{
int ret;
do
{
/* Take a count from the semaphore, possibly waiting */
ret = nxsem_wait(sem);
if (ret < 0)
{
/* EINTR is the only error that we expect */
DEBUGASSERT(ret == -EINTR);
if (allowinterrupt)
{
return ret;
}
}
}
while (ret == -EINTR);
return ret;
}
#ifdef CONFIG_XBEE_LOCK_VERBOSE
#define xbee_unlock(dev) \
xbee_givesem(&dev->exclsem); \
wlinfo("MAC unlocked\n");
#else
#define xbee_unlock(dev) \
xbee_givesem(&dev->exclsem);
#endif
#define xbee_lock(dev, allowinterrupt) \
xbee_lockpriv(dev, allowinterrupt, __FUNCTION__)
static inline int xbee_lockpriv(FAR struct xbee_priv_s *dev,
bool allowinterrupt, FAR const char *funcname)
{
int ret;
#ifdef CONFIG_XBEE_LOCK_VERBOSE
wlinfo("Locking MAC: %s\n", funcname);
#endif
ret = xbee_takesem(&dev->exclsem, allowinterrupt);
if (ret < 0)
{
wlwarn("Failed to lock MAC\n");
}
else
{
#ifdef CONFIG_XBEE_LOCK_VERBOSE
wlinfo("MAC locked\n");
#endif
}
return ret;
}
/****************************************************************************
* Name: xbee_register_respwaiter
*
* Description:
* Register a respone waiter
*
****************************************************************************/
static inline void xbee_register_respwaiter(FAR struct xbee_priv_s *priv,
FAR struct xbee_respwaiter_s *waiter)
{
sq_addlast((sq_entry_t *)waiter, &priv->waiter_queue);
}
/****************************************************************************
* Name: xbee_unregister_respwaiter
*
* Description:
* Unregister a respone waiter
*
****************************************************************************/
static inline void xbee_unregister_respwaiter(FAR struct xbee_priv_s *priv,
FAR struct xbee_respwaiter_s *waiter)
{
sq_rem((sq_entry_t *)waiter, &priv->waiter_queue);
}
/****************************************************************************
* Name: xbee_notify_respwaiter
*
* Description:
* Check to see if there are any respwaiters waiting for this response type.
* If so, signal them.
*
****************************************************************************/
static inline void xbee_notify_respwaiter(FAR struct xbee_priv_s *priv,
enum xbee_response_e resp_id)
{
FAR struct xbee_respwaiter_s *waiter;
waiter = (FAR struct xbee_respwaiter_s *)sq_peek(&priv->waiter_queue);
while (waiter != NULL)
{
if (waiter->resp_id == resp_id)
{
nxsem_post(&waiter->sem);
}
waiter = (FAR struct xbee_respwaiter_s *)sq_next((FAR sq_entry_t *)waiter);
}
}
/****************************************************************************
* Name: xbee_next_frameid
*
* Description:
* Increment the frame id. This is used to coordinate TX requests with subsequent
* TX status frames received by the XBee device. We must skip value 0 since
* that value is to tell the XBee not to provide a status response.
*
****************************************************************************/
static inline uint8_t xbee_next_frameid(FAR struct xbee_priv_s *priv)
{
priv->frameid++;
if (priv->frameid == 0)
{
priv->frameid = 1;
}
return priv->frameid;
}
/****************************************************************************
* Name: xbee_insert_checksum
*
* Description:
* Insert checksum into outbound API frame.
*
* Parameters:
* frame - pointer to the frame data
* framelen - size of the overall frame. NOT the data length field
*
****************************************************************************/
static inline void xbee_insert_checksum(FAR uint8_t *frame, uint16_t framelen)
{
int i;
uint8_t checksum = 0;
DEBUGASSERT(framelen > XBEE_APIFRAME_OVERHEAD);
/* Skip the start byte and frame length */
for (i = 3; i < framelen - 1; i++)
{
checksum += frame[i];
}
frame[framelen - 1] = 0xFF - checksum;
}
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: xbee_send_apiframe
*
* Description:
* Write an api frame over SPI
*
****************************************************************************/
void xbee_send_apiframe(FAR struct xbee_priv_s *priv,
FAR const uint8_t *frame, uint16_t framelen);
/****************************************************************************
* Name: xbee_at_query
*
* Description:
* Helper function to query a AT Command value.
*
****************************************************************************/
void xbee_at_query(FAR struct xbee_priv_s *priv, FAR const char *atcommand);
/****************************************************************************
* Name: xbee_query_firmwareversion
*
* Description:
* Sends API frame with AT command request in order to get the firmware version
* from the device.
*
****************************************************************************/
void xbee_query_firmwareversion(FAR struct xbee_priv_s *priv);
/****************************************************************************
* Name: xbee_query_panid
*
* Description:
* Sends API frame with AT command request in order to get the PAN ID
* (Network ID) from the device.
*
****************************************************************************/
void xbee_query_panid(FAR struct xbee_priv_s *priv);
/****************************************************************************
* Name: xbee_query_eaddr
*
* Description:
* Sends API frame with AT command request in order to get the IEEE 802.15.4
* Extended Address. (Serial Number) from the device.
*
****************************************************************************/
void xbee_query_eaddr(FAR struct xbee_priv_s *priv);
/****************************************************************************
* Name: xbee_query_saddr
*
* Description:
* Sends API frame with AT command request in order to get the
* Short Address. (Source Address (MY)) from the device.
*
****************************************************************************/
void xbee_query_saddr(FAR struct xbee_priv_s *priv);
/****************************************************************************
* Name: xbee_query_chan
*
* Description:
* Sends API frame with AT command request in order to get the RF Channel
* (Operating Channel) from the device.
*
****************************************************************************/
void xbee_query_chan(FAR struct xbee_priv_s *priv);
/****************************************************************************
* Name: xbee_query_assoc
*
* Description:
* Sends API frame with AT command request in order to get the association
* status (Association Indication) of the device
*
****************************************************************************/
void xbee_query_assoc(FAR struct xbee_priv_s *priv);
/****************************************************************************
* Name: xbee_set_panid
*
* Description:
* Sends API frame with AT command request in order to set the PAN ID
* (Network ID) of the device.
*
****************************************************************************/
void xbee_set_panid(FAR struct xbee_priv_s *priv, FAR const uint8_t *panid);
/****************************************************************************
* Name: xbee_set_saddr
*
* Description:
* Sends API frame with AT command request in order to set the Short Address
* (Source Address (MY)) of the device
*
****************************************************************************/
void xbee_set_saddr(FAR struct xbee_priv_s *priv, FAR const uint8_t *saddr);
/****************************************************************************
* Name: xbee_set_chan
*
* Description:
* Sends API frame with AT command request in order to set the RF channel
* (Operatin Channel) of the device.
*
****************************************************************************/
void xbee_set_chan(FAR struct xbee_priv_s *priv, uint8_t chan);
/****************************************************************************
* Name: xbee_set_epassocflags
*
* Description:
* Set flags in 'A1' command register to determine how endpoint behaves
* with regards to association.
*
****************************************************************************/
void xbee_set_epassocflags(FAR struct xbee_priv_s *priv, uint8_t flags);
/****************************************************************************
* Name: xbee_set_coordassocflags
*
* Description:
* Set flags in 'AT' command register to determine how coordinator behaves
* with regards to association.
*
****************************************************************************/
void xbee_set_coordassocflags(FAR struct xbee_priv_s *priv, uint8_t flags);
/****************************************************************************
* Name: xbee_set_sleepperiod
*
* Description:
* Set Cyclic Sleep Period using 'SP' AT command.
*
****************************************************************************/
void xbee_set_sleepperiod(FAR struct xbee_priv_s *priv, uint16_t period);
/****************************************************************************
* Name: xbee_enable_coord
*
* Description:
* Enables/Disables coordinator mode using 'CE' command
*
****************************************************************************/
void xbee_enable_coord(FAR struct xbee_priv_s *priv, bool enable);
/****************************************************************************
* Name: xbee_regdump
*
* Description:
* Perform a series of queries updating struct and printing settings to SYSLOG.
*
****************************************************************************/
void xbee_regdump(FAR struct xbee_priv_s *priv);
#endif /* __DRIVERS_WIRELESS_IEEE802154_XBEE_H */
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