sergiotarxz/nuttx
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
ba9486de4a
nuttx/drivers/wireless/ieee802154/xbee/xbee.c
Xiang Xiao ba9486de4a iob: Remove iob_user_e enum and related code 
since it is impossible to track producer and consumer
correctly if TCP/IP stack pass IOB directly to netdev

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-08-15 08:41:20 +03:00

1907 lines
57 KiB
C
Raw Blame History

/****************************************************************************
* drivers/wireless/ieee802154/xbee/xbee.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <debug.h>
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <errno.h>
#include <nuttx/kmalloc.h>
#include <nuttx/wqueue.h>
#include <nuttx/mm/iob.h>
#include "xbee.h"
#include "xbee_mac.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define XBEE_ATQUERY_TIMEOUT MSEC2TICK(100)
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
#define XBEE_LOCKUP_QUERYTIME MSEC2TICK(500)
#define XBEE_LOCKUP_QUERYATTEMPTS 20
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int xbee_interrupt(int irq, FAR void *context, FAR void *arg);
static void xbee_attnworker(FAR void *arg);
static bool xbee_validate_apiframe(uint8_t frametype, uint16_t framelen);
static bool xbee_verify_checksum(FAR const struct iob_s *iob);
static void xbee_process_apiframes(FAR struct xbee_priv_s *priv,
FAR struct iob_s *iob);
static void xbee_process_txstatus(FAR struct xbee_priv_s *priv,
uint8_t frameid, uint8_t status);
static void xbee_process_rxframe(FAR struct xbee_priv_s *priv,
FAR struct iob_s *frame,
enum ieee802154_addrmode_e addrmode);
static void xbee_notify(FAR struct xbee_priv_s *priv,
FAR struct ieee802154_primitive_s *primitive);
static void xbee_notify_worker(FAR void *arg);
static void xbee_atquery_timeout(wdparm_t arg);
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
static void xbee_lockupcheck_timeout(wdparm_t arg);
static void xbee_lockupcheck_worker(FAR void *arg);
static void xbee_backup_worker(FAR void *arg);
static void xbee_lockupcheck_reschedule(FAR struct xbee_priv_s *priv);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: xbee_interrupt
*
* Description:
* Hardware interrupt handler
*
* Input Parameters:
* irq - Number of the IRQ that generated the interrupt
* context - Interrupt register state save info (architecture-specific)
*
* Returned Value:
* OK on success
*
* Assumptions:
*
****************************************************************************/
static int xbee_interrupt(int irq, FAR void *context, FAR void *arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
DEBUGASSERT(priv != NULL);
priv->attn_latched = true;
/* In complex environments, we cannot do SPI transfers from the interrupt
* handler because semaphores are probably used to lock the SPI bus. In
* this case, we will defer processing to the worker thread. This is also
* much kinder in the use of system resources and is, therefore, probably
* a good thing to do in any event.
*/
if (work_available(&priv->attnwork))
{
return work_queue(HPWORK, &priv->attnwork, xbee_attnworker,
(FAR void *)priv, 0);
}
return OK;
}
/****************************************************************************
* Name: xbee_attnworker
*
* Description:
* Perform interrupt handling (Attention) logic outside of the interrupt
* handler (on the work queue thread).
*
* Input Parameters:
* arg - The reference to the driver structure (cast to void*)
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
static void xbee_attnworker(FAR void *arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
FAR struct iob_s *iobhead = NULL;
FAR struct iob_s *iob = NULL;
FAR struct iob_s *previob = NULL;
uint16_t rxframelen = 0;
DEBUGASSERT(priv);
DEBUGASSERT(priv->spi);
/* Allocate an IOB for the incoming data. */
iob = iob_alloc(false);
iob->io_flink = NULL;
iob->io_len = 0;
iob->io_offset = 0;
iob->io_pktlen = 0;
/* Keep a reference to the first IOB. If we need to allocate more than
* one to hold each API frame, then we will still have this reference to
* the head of the list
*/
iobhead = iob;
/* NOTE: There is a helpful side-effect to trying to get the SPI Lock here
* even when there is a write going on. That is, if the SPI write are on a
* thread with lower priority, trying to get the lock here should boost
* the priority of that thread, helping move along the low-level driver
* work that really should be happening in a high priority way anyway.
*/
SPI_LOCK(priv->spi, 1);
SPI_SETBITS(priv->spi, 8);
SPI_SETMODE(priv->spi, SPIDEV_MODE0);
SPI_SETFREQUENCY(priv->spi, CONFIG_IEEE802154_XBEE_FREQUENCY);
/* Assert CS */
SPI_SELECT(priv->spi, SPIDEV_IEEE802154(0), true);
/* Check to make sure all the data hasn't already been clocked in and
* we just need to process it.
*/
if (priv->attn_latched && !priv->lower->poll(priv->lower))
{
priv->attn_latched = false;
}
if (priv->attn_latched)
{
while (priv->lower->poll(priv->lower) && iob != NULL)
{
DEBUGASSERT(iob->io_len <= CONFIG_IOB_BUFSIZE);
SPI_RECVBLOCK(priv->spi, &iob->io_data[iob->io_len], 1);
switch (iob->io_len)
{
case XBEE_APIFRAMEINDEX_STARTBYTE:
{
if (iob->io_data[iob->io_len] == XBEE_STARTBYTE)
{
iob->io_len++;
}
}
break;
case XBEE_APIFRAMEINDEX_LENGTHMSB:
{
rxframelen = iob->io_data[iob->io_len++] << 8;
}
break;
case XBEE_APIFRAMEINDEX_LENGTHLSB:
{
rxframelen |= iob->io_data[iob->io_len++];
rxframelen += XBEE_APIFRAME_OVERHEAD;
}
break;
case XBEE_APIFRAMEINDEX_TYPE:
{
/* Check that the length and frame type make sense
* together.
*/
if (!xbee_validate_apiframe(iob->io_data[iob->io_len],
rxframelen -
XBEE_APIFRAME_OVERHEAD))
{
wlwarn("invalid length on incoming API frame. "
"Dropping!\n");
iob->io_len = 0;
}
else
{
iob->io_len++;
}
}
break;
default:
{
if (iob->io_len == rxframelen - 1)
{
iob->io_len++;
if (xbee_verify_checksum(iob))
{
/* This API frame is complete. Allocate a new IOB
* and link it to the existing one. When we are all
* finished we will pass this IOB list along for
* processing.
*/
iob->io_flink = iob_tryalloc(false);
iob = iob->io_flink;
if (iob != NULL)
{
iob->io_flink = NULL;
iob->io_len = 0;
iob->io_offset = 0;
iob->io_pktlen = 0;
}
}
else
{
wlwarn("invalid checksum on incoming API frame. "
"Dropping!\n");
iob->io_len = 0;
}
}
else
{
iob->io_len++;
}
}
break;
}
}
if (!priv->lower->poll(priv->lower))
{
priv->attn_latched = false;
}
}
/* The last IOB in the list (or the only one) may be able to be freed
* since it may not have any valid data. If it contains some data, but not
* a whole API frame, something is wrong, so we just warn the user and
* drop the data. If the data was valid, the ATTN line should have stayed
* asserted until all the data was clocked in. So if we don't have a full
* frame, we can only drop it.
*/
if (iob != NULL)
{
if (iob->io_len < XBEE_APIFRAME_OVERHEAD || iob->io_len != rxframelen)
{
if (iobhead == iob)
{
iobhead = NULL;
}
else
{
previob = iobhead;
while (previob->io_flink != iob)
{
previob = previob->io_flink;
}
previob->io_flink = NULL;
}
if (iob->io_len > 0)
{
wlwarn("Partial API frame clocked in. Dropping!\n");
}
iob_free(iob);
}
}
if (iobhead != NULL)
{
if (priv->rx_apiframes == NULL)
{
priv->rx_apiframes = iobhead;
}
else
{
iob = priv->rx_apiframes;
while (iob->io_flink != NULL)
{
iob = iob->io_flink;
}
iob->io_flink = iobhead;
}
}
/* Before unlocking the SPI bus, we "detach" the IOB list from the private
* struct and keep a copy. When the SPI bus becomes free, more data can
* be clocked in from an SPI write. By detaching the IOB list, we can
* process the incoming data without holding up the SPI bus
*/
iobhead = priv->rx_apiframes;
priv->rx_apiframes = NULL;
/* De-assert CS */
SPI_SELECT(priv->spi, SPIDEV_IEEE802154(0), false);
/* Relinquish control of the SPI Bus */
SPI_LOCK(priv->spi, 0);
if (iobhead != NULL)
{
xbee_process_apiframes(priv, iobhead);
}
/* If an interrupt occurred while the worker was running, it was not
* scheduled since there is a good chance this function has already handled
* it as part of the previous ATTN assertion. Therefore, if the ATTN
* line is asserted again reschedule the work.
*/
if (priv->attn_latched)
{
work_queue(HPWORK, &priv->attnwork, xbee_attnworker,
(FAR void *)priv, 0);
}
}
/****************************************************************************
* Name: xbee_validate_apiframe
*
* Description:
* Verifies that the API frame type is known and that the length makes
* sense for that frame type.
*
* Input Parameters:
* frame - pointer to the frame data
* datalen - The size of the data section of the frame. This is the value
* included as the second and third byte of the frame.
*
* Returned Value:
* true - Frame type is known and length is logical
* false - Frame type is unknown or length is invalid for frame type
*
****************************************************************************/
static bool xbee_validate_apiframe(uint8_t frametype, uint16_t datalen)
{
switch (frametype)
{
case XBEE_APIFRAME_MODEMSTATUS:
{
if (datalen != 2)
{
return false;
}
}
break;
case XBEE_APIFRAME_ATRESPONSE:
{
return true;
}
break;
case XBEE_APIFRAME_TXSTATUS:
{
if (datalen != 3)
{
return false;
}
}
break;
case XBEE_APIFRAME_RX_EADDR:
{
if (datalen < 14)
{
return false;
}
}
break;
case XBEE_APIFRAME_RX_SADDR:
{
if (datalen < 8)
{
return false;
}
}
break;
default:
{
return false;
}
break;
}
return true;
}
/****************************************************************************
* Name: xbee_verify_checksum
*
* Description:
* Verifies API frame checksum.
*
* Input Parameters:
* frame - pointer to the frame data
* framelen - size of the overall frame. NOT the data length field
*
* Returned Value:
* true - Checksum is valid
* false - Checksum is invalid
*
****************************************************************************/
static bool xbee_verify_checksum(FAR const struct iob_s *iob)
{
int i;
uint8_t checksum = 0;
DEBUGASSERT(iob->io_len > XBEE_APIFRAME_OVERHEAD);
/* Skip the start byte and frame length, but include the checksum */
for (i = 3; i < iob->io_len; i++)
{
checksum += iob->io_data[i];
}
if (checksum != 0xff)
{
wlwarn("Invalid checksum\n");
return false;
}
return true;
}
/****************************************************************************
* Name: xbee_process_apiframes
*
* Description:
* Processes a list of complete API frames.
*
* Assumptions:
* Frame has already been validated using frame type and frame length and
* the checksum has also been verified.
*
****************************************************************************/
static void xbee_process_apiframes(FAR struct xbee_priv_s *priv,
FAR struct iob_s *framelist)
{
FAR struct ieee802154_primitive_s *primitive;
FAR struct iob_s *frame;
FAR struct iob_s *nextframe;
FAR char *command;
DEBUGASSERT(framelist != NULL);
frame = framelist;
/* At the end of each iteration, frame is set to the next frame in the list
* and the IOB is freed. If the IOB is not supposed to be freed, per the
* API frame type, the logic must update the frame to the next frame in the
* list and use continue to skip freeing the IOB.
*/
while (frame)
{
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
/* Any time we receive an API frame from the XBee we reschedule our
* lockup timeout. Receiving an API frame is an indication that the
* XBee is not locked up.
*/
xbee_lockupcheck_reschedule(priv);
#endif
/* Skip over start byte and length */
frame->io_offset += XBEE_APIFRAMEINDEX_TYPE;
switch (frame->io_data[frame->io_offset++])
{
case XBEE_APIFRAME_MODEMSTATUS:
{
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
/* If the Modem Status indicates that the coordinator has just
* formed a new network, we know that the channel and PAN ID
* are locked in. In case we need to reset the radio due to a
* lockup, we tell the XBee to write the parameters to non-
* volatile memory so that upon reset, we can resume operation.
*/
if (frame->io_data[frame->io_offset] == 0x06)
{
if (work_available(&priv->backupwork))
{
work_queue(LPWORK, &priv->backupwork,
xbee_backup_worker, (FAR void *)priv, 0);
}
}
#endif
wlinfo("Modem Status: %d\n",
frame->io_data[frame->io_offset++]);
}
break;
case XBEE_APIFRAME_ATRESPONSE:
{
frame->io_offset++; /* Skip over frame index */
command = (FAR char *)&frame->io_data[frame->io_offset];
frame->io_offset += 2;
wlinfo("AT Response Received: %.*s\n", 2, command);
/* Make sure the command status is OK=0 */
if (frame->io_data[frame->io_offset])
{
wlwarn("AT Command Error: %d\n",
frame->io_data[frame->io_offset]);
}
else
{
frame->io_offset++;
if (memcmp(command, "ID", 2) == 0)
{
priv->addr.panid[1] =
frame->io_data[frame->io_offset++];
priv->addr.panid[0] =
frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "SH", 2) == 0)
{
priv->addr.eaddr[7] =
frame->io_data[frame->io_offset++];
priv->addr.eaddr[6] =
frame->io_data[frame->io_offset++];
priv->addr.eaddr[5] =
frame->io_data[frame->io_offset++];
priv->addr.eaddr[4] =
frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "SL", 2) == 0)
{
priv->addr.eaddr[3] =
frame->io_data[frame->io_offset++];
priv->addr.eaddr[2] =
frame->io_data[frame->io_offset++];
priv->addr.eaddr[1] =
frame->io_data[frame->io_offset++];
priv->addr.eaddr[0] =
frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "MY", 2) == 0)
{
priv->addr.saddr[1] =
frame->io_data[frame->io_offset++];
priv->addr.saddr[0] =
frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "CH", 2) == 0)
{
priv->chan = frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "VR", 2) == 0)
{
priv->firmwareversion =
frame->io_data[frame->io_offset++] << 8;
priv->firmwareversion |=
frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "AI", 2) == 0)
{
wlinfo("Association Indication: %d\n",
frame->io_data[frame->io_offset]);
/* 0xff = No association status determined yet. */
if (frame->io_data[frame->io_offset] != 0xff &&
frame->io_data[frame->io_offset] != 0x13)
{
wd_cancel(&priv->assocwd);
priv->associating = false;
primitive = ieee802154_primitive_allocate();
primitive->type = IEEE802154_PRIMITIVE_CONF_ASSOC;
if (frame->io_data[frame->io_offset] == 0)
{
primitive->u.assocconf.status =
IEEE802154_STATUS_SUCCESS;
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
/* Upon successful association, we know that
* the channel and PAN ID give us a valid
* connection. In case we need to reset the
* radio due to a lockup, we tell the XBee to
* write the parameters to non-volatile memory
* so that upon reset, we can resume operation.
*/
if (work_available(&priv->backupwork))
{
work_queue(LPWORK, &priv->backupwork,
xbee_backup_worker,
(FAR void *)priv, 0);
}
#endif
}
else
{
primitive->u.assocconf.status =
IEEE802154_STATUS_FAILURE;
}
xbee_notify(priv, primitive);
}
}
else if (memcmp(command, "A1", 2) == 0)
{
wlinfo("Endpoint Association: %d\n",
frame->io_data[frame->io_offset]);
}
else if (memcmp(command, "A2", 2) == 0)
{
wlinfo("Coordinator Association: %d\n",
frame->io_data[frame->io_offset]);
}
else if (memcmp(command, "CE", 2) == 0)
{
wlinfo("Coordinator Enable: %d\n",
frame->io_data[frame->io_offset]);
}
else if (memcmp(command, "SP", 2) == 0)
{
wlinfo("Sleep Period: %dsec\n",
frame->io_data[frame->io_offset] / 100);
}
else if (memcmp(command, "RR", 2) == 0)
{
wlinfo("XBee Retries: %d\n",
frame->io_data[frame->io_offset]);
}
else if (memcmp(command, "MM", 2) == 0)
{
wlinfo("Mac Mode: %d\n",
frame->io_data[frame->io_offset]);
}
else if (memcmp(command, "PL", 2) == 0)
{
wlinfo("Power Level: %d\n",
frame->io_data[frame->io_offset]);
priv->pwrlvl = frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "PM", 2) == 0)
{
wlinfo("Boost Mode (Power Mode): %d\n",
frame->io_data[frame->io_offset]);
priv->boostmode = frame->io_data[frame->io_offset++];
}
else if (memcmp(command, "WR", 2) == 0)
{
wlinfo("Write Complete: %d\n",
frame->io_data[frame->io_offset]);
}
else
{
wlwarn("Unhandled AT Response: %.*s\n", 2, command);
}
/* If this is the command we are querying for */
if ((priv->querycmd[0] == *command) &&
(priv->querycmd[1] == *(command + 1)))
{
wd_cancel(&priv->atquery_wd);
priv->querydone = true;
nxsem_post(&priv->atresp_sem);
}
}
}
break;
case XBEE_APIFRAME_TXSTATUS:
{
xbee_process_txstatus(priv, frame->io_data[frame->io_offset],
frame->io_data[frame->io_offset + 1]);
}
break;
case XBEE_APIFRAME_RX_EADDR:
{
nextframe = frame->io_flink;
frame->io_flink = NULL;
xbee_process_rxframe(priv, frame,
IEEE802154_ADDRMODE_EXTENDED);
frame = nextframe;
/* xbee_process_rxframe takes care of freeing the IOB or
* passing it along to the next highest layer.
*/
continue;
}
break;
case XBEE_APIFRAME_RX_SADDR:
{
nextframe = frame->io_flink;
frame->io_flink = NULL;
xbee_process_rxframe(priv, frame, IEEE802154_ADDRMODE_SHORT);
frame = nextframe;
/* xbee_process_rxframe takes care of freeing the IOB or
* passing it along to the next highest layer.
*/
continue;
}
break;
default:
{
/* This really should never happen since xbee_validateframe
* should have caught it.
*/
wlwarn("Unknown frame type: %p\n",
&frame[XBEE_APIFRAMEINDEX_TYPE]);
}
break;
}
/* IOB free logic assumes that a valid io_flink entry in the IOB that
* is being freed indicates that the IOB is a part of an IOB chain.
* Since that is not the case here and we are just using the io_flink
* field as a way of managing a list of independent frames, we set the
* io_flink to NULL prior to freeing it.
*/
nextframe = frame->io_flink;
frame->io_flink = NULL;
iob_free(frame);
frame = nextframe;
}
}
/****************************************************************************
* Name: xbee_process_rxframe
*
* Description:
* Process an incoming RX frame.
*
****************************************************************************/
static void xbee_process_rxframe(FAR struct xbee_priv_s *priv,
FAR struct iob_s *frame,
enum ieee802154_addrmode_e addrmode)
{
FAR struct ieee802154_primitive_s *primitive;
FAR struct ieee802154_data_ind_s *dataind;
DEBUGASSERT(frame != NULL);
primitive = ieee802154_primitive_allocate();
dataind = &primitive->u.dataind;
primitive->type = IEEE802154_PRIMITIVE_IND_DATA;
dataind->frame = frame;
if (addrmode == IEEE802154_ADDRMODE_EXTENDED)
{
dataind->dest.mode = IEEE802154_ADDRMODE_EXTENDED;
dataind->src.mode = IEEE802154_ADDRMODE_EXTENDED;
dataind->src.eaddr[7] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[6] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[5] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[4] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[3] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[2] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[1] = frame->io_data[frame->io_offset++];
dataind->src.eaddr[0] = frame->io_data[frame->io_offset++];
}
else
{
dataind->src.mode = IEEE802154_ADDRMODE_SHORT;
dataind->src.saddr[1] = frame->io_data[frame->io_offset++];
dataind->src.saddr[0] = frame->io_data[frame->io_offset++];
}
/* The XBee does not give us information about how the device was
* addressed. It only indicates the source mode. Therefore, we make the
* assumption that if the saddr is set, we we're addressed using the
* saddr, otherwise we must have been addressed using the eaddr.
*/
memcpy(&dataind->dest, &priv->addr, sizeof(struct ieee802154_addr_s));
if (IEEE802154_SADDRCMP(priv->addr.saddr, &IEEE802154_SADDR_BCAST) ||
IEEE802154_SADDRCMP(priv->addr.saddr, &IEEE802154_SADDR_UNSPEC))
{
dataind->dest.mode = IEEE802154_ADDRMODE_EXTENDED;
}
else
{
dataind->dest.mode = IEEE802154_ADDRMODE_SHORT;
}
dataind->rssi = frame->io_data[frame->io_offset++];
frame->io_offset++; /* Skip options byte */
frame->io_len--; /* Remove the checksum */
xbee_notify(priv, primitive);
wlinfo("Received frame. RSSI: -%d dbm\n", dataind->rssi);
}
/****************************************************************************
* Name: xbee_process_txstatus
*
* Description:
* Process an incoming TX status message. This searches the list of pending
* tx requests and notifies the
*
****************************************************************************/
static void xbee_process_txstatus(FAR struct xbee_priv_s *priv,
uint8_t frameid, uint8_t status)
{
FAR struct ieee802154_primitive_s *primitive;
primitive = ieee802154_primitive_allocate();
primitive->type = IEEE802154_PRIMITIVE_CONF_DATA;
switch (status)
{
case 0x00:
primitive->u.dataconf.status =
IEEE802154_STATUS_SUCCESS;
break;
case 0x01:
case 0x21:
primitive->u.dataconf.status =
IEEE802154_STATUS_NO_ACK;
break;
case 0x02:
primitive->u.dataconf.status =
IEEE802154_STATUS_CHANNEL_ACCESS_FAILURE;
break;
default:
primitive->u.dataconf.status =
IEEE802154_STATUS_FAILURE;
break;
}
if (status != IEEE802154_STATUS_SUCCESS)
{
wlwarn("TX done. Frame ID: %d Status: 0x%02x\n", frameid, status);
}
else
{
wlinfo("TX done. Frame ID: %d Status: 0x%02x\n", frameid, status);
}
xbee_notify(priv, primitive);
/* If this is the frame we are currently waiting on, cancel the timeout,
* and notify the waiting thread that the transmit is done
*/
if (priv->frameid == frameid)
{
wd_cancel(&priv->reqdata_wd);
priv->txdone = true;
nxsem_post(&priv->txdone_sem);
}
}
/****************************************************************************
* Name: xbee_notify
*
* Description:
* Queue the primitive in the queue and queue work on the LPWORK
* queue if is not already scheduled.
*
* Assumptions:
* Called with the MAC locked
*
****************************************************************************/
static void xbee_notify(FAR struct xbee_priv_s *priv,
FAR struct ieee802154_primitive_s *primitive)
{
while (nxsem_wait(&priv->primitive_sem) < 0);
sq_addlast((FAR sq_entry_t *)primitive, &priv->primitive_queue);
nxsem_post(&priv->primitive_sem);
if (work_available(&priv->notifwork))
{
work_queue(LPWORK, &priv->notifwork, xbee_notify_worker,
(FAR void *)priv, 0);
}
}
/****************************************************************************
* Name: xbee_notify_worker
*
* Description:
* Pop each primitive off the queue and call the registered
* callbacks. There is special logic for handling ieee802154_data_ind_s.
*
****************************************************************************/
static void xbee_notify_worker(FAR void *arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
FAR struct xbee_maccb_s *cb;
FAR struct ieee802154_primitive_s *primitive;
int ret;
DEBUGASSERT(priv != NULL);
while (nxsem_wait(&priv->primitive_sem) < 0);
primitive =
(FAR struct ieee802154_primitive_s *)sq_remfirst(&priv->primitive_queue);
nxsem_post(&priv->primitive_sem);
while (primitive != NULL)
{
/* Data indications are a special case since the frame can only be
* passed to one place. The return value of the notify call is used to
* accept or reject the primitive. In the case of the data indication,
* there can only be one accept. Callbacks are stored in order of
* there receiver priority ordered when the callbacks are bound in
* mac802154_bind().
*/
if (primitive->type == IEEE802154_PRIMITIVE_IND_DATA)
{
bool dispose = true;
primitive->nclients = 1;
for (cb = priv->cb; cb != NULL; cb = cb->flink)
{
if (cb->notify != NULL)
{
ret = cb->notify(cb, primitive);
if (ret >= 0)
{
/* The receiver accepted and disposed of the frame and
* it's meta-data. We are done.
*/
dispose = false;
break;
}
}
}
if (dispose)
{
iob_free(primitive->u.dataind.frame);
ieee802154_primitive_free(primitive);
}
}
else
{
/* Set the number of clients count so that the primitive resources
* will be preserved until all clients are finished with it.
*/
primitive->nclients = priv->nclients;
/* Try to notify every registered MAC client */
for (cb = priv->cb; cb != NULL; cb = cb->flink)
{
if (cb->notify != NULL)
{
ret = cb->notify(cb, primitive);
if (ret < 0)
{
ieee802154_primitive_free(primitive);
}
}
else
{
ieee802154_primitive_free(primitive);
}
}
}
/* Get the next primitive then loop */
while (nxsem_wait(&priv->primitive_sem) < 0);
primitive = (FAR struct ieee802154_primitive_s *)
sq_remfirst(&priv->primitive_queue);
nxsem_post(&priv->primitive_sem);
}
}
/****************************************************************************
* Name: xbee_atquery_timeout
*
* Description:
* This function runs when an AT Query has timed out waiting for a response
* from the XBee module. This really should never happen, but if it does,
* handle it gracefully by retrying the query.
*
* Input Parameters:
* arg - The argument
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
static void xbee_atquery_timeout(wdparm_t arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
DEBUGASSERT(priv != NULL);
wlwarn("AT Query timeout\n");
/* Wake the pending query thread so it can retry */
nxsem_post(&priv->atresp_sem);
}
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
/****************************************************************************
* Name: xbee_lockupcheck_timeout
*
* Description:
* This function runs when a query to the XBee has not been issued for
* awhile. We query periodically in an effort to detect if the XBee has
* locked up.
*
* Input Parameters:
* arg - The argument
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
static void xbee_lockupcheck_timeout(wdparm_t arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
DEBUGASSERT(priv != NULL);
if (work_available(&priv->lockupwork))
{
work_queue(LPWORK, &priv->lockupwork, xbee_lockupcheck_worker,
(FAR void *)priv, 0);
}
}
/****************************************************************************
* Name: xbee_lockupcheck_worker
*
* Description:
* Perform an AT query to make sure the XBee is still responsive. If we've
* gotten here, it means we haven't talked to the XBee in a while. This
* is to workaround an issue where the XBee locks up. In this condition,
* most of the time, querying it kicks it out of the state. In some
* conditions though, the XBee locks up to the point where it needs to be
* reset. This will be handled inside xbee_atquery; if we don't get a
* response we will reset the XBee.
*
****************************************************************************/
static void xbee_lockupcheck_worker(FAR void *arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
DEBUGASSERT(priv != NULL);
wlinfo("Issuing query to detect lockup\n");
xbee_query_chan(priv);
}
/****************************************************************************
* Name: xbee_backup_worker
*
* Description:
* In the case that we need to reset the XBee to bring it out of a locked
* up state, we need to be able to restore it's previous state seamlessly
* to resume operation. In order to achieve this, we backup the
* parameters using the "WR" AT command. We do this at strategic points
* as we don't know what type of memory technology is being used and
* writing too often may reduce the lifetime of the device. The two key
* points chosen are upon association for endpoint nodes, and upon
* creating a new network for coordinator nodes. These conditions
* indicate that the node is actively communicating on the network and
* that the channel and pan ID are now set for the network.
*
****************************************************************************/
static void xbee_backup_worker(FAR void *arg)
{
FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
DEBUGASSERT(priv != NULL);
xbee_save_params(priv);
}
static void xbee_lockupcheck_reschedule(FAR struct xbee_priv_s *priv)
{
wd_cancel(&priv->lockup_wd);
/* Kickoff the watchdog timer that will query the XBee periodically (if
* naturally occurring queries do not occur). We query periodically to
* make sure the XBee is still responsive. If during any query, the XBee
* does not respond after multiple attempts, we restart the XBee to get
* it back in a working state
*/
wd_start(&priv->lockup_wd, XBEE_LOCKUP_QUERYTIME,
xbee_lockupcheck_timeout, (wdparm_t)priv);
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: xbee_init
*
* Description:
* Initialize an XBee driver. The XBee device is assumed to be
* in the post-reset state upon entry to this function.
*
* Input Parameters:
* spi - A reference to the platform's SPI driver for the XBee
* lower - The MCU-specific interrupt used to control low-level MCU
* functions (i.e., XBee GPIO interrupts).
*
* Returned Value:
* OK on success; Negated errno on failure.
*
* Assumptions:
*
****************************************************************************/
XBEEHANDLE xbee_init(FAR struct spi_dev_s *spi,
FAR const struct xbee_lower_s *lower)
{
FAR struct xbee_priv_s *priv;
/* Allocate object */
priv = (FAR struct xbee_priv_s *) kmm_zalloc(sizeof(struct xbee_priv_s));
if (priv == NULL)
{
wlinfo("Failed allocation xbee_priv_s structure\n");
return NULL;
}
/* Attach irq */
if (lower->attach(lower, xbee_interrupt, priv) != OK)
{
wlinfo("Failed to attach IRQ with XBee lower half\n");
kmm_free(priv);
return NULL;
}
priv->lower = lower;
priv->spi = spi;
nxsem_init(&priv->primitive_sem, 0, 1);
nxsem_init(&priv->atquery_sem, 0, 1);
nxsem_init(&priv->tx_sem, 0, 1);
nxsem_init(&priv->txdone_sem, 0, 0);
nxsem_set_protocol(&priv->txdone_sem, SEM_PRIO_NONE);
ieee802154_primitivepool_initialize();
sq_init(&priv->primitive_queue);
priv->frameid = 0; /* Frame ID should never be 0, but it is incremented
* in xbee_next_frameid before being used so it will be 1 */
priv->querycmd[0] = 0;
priv->querycmd[1] = 0;
/* Initialize the saddr */
IEEE802154_SADDRCOPY(priv->addr.saddr, &IEEE802154_SADDR_UNSPEC);
/* Reset the XBee radio */
priv->lower->reset(priv->lower);
/* Enable interrupts */
priv->lower->enable(priv->lower, true);
/* Trigger a query to tell the XBee to operate in SPI mode. By default the
* XBee uses the UART interface. It switches automatically when a valid
* SPI frame is received.
*
* Use this opportunity to pull the extended address
*/
xbee_query_eaddr(priv);
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
xbee_lockupcheck_reschedule(priv);
#endif
return (XBEEHANDLE)priv;
}
/****************************************************************************
* 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)
{
FAR struct iob_s *iob;
FAR struct iob_s *previob;
FAR struct iob_s *iobhead;
uint16_t rxframelen = 0;
int i;
/* Get access to SPI bus, set relevant settings */
SPI_LOCK(priv->spi, 1);
SPI_SETBITS(priv->spi, 8);
SPI_SETMODE(priv->spi, SPIDEV_MODE0);
SPI_SETFREQUENCY(priv->spi, CONFIG_IEEE802154_XBEE_FREQUENCY);
/* Assert CS */
SPI_SELECT(priv->spi, SPIDEV_IEEE802154(0), true);
/* Allocate an IOB for the incoming data. The XBee supports full-duplex
* SPI communication. This means that the MISO data can become valid at any
* time. This requires us to process incoming MISO data to see if it is
* valid.
*
* If we can't allocate an IOB, then we have to just drop the incoming
* data.
*/
iob = iob_tryalloc(false);
iob->io_flink = NULL;
iob->io_len = 0;
iob->io_offset = 0;
iob->io_pktlen = 0;
/* Keep a reference to the first IOB. If we need to allocate more than
* one to hold each API frame, then we will still have this reference to
* the head of the list
*/
iobhead = iob;
i = 0;
while (i < framelen || (priv->lower->poll(priv->lower) && iob != NULL))
{
if (i < framelen)
{
if (iob)
{
iob->io_data[iob->io_len] = SPI_SEND(priv->spi, frame[i++]);
}
else
{
SPI_SEND(priv->spi, frame[i++]);
}
}
else
{
SPI_RECVBLOCK(priv->spi, &iob->io_data[iob->io_len], 1);
}
/* attn_latched should be set true immediately from the interrupt. Any
* data prior to that can be completely ignored.
*/
if (priv->attn_latched && iob != NULL)
{
DEBUGASSERT(iob->io_len <= CONFIG_IOB_BUFSIZE);
switch (iob->io_len)
{
case XBEE_APIFRAMEINDEX_STARTBYTE:
{
if (iob->io_data[iob->io_len] == XBEE_STARTBYTE)
{
iob->io_len++;
}
}
break;
case XBEE_APIFRAMEINDEX_LENGTHMSB:
{
rxframelen = iob->io_data[iob->io_len++] << 8;
}
break;
case XBEE_APIFRAMEINDEX_LENGTHLSB:
{
rxframelen |= iob->io_data[iob->io_len++];
rxframelen += XBEE_APIFRAME_OVERHEAD;
}
break;
case XBEE_APIFRAMEINDEX_TYPE:
{
/* Check that the length and frame type make sense
* together.
*/
if (!xbee_validate_apiframe(iob->io_data[iob->io_len],
rxframelen -
XBEE_APIFRAME_OVERHEAD))
{
wlwarn("invalid length on incoming API frame. "
"Dropping!\n");
iob->io_len = 0;
}
else
{
iob->io_len++;
}
}
break;
default:
{
if (iob->io_len == rxframelen - 1)
{
iob->io_len++;
if (xbee_verify_checksum(iob))
{
/* This API frame is complete. Allocate a new IOB
* and link it to the existing one. When we are all
* finished we will pass this IOB list along for
* processing.
*/
iob->io_flink = iob_tryalloc(false);
iob = iob->io_flink;
if (iob != NULL)
{
iob->io_flink = NULL;
iob->io_len = 0;
iob->io_offset = 0;
iob->io_pktlen = 0;
}
}
else
{
wlwarn("invalid checksum on incoming API frame. "
"Dropping!\n");
iob->io_len = 0;
}
}
else
{
iob->io_len++;
}
}
break;
}
}
}
/* The last IOB in the list (or the only one) may be able to be freed
* since it may not have any valid data. If it contains some data, but not
* a whole API frame, something is wrong, so we just warn the user and
* drop the data. If the data was valid, the ATTN line should have stayed
* asserted until all the data was clocked in. So if we don't have a full
* frame, we can only drop it.
*/
if (iob != NULL)
{
if (iob->io_len < XBEE_APIFRAME_OVERHEAD || iob->io_len != rxframelen)
{
if (iobhead == iob)
{
iobhead = NULL;
}
else
{
previob = iobhead;
while (previob->io_flink != iob)
{
previob = previob->io_flink;
}
previob->io_flink = NULL;
}
if (iob->io_len > 0)
{
wlwarn("Partial API frame clocked in. Dropping!\n");
}
iob_free(iob);
}
}
if (iobhead != NULL)
{
if (priv->rx_apiframes == NULL)
{
priv->rx_apiframes = iobhead;
}
else
{
iob = priv->rx_apiframes;
while (iob->io_flink != NULL)
{
iob = iob->io_flink;
}
iob->io_flink = iobhead;
}
}
/* De-assert CS */
SPI_SELECT(priv->spi, SPIDEV_IEEE802154(0), false);
/* Relinquish control of the SPI Bus */
SPI_LOCK(priv->spi, 0);
}
/****************************************************************************
* Name: xbee_atquery
*
* Description:
* Sends AT Query and waits for response from device
*
****************************************************************************/
int xbee_atquery(FAR struct xbee_priv_s *priv, FAR const char *atcommand)
{
int ret;
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
int retries = XBEE_LOCKUP_QUERYATTEMPTS;
#endif
/* Only allow one query at a time */
ret = nxsem_wait(&priv->atquery_sem);
if (ret < 0)
{
return ret;
}
priv->querydone = false;
/* We reinitialize this every time, in case something gets out of phase
* with the timeout and the received response.
*/
nxsem_init(&priv->atresp_sem, 0, 0);
nxsem_set_protocol(&priv->atresp_sem, SEM_PRIO_NONE);
do
{
/* There is a note in the XBee datasheet: Once you issue a WR command,
* do not send any additional characters to the device until after
* you receive the OK response.
*
* If we are issuing a WR command, don't set a timeout. We will have
* to rely on the XBee getting back to us reliably.
*/
if (memcmp(atcommand, "WR", 2) != 0)
{
/* Setup a timeout */
wd_start(&priv->atquery_wd, XBEE_ATQUERY_TIMEOUT,
xbee_atquery_timeout, (wdparm_t)priv);
}
/* Send the query */
priv->querycmd[0] = *atcommand;
priv->querycmd[1] = *(atcommand + 1);
xbee_send_atquery(priv, atcommand);
/* Wait for the response to be received */
ret = nxsem_wait(&priv->atresp_sem);
if (ret < 0)
{
wd_cancel(&priv->atquery_wd);
priv->querycmd[0] = 0;
priv->querycmd[1] = 0;
nxsem_post(&priv->atquery_sem);
return ret;
}
#ifdef CONFIG_XBEE_LOCKUP_WORKAROUND
if (--retries == 0 && !priv->querydone)
{
wlerr("XBee not responding. Resetting.\n");
priv->lower->reset(priv->lower);
retries = XBEE_LOCKUP_QUERYATTEMPTS;
}
#endif
}
while (!priv->querydone);
nxsem_post(&priv->atquery_sem);
return OK;
}
/****************************************************************************
* Name: xbee_send_atquery
*
* Description:
* Helper function to send the AT query to the XBee
*
****************************************************************************/
void xbee_send_atquery(FAR struct xbee_priv_s *priv,
FAR const char *atcommand)
{
uint8_t frame[8];
wlinfo("AT Query: %c%c\n", *atcommand, *(atcommand + 1));
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 4;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 1;
frame[5] = *atcommand;
frame[6] = *(atcommand + 1);
xbee_insert_checksum(frame, 8);
xbee_send_apiframe(priv, frame, 8);
}
/****************************************************************************
* 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)
{
uint8_t frame[10];
IEEE802154_PANIDCOPY(priv->addr.panid, panid);
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 6;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'I';
frame[6] = 'D';
frame[7] = *(panid + 1);
frame[8] = *(panid);
xbee_insert_checksum(frame, 10);
xbee_send_apiframe(priv, frame, 10);
}
/****************************************************************************
* 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)
{
uint8_t frame[10];
IEEE802154_SADDRCOPY(priv->addr.saddr, saddr);
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 6;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'M';
frame[6] = 'Y';
frame[7] = *(saddr + 1);
frame[8] = *(saddr);
xbee_insert_checksum(frame, 10);
xbee_send_apiframe(priv, frame, 10);
}
/****************************************************************************
* 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)
{
uint8_t frame[9];
priv->chan = chan;
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 5;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'C';
frame[6] = 'H';
frame[7] = chan;
xbee_insert_checksum(frame, 9);
xbee_send_apiframe(priv, frame, 9);
}
/****************************************************************************
* Name: xbee_set_powerlevel
*
* Description:
* Sends API frame with AT command request in order to set the RF power
* level of the device.
*
****************************************************************************/
void xbee_set_powerlevel(FAR struct xbee_priv_s *priv, uint8_t level)
{
uint8_t frame[9];
priv->pwrlvl = level;
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 5;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'P';
frame[6] = 'L';
frame[7] = level;
xbee_insert_checksum(frame, 9);
xbee_send_apiframe(priv, frame, 9);
}
/****************************************************************************
* Name: xbee_set_boostmode
*
* Description:
* Sends API frame with AT command request in order to set the Boost mode
* setting of the device. NOTE: XBee Pro always enables boost mode and
* does not support this command
*
****************************************************************************/
void xbee_set_boostmode(FAR struct xbee_priv_s *priv, uint8_t mode)
{
uint8_t frame[9];
if (mode > 1) return;
priv->boostmode = mode;
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 5;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'P';
frame[6] = 'M';
frame[7] = mode;
xbee_insert_checksum(frame, 9);
xbee_send_apiframe(priv, frame, 9);
}
/****************************************************************************
* 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)
{
uint8_t frame[9];
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 5;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'A';
frame[6] = '1';
frame[7] = flags;
xbee_insert_checksum(frame, 9);
xbee_send_apiframe(priv, frame, 9);
}
/****************************************************************************
* Name: xbee_set_coordassocflags
*
* Description:
* Set flags in 'A2' command register to determine how coordinator behaves
* with regards to association.
*
****************************************************************************/
void xbee_set_coordassocflags(FAR struct xbee_priv_s *priv, uint8_t flags)
{
uint8_t frame[9];
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 5;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'A';
frame[6] = '2';
frame[7] = flags;
xbee_insert_checksum(frame, 9);
xbee_send_apiframe(priv, frame, 9);
}
/****************************************************************************
* 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)
{
uint8_t frame[10];
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 6;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'S';
frame[6] = 'P';
frame[7] = period >> 8;
frame[8] = period;
xbee_insert_checksum(frame, 10);
xbee_send_apiframe(priv, frame, 10);
}
/****************************************************************************
* Name: xbee_enable_coord
*
* Description:
* Enables/Disables coordinator mode using 'CE' command
*
****************************************************************************/
void xbee_enable_coord(FAR struct xbee_priv_s *priv, bool enable)
{
uint8_t frame[9];
frame[0] = XBEE_STARTBYTE;
frame[1] = 0;
frame[2] = 5;
frame[3] = XBEE_APIFRAME_ATCOMMMAND;
frame[4] = 0;
frame[5] = 'C';
frame[6] = 'E';
frame[7] = enable;
xbee_insert_checksum(frame, 9);
xbee_send_apiframe(priv, frame, 9);
}
/****************************************************************************
* 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)
{
xbee_query_firmwareversion(priv);
wlinfo("XBee Firmware Version: %04x\n", priv->firmwareversion);
xbee_send_atquery(priv, "CE");
xbee_send_atquery(priv, "A1");
xbee_send_atquery(priv, "A2");
xbee_send_atquery(priv, "AI");
xbee_send_atquery(priv, "SP");
xbee_send_atquery(priv, "RR");
xbee_send_atquery(priv, "MM");
xbee_send_atquery(priv, "PL");
xbee_send_atquery(priv, "PM");
}
Reference in New Issue View Git Blame Copy Permalink