CUER / Mbed 2 deprecated Telemetry_SolarCar

MBED code for Xbee module running on solar car

Dependencies:   XBeeLib mbed CUER_CAN

Fork of XBee802_Send_Data by Digi International Inc.

main.cpp@14:e625e467e257, 2017-10-07 (annotated)

Committer:
ItsJustZi
Date:
Sat Oct 07 02:49:23 2017 +0000
Revision:
14:e625e467e257
Parent:
13:173e69872505 
Final working implementation of send data before modifying to meet MDH requirements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hbujanda 5:1b2d489605b1 1 /**
hbujanda 5:1b2d489605b1 2 * Copyright (c) 2015 Digi International Inc.,
hbujanda 5:1b2d489605b1 3 * All rights not expressly granted are reserved.
hbujanda 5:1b2d489605b1 4 *
hbujanda 5:1b2d489605b1 5 * This Source Code Form is subject to the terms of the Mozilla Public
hbujanda 5:1b2d489605b1 6 * License, v. 2.0. If a copy of the MPL was not distributed with this file,
hbujanda 5:1b2d489605b1 7 * You can obtain one at http://mozilla.org/MPL/2.0/.
hbujanda 5:1b2d489605b1 8 *
hbujanda 5:1b2d489605b1 9 * Digi International Inc. 11001 Bren Road East, Minnetonka, MN 55343
hbujanda 5:1b2d489605b1 10 * =======================================================================
hbujanda 5:1b2d489605b1 11 */
hbujanda 5:1b2d489605b1 12
hbujanda 5:1b2d489605b1 13 #include "mbed.h"
hbujanda 5:1b2d489605b1 14 #include "XBeeLib.h"
ItsJustZi 12:13762b16b300 15 #include "CAN_Parser_Telemetry.h"
hbujanda 5:1b2d489605b1 16 #if defined(ENABLE_LOGGING)
hbujanda 5:1b2d489605b1 17 #include "DigiLoggerMbedSerial.h"
hbujanda 5:1b2d489605b1 18 using namespace DigiLog;
ItsJustZi 12:13762b16b300 19 using namespace CAN_IDs;
hbujanda 5:1b2d489605b1 20 #endif
hbujanda 5:1b2d489605b1 21
hbujanda 5:1b2d489605b1 22 #define REMOTE_NODE_ADDR64_MSB ((uint32_t)0x0013A200)
spastor 7:ab86cae2e208 23
ItsJustZi 11:338fcc83ef26 24 //#error "Replace next define with the LSB of the remote module's 64-bit address (SL parameter)"
ItsJustZi 11:338fcc83ef26 25 #define REMOTE_NODE_ADDR64_LSB ((uint32_t)0x4076A4CB)
spastor 7:ab86cae2e208 26
ItsJustZi 11:338fcc83ef26 27 //#error "Replace next define with the remote module's 16-bit address (MY parameter)"
ItsJustZi 11:338fcc83ef26 28 #define REMOTE_NODE_ADDR16 ((uint16_t)0x00)
hbujanda 5:1b2d489605b1 29
hbujanda 5:1b2d489605b1 30 #define REMOTE_NODE_ADDR64 UINT64(REMOTE_NODE_ADDR64_MSB, REMOTE_NODE_ADDR64_LSB)
hbujanda 5:1b2d489605b1 31
ItsJustZi 13:173e69872505 32 #define DEBUG 0
hbujanda 5:1b2d489605b1 33 using namespace XBeeLib;
hbujanda 5:1b2d489605b1 34
ItsJustZi 12:13762b16b300 35 Serial *log_serial;
hbujanda 5:1b2d489605b1 36
ItsJustZi 12:13762b16b300 37 static void send_broadcast_data(XBee802& xbee, uint8_t *data, uint16_t data_len)
hbujanda 5:1b2d489605b1 38 {
ItsJustZi 12:13762b16b300 39 const TxStatus txStatus = xbee.send_data_broadcast(data, data_len);
hbujanda 5:1b2d489605b1 40
hbujanda 5:1b2d489605b1 41 if (txStatus == TxStatusSuccess)
ItsJustZi 11:338fcc83ef26 42 printf("send_broadcast_data OK\r\n");
hbujanda 5:1b2d489605b1 43 else
ItsJustZi 11:338fcc83ef26 44 printf("send_broadcast_data failed with %d\r\n", (int) txStatus);
hbujanda 5:1b2d489605b1 45 }
hbujanda 5:1b2d489605b1 46
ItsJustZi 12:13762b16b300 47 static void send_data_to_remote_node(XBee802& xbee, const RemoteXBee802& RemoteDevice, uint8_t *data, uint16_t data_len)
hbujanda 5:1b2d489605b1 48 {
ItsJustZi 12:13762b16b300 49 const TxStatus txStatus = xbee.send_data(RemoteDevice, data, data_len);
hbujanda 5:1b2d489605b1 50
ItsJustZi 13:173e69872505 51 if (txStatus == TxStatusSuccess) {
ItsJustZi 13:173e69872505 52 if (DEBUG) {
ItsJustZi 11:338fcc83ef26 53 printf("send_data_to_remote_node OK\r\n");
ItsJustZi 13:173e69872505 54 }
ItsJustZi 13:173e69872505 55 }
hbujanda 5:1b2d489605b1 56 else
ItsJustZi 11:338fcc83ef26 57 printf("send_data_to_remote_node failed with %d\r\n", (int) txStatus);
hbujanda 5:1b2d489605b1 58 }
hbujanda 5:1b2d489605b1 59
ItsJustZi 12:13762b16b300 60 static void readFromVolBufferandRedirect2Xbee(XBee802& xbee, const RemoteXBee802 remoteDevice64b)
ItsJustZi 12:13762b16b300 61 {
ItsJustZi 13:173e69872505 62 if(DEBUG) printf("In main loop \r\n");
ItsJustZi 13:173e69872505 63 uint8_t actualData[10];
ItsJustZi 12:13762b16b300 64 //Import the data from the buffer into a non-volatile, more usable format
ItsJustZi 12:13762b16b300 65 CAN_Data can_data[CAN_BUFFER_SIZE]; //container for all of the raw data
ItsJustZi 12:13762b16b300 66 int received_CAN_IDs[CAN_BUFFER_SIZE]; //needed to keep track of which IDs we've received so far
ItsJustZi 12:13762b16b300 67 for (int i = 0; i<CAN_BUFFER_SIZE; i++) {
ItsJustZi 12:13762b16b300 68 safe_to_write[i] = false;
ItsJustZi 12:13762b16b300 69 can_data[i].importCANData(buffer[i]);
ItsJustZi 12:13762b16b300 70 received_CAN_IDs[i] = buffer[i].id;
ItsJustZi 12:13762b16b300 71 buffer[i] = 0;
ItsJustZi 12:13762b16b300 72 safe_to_write[i] = true;
ItsJustZi 12:13762b16b300 73
ItsJustZi 12:13762b16b300 74 if (received_CAN_IDs[i]!=BLANK_ID) {
ItsJustZi 13:173e69872505 75 if (DEBUG) printf("Picked up CAN packet! \r\n");
ItsJustZi 13:173e69872505 76 if (DEBUG) printf("CAN ID is %x \r\n", received_CAN_IDs[i]);
ItsJustZi 12:13762b16b300 77 //Xbee packet format is such that byte 1 = CAN ID, byte 1-9 = CAN data...
ItsJustZi 12:13762b16b300 78 actualData[0]=(uint8_t)received_CAN_IDs[i];
ItsJustZi 13:173e69872505 79 actualData[1]=(uint8_t)(received_CAN_IDs[i]>>8);
ItsJustZi 13:173e69872505 80 //printf("actualData[1] is %x \r\n", actualData[1]);
ItsJustZi 12:13762b16b300 81 for (int x=0; x<8; x++) {
ItsJustZi 13:173e69872505 82 actualData[x+2]=can_data[i].get_u8(x);
ItsJustZi 12:13762b16b300 83 }
ItsJustZi 13:173e69872505 84 send_data_to_remote_node(xbee, remoteDevice64b, actualData, 10);
ItsJustZi 13:173e69872505 85 wait_ms(100);
ItsJustZi 13:173e69872505 86 if (DEBUG) printf("\r\n");
ItsJustZi 12:13762b16b300 87 }
ItsJustZi 12:13762b16b300 88 }
ItsJustZi 12:13762b16b300 89 }
ItsJustZi 12:13762b16b300 90
ItsJustZi 12:13762b16b300 91 //Serial *log_serial;
hbujanda 5:1b2d489605b1 92 int main()
hbujanda 5:1b2d489605b1 93 {
ItsJustZi 12:13762b16b300 94 CAN_Init();
ItsJustZi 12:13762b16b300 95 CANIDsListUpdater();
hbujanda 5:1b2d489605b1 96 log_serial = new Serial(DEBUG_TX, DEBUG_RX);
hbujanda 5:1b2d489605b1 97 log_serial->baud(9600);
ItsJustZi 12:13762b16b300 98 //log_serial->printf("Sample application to demo how to send unicast and broadcast data with the XBee802\r\n\r\n");
ItsJustZi 12:13762b16b300 99 //log_serial->printf(XB_LIB_BANNER);
hbujanda 5:1b2d489605b1 100
hbujanda 5:1b2d489605b1 101 #if defined(ENABLE_LOGGING)
hbujanda 5:1b2d489605b1 102 new DigiLoggerMbedSerial(log_serial, LogLevelInfo);
hbujanda 5:1b2d489605b1 103 #endif
hbujanda 5:1b2d489605b1 104
hbujanda 5:1b2d489605b1 105 XBee802 xbee = XBee802(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 9600);
hbujanda 5:1b2d489605b1 106
hbujanda 5:1b2d489605b1 107 RadioStatus radioStatus = xbee.init();
hbujanda 5:1b2d489605b1 108 MBED_ASSERT(radioStatus == Success);
hbujanda 5:1b2d489605b1 109
hbujanda 5:1b2d489605b1 110 const RemoteXBee802 remoteDevice64b = RemoteXBee802(REMOTE_NODE_ADDR64);
hbujanda 5:1b2d489605b1 111 const RemoteXBee802 remoteDevice16b = RemoteXBee802(REMOTE_NODE_ADDR16);
ItsJustZi 12:13762b16b300 112 while (1) {
ItsJustZi 12:13762b16b300 113 //send_broadcast_data(xbee);
ItsJustZi 12:13762b16b300 114 readFromVolBufferandRedirect2Xbee(xbee, remoteDevice64b);
ItsJustZi 14:e625e467e257 115 wait_ms(200);
ItsJustZi 13:173e69872505 116 //wait(1);
ItsJustZi 12:13762b16b300 117 //send_data_to_remote_node(xbee, remoteDevice16b);
ItsJustZi 12:13762b16b300 118 }
hbujanda 5:1b2d489605b1 119 delete(log_serial);
ItsJustZi 12:13762b16b300 120 }