Diff: Communication/Xbee.cpp

Revision:

50:48e8da5fc1ae

Parent:

44:0862bc49ffa7

Child:

51:299408ceee3a

--- a/Communication/Xbee.cpp	Wed Apr 08 20:29:22 2015 +0000
+++ b/Communication/Xbee.cpp	Sat Apr 11 19:20:22 2015 +0000
@@ -14,6 +14,7 @@
     this->XbeePin = new Serial(pinTx, pinRx);
     PanId = panId;
     SetPanId(PanId);
+    frameID=0;
 }
 
 Xbee::~Xbee()
@@ -46,7 +47,7 @@
     command[1] = length1; //length first char
     command[2] = length2; //length second char
     command[3] = 0x10; //frame type - Send Request
-    command[4] = 0x01; //frame ID
+    command[4] = frameID; //frame ID
     sum += 0x10;
     sum += 0x01;
 
@@ -70,13 +71,13 @@
     }
 
     command[size-1] = 0xFF - sum; //checksum
-
     Envoyer(command, size); //send frame array to XBee
+frameID++;
 }
 
 void Xbee::EnvoyerStructure(Mobile_Vers_Fixe mvf)
 {
-    char data[8] = {};
+    char data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
 
     data[0] = mvf.gants;
     data[1] = mvf.accelData.x >> 8;
@@ -85,7 +86,7 @@
     data[4] = mvf.accelData.y & 0x00FF;
     data[5] = mvf.accelData.z >> 8;
     data[6] = mvf.accelData.z & 0x00FF;
-
+    x_pc.printf("\r\nAccel x: %d", mvf.accelData.x);
     mvf.flexSensor.index == 1 ? data[7] = 0x04 : data[7] = 0;
     mvf.flexSensor.majeur == 1 ? data[7] += 0x02 : data[7] += 0;
     mvf.flexSensor.annulaire == 1 ? data[7] += 0x01 : data[7] += 0;
@@ -95,8 +96,8 @@
 
 void Xbee::EnvoyerStructure(Mobile_Vers_Fixe* mvf)
 {
-    char data[8] = {};
-
+    char data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+    //x_pc.printf(" \r\n Gants id %c", mvf->gants);
     data[0] = mvf->gants;
     data[1] = mvf->accelData.x >> 8;
     data[2] = mvf->accelData.x & 0x00FF;
@@ -104,7 +105,7 @@
     data[4] = mvf->accelData.y & 0x00FF;
     data[5] = mvf->accelData.z >> 8;
     data[6] = mvf->accelData.z & 0x00FF;
-
+    x_pc.printf("\r\nAccel x: %d", mvf->accelData.x);
     mvf->flexSensor.index == 1 ? data[7] = 0x04 : data[7] = 0;
     mvf->flexSensor.majeur == 1 ? data[7] += 0x02 : data[7] += 0;
     mvf->flexSensor.annulaire == 1 ? data[7] += 0x01 : data[7] += 0;
@@ -118,23 +119,26 @@
 {
     char buffer[3];
     int index = 0;
+    x_pc.printf("\r\n Start recevoir thread x");
     while(true) {
         if (XbeePin->readable()) {
+            //x_pc.printf("Data recu: %x",XbeePin->getc());
             //Start byte
             if (XbeePin->getc() == 0x7E) {
                 index = 0;
-
+                //x_pc.printf("\r\n Start Byte x");
                 //Get length and frame type
                 while (index < 3) {
                     buffer[index] = XbeePin->getc();
                     index++;
                 }
+                //x_pc.printf("\n\r Type de trame: %x", buffer[2]);
                 index = 0;
                 //If frame is a receive packet
                 if (buffer[2] == 0x90) {
-
+                    //x_pc.printf("\r\n Bonne trame");
                     //Ici va falloir compter le nombre de bytes de niaiseries
-                    //qui se passent avant les datas, 11 je crois
+                    //qui se passent avant les donnees, 11 je crois
                     do {
                         char c = XbeePin->getc();
                         index++;
@@ -142,14 +146,15 @@
                     index = 0;
 
                     //GameID
-                    int gameMode = XbeePin->getc() - 60;
+
+                    int gameMode = XbeePin->getc();
                     index++;
-                    
+                    x_pc.printf("\r\n gameMode %x", gameMode);
                     //ChkSum
                     buffer[0] = XbeePin->getc();
-                    
+
                     Fixe_Vers_Mobile *emile = mailbox_TypeDeJeu.alloc();
-                    
+
                     // Verifier si mail pointe pas vers 0 [boite pleine]
                     while (emile == 0) {
                         wait_ms(25);