Miya Miyagawa / Mbed 2 deprecated Orewotaosita

If you wont to knock me down, look this file...

Dependencies:   mbed Servo

Communication/XBee/XBee.cpp@0:4df75b08b14a, 2019-05-03 (annotated)

Committer:
Ryosei
Date:
Fri May 03 11:47:27 2019 +0000
Revision:
0:4df75b08b14a
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ryosei 0:4df75b08b14a 1 #include "XBee.h"
Ryosei 0:4df75b08b14a 2
Ryosei 0:4df75b08b14a 3 #include <stdint.h>
Ryosei 0:4df75b08b14a 4 #include "mbed.h"
Ryosei 0:4df75b08b14a 5
Ryosei 0:4df75b08b14a 6 namespace XBEE
Ryosei 0:4df75b08b14a 7 {
Ryosei 0:4df75b08b14a 8 Ticker xbee_timer;
Ryosei 0:4df75b08b14a 9 Serial xbee_uart(XBEE_TX, XBEE_RX);
Ryosei 0:4df75b08b14a 10 DigitalOut XBee_LED(LED1);
Ryosei 0:4df75b08b14a 11
Ryosei 0:4df75b08b14a 12 void uartUpdate(void);
Ryosei 0:4df75b08b14a 13 void lostCheck(void);
Ryosei 0:4df75b08b14a 14
Ryosei 0:4df75b08b14a 15 namespace
Ryosei 0:4df75b08b14a 16 {
Ryosei 0:4df75b08b14a 17 ControllerData ctrData;
Ryosei 0:4df75b08b14a 18 ControllerData keepCtrData;
Ryosei 0:4df75b08b14a 19 const uint8_t defaultData[4] = CTR_DEFAULT_DATA;
Ryosei 0:4df75b08b14a 20 const char check[] = "DT=";
Ryosei 0:4df75b08b14a 21 volatile char packet[24];
Ryosei 0:4df75b08b14a 22
Ryosei 0:4df75b08b14a 23 bool controllerLost = false;
Ryosei 0:4df75b08b14a 24 uint8_t timerCount = 0;
Ryosei 0:4df75b08b14a 25 }
Ryosei 0:4df75b08b14a 26
Ryosei 0:4df75b08b14a 27 void Controller::Initialize(void) {
Ryosei 0:4df75b08b14a 28 xbee_timer.attach(lostCheck, 0.025);
Ryosei 0:4df75b08b14a 29 xbee_uart.baud(4800);
Ryosei 0:4df75b08b14a 30 xbee_uart.attach(uartUpdate, Serial::RxIrq);
Ryosei 0:4df75b08b14a 31 DataReset();
Ryosei 0:4df75b08b14a 32 }
Ryosei 0:4df75b08b14a 33
Ryosei 0:4df75b08b14a 34 ControllerData* Controller::GetData(void) {
Ryosei 0:4df75b08b14a 35 __disable_irq();
Ryosei 0:4df75b08b14a 36 for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i];
Ryosei 0:4df75b08b14a 37 __enable_irq();
Ryosei 0:4df75b08b14a 38 return &keepCtrData;
Ryosei 0:4df75b08b14a 39 }
Ryosei 0:4df75b08b14a 40
Ryosei 0:4df75b08b14a 41 void Controller::DataReset(void) {
Ryosei 0:4df75b08b14a 42 __disable_irq();
Ryosei 0:4df75b08b14a 43 for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i];
Ryosei 0:4df75b08b14a 44 __enable_irq();
Ryosei 0:4df75b08b14a 45 }
Ryosei 0:4df75b08b14a 46
Ryosei 0:4df75b08b14a 47 bool Controller::CheckControllerLost(void) {
Ryosei 0:4df75b08b14a 48 return controllerLost;
Ryosei 0:4df75b08b14a 49 }
Ryosei 0:4df75b08b14a 50
Ryosei 0:4df75b08b14a 51 void uartUpdate(void) {
Ryosei 0:4df75b08b14a 52 static bool phase = false;
Ryosei 0:4df75b08b14a 53 static uint8_t count = 0;
Ryosei 0:4df75b08b14a 54
Ryosei 0:4df75b08b14a 55 char data = xbee_uart.getc();
Ryosei 0:4df75b08b14a 56
Ryosei 0:4df75b08b14a 57 if(phase)
Ryosei 0:4df75b08b14a 58 {
Ryosei 0:4df75b08b14a 59 packet[count] = data;
Ryosei 0:4df75b08b14a 60 if(count < 2)
Ryosei 0:4df75b08b14a 61 {
Ryosei 0:4df75b08b14a 62 if(data != check[count])
Ryosei 0:4df75b08b14a 63 {
Ryosei 0:4df75b08b14a 64 phase = false;
Ryosei 0:4df75b08b14a 65 controllerLost = true;
Ryosei 0:4df75b08b14a 66 XBee_LED = LED_OFF;
Ryosei 0:4df75b08b14a 67 }
Ryosei 0:4df75b08b14a 68 }
Ryosei 0:4df75b08b14a 69 else if(count == 8)
Ryosei 0:4df75b08b14a 70 {
Ryosei 0:4df75b08b14a 71 if(data != '\r')
Ryosei 0:4df75b08b14a 72 {
Ryosei 0:4df75b08b14a 73 phase = false;
Ryosei 0:4df75b08b14a 74 controllerLost = true;
Ryosei 0:4df75b08b14a 75 XBee_LED = LED_OFF;
Ryosei 0:4df75b08b14a 76 }
Ryosei 0:4df75b08b14a 77 else
Ryosei 0:4df75b08b14a 78 {
Ryosei 0:4df75b08b14a 79 ctrData.buf[0] = packet[4];
Ryosei 0:4df75b08b14a 80 ctrData.buf[1] = packet[5];
Ryosei 0:4df75b08b14a 81 ctrData.buf[2] = packet[6];
Ryosei 0:4df75b08b14a 82 ctrData.buf[3] = packet[7];
Ryosei 0:4df75b08b14a 83 phase = false;
Ryosei 0:4df75b08b14a 84 timerCount = 0;
Ryosei 0:4df75b08b14a 85 controllerLost = false;
Ryosei 0:4df75b08b14a 86 XBee_LED = LED_ON;
Ryosei 0:4df75b08b14a 87 }
Ryosei 0:4df75b08b14a 88 }
Ryosei 0:4df75b08b14a 89 count++;
Ryosei 0:4df75b08b14a 90 }
Ryosei 0:4df75b08b14a 91 else
Ryosei 0:4df75b08b14a 92 {
Ryosei 0:4df75b08b14a 93 if(data == '@')
Ryosei 0:4df75b08b14a 94 {
Ryosei 0:4df75b08b14a 95 count = 0;
Ryosei 0:4df75b08b14a 96 phase = true;
Ryosei 0:4df75b08b14a 97 }
Ryosei 0:4df75b08b14a 98 }
Ryosei 0:4df75b08b14a 99 }
Ryosei 0:4df75b08b14a 100
Ryosei 0:4df75b08b14a 101 void lostCheck(void) {
Ryosei 0:4df75b08b14a 102 timerCount++;
Ryosei 0:4df75b08b14a 103 if(timerCount == 2) XBee_LED = LED_OFF;
Ryosei 0:4df75b08b14a 104 if(timerCount >= 20) {
Ryosei 0:4df75b08b14a 105 controllerLost = true;
Ryosei 0:4df75b08b14a 106 Controller::DataReset();
Ryosei 0:4df75b08b14a 107 timerCount = 0;
Ryosei 0:4df75b08b14a 108 XBee_LED = LED_OFF;
Ryosei 0:4df75b08b14a 109 }
Ryosei 0:4df75b08b14a 110 }
Ryosei 0:4df75b08b14a 111 }
Ryosei 0:4df75b08b14a 112