Stephen Davis / Mbed 2 deprecated BT_Hub

Library set up as dummy module on mbed to mimic Nordic.

Dependencies:   mbed-rtos mbed

rs485.cpp@2:9ab591cf81b8, 2016-12-13 (annotated)

Committer:
Stephen_NewVistas
Date:
Tue Dec 13 00:20:29 2016 +0000
Revision:
2:9ab591cf81b8
Parent:
1:d6b18299a715 
everything commented . now going to strip out mbed stuff.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stephen_NewVistas 0:226550611f0d 1 #include <string.h>
Stephen_NewVistas 0:226550611f0d 2 #include <stdio.h>
Stephen_NewVistas 0:226550611f0d 3
Stephen_NewVistas 0:226550611f0d 4 #include "rs485.h"
Stephen_NewVistas 0:226550611f0d 5
Stephen_NewVistas 0:226550611f0d 6 #define DEBUG
Stephen_NewVistas 0:226550611f0d 7
Stephen_NewVistas 0:226550611f0d 8 static list_t functionList = { .index = 0 };
Stephen_NewVistas 0:226550611f0d 9
Stephen_NewVistas 0:226550611f0d 10 Packet buildPacket;
Stephen_NewVistas 0:226550611f0d 11 static unsigned int buffPtr;
Stephen_NewVistas 0:226550611f0d 12 static unsigned char buffer[128+1];
Stephen_NewVistas 0:226550611f0d 13 int checksum;
Stephen_NewVistas 0:226550611f0d 14 int pState = START;
Stephen_NewVistas 0:226550611f0d 15 int returnState;
Stephen_NewVistas 0:226550611f0d 16 unsigned int plength;
Stephen_NewVistas 0:226550611f0d 17 unsigned char command;
Stephen_NewVistas 0:226550611f0d 18 int message;
Stephen_NewVistas 0:226550611f0d 19 static unsigned char packetBuffer[128];
Stephen_NewVistas 0:226550611f0d 20 static unsigned int packetBufferSize;
Stephen_NewVistas 0:226550611f0d 21
Stephen_NewVistas 2:9ab591cf81b8 22 /************************** External Functions********************************
Stephen_NewVistas 2:9ab591cf81b8 23 * These functions need to be externall defined to be able to process packets
Stephen_NewVistas 2:9ab591cf81b8 24 * and to send out chars over the bus.
Stephen_NewVistas 2:9ab591cf81b8 25 /************************** External Functions********************************/
Stephen_NewVistas 0:226550611f0d 26 extern int Bluetooth_ReceivePacket( Packet *_packet );
Stephen_NewVistas 0:226550611f0d 27 extern int Bluetooth_SendChar( unsigned char );
Stephen_NewVistas 2:9ab591cf81b8 28 extern const unsigned char DEVADDRESS;
Stephen_NewVistas 0:226550611f0d 29
Stephen_NewVistas 2:9ab591cf81b8 30 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 31 * Function void RegisterCommand( command , function )
Stephen_NewVistas 2:9ab591cf81b8 32 *
Stephen_NewVistas 2:9ab591cf81b8 33 * When a command is registered with this function it will be added to the function
Stephen_NewVistas 2:9ab591cf81b8 34 * list. Once on the list, when a packet is received on the bus containing that
Stephen_NewVistas 2:9ab591cf81b8 35 * command the associated function will get called and it will be passed the data
Stephen_NewVistas 2:9ab591cf81b8 36 * within the packet as a parameter.
Stephen_NewVistas 2:9ab591cf81b8 37 *
Stephen_NewVistas 2:9ab591cf81b8 38 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 39 *
Stephen_NewVistas 2:9ab591cf81b8 40 * Input: 'command' - command byte
Stephen_NewVistas 2:9ab591cf81b8 41 * 'function' - pointer to function to be called
Stephen_NewVistas 2:9ab591cf81b8 42 *
Stephen_NewVistas 2:9ab591cf81b8 43 * Output: None
Stephen_NewVistas 2:9ab591cf81b8 44 *
Stephen_NewVistas 2:9ab591cf81b8 45 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 46 *
Stephen_NewVistas 2:9ab591cf81b8 47 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 48 unsigned char RegisterCommand( unsigned char _command , void (*_function)( unsigned char *) ){
Stephen_NewVistas 0:226550611f0d 49 functionList.list[ functionList.index ].function = _function;
Stephen_NewVistas 0:226550611f0d 50 functionList.list[ functionList.index ].command = _command;
Stephen_NewVistas 0:226550611f0d 51 functionList.index++;
Stephen_NewVistas 0:226550611f0d 52 return 0;
Stephen_NewVistas 0:226550611f0d 53 }
Stephen_NewVistas 0:226550611f0d 54
Stephen_NewVistas 2:9ab591cf81b8 55 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 56 * Function void CheckFunction( Packet * )
Stephen_NewVistas 2:9ab591cf81b8 57 *
Stephen_NewVistas 2:9ab591cf81b8 58 * This passes in a packet and compares the command byte with a list of registered
Stephen_NewVistas 2:9ab591cf81b8 59 * commands. If it finds a match it will call that function along with the data
Stephen_NewVistas 2:9ab591cf81b8 60 * in the packet.
Stephen_NewVistas 2:9ab591cf81b8 61 *
Stephen_NewVistas 2:9ab591cf81b8 62 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 63 *
Stephen_NewVistas 2:9ab591cf81b8 64 * Input: '_packet' - packet containing command byte and data
Stephen_NewVistas 2:9ab591cf81b8 65 *
Stephen_NewVistas 2:9ab591cf81b8 66 * Output: '1' - command matched and function called
Stephen_NewVistas 2:9ab591cf81b8 67 * '2' - no command found
Stephen_NewVistas 2:9ab591cf81b8 68 *
Stephen_NewVistas 2:9ab591cf81b8 69 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 70 *
Stephen_NewVistas 2:9ab591cf81b8 71 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 72 int CheckFunction( Packet *_packet ){
Stephen_NewVistas 0:226550611f0d 73 int i = 0;
Stephen_NewVistas 0:226550611f0d 74 void (*Caller)(unsigned char *);
Stephen_NewVistas 0:226550611f0d 75 for( i = 0 ; i < functionList.index ; i++ ){
Stephen_NewVistas 0:226550611f0d 76 if( _packet->command == functionList.list[i].command ){
Stephen_NewVistas 0:226550611f0d 77 Caller = (void (*)(unsigned char *))functionList.list[i].function;
Stephen_NewVistas 0:226550611f0d 78 Caller( (unsigned char *)_packet->packetData );
Stephen_NewVistas 0:226550611f0d 79 return 1;
Stephen_NewVistas 0:226550611f0d 80 }
Stephen_NewVistas 0:226550611f0d 81 }
Stephen_NewVistas 0:226550611f0d 82 return 0;
Stephen_NewVistas 0:226550611f0d 83 }
Stephen_NewVistas 0:226550611f0d 84
Stephen_NewVistas 0:226550611f0d 85 void RS495_Init( void ){
Stephen_NewVistas 0:226550611f0d 86
Stephen_NewVistas 0:226550611f0d 87 }
Stephen_NewVistas 0:226550611f0d 88
Stephen_NewVistas 2:9ab591cf81b8 89 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 90 * Function void SendAck( void )
Stephen_NewVistas 2:9ab591cf81b8 91 *
Stephen_NewVistas 2:9ab591cf81b8 92 * Sends an acknowledge byte over the bus. It calls an external function to
Stephen_NewVistas 2:9ab591cf81b8 93 * handle the actual hardware communication.
Stephen_NewVistas 2:9ab591cf81b8 94 *
Stephen_NewVistas 2:9ab591cf81b8 95 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 96 *
Stephen_NewVistas 2:9ab591cf81b8 97 * Input: '_packet' - prebuilt packet to send
Stephen_NewVistas 2:9ab591cf81b8 98 *
Stephen_NewVistas 2:9ab591cf81b8 99 * Output: None
Stephen_NewVistas 2:9ab591cf81b8 100 *
Stephen_NewVistas 2:9ab591cf81b8 101 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 102 *
Stephen_NewVistas 2:9ab591cf81b8 103 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 104 static void SendAck( void ){
Stephen_NewVistas 0:226550611f0d 105 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 106 pc.printf( "\n\rAck Sent.\n\r" );
Stephen_NewVistas 0:226550611f0d 107 #endif // DEBUG
Stephen_NewVistas 0:226550611f0d 108 unsigned char ack = ACKCHAR;
Stephen_NewVistas 0:226550611f0d 109 Bluetooth_SendChar( ack );
Stephen_NewVistas 0:226550611f0d 110 }
Stephen_NewVistas 0:226550611f0d 111
Stephen_NewVistas 2:9ab591cf81b8 112 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 113 * Function void SendNack( void )
Stephen_NewVistas 2:9ab591cf81b8 114 *
Stephen_NewVistas 2:9ab591cf81b8 115 * Sends a non acknowledge byte over the bus. It calls an external function to
Stephen_NewVistas 2:9ab591cf81b8 116 * handle the actual hardware communication.
Stephen_NewVistas 2:9ab591cf81b8 117 *
Stephen_NewVistas 2:9ab591cf81b8 118 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 119 *
Stephen_NewVistas 2:9ab591cf81b8 120 * Input: '_packet' - prebuilt packet to send
Stephen_NewVistas 2:9ab591cf81b8 121 *
Stephen_NewVistas 2:9ab591cf81b8 122 * Output: None
Stephen_NewVistas 2:9ab591cf81b8 123 *
Stephen_NewVistas 2:9ab591cf81b8 124 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 125 *
Stephen_NewVistas 2:9ab591cf81b8 126 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 127 static void SendNack( void ){
Stephen_NewVistas 0:226550611f0d 128 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 129 pc.printf( "\n\rNack Sent.\n\r" );
Stephen_NewVistas 0:226550611f0d 130 #endif // DEBUG
Stephen_NewVistas 0:226550611f0d 131 unsigned char nack = NAKCHAR;
Stephen_NewVistas 0:226550611f0d 132 Bluetooth_SendChar( nack );
Stephen_NewVistas 0:226550611f0d 133 }
Stephen_NewVistas 0:226550611f0d 134
Stephen_NewVistas 2:9ab591cf81b8 135 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 136 * Function void ProcessPacket( Packet *)
Stephen_NewVistas 2:9ab591cf81b8 137 *
Stephen_NewVistas 2:9ab591cf81b8 138 * Gets automatically called once an entire packet is successfully received.
Stephen_NewVistas 2:9ab591cf81b8 139 * May modify what is done, but it should just pass the packet over to
Stephen_NewVistas 2:9ab591cf81b8 140 * an external function where it can be correctly handled.
Stephen_NewVistas 2:9ab591cf81b8 141 *
Stephen_NewVistas 2:9ab591cf81b8 142 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 143 *
Stephen_NewVistas 2:9ab591cf81b8 144 * Input: '_packet' - packet received on bus
Stephen_NewVistas 2:9ab591cf81b8 145 *
Stephen_NewVistas 2:9ab591cf81b8 146 * Output: None
Stephen_NewVistas 2:9ab591cf81b8 147 *
Stephen_NewVistas 2:9ab591cf81b8 148 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 149 *
Stephen_NewVistas 2:9ab591cf81b8 150 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 151 static int ProcessPacket( Packet *_packet ){
Stephen_NewVistas 0:226550611f0d 152 return Bluetooth_ReceivePacket( _packet );
Stephen_NewVistas 0:226550611f0d 153 }
Stephen_NewVistas 2:9ab591cf81b8 154
Stephen_NewVistas 2:9ab591cf81b8 155 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 156 * Function void setResponse(int, int, int)
Stephen_NewVistas 2:9ab591cf81b8 157 *
Stephen_NewVistas 2:9ab591cf81b8 158 * This function sets the feedback information to be send in the master device.
Stephen_NewVistas 2:9ab591cf81b8 159 *
Stephen_NewVistas 2:9ab591cf81b8 160 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 161 *
Stephen_NewVistas 2:9ab591cf81b8 162 * Input: '_packet' - prebuilt packet to send
Stephen_NewVistas 2:9ab591cf81b8 163 *
Stephen_NewVistas 2:9ab591cf81b8 164 * Output: None
Stephen_NewVistas 2:9ab591cf81b8 165 *
Stephen_NewVistas 2:9ab591cf81b8 166 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 167 *
Stephen_NewVistas 2:9ab591cf81b8 168 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 169 void SendMessage( void ){
Stephen_NewVistas 0:226550611f0d 170 int j = 0;
Stephen_NewVistas 0:226550611f0d 171 Bluetooth_SendChar( packetBuffer[ j++ ] );
Stephen_NewVistas 0:226550611f0d 172 while( j < packetBufferSize ){
Stephen_NewVistas 0:226550611f0d 173 if( packetBuffer[ j ] == STARTPACK ){
Stephen_NewVistas 0:226550611f0d 174 Bluetooth_SendChar( ESCAPE ); // #SCD Added this line, I think it should be here
Stephen_NewVistas 0:226550611f0d 175 Bluetooth_SendChar( 0x01 );
Stephen_NewVistas 0:226550611f0d 176 j++;
Stephen_NewVistas 0:226550611f0d 177 }
Stephen_NewVistas 0:226550611f0d 178 else if( packetBuffer[ j ] == ESCAPE ){
Stephen_NewVistas 0:226550611f0d 179 Bluetooth_SendChar( ESCAPE );
Stephen_NewVistas 0:226550611f0d 180 Bluetooth_SendChar( ESCAPE );
Stephen_NewVistas 0:226550611f0d 181 j++;
Stephen_NewVistas 0:226550611f0d 182 }
Stephen_NewVistas 0:226550611f0d 183 else if( packetBuffer[ j ] == STARTPOLL ){
Stephen_NewVistas 0:226550611f0d 184 Bluetooth_SendChar( ESCAPE );
Stephen_NewVistas 0:226550611f0d 185 Bluetooth_SendChar( 0x02 );
Stephen_NewVistas 0:226550611f0d 186 j++;
Stephen_NewVistas 0:226550611f0d 187 }
Stephen_NewVistas 0:226550611f0d 188 else{
Stephen_NewVistas 0:226550611f0d 189 Bluetooth_SendChar( packetBuffer[ j++ ] );
Stephen_NewVistas 0:226550611f0d 190 }
Stephen_NewVistas 0:226550611f0d 191 }
Stephen_NewVistas 0:226550611f0d 192 }
Stephen_NewVistas 0:226550611f0d 193
Stephen_NewVistas 0:226550611f0d 194 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 195 * Function void SetResponse( Packet *_packet )
Stephen_NewVistas 0:226550611f0d 196 *
Stephen_NewVistas 0:226550611f0d 197 * This function sets the feedback information to be send in the master device.
Stephen_NewVistas 0:226550611f0d 198 *
Stephen_NewVistas 0:226550611f0d 199 * PreCondition: None
Stephen_NewVistas 0:226550611f0d 200 *
Stephen_NewVistas 0:226550611f0d 201 * Input: '_packet' - prebuilt packet to send
Stephen_NewVistas 0:226550611f0d 202 *
Stephen_NewVistas 0:226550611f0d 203 * Output: None
Stephen_NewVistas 0:226550611f0d 204 *
Stephen_NewVistas 0:226550611f0d 205 * Side Effects: None
Stephen_NewVistas 0:226550611f0d 206 *
Stephen_NewVistas 0:226550611f0d 207 *****************************************************************************/
Stephen_NewVistas 2:9ab591cf81b8 208 void SetResponsePacket( Packet *_packet ){
Stephen_NewVistas 1:d6b18299a715 209 packetBufferSize = getFormattedPacket(_packet, packetBuffer);
Stephen_NewVistas 0:226550611f0d 210 message = 1;
Stephen_NewVistas 0:226550611f0d 211 }
Stephen_NewVistas 0:226550611f0d 212
Stephen_NewVistas 0:226550611f0d 213 /******************************************************************************
Stephen_NewVistas 2:9ab591cf81b8 214 * Function void SetResponseWithData( unsigned char deviceID, unsigned char
Stephen_NewVistas 2:9ab591cf81b8 215 command, unsigned char * data, unsigned short dataLength)
Stephen_NewVistas 2:9ab591cf81b8 216 *
Stephen_NewVistas 2:9ab591cf81b8 217 * This function sets the feedback information to be send in the master device.
Stephen_NewVistas 2:9ab591cf81b8 218 *
Stephen_NewVistas 2:9ab591cf81b8 219 * PreCondition: None
Stephen_NewVistas 2:9ab591cf81b8 220 *
Stephen_NewVistas 2:9ab591cf81b8 221 * Input: 'deviceID' - address where the packet is going
Stephen_NewVistas 2:9ab591cf81b8 222 'command' - command to be sent
Stephen_NewVistas 2:9ab591cf81b8 223 '*data' - point to unsiged char array packet with data
Stephen_NewVistas 2:9ab591cf81b8 224 'dataLength' - length of 'data'
Stephen_NewVistas 2:9ab591cf81b8 225 *
Stephen_NewVistas 2:9ab591cf81b8 226 * Output: None
Stephen_NewVistas 2:9ab591cf81b8 227 *
Stephen_NewVistas 2:9ab591cf81b8 228 * Side Effects: None
Stephen_NewVistas 2:9ab591cf81b8 229 *
Stephen_NewVistas 2:9ab591cf81b8 230 *****************************************************************************/
Stephen_NewVistas 2:9ab591cf81b8 231 void SetResponseWithData( unsigned char deviceID, unsigned char command, unsigned char * data, unsigned short dataLength){
Stephen_NewVistas 2:9ab591cf81b8 232
Stephen_NewVistas 2:9ab591cf81b8 233 // build packet to be sent
Stephen_NewVistas 2:9ab591cf81b8 234 Packet packet;
Stephen_NewVistas 2:9ab591cf81b8 235 packet.deviceID = deviceID;
Stephen_NewVistas 2:9ab591cf81b8 236 packet.sourceID = DEVADDRESS;
Stephen_NewVistas 2:9ab591cf81b8 237 packet.command = command;
Stephen_NewVistas 2:9ab591cf81b8 238 packet.packetLength = dataLength;
Stephen_NewVistas 2:9ab591cf81b8 239 memcpy( packet.packetData , data , dataLength );
Stephen_NewVistas 2:9ab591cf81b8 240 packetBufferSize = getFormattedPacket(&packet, packetBuffer);
Stephen_NewVistas 2:9ab591cf81b8 241
Stephen_NewVistas 2:9ab591cf81b8 242 // print message to be sent
Stephen_NewVistas 2:9ab591cf81b8 243 #ifdef DEBUG
Stephen_NewVistas 2:9ab591cf81b8 244 pc.printf( "Message to send: ");
Stephen_NewVistas 2:9ab591cf81b8 245 unsigned short length = 0;
Stephen_NewVistas 2:9ab591cf81b8 246 for( length = 1 ; length < ( dataLength + sizeof( packet.deviceID ) + sizeof( packet.sourceID ) + sizeof( packet.command ) + sizeof( packet.packetLength ) + 1 ) ; length++ ){
Stephen_NewVistas 2:9ab591cf81b8 247 pc.printf( "%x " , packetBuffer[ length ] );
Stephen_NewVistas 2:9ab591cf81b8 248 }
Stephen_NewVistas 2:9ab591cf81b8 249 pc.printf( "\n\r" );
Stephen_NewVistas 2:9ab591cf81b8 250 #endif
Stephen_NewVistas 2:9ab591cf81b8 251
Stephen_NewVistas 2:9ab591cf81b8 252 message = 1;
Stephen_NewVistas 2:9ab591cf81b8 253 }
Stephen_NewVistas 2:9ab591cf81b8 254
Stephen_NewVistas 2:9ab591cf81b8 255 /******************************************************************************
Stephen_NewVistas 0:226550611f0d 256 * Function void SerialHandler(unsigned char )
Stephen_NewVistas 0:226550611f0d 257 *
Stephen_NewVistas 0:226550611f0d 258 * This function handles the received data from the Serial Communication.
Stephen_NewVistas 0:226550611f0d 259 *
Stephen_NewVistas 0:226550611f0d 260 * PreCondition: None
Stephen_NewVistas 0:226550611f0d 261 *
Stephen_NewVistas 0:226550611f0d 262 * Input: 'RXByte' - the received data from Serial Communication
Stephen_NewVistas 0:226550611f0d 263 *
Stephen_NewVistas 0:226550611f0d 264 *
Stephen_NewVistas 0:226550611f0d 265 * Output: None
Stephen_NewVistas 0:226550611f0d 266 *
Stephen_NewVistas 2:9ab591cf81b8 267 * Side Effects: Will call functions to send ACK, NACK and process a packet
Stephen_NewVistas 2:9ab591cf81b8 268 * once an entire packet is received.
Stephen_NewVistas 0:226550611f0d 269 *
Stephen_NewVistas 0:226550611f0d 270 *****************************************************************************/
Stephen_NewVistas 0:226550611f0d 271 void SerialHandler(unsigned char RXByte){
Stephen_NewVistas 0:226550611f0d 272
Stephen_NewVistas 0:226550611f0d 273 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 274 pc.printf( "RXByte: %x" , RXByte );
Stephen_NewVistas 0:226550611f0d 275 #endif
Stephen_NewVistas 0:226550611f0d 276
Stephen_NewVistas 0:226550611f0d 277
Stephen_NewVistas 0:226550611f0d 278 // check the incoming byte for special characters
Stephen_NewVistas 0:226550611f0d 279 if( RXByte == STARTPACK ){ // start of packet byte
Stephen_NewVistas 0:226550611f0d 280 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 281 pc.printf( " - STARTBYTE\n\r" );
Stephen_NewVistas 0:226550611f0d 282 #endif
Stephen_NewVistas 0:226550611f0d 283 pState = DEVICEADDRESS; // move on to check the destination address
Stephen_NewVistas 0:226550611f0d 284 buffPtr = 0; // reset buffer pointer
Stephen_NewVistas 0:226550611f0d 285 buffer[buffPtr++] = STARTPACK; // load RXByte into buffer
Stephen_NewVistas 0:226550611f0d 286 checksum = STARTPACK; // add to checksum
Stephen_NewVistas 0:226550611f0d 287 return; // exit function, will be called again in next state
Stephen_NewVistas 0:226550611f0d 288 }
Stephen_NewVistas 0:226550611f0d 289 else if( RXByte == STARTPOLL ){ // poll byte
Stephen_NewVistas 0:226550611f0d 290 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 291 pc.printf( " - STARTPOLL\n\r" );
Stephen_NewVistas 0:226550611f0d 292 #endif
Stephen_NewVistas 0:226550611f0d 293 pState = POLL; // move on to check the distination address
Stephen_NewVistas 0:226550611f0d 294 return; // exit function, will be called again in next state
Stephen_NewVistas 0:226550611f0d 295 }
Stephen_NewVistas 0:226550611f0d 296 else if( RXByte == ESCAPE ){ // escape byte
Stephen_NewVistas 0:226550611f0d 297 if( pState == HANDLEESCAPE ){ // if this is the second escape byte in a row
Stephen_NewVistas 0:226550611f0d 298 }
Stephen_NewVistas 0:226550611f0d 299 else{
Stephen_NewVistas 0:226550611f0d 300 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 301 pc.printf( " - ESCAPE TO " );
Stephen_NewVistas 0:226550611f0d 302 #endif
Stephen_NewVistas 0:226550611f0d 303 returnState = pState; // if this is the first escape byte, record the current state
Stephen_NewVistas 0:226550611f0d 304 pState = HANDLEESCAPE; // change state
Stephen_NewVistas 0:226550611f0d 305 return; // exit function, will be called again in next state
Stephen_NewVistas 0:226550611f0d 306 }
Stephen_NewVistas 0:226550611f0d 307 }
Stephen_NewVistas 0:226550611f0d 308
Stephen_NewVistas 0:226550611f0d 309 if( pState == HANDLEESCAPE ){ // if entering here RXByte needs to be unescaped
Stephen_NewVistas 0:226550611f0d 310 switch( RXByte ){
Stephen_NewVistas 0:226550611f0d 311 case 1: // unescape a 0x7F/Start of packet byte
Stephen_NewVistas 0:226550611f0d 312 RXByte = 0x7F;
Stephen_NewVistas 0:226550611f0d 313 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 314 pc.printf( " -> %x" , RXByte );
Stephen_NewVistas 0:226550611f0d 315 #endif
Stephen_NewVistas 0:226550611f0d 316 break;
Stephen_NewVistas 0:226550611f0d 317
Stephen_NewVistas 0:226550611f0d 318 case 2: // unescape a 0x8F/Poll byte
Stephen_NewVistas 0:226550611f0d 319 RXByte = 0x8F;
Stephen_NewVistas 0:226550611f0d 320 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 321 pc.printf( " -> %x" , RXByte );
Stephen_NewVistas 0:226550611f0d 322 #endif
Stephen_NewVistas 0:226550611f0d 323 break;
Stephen_NewVistas 0:226550611f0d 324
Stephen_NewVistas 0:226550611f0d 325 case ESCAPE: // unescape a 0x8E/Escape byte
Stephen_NewVistas 0:226550611f0d 326 RXByte = 0x8E;
Stephen_NewVistas 0:226550611f0d 327 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 328 pc.printf( " -> %x" , RXByte );
Stephen_NewVistas 0:226550611f0d 329 #endif
Stephen_NewVistas 0:226550611f0d 330 break;
Stephen_NewVistas 0:226550611f0d 331 }
Stephen_NewVistas 0:226550611f0d 332 pState = returnState; // change back to state before escape byte received
Stephen_NewVistas 0:226550611f0d 333 }
Stephen_NewVistas 0:226550611f0d 334
Stephen_NewVistas 0:226550611f0d 335 switch( pState ){
Stephen_NewVistas 0:226550611f0d 336
Stephen_NewVistas 0:226550611f0d 337 case POLL: // of switch( pState ) // poll state checks RXByte to see if there is an address match
Stephen_NewVistas 0:226550611f0d 338
Stephen_NewVistas 0:226550611f0d 339
Stephen_NewVistas 0:226550611f0d 340 if( RXByte == DEVADDRESS ){ // if the device is being polled...
Stephen_NewVistas 0:226550611f0d 341 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 342 pc.printf( " - Address Match: %x" , DEVADDRESS );
Stephen_NewVistas 0:226550611f0d 343 #endif
Stephen_NewVistas 0:226550611f0d 344
Stephen_NewVistas 0:226550611f0d 345 if( message ){ // if a message is available send it
Stephen_NewVistas 0:226550611f0d 346 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 347 pc.printf( " - Message to Send\n\r" );
Stephen_NewVistas 0:226550611f0d 348 #endif
Stephen_NewVistas 0:226550611f0d 349 SendMessage(); // #SCD haven't tested this
Stephen_NewVistas 0:226550611f0d 350 pState = RESPONSE; // change state to wait for ACK or NACK
Stephen_NewVistas 0:226550611f0d 351 }
Stephen_NewVistas 0:226550611f0d 352 else{ // device is pulled but no message to be sent
Stephen_NewVistas 0:226550611f0d 353 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 354 pc.printf( " - No message to Send\n\r" );
Stephen_NewVistas 0:226550611f0d 355 #endif
Stephen_NewVistas 0:226550611f0d 356 SendAck(); // just send an ACK
Stephen_NewVistas 0:226550611f0d 357 pState = START;
Stephen_NewVistas 0:226550611f0d 358 }
Stephen_NewVistas 0:226550611f0d 359 }
Stephen_NewVistas 0:226550611f0d 360 else{
Stephen_NewVistas 0:226550611f0d 361 pState = START; // device not addressed, do nothing
Stephen_NewVistas 0:226550611f0d 362 }
Stephen_NewVistas 0:226550611f0d 363 break;
Stephen_NewVistas 0:226550611f0d 364
Stephen_NewVistas 0:226550611f0d 365 case START: // of switch( pState ) // this state really does nothing and just waits for
Stephen_NewVistas 0:226550611f0d 366 pState = START; // if the device is not addressed in a packet
Stephen_NewVistas 0:226550611f0d 367 break;
Stephen_NewVistas 0:226550611f0d 368
Stephen_NewVistas 0:226550611f0d 369 case RESPONSE: // of switch( pState ) // a message was sent it last state and now this state is
Stephen_NewVistas 0:226550611f0d 370
Stephen_NewVistas 0:226550611f0d 371 switch( RXByte ){
Stephen_NewVistas 0:226550611f0d 372
Stephen_NewVistas 0:226550611f0d 373 case ACKCHAR: // ACK is received - message successful, clear message to be sent
Stephen_NewVistas 0:226550611f0d 374 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 375 pc.printf( " - ACK RECEIVED\n\r" );
Stephen_NewVistas 0:226550611f0d 376 #endif
Stephen_NewVistas 0:226550611f0d 377 message = 0;
Stephen_NewVistas 0:226550611f0d 378 pState = START;
Stephen_NewVistas 0:226550611f0d 379 break;
Stephen_NewVistas 0:226550611f0d 380
Stephen_NewVistas 0:226550611f0d 381 case NAKCHAR: // NACK is received - message not successful
Stephen_NewVistas 0:226550611f0d 382 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 383 pc.printf( " - NACK RECEIVED\n\r" );
Stephen_NewVistas 0:226550611f0d 384 #endif
Stephen_NewVistas 0:226550611f0d 385 if( message ){ // if a message still needs to be sent, send again
Stephen_NewVistas 0:226550611f0d 386 SendMessage();
Stephen_NewVistas 0:226550611f0d 387 message = 0; // clear message after this seconda attempt to prevent too many tries
Stephen_NewVistas 0:226550611f0d 388 pState = RESPONSE; // set state to come by here next time around
Stephen_NewVistas 0:226550611f0d 389 }
Stephen_NewVistas 0:226550611f0d 390 else{ // if a NACK is received for the second time in a row
Stephen_NewVistas 0:226550611f0d 391 //#error #SCD // throw an error and do not resend
Stephen_NewVistas 0:226550611f0d 392 pc.printf( "Received two NACKs from master. Message failed.\n\r" );
Stephen_NewVistas 0:226550611f0d 393 }
Stephen_NewVistas 0:226550611f0d 394 break;
Stephen_NewVistas 0:226550611f0d 395
Stephen_NewVistas 0:226550611f0d 396 default:
Stephen_NewVistas 0:226550611f0d 397 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 398 pc.printf( " - EXPECTED ACK or NACK\n\r" );
Stephen_NewVistas 0:226550611f0d 399 #endif
Stephen_NewVistas 0:226550611f0d 400 pState = START; // if neither an ACK nor NACK is received, reset state
Stephen_NewVistas 0:226550611f0d 401 break;
Stephen_NewVistas 0:226550611f0d 402
Stephen_NewVistas 0:226550611f0d 403 }
Stephen_NewVistas 0:226550611f0d 404 break;
Stephen_NewVistas 0:226550611f0d 405
Stephen_NewVistas 0:226550611f0d 406 case DEVICEADDRESS: // of switch( pState ) // checks to see if device is addressed in current packet
Stephen_NewVistas 0:226550611f0d 407 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 408 pc.printf( " - DEVICEADDRESS\n\r" );
Stephen_NewVistas 0:226550611f0d 409 #endif
Stephen_NewVistas 0:226550611f0d 410
Stephen_NewVistas 0:226550611f0d 411 if( RXByte == DEVADDRESS ){
Stephen_NewVistas 0:226550611f0d 412 #ifdef PRINT_ADDRESS_MATCH
Stephen_NewVistas 0:226550611f0d 413 pc.printf( "Address Match: %d\n\r" , DEVADDRESS );
Stephen_NewVistas 0:226550611f0d 414 #endif
Stephen_NewVistas 0:226550611f0d 415
Stephen_NewVistas 0:226550611f0d 416 pState = SOURCEADD; // next state is grabbing the source device ID
Stephen_NewVistas 0:226550611f0d 417 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 418 buildPacket.deviceID = RXByte; // build packet
Stephen_NewVistas 0:226550611f0d 419 checksum += RXByte; // add RXByte to checksum
Stephen_NewVistas 0:226550611f0d 420 }
Stephen_NewVistas 0:226550611f0d 421 else{
Stephen_NewVistas 0:226550611f0d 422 pState = START; // if device is not addressed reset state
Stephen_NewVistas 0:226550611f0d 423 }
Stephen_NewVistas 0:226550611f0d 424
Stephen_NewVistas 0:226550611f0d 425 break;
Stephen_NewVistas 0:226550611f0d 426
Stephen_NewVistas 0:226550611f0d 427 case SOURCEADD: // of switch( pState ) // records the source address of the packet
Stephen_NewVistas 0:226550611f0d 428 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 429 pc.printf( " - SOURCEADD\n\r" );
Stephen_NewVistas 0:226550611f0d 430 #endif
Stephen_NewVistas 0:226550611f0d 431
Stephen_NewVistas 0:226550611f0d 432 pState = COLLECTCOMMAND; // state advances to get the command byte
Stephen_NewVistas 0:226550611f0d 433 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 434 buildPacket.sourceID = RXByte; // build packet
Stephen_NewVistas 0:226550611f0d 435 checksum += RXByte; // add RXByte to checksum
Stephen_NewVistas 0:226550611f0d 436 break;
Stephen_NewVistas 0:226550611f0d 437
Stephen_NewVistas 0:226550611f0d 438 case COLLECTCOMMAND: // of switch( pState )// records the command byte of the packet
Stephen_NewVistas 0:226550611f0d 439 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 440 pc.printf( " - COMMAND\n\r" );
Stephen_NewVistas 0:226550611f0d 441 #endif
Stephen_NewVistas 0:226550611f0d 442
Stephen_NewVistas 0:226550611f0d 443 command = RXByte; // record command byte
Stephen_NewVistas 0:226550611f0d 444 buildPacket.command = RXByte; // build packet
Stephen_NewVistas 0:226550611f0d 445 pState = COLLECTCOUNT1; // advance to get packetLength
Stephen_NewVistas 0:226550611f0d 446 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 447 checksum += RXByte; // add RXByte to checksum
Stephen_NewVistas 0:226550611f0d 448 break;
Stephen_NewVistas 0:226550611f0d 449
Stephen_NewVistas 0:226550611f0d 450 case COLLECTCOUNT1: // of switch( pState ) // records first byte of packetLength
Stephen_NewVistas 0:226550611f0d 451 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 452 pc.printf( " - COUNT MSB \n\r" );
Stephen_NewVistas 0:226550611f0d 453 #endif
Stephen_NewVistas 0:226550611f0d 454
Stephen_NewVistas 0:226550611f0d 455 pState = COLLECTCOUNT2; // advance state to get next byte of packetLength
Stephen_NewVistas 0:226550611f0d 456 plength = RXByte;
Stephen_NewVistas 0:226550611f0d 457 plength <<= 8; // store byte in packetLength #SCD is this storing correctly?
Stephen_NewVistas 0:226550611f0d 458 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 459 checksum += RXByte; // add RXByte to checksum
Stephen_NewVistas 0:226550611f0d 460 break;
Stephen_NewVistas 0:226550611f0d 461
Stephen_NewVistas 0:226550611f0d 462 case COLLECTCOUNT2: // of switch( pState ) // records second byte of packetLength
Stephen_NewVistas 0:226550611f0d 463 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 464 pc.printf( " - COUNT LSB\n\r" );
Stephen_NewVistas 0:226550611f0d 465 #endif
Stephen_NewVistas 0:226550611f0d 466
Stephen_NewVistas 0:226550611f0d 467 plength += RXByte; // add RXByte to packetLength total
Stephen_NewVistas 0:226550611f0d 468 buildPacket.packetLength = plength; // build packet
Stephen_NewVistas 0:226550611f0d 469 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 470 checksum += RXByte; // add RXByte to checksum
Stephen_NewVistas 0:226550611f0d 471 if( plength == 0 ) // if packetLength is 0, advance to checksum state
Stephen_NewVistas 0:226550611f0d 472 pState = COLLECTCHECKSUM;
Stephen_NewVistas 0:226550611f0d 473 else // otherwise move on to collect packet payload
Stephen_NewVistas 0:226550611f0d 474 pState = COLLECTPACKET;
Stephen_NewVistas 0:226550611f0d 475 break;
Stephen_NewVistas 0:226550611f0d 476
Stephen_NewVistas 0:226550611f0d 477 case COLLECTPACKET: // of switch( pState ) // collects packetData, enters this state multiple times
Stephen_NewVistas 0:226550611f0d 478 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 479 pc.printf( " - PACKETDATA \n\r" );
Stephen_NewVistas 0:226550611f0d 480 #endif
Stephen_NewVistas 0:226550611f0d 481
Stephen_NewVistas 0:226550611f0d 482 plength--; // decrement length
Stephen_NewVistas 0:226550611f0d 483 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 484 checksum += RXByte; // add RXByte to checksum
Stephen_NewVistas 0:226550611f0d 485
Stephen_NewVistas 0:226550611f0d 486 if( plength == 0 ){ // if collected all packetData advance state
Stephen_NewVistas 0:226550611f0d 487 pState = COLLECTCHECKSUM;
Stephen_NewVistas 0:226550611f0d 488 }
Stephen_NewVistas 0:226550611f0d 489 break;
Stephen_NewVistas 0:226550611f0d 490
Stephen_NewVistas 0:226550611f0d 491 case COLLECTCHECKSUM:// of switch( pState ) // collects checksum of packet and checks for validity
Stephen_NewVistas 0:226550611f0d 492 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 493 pc.printf( " - CHECKSUM\n\r" );
Stephen_NewVistas 0:226550611f0d 494 #endif
Stephen_NewVistas 0:226550611f0d 495 memcpy( &buildPacket.packetData , &buffer[6] , buildPacket.packetLength );
Stephen_NewVistas 0:226550611f0d 496
Stephen_NewVistas 0:226550611f0d 497 if( RXByte == ( ( checksum* - 1 ) & 0xFF ) ){ // compares RXByte with LSB of checksum
Stephen_NewVistas 0:226550611f0d 498 message = 0; // if checksum is correct clear message #SCD could a message be waiting?
Stephen_NewVistas 0:226550611f0d 499 memset(packetBuffer, '\0', 128); // clear packetBuffer
Stephen_NewVistas 0:226550611f0d 500
Stephen_NewVistas 0:226550611f0d 501 buffer[buffPtr++] = RXByte; // add RXByte to buffer
Stephen_NewVistas 0:226550611f0d 502
Stephen_NewVistas 2:9ab591cf81b8 503 #ifdef DEBUG
Stephen_NewVistas 0:226550611f0d 504 pc.printf( "Receive Buffer: " ); // debug print received packet
Stephen_NewVistas 0:226550611f0d 505 unsigned int i = 0;
Stephen_NewVistas 0:226550611f0d 506 for( i = 0 ; i < buffPtr ; i++ ){
Stephen_NewVistas 0:226550611f0d 507 pc.printf( "%x " , buffer[ i ] );
Stephen_NewVistas 0:226550611f0d 508 }
Stephen_NewVistas 0:226550611f0d 509 pc.printf( "\n\r" );
Stephen_NewVistas 0:226550611f0d 510 #endif
Stephen_NewVistas 0:226550611f0d 511
Stephen_NewVistas 0:226550611f0d 512 int errorResult = ProcessPacket( &buildPacket );
Stephen_NewVistas 0:226550611f0d 513
Stephen_NewVistas 0:226550611f0d 514 if( errorResult == -1 ){ // check to make sure function performed properly
Stephen_NewVistas 0:226550611f0d 515 //#SCD setResponse(RPIADDRESS, command, ERRORCOMMAND);
Stephen_NewVistas 0:226550611f0d 516 }
Stephen_NewVistas 0:226550611f0d 517 SendAck(); // send an ACK
Stephen_NewVistas 0:226550611f0d 518 }
Stephen_NewVistas 0:226550611f0d 519 else{
Stephen_NewVistas 0:226550611f0d 520 SendNack(); // if checksum is not corret, send a NACK
Stephen_NewVistas 0:226550611f0d 521 }
Stephen_NewVistas 0:226550611f0d 522
Stephen_NewVistas 0:226550611f0d 523 pState = START;
Stephen_NewVistas 0:226550611f0d 524 break;
Stephen_NewVistas 0:226550611f0d 525
Stephen_NewVistas 0:226550611f0d 526 } // end switch( pState )
Stephen_NewVistas 0:226550611f0d 527
Stephen_NewVistas 0:226550611f0d 528 } // end serial2Handler function
Stephen_NewVistas 0:226550611f0d 529
Stephen_NewVistas 0:226550611f0d 530