Diff: Base/XBeeDevice.cpp

Revision:

5:b40a6fd3a334

Child:

6:3cb62daace78

diff -r e5e152b3930f -r b40a6fd3a334 Base/XBeeDevice.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Base/XBeeDevice.cpp	Wed Jan 29 20:19:59 2014 +0000
@@ -0,0 +1,359 @@
+/** 
+
+Copyright 2014 John Bailey
+   
+Licensed 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.
+
+*/
+
+#include "XBeeDevice.hpp"
+
+/** Number of bytes we need to 'peek' into the receive buffer in order to retrieve the 
+    payload length */
+#define INITIAL_PEEK_LEN (3U)
+    
+/** Enum of bytes with a special meaning when communicating with the XBee in API
+    mode.  In escaped mode, these are the bytes that need to be escaped */
+typedef enum
+{
+    XBEE_SB_XON             = 0x11,
+    XBEE_SB_XOFF            = 0x13,
+    XBEE_SB_FRAME_DELIMITER = 0x7E,
+    XBEE_SB_ESCAPE          = 0x7D
+} XBeeSerialSpecialBytes_e;
+
+/** ASCII command to the XBee to request API mode 2 */
+const char api_mode2_cmd[] = { 'A', 'T', 'A', 'P', ' ', '2', '\r' };
+
+/** ASCII command to the XBee to request that it exit command mode */
+const char exit_cmd_mode_cmd[] = { 'A', 'T', 'C', 'N', '\r' };
+
+XBeeDevice::XBeeDevice( PinName p_tx, PinName p_rx, PinName p_rts, PinName p_cts ): m_if( p_tx, p_rx )
+{
+    m_escape = true;
+    m_inAtCmdMode = false;
+    m_rxMsgLastWasEsc = false;
+    
+    /* Can only do flow control on devices which support it */
+#if defined ( DEVICE_SERIAL_FC )
+    /* TODO: need rts and cts both set? */
+    m_if.set_flow_control( mbed::SerialBase::Flow.RTSCTS, p_rts, p_cts );
+#endif
+
+    /* Attach RX call-back to the serial interface */
+    m_if.attach( this, &XBeeDevice::if_rx, Serial::RxIrq); 
+}
+
+XBeeDevice::~XBeeDevice( void )
+{
+    /* Iterate all of the decoders and un-register them */
+    for( FixedLengthList<XBeeApiFrameDecoder*, XBEEAPI_CONFIG_DECODER_LIST_SIZE>::iterator it = m_decoders.begin() ;
+         it != m_decoders.end();
+         ++it ) {
+        (*it)->unregisterCallback();
+    }
+}
+
+void XBeeDevice::if_rx( void )
+{
+    /* Keep going while there are bytes to be read */
+    while(m_if.readable()) {
+        
+        uint8_t c = m_if.getc();
+        
+        /* Sanity check that if we're starting from an empty buffer the byte that we're
+           receiving is a frame delimiter */
+        if(( m_inAtCmdMode ) ||
+           (( c == XBEE_SB_FRAME_DELIMITER ) ||
+            ( m_rxBuff.getSize() ))) 
+        {
+            /* If it's an escape character we want to de-code the escape, so flag
+               that we have a pending escape but don't modify the rx buffer */
+            if( m_escape &&
+               ( c == XBEE_SB_ESCAPE ))
+            {
+                m_rxMsgLastWasEsc = true;
+            }
+            else
+            {
+                if( m_rxMsgLastWasEsc ) {
+                    c = c ^ 0x20;  
+                    m_rxMsgLastWasEsc = false;
+                }
+                m_rxBuff.write( &c, 1 );
+            }
+        } else {
+            /* TODO */    
+        }
+    }
+    
+    if( m_inAtCmdMode ) 
+    {
+        m_rxMsgLastWasEsc = false;
+    } 
+ 
+    checkRxDecode();
+}
+    
+void XBeeDevice::checkRxDecode( void )
+{
+    /* Get an initial portion of data from the read buffer so that the message length can be determined */
+    uint8_t buff[INITIAL_PEEK_LEN];
+    uint16_t len = m_rxBuff.peek( buff, INITIAL_PEEK_LEN );    
+    
+    if((len >= INITIAL_PEEK_LEN ) &&
+       (buff[ XBEE_CMD_POSN_SDELIM ] == XBEE_SB_FRAME_DELIMITER ))
+    {
+        /* Try and get enough data to cover the whole message */
+        /* TODO: Magic number */
+        const uint16_t cmdLen = MSG_LEN_IN_BUFFER( buff ) + XBEE_API_FRAME_OVERHEAD;
+        uint8_t cmdBuff[cmdLen];
+        uint16_t len = m_rxBuff.peek( cmdBuff, cmdLen );    
+
+        if( len >= cmdLen )
+        {
+            /* TODO: Verify checksum */
+            
+            /* Iterate all of the decoders */
+            for( FixedLengthList<XBeeApiFrameDecoder*, XBEEAPI_CONFIG_DECODER_LIST_SIZE>::iterator it = m_decoders.begin() ;
+                 it != m_decoders.end();
+                 ++it ) {
+
+                bool processed = (*it)->decodeCallback( cmdBuff, cmdLen );
+                if( processed )
+                {
+                    break;
+                }
+            }            
+            /* Remove the data from the receive buffer - either it was decoded (all well and good)
+               or it wasn't, in which case we need to get rid of it to prevent it from jamming
+               up the message queue */
+            m_rxBuff.chomp( cmdLen );
+        }
+    }
+}
+
+bool XBeeDevice::registerDecoder( XBeeApiFrameDecoder* const p_decoder )
+{
+    bool ret_val = false;
+    if( p_decoder != NULL )
+    {
+        if( !m_decoders.inList( p_decoder ) ) {
+            m_decoders.push( p_decoder );   
+            p_decoder->registerCallback( this );
+            ret_val = true;
+        }
+    }
+    return ret_val;
+}
+     
+bool XBeeDevice::unregisterDecoder( XBeeApiFrameDecoder* const p_decoder )
+{
+    bool ret_val = false;
+    if( p_decoder != NULL )
+    {
+        /* Iterate all of the decoders */
+        for( FixedLengthList<XBeeApiFrameDecoder*, XBEEAPI_CONFIG_DECODER_LIST_SIZE>::iterator it = m_decoders.begin() ;
+             it != m_decoders.end();
+             ++it ) {
+            if( *it == p_decoder ) {
+                p_decoder->unregisterCallback();
+                /* TODO: Actually remove the item from m_decoders! */
+                ret_val = true;   
+            }
+        }
+    }
+    return ret_val;
+}
+
+void XBeeDevice::SendFrame( const XBeeApiFrame* const p_cmd )
+{
+    uint8_t sum = 0U;
+    uint16_t len;
+    uint16_t i;
+    const uint8_t* cmdData;
+ 
+#if defined  XBEEAPI_CONFIG_USING_RTOS
+    m_ifMutex.lock();
+#endif
+
+    xbeeWrite( XBEE_SB_FRAME_DELIMITER, false );
+    
+    len = p_cmd->getCmdLen();
+    xbeeWrite((uint8_t)(len >> 8U));
+    xbeeWrite((uint8_t)(len & 0xFF));
+
+    sum += xbeeWrite((uint8_t)p_cmd->getApiId());
+
+    cmdData = p_cmd->getDataPtr();
+
+    for( i = 0;
+         i < (len-1);
+         i++ )
+    {
+        sum += xbeeWrite(cmdData[i]);
+    }
+    
+    /* Checksum is 0xFF - summation of bytes (excluding delimiter and length) */
+    xbeeWrite( (uint8_t)0xFFU - sum );
+    
+    fflush( m_if );
+    
+#if defined  XBEEAPI_CONFIG_USING_RTOS
+    m_ifMutex.unlock();
+#endif
+}
+
+uint8_t XBeeDevice::xbeeWrite( uint8_t p_byte, bool p_doEscape )
+{
+    uint8_t c_sum = 0;
+    
+    if (p_doEscape && m_escape && 
+        ((p_byte == XBEE_SB_FRAME_DELIMITER ) ||
+         (p_byte == XBEE_SB_ESCAPE ) || 
+         (p_byte == XBEE_SB_XON ) || 
+         (p_byte == XBEE_SB_XOFF))) 
+    {
+        #if 0
+        m_if.printf("%02x ",XBEE_SB_ESCAPE);
+        m_if.printf("%02x ",p_byte ^ 0x20);
+        #else
+        m_if.putc(XBEE_SB_ESCAPE);
+        m_if.putc(p_byte ^ 0x20);
+        #endif
+        c_sum += XBEE_SB_ESCAPE;
+        c_sum += p_byte ^ 0x20;
+    } else {
+        #if 0
+        m_if.printf("%02x ",p_byte);
+        #else
+        m_if.putc(p_byte);
+        #endif
+        c_sum += p_byte;
+    }
+    return c_sum;
+}
+
+#define IS_OK( _b ) (( _b[ 0 ] == 'O' ) && ( _b[ 1 ] == 'K' ) && ( _b[ 2 ] == '\r' ))
+#define OK_LEN (3U)
+
+XBeeDevice::XBeeDeviceReturn_t XBeeDevice::SendFrame( const char* const p_dat, size_t p_len, int p_wait_ms )
+{
+    XBeeDeviceReturn_t ret_val;
+
+    if( m_inAtCmdMode )
+    {
+#if defined  XBEEAPI_CONFIG_USING_RTOS
+        m_ifMutex.lock();
+#endif
+        for( size_t i = 0;
+             i < p_len;
+             i++ ) {
+            m_if.putc(p_dat[i]);
+        }
+        
+        fflush( m_if );
+                
+        wait_ms( p_wait_ms );
+                
+        /* Check the response for the OK indicator */
+        if( m_rxBuff.getSize() == OK_LEN )
+        {
+            uint8_t ok_buff[OK_LEN];
+            m_rxBuff.read( ok_buff, OK_LEN );
+                    
+            if( IS_OK( ok_buff ))
+            {
+                ret_val = XBEEDEVICE_OK;
+            } 
+            else 
+            {
+                ret_val = XBEEDEVICE_UNEXPECTED_DATA;                    
+            }
+        }
+        else
+        {
+            ret_val = XBEEDEVICE_UNEXPECTED_LENGTH;
+        }
+#if defined  XBEEAPI_CONFIG_USING_RTOS
+        m_ifMutex.unlock();
+#endif
+    } 
+    else 
+    {
+        ret_val = XBEEDEVICE_WRONG_MODE;            
+    }
+    return ret_val;
+}
+
+XBeeDevice::XBeeDeviceReturn_t XBeeDevice::setUpApi( void )
+{
+    XBeeDeviceReturn_t ret_val;
+    
+    /* Wait for the guard period before transmitting command sequence */
+    wait_ms( XBEEAPI_CONFIG_GUARDPERIOD_MS );
+    
+    m_inAtCmdMode = true;
+    
+    /* Request to enter command mode */
+    /* TODO: Magic number */
+    ret_val = SendFrame("+++", 3, 3000);
+
+    /* Everything OK with last request? */
+    if( ret_val == XBEEDEVICE_OK )
+    {
+        wait_ms( XBEEAPI_CONFIG_GUARDPERIOD_MS );
+        
+        /* API mode 2 please! */
+        ret_val = SendFrame(api_mode2_cmd,sizeof(api_mode2_cmd));
+    }
+
+    /* Everything OK with last request? */
+    if( ret_val == XBEEDEVICE_OK )
+    {
+        /* Exit command mode, back to API mode */
+        ret_val = SendFrame(exit_cmd_mode_cmd,sizeof(exit_cmd_mode_cmd));
+    }
+    
+    m_inAtCmdMode = false;
+    
+    return ret_val;
+}
+
+#if defined XBEEAPI_CONFIG_ENABLE_DEVELOPER
+
+#define PRINTABLE_ASCII_FIRST 32U
+#define PRINTABLE_ASCII_LAST 126U
+
+void XBeeDevice::dumpRxBuffer( Stream* p_buf, const bool p_hexView )
+{
+    uint8_t c;
+    while( m_rxBuff.getSize() ) {
+        if( m_rxBuff.read( &c, 1 ) ) {
+            if( p_hexView ) {
+                uint8_t a = '-';
+                if(( c>=PRINTABLE_ASCII_FIRST ) && (c<=PRINTABLE_ASCII_LAST)) {
+                    a = c;
+                }
+                p_buf->printf("0x%02x (%c) ",c,a);
+            } else {
+                p_buf->printf("%c",c);
+                if( c == '\r' ) {
+                    p_buf->printf("\n");   
+                }
+            }
+        }
+    }
+}
+
+#endif
\ No newline at end of file