XBee.cpp

00001 #include "XBee.h"
00002 
00003 #include <stdint.h>
00004 #include "mbed.h"
00005 
00006 namespace XBEE
00007 {
00008     Ticker xbee_timer;
00009     Serial xbee_uart(XBEE_TX, XBEE_RX);
00010     DigitalOut XBee_LED(LED1);
00011 
00012     void uartUpdate(void);
00013     void lostCheck(void);
00014 
00015     namespace
00016     {
00017         ControllerData ctrData;
00018         ControllerData keepCtrData;
00019         const uint8_t defaultData[4] = CTR_DEFAULT_DATA;
00020         const char check[] = "DT=";
00021         volatile char packet[24];
00022 
00023         bool controllerLost = false;
00024         uint8_t timerCount = 0;
00025     }
00026 
00027     void Controller::Initialize(void) {
00028         xbee_timer.attach(lostCheck, 0.025);
00029         xbee_uart.baud(4800);
00030         xbee_uart.attach(uartUpdate, Serial::RxIrq);
00031         DataReset();
00032     }
00033 
00034     ControllerData* Controller::GetData(void) {
00035         __disable_irq();
00036         for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i];
00037         __enable_irq();
00038         return &keepCtrData;
00039     }
00040 
00041     void Controller::DataReset(void) {
00042         __disable_irq();
00043         for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i];
00044         __enable_irq();
00045     }
00046 
00047     bool Controller::CheckControllerLost(void) {
00048         return controllerLost;
00049     }
00050 
00051     void uartUpdate(void) {
00052         static bool phase = false;
00053         static uint8_t count = 0;
00054 
00055         char data = xbee_uart.getc();
00056 
00057         if(phase)
00058         {       
00059             packet[count] = data;
00060             if(count < 2)
00061             {
00062                 if(data != check[count])
00063                 {
00064                     phase = false;
00065                     controllerLost = true;
00066                     XBee_LED = LED_OFF;
00067                 }
00068             }
00069             else if(count == 8)
00070             {
00071                 if(data != '\r')
00072                 {
00073                     phase = false;
00074                     controllerLost = true;
00075                     XBee_LED = LED_OFF;
00076                 }
00077                 else
00078                 {
00079                     ctrData.buf[0] = packet[4];
00080                     ctrData.buf[1] = packet[5];
00081                     ctrData.buf[2] = packet[6];
00082                     ctrData.buf[3] = packet[7];
00083                     phase = false;
00084                     timerCount = 0;
00085                     controllerLost = false;
00086                     XBee_LED = LED_ON;
00087                 }
00088             }
00089             count++;
00090         }
00091         else
00092         {
00093             if(data == '@')
00094             {
00095                 count = 0;
00096                 phase = true;
00097             }
00098         }
00099     }
00100 
00101     void lostCheck(void) {
00102         timerCount++;
00103         if(timerCount == 2) XBee_LED = LED_OFF;
00104         if(timerCount >= 20) {
00105             controllerLost = true;
00106             Controller::DataReset();
00107             timerCount = 0;
00108             XBee_LED = LED_OFF;
00109         }
00110     }
00111 }
00112