Revision 20:36931ee9af85, committed 2020-04-17

Comitter:

mariob

Date:

Fri Apr 17 15:19:40 2020 +0000

Parent:

16:b50c3b3b241c

Child:

21:2db8d5db6c57

Commit message:

few fixes, moving to new os

Changed in this revision

--- a/ssWi.cpp	Thu Mar 07 15:44:05 2013 +0000
+++ b/ssWi.cpp	Fri Apr 17 15:19:40 2020 +0000
@@ -68,73 +68,68 @@
 int RXRate;
 
 
-/*
-Thread* sender;
-Thread* receiver;
+void functionSender();
+void functionReceiver();
 
-void threadSender (void const* arg);
-void threadReceiver (void const* arg);
+static Thread readingThread;
+static Thread writingThread;
 
 bool ssWi_init (ssWiChannel* c, int rateTX, int rateRX)
 {
     if (channel!=NULL)
         return false;
-    TXRate = 1000.0/rateTX;
-    RXRate = 1000.0/rateRX;
-    mutexChannel.lock();
+    //mutexChannel.lock();
     channel = c;
-    mutexChannel.unlock();
-    sender = new Thread(threadSender);
-    receiver = new Thread(threadReceiver);
+    //mutexChannel.unlock();
+    TXRate = rateTX > 0 ? 1000/rateTX : 0;
+    RXRate = rateRX > 0 ? 1000/rateRX : 0;
+    
+    readingThread.start(functionReceiver);
+    writingThread.start(functionSender);
+
     return true;
 }
 
-void threadSender (void const* arg)
-{
+void functionSender() {
+    static DigitalOut led4(LED4);
     static char buffer[INTERNAL_BUFFER_SIZE];
-    while(true) {
+
+    while (1) {
+        led4 = !led4;
         int n = 3;
         int numFrames = 0;
-        for (std::map<int, ssWiPort>::iterator it = ports.begin(); it!=ports.end(); it++) {
+        for (std::map<int, ssWiPort>::iterator it = ports.begin();
+            it != ports.end(); it++) {
             if ((*it).second.isModified()) {
                 buffer[n++] = (*it).first;
                 PortValue tmp = (*it).second.getTXValue();
                 memcpy(&buffer[n], &tmp, sizeof(PortValue));
                 n += sizeof(PortValue);
-                //printf("Write[%d] = %d\n\r", (*it).first, tmp);
                 numFrames++;
             }
         }
-        if (numFrames>0) {
+        if (numFrames > 0) {
             buffer[0] = START_0;
             buffer[1] = START_1;
             buffer[2] = START_2;
-            mutexChannel.lock();
+            if (!mutexChannel.trylock())
+                return;
             channel->write(buffer, n);
             mutexChannel.unlock();
-//            printf("W(%d): ", n);
-//            for(int k=0; k<n; k++)
-//                printf("%d ", buffer[k]);
-//            printf("\n\r");
         }
-        Thread::wait(TXRate);
+        thread_sleep_for(TXRate);
     }
 }
 
-void threadReceiver (void const* arg)
+void functionReceiver ()
 {
     static char buffer[INTERNAL_BUFFER_SIZE];
-    while(true) {
-        printf("...read...\n\r");
-        mutexChannel.lock();
+
+    while(1) {
+        if (!mutexChannel.trylock())
+            return;
         int n = channel->read(buffer);
         mutexChannel.unlock();
-//        if (n>0) {
-//            printf("R(%d): ", n);
-//              for(int k=0; k<n; k++)
-//                   printf("%d ", buffer[k]);
-//              printf("\n\r");
-//        }
         bool alreadyIn = false;
         for (int i=0; i<(n-2);) {
             bool found = false;
@@ -147,98 +142,14 @@
                 PortID port = buffer[i++];
                 PortValue value = 0;
                 memcpy(&value, &buffer[i], sizeof(PortValue));
-//                printf("Read[%d] = %d\n\r", port, value);
                 i += sizeof(PortValue);
                 if (ports.find(port)!=ports.end())
                     ports[port].setRXValue(value);
             }
         }
-        Thread::wait(RXRate);
+        thread_sleep_for(RXRate);
     }
 }
-*/
-
-
-void functionSender (void const* arg);
-void functionReceiver (void const* arg);
-
-RtosTimer *senderTimer;
-RtosTimer *receiverTimer;
-
-bool ssWi_init (ssWiChannel* c, int rateTX, int rateRX)
-{
-    if (channel!=NULL)
-        return false;
-    mutexChannel.lock();
-    channel = c;
-    mutexChannel.unlock();
-    senderTimer = new RtosTimer(functionSender, osTimerPeriodic, NULL);
-    receiverTimer = new RtosTimer(functionReceiver, osTimerPeriodic, NULL);
-    if (rateTX>0) {
-        TXRate = 1000/rateTX;
-        senderTimer->start(TXRate);
-    } else
-       TXRate = 0;
-    if (rateRX>0) {
-        RXRate = 1000/rateRX;
-        receiverTimer->start(RXRate);
-    } else
-       RXRate = 0;
-    return true;
-}
-
-void functionSender (void const* arg)
-{
-    static char buffer[INTERNAL_BUFFER_SIZE];
-    int n = 3;
-    int numFrames = 0;
-    for (std::map<int, ssWiPort>::iterator it = ports.begin(); it!=ports.end(); it++) {
-        if ((*it).second.isModified()) {
-            buffer[n++] = (*it).first;
-            PortValue tmp = (*it).second.getTXValue();
-            memcpy(&buffer[n], &tmp, sizeof(PortValue));
-            n += sizeof(PortValue);
-            numFrames++;
-        }
-    }
-    if (numFrames>0) {
-        buffer[0] = START_0;
-        buffer[1] = START_1;
-        buffer[2] = START_2;
-        if (!mutexChannel.trylock())
-            return;
-        channel->write(buffer, n);
-        mutexChannel.unlock();
-    }
-}
-
-void functionReceiver (void const* arg)
-{
-    static char buffer[INTERNAL_BUFFER_SIZE];
-    if (!mutexChannel.trylock())
-        return;
-    int n = channel->read(buffer);
-    mutexChannel.unlock();
-    bool alreadyIn = false;
-    for (int i=0; i<(n-2);) {
-        bool found = false;
-        if (buffer[i]==START_0 && buffer[i+1]==START_1 && buffer[i+2]==START_2) {
-            found = true;
-            alreadyIn = true;
-            i += 3;
-        }
-        if ((found || alreadyIn) && (n-i)>=(sizeof(PortID)+sizeof(PortValue))) {
-            PortID port = buffer[i++];
-            PortValue value = 0;
-            memcpy(&value, &buffer[i], sizeof(PortValue));
-            i += sizeof(PortValue);
-            if (ports.find(port)!=ports.end())
-                ports[port].setRXValue(value);
-        }
-    }
-}
-
-
 
 
 inline bool ssWi_isActive (PortID port)

--- a/ssWi.hpp	Thu Mar 07 15:44:05 2013 +0000
+++ b/ssWi.hpp	Fri Apr 17 15:19:40 2020 +0000
@@ -29,11 +29,6 @@
  */
 bool ssWi_init (ssWiChannel* c, int rateTX, int rateRX);
 
-/** \brief disable the communication protocol
- *
- */
-void ssWi_stop ();
-
 /** \brief check if the communication port is open
  *
  * \param port port identified to check

--- a/xbee.lib	Thu Mar 07 15:44:05 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-xbee#1c7f8dfcde17

--- a/xbee/MODSERIAL.lib	Thu Mar 07 15:44:05 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/AjK/code/MODSERIAL/#5c45c21f36b7

--- a/xbee/xbee.cpp	Thu Mar 07 15:44:05 2013 +0000
+++ b/xbee/xbee.cpp	Fri Apr 17 15:19:40 2020 +0000
@@ -1,96 +1,97 @@
 /** \file xbee.cpp
+ *
  *  \brief implementation of the ssWi channel using the XBee module
  *
  */
- 
+
 #include "xbee.hpp"
 
 #include <sstream>
 
-
 void XBeeModule::readResponse (char* msg)
 {
     char c = 0;
     int i = 0;
-    while (c!='\r')
-        if (xbee.readable()) {
-            c = xbee.getc();
+    while (c!='\r') {
+        if (serial_xbee.readable()) {
+            c = serial_xbee.getc();
             msg[i++] = c;
         }
+    }
 }
 
-
 bool XBeeModule::executeWithOk (const char* cmd)
 {
     char msg[5];
-    xbee.printf("%s", cmd);
+    
+    serial_xbee.printf("%s", cmd);
+    //printf("command %s\r\n", cmd);
     readResponse(msg);
-    //printf("%s -> %s\n\r", cmd, msg);
+    //printf("response %s\r\n", msg);
     if (strncmp(msg, "OK\r", 3)!=0)
         return false;
+        
     return true;
 }
 
 
 void XBeeModule::executeWithRes (const char* cmd, char* res)
 {
-    xbee.printf("%s", cmd);
+    serial_xbee.printf("%s", cmd);
     readResponse(res);
-    //printf("\n\r%s -> %s\n\r", cmd, res);
 }
 
-
-
+bool XBeeModule::initSequence()
+{
+    // wait 1 second before starting
+    ThisThread::sleep_for(1000);
+    // send start command
+    if (!executeWithOk("+++"))
+        return false;
+    // wait 1 more second after start command
+    ThisThread::sleep_for(1000);
+    
+    return true;
+}
 
-
-
-XBeeModule::XBeeModule (PinName tx, PinName rx, int panID, int channel) : xbee(tx, rx, 64)
+XBeeModule::XBeeModule (PinName tx, PinName rx, int panID, int channel) : serial_xbee(tx, rx, 9600)
 {
     status = false;
-    wait(1);
+    // read address
     if (!_getLocalAddr())
         return;
-    wait(1);
+    // set channel
     if (!_setChannel(channel))
         return;
-    wait(1);
+    // set pan ID
     if (!_setPanID(panID))
         return;
-    wait(1);
     status = true;
 }
 
-
-
-
-
-
-
-XBeeAddress XBeeModule::getDstAddress ()
+bool XBeeModule::getDstAddress (XBeeAddress &addr)
 {
     char tmp[10];
     std::stringstream s1, s2;
-    string high, low;
-    XBeeAddress addr;
-    wait(1);
-    if (!executeWithOk("+++"))
-        return addr;
-
-    wait(1);
-
+    uint32_t high, low;
+    
+    // start communication with transceiver
+    if (!initSequence())
+        return false;
+    // read high address
     executeWithRes("ATDH \r", tmp);
     s1<<std::hex<<tmp;
     s1>>high;
-
+    // read low address
     executeWithRes("ATDL \r", tmp);
     s2<<std::hex<<tmp;
     s2>>low;
-
+    // terminate
     if (!executeWithOk("ATCN \r"))
-        return addr;
+        return false;
+    addr.setAddress(low, high);
     
-    wait(1);
-    return XBeeAddress(low, high);
+    return true;
 }
 
 
@@ -98,44 +99,49 @@
 {
     char s[10];
     string low, high;
-    wait(1);
-    if (!executeWithOk("+++"))
+    
+    // start communication with transceiver
+    if (!initSequence())
         return false;
-    wait(1);
-    sprintf(s, "ATDH%s \r", addr.getHighAddr().c_str());
-    //printf("%s\n\r", addr.getHighAddr().c_str());
+    // send high address
+    sprintf(s, "ATDH%X \r", addr.getHighAddr());
     if (!executeWithOk(s))
         return false;
-
-    sprintf(s, "ATDL%s \r", addr.getLowAddr().c_str());
-    //printf("%s\n\r", addr.getLowAddr().c_str());
+    // send low address
+    sprintf(s, "ATDL%X \r", addr.getLowAddr());
     if (!executeWithOk(s))
         return false;
-
+    // terminate
     if (!executeWithOk("ATCN \r"))
         return false;
+        ThisThread::sleep_for(1000);
 
     return true;
 }
 
-
 bool XBeeModule::_getLocalAddr ()
 {
     char tmp[10];
-    string high, low;
+    uint32_t high, low;
     std::stringstream s1, s2;
 
-    if (!executeWithOk("+++"))
+    // start communication with transceiver
+    if (!initSequence())
         return false;
+    // read high address
     executeWithRes("ATSH \r", tmp);
     s1<<std::hex<<tmp;
     s1>>high;
+    // read low address
     executeWithRes("ATSL \r", tmp);
     s2<<std::hex<<tmp;
     s2>>low;
+    // terminate
     if (!executeWithOk("ATCN \r"))
         return false;
+    // save address
     local = XBeeAddress(low, high);
+    
     return true;
 }
 
@@ -143,10 +149,10 @@
 bool XBeeModule::_setChannel (int channel)
 {
     char s[10];
-
-    if (!executeWithOk("+++"))
+    
+    // start communication with transceiver
+    if (!initSequence())
         return false;
-    wait(1);
     sprintf(s, "ATCH%d \r", channel);
     if (!executeWithOk(s))
         return false;
@@ -159,15 +165,15 @@
 {
     int channel;
     char s[10];
-
-    if (!executeWithOk("+++"))
-        return -1;
-    wait(1);
+    
+    // start communication with transceiver
+    if (!initSequence())
+        return false;
     executeWithRes("ATCH \r", s);
     channel = atoi(s);
     if (!executeWithOk("ATCN \r"))
         return -1;
-    wait(1);
+    ThisThread::sleep_for(1000);
     return channel;
 }
 
@@ -175,13 +181,16 @@
 bool XBeeModule::_setPanID (int panID)
 {
     char s[10];
-    if (!executeWithOk("+++"))
+    
+    // start communication with transceiver
+    if (!initSequence())
         return false;
     sprintf(s, "ATID%d \r", panID);
     if (!executeWithOk(s))
         return false;
     if (!executeWithOk("ATCN \r"))
         return false;
+        
     return true;
 }
 
@@ -189,14 +198,15 @@
 {
     int id;
     char s[10];
-
-    if (!executeWithOk("+++"))
-        return -1;
+    
+    // start communication with transceiver
+    if (!initSequence())
+        return false;
     executeWithRes("ATID \r", s);
     id = atoi(s);
     if (!executeWithOk("ATCN \r"))
         return -1;
-    wait(1);
+    
     return id;
 }
 
@@ -205,8 +215,8 @@
 int XBeeModule::read (char* msg)
 {
     int i = 0;
-    while (xbee.readable())
-        msg[i++] = xbee.getc();
+    while (serial_xbee.readable())
+        msg[i++] = serial_xbee.getc();
     return i;
 }
 
@@ -215,7 +225,7 @@
 void XBeeModule::write (const char* msg, int n)
 {
     for (int i=0; i<n; i++) {
-        while(!xbee.writeable());
-        xbee.putc(msg[i]);
+        while(!serial_xbee.writeable());
+        serial_xbee.putc(msg[i]);
     }
 }

--- a/xbee/xbee.hpp	Thu Mar 07 15:44:05 2013 +0000
+++ b/xbee/xbee.hpp	Fri Apr 17 15:19:40 2020 +0000
@@ -8,8 +8,6 @@
 
 #include "mbed.h"
 
-#include "MODSERIAL.h"
-
 #include <ssWiChannel.hpp>
 
 #include "string"
@@ -17,23 +15,28 @@
 
 class XBeeAddress
 {
-    string low;
-    string high;
+    uint32_t low;
+    uint32_t high;
 
 public:
 
-    XBeeAddress () : low(""), high("") {}
+    XBeeAddress () : low(0), high(0) {}
 
-    XBeeAddress (string low, string high) {
+    XBeeAddress (uint32_t low, uint32_t high) {
         this->low = low;
         this->high = high;
-    }       
+    }
     
-    string getLowAddr () {
+    void setAddress(uint32_t low, uint32_t high) {
+        this->low = low;
+        this->high = high;
+    }
+    
+    uint32_t getLowAddr () {
         return low;
     }
     
-    string getHighAddr () {
+    uint32_t getHighAddr () {
         return high;
     }
 };
@@ -42,14 +45,14 @@
 class XBeeBroadcastAddress: public XBeeAddress
 {
 public:
-    XBeeBroadcastAddress () : XBeeAddress("00FFFF", "0") {}
+    XBeeBroadcastAddress () : XBeeAddress(0x00FFFF, 0) {}
 };
 
 
 class XBeeModule: public ssWiChannel
 {
 
-    MODSERIAL xbee;
+    Serial serial_xbee;
     XBeeAddress local;
 
     bool status;
@@ -61,6 +64,8 @@
     bool _getLocalAddr ();
     bool _setChannel (int channel);
     bool _setPanID (int id);
+    
+    bool initSequence();
 
  public:
 
@@ -75,7 +80,7 @@
 
     bool setDstAddress (XBeeAddress addr);
 
-    XBeeAddress getDstAddress ();
+    bool getDstAddress(XBeeAddress &addr);
 
     int getChannel ();