Prosper Van / xbeeCom

xbee communication for UWB quadcopter project Originally by Greg Abdo Forking to reduce impact of interrupt by moving packetbuilder out of the interrupt and letting be handled in the main loop

Fork of com by Prosper Van

com.cpp@20:95244d4f47f6, 2014-10-22 (annotated)

Committer:
oprospero
Date:
Wed Oct 22 16:09:56 2014 +0000
Revision:
20:95244d4f47f6
Parent:
19:dc9d18037565
Child:
21:117e01fc0373
currently debuging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:26a151d2c6db 1
oprospero 0:26a151d2c6db 2 #include "com.h"
oprospero 17:acef0fb07510 3
oprospero 18:19bcb2dbf3c8 4 //#define DEBUG_COM
oprospero 13:2fb7b19dcd70 5 #ifdef DEBUG_COM
oprospero 13:2fb7b19dcd70 6 #define NL "\n\r"
oprospero 17:acef0fb07510 7 #define PRINT(x) xbee.printf(x) //Serial.print(x)
oprospero 17:acef0fb07510 8 #define PRINTF xbee.printf //Serial.print(x, y)
oprospero 16:89695823d407 9 #define PRINTLN(x) PRINT(x);PRINT(NL)
oprospero 16:89695823d407 10 #define START timerCom.start();
oprospero 16:89695823d407 11 #define STOP timerCom.stop()
oprospero 16:89695823d407 12 #define RESET timerCom.reset()
oprospero 16:89695823d407 13 #define READ timerCom.read_us()
oprospero 16:89695823d407 14 #define GET(x) x = READ
oprospero 13:2fb7b19dcd70 15 #else
oprospero 13:2fb7b19dcd70 16 #define PRINT(x)
oprospero 13:2fb7b19dcd70 17 #define PRINTF(x, y)
oprospero 13:2fb7b19dcd70 18 #define PRINTLN(x)
oprospero 13:2fb7b19dcd70 19 #define PRINTLNF(x, y)
oprospero 13:2fb7b19dcd70 20 #define START
oprospero 13:2fb7b19dcd70 21 #define STOP
oprospero 13:2fb7b19dcd70 22 #define RESET
oprospero 13:2fb7b19dcd70 23 #define READ
oprospero 13:2fb7b19dcd70 24 #define GET(x)
oprospero 13:2fb7b19dcd70 25 #endif
oprospero 0:26a151d2c6db 26
oprospero 19:dc9d18037565 27 com::com(PinName tx, PinName rx): xbee(NC,rx), xbtx(tx,NC)
oprospero 0:26a151d2c6db 28 {
oprospero 20:95244d4f47f6 29 xbtx.baud(BAUDRATE);
oprospero 17:acef0fb07510 30 xbee.baud(BAUDRATE);
oprospero 17:acef0fb07510 31 xbee.attach(this,&com::callback);
oprospero 0:26a151d2c6db 32 }
oprospero 0:26a151d2c6db 33
oprospero 17:acef0fb07510 34 com::~com()
oprospero 17:acef0fb07510 35 {
oprospero 0:26a151d2c6db 36 }
oprospero 0:26a151d2c6db 37
oprospero 17:acef0fb07510 38 void com::callback()
oprospero 4:f8e953201251 39 {
oprospero 19:dc9d18037565 40 __disable_irq();
oprospero 17:acef0fb07510 41 while(xbee.readable())
oprospero 4:f8e953201251 42 {
oprospero 17:acef0fb07510 43 char data = xbee.getc();
oprospero 20:95244d4f47f6 44 xbtx.putc(data);
oprospero 17:acef0fb07510 45 rxBuffer.add(data);
oprospero 4:f8e953201251 46 }
oprospero 19:dc9d18037565 47 __enable_irq();
oprospero 4:f8e953201251 48 }
oprospero 4:f8e953201251 49
oprospero 16:89695823d407 50 bool com::isData()
oprospero 16:89695823d407 51 {
oprospero 17:acef0fb07510 52 static char packetIndex = 0;
oprospero 17:acef0fb07510 53 static char pack_cmd = 0;
oprospero 17:acef0fb07510 54 static char pack_value[2] = {0,0};
oprospero 17:acef0fb07510 55 static char pack_seq = 0;
oprospero 17:acef0fb07510 56 static char pack_checksum = 0;
oprospero 16:89695823d407 57
oprospero 16:89695823d407 58 __disable_irq();
oprospero 17:acef0fb07510 59 while ( !rxBuffer.isEmpty() )
oprospero 16:89695823d407 60 {
oprospero 17:acef0fb07510 61 char data = rxBuffer.pop();
oprospero 20:95244d4f47f6 62 // __enable_irq();
oprospero 17:acef0fb07510 63 // PRINTF("d: %d \n\r", data);
oprospero 16:89695823d407 64 switch (packetIndex)
oprospero 16:89695823d407 65 {
oprospero 16:89695823d407 66 case 0:
oprospero 16:89695823d407 67 {
oprospero 17:acef0fb07510 68 if ( data == 255 )
oprospero 16:89695823d407 69 packetIndex++;
oprospero 16:89695823d407 70 break;
oprospero 16:89695823d407 71 }
oprospero 16:89695823d407 72 case 1:
oprospero 16:89695823d407 73 {
oprospero 17:acef0fb07510 74 if ( data < 13 )
oprospero 16:89695823d407 75 {
oprospero 17:acef0fb07510 76 pack_cmd = data;
oprospero 16:89695823d407 77 packetIndex++;
oprospero 16:89695823d407 78 }
oprospero 16:89695823d407 79 else
oprospero 16:89695823d407 80 packetIndex = 0;
oprospero 16:89695823d407 81 break;
oprospero 16:89695823d407 82 }
oprospero 16:89695823d407 83 case 2:
oprospero 16:89695823d407 84 {
oprospero 17:acef0fb07510 85 pack_value[1] = data;
oprospero 16:89695823d407 86 packetIndex++;
oprospero 16:89695823d407 87 break;
oprospero 16:89695823d407 88 }
oprospero 16:89695823d407 89 case 3:
oprospero 16:89695823d407 90 {
oprospero 17:acef0fb07510 91 if ( data < 128 )
oprospero 16:89695823d407 92 {
oprospero 17:acef0fb07510 93 pack_value[0] = data;
oprospero 16:89695823d407 94 packetIndex++;
oprospero 16:89695823d407 95 }
oprospero 16:89695823d407 96 else
oprospero 16:89695823d407 97 packetIndex = 0;
oprospero 16:89695823d407 98 break;
oprospero 16:89695823d407 99 }
oprospero 16:89695823d407 100 case 4:
oprospero 16:89695823d407 101 {
oprospero 17:acef0fb07510 102 pack_seq = data;
oprospero 16:89695823d407 103 packetIndex++;
oprospero 16:89695823d407 104 break;
oprospero 16:89695823d407 105 }
oprospero 16:89695823d407 106 case 5:
oprospero 16:89695823d407 107 {
oprospero 16:89695823d407 108 short temp = pack_value[0] + pack_cmd;
oprospero 17:acef0fb07510 109 pack_checksum = data;
oprospero 16:89695823d407 110 if ( temp == pack_checksum )
oprospero 16:89695823d407 111 {
oprospero 20:95244d4f47f6 112 // __disable_irq();
oprospero 16:89695823d407 113 short * ackPacket = new short[2];
oprospero 16:89695823d407 114 ackPacket[0] = pack_cmd;
oprospero 16:89695823d407 115 ackPacket[1] = pack_seq;
oprospero 17:acef0fb07510 116 txBuffer.add( ackPacket ); // Ack the packet with sequence nuber.
oprospero 16:89695823d407 117
oprospero 16:89695823d407 118 short * array = new short[2];
oprospero 16:89695823d407 119 array[0] = pack_cmd;
oprospero 16:89695823d407 120 array[1] = pack_value[1] * 128 + pack_value[0];
oprospero 17:acef0fb07510 121 cmdBuffer.add( array );
oprospero 20:95244d4f47f6 122 // __enable_irq();
oprospero 16:89695823d407 123 }
oprospero 16:89695823d407 124
oprospero 16:89695823d407 125 packetIndex = 0;
oprospero 16:89695823d407 126 break;
oprospero 16:89695823d407 127 }
oprospero 16:89695823d407 128 default:
oprospero 16:89695823d407 129 packetIndex = 0;
oprospero 16:89695823d407 130 break;
oprospero 16:89695823d407 131 }
oprospero 16:89695823d407 132
oprospero 20:95244d4f47f6 133 // __disable_irq();
oprospero 16:89695823d407 134
oprospero 16:89695823d407 135 }
oprospero 16:89695823d407 136 __enable_irq();
oprospero 17:acef0fb07510 137 return !cmdBuffer.isEmpty();
oprospero 17:acef0fb07510 138 }
oprospero 17:acef0fb07510 139
oprospero 17:acef0fb07510 140 short * com::read()
oprospero 17:acef0fb07510 141 {
oprospero 17:acef0fb07510 142 if ( !cmdBuffer.isEmpty() )
oprospero 17:acef0fb07510 143 return cmdBuffer.pop();
oprospero 17:acef0fb07510 144 else
oprospero 17:acef0fb07510 145 return NULL;
oprospero 16:89695823d407 146 }
oprospero 16:89695823d407 147
oprospero 16:89695823d407 148
oprospero 17:acef0fb07510 149 bool com::rdy2ack()
oprospero 17:acef0fb07510 150 {
oprospero 17:acef0fb07510 151 return !txBuffer.isEmpty();
oprospero 17:acef0fb07510 152 }
oprospero 17:acef0fb07510 153
oprospero 17:acef0fb07510 154 void com::sendACK()
oprospero 0:26a151d2c6db 155 {
oprospero 19:dc9d18037565 156 __disable_irq();
oprospero 20:95244d4f47f6 157 if( !txBuffer.isEmpty() && xbtx.writeable() )
oprospero 17:acef0fb07510 158 {
oprospero 17:acef0fb07510 159 short * pkt = txBuffer.pop();
oprospero 17:acef0fb07510 160 write(pkt[0],pkt[1]); //may need to disable interrupt
oprospero 17:acef0fb07510 161 delete[] pkt;
oprospero 17:acef0fb07510 162
oprospero 17:acef0fb07510 163 }
oprospero 19:dc9d18037565 164 __enable_irq();
oprospero 0:26a151d2c6db 165 }
oprospero 17:acef0fb07510 166
oprospero 17:acef0fb07510 167 void com::write( short command, short seq )
oprospero 17:acef0fb07510 168 {
oprospero 19:dc9d18037565 169 xbtx.putc( 255 ); // End of message.
oprospero 19:dc9d18037565 170 xbtx.putc( (char)command ); // Command
oprospero 19:dc9d18037565 171 xbtx.putc( (char) seq); // Second 8 bits in array.
oprospero 19:dc9d18037565 172 xbtx.putc( (char) command + seq ); // Checksum array[0] + array[1].
oprospero 17:acef0fb07510 173 }
oprospero 17:acef0fb07510 174
oprospero 19:dc9d18037565 175 void com::print(char* str)
oprospero 19:dc9d18037565 176 {
oprospero 19:dc9d18037565 177 __disable_irq();
oprospero 19:dc9d18037565 178 xbee.printf(str);
oprospero 19:dc9d18037565 179 __enable_irq();
oprospero 19:dc9d18037565 180 }