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.h@12:bf4642578682, 2014-04-26 (annotated)

Committer:
oprospero
Date:
Sat Apr 26 02:38:08 2014 +0000
Revision:
12:bf4642578682
Parent:
5:7cdf299ea7a4
Child:
13:2fb7b19dcd70
initial changed from orginal

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:26a151d2c6db 1 /******************************* com.h ***********************************/
oprospero 0:26a151d2c6db 2 /* Version: 1.0 */
oprospero 0:26a151d2c6db 3 /* Last Updated: June 1, 2013 */
oprospero 0:26a151d2c6db 4 /* */
oprospero 0:26a151d2c6db 5 /* The com class implements reliable data transfer between two nodes */
oprospero 0:26a151d2c6db 6 /*using a checksum and a sequence number for guaranteed message delivery */
oprospero 0:26a151d2c6db 7 /*over an xbee modem connected to the passed in tx and rx pins. Messages */
oprospero 0:26a151d2c6db 8 /*are received and placed in the rxBuffer to be read when convenient. */
oprospero 0:26a151d2c6db 9 /*Messages are encoded by sending a byte with the value of the command */
oprospero 0:26a151d2c6db 10 /*then and int of the command. */
oprospero 0:26a151d2c6db 11 /* Alternative Pins RX = PTA1, TX PTA2 */
oprospero 0:26a151d2c6db 12 /*************************************************************************/
oprospero 0:26a151d2c6db 13
oprospero 0:26a151d2c6db 14 #ifndef COM_H
oprospero 0:26a151d2c6db 15 #define COM_H
oprospero 0:26a151d2c6db 16 #define RSSI_THRES 0.8
oprospero 0:26a151d2c6db 17
oprospero 0:26a151d2c6db 18 #include "mbed.h"
oprospero 0:26a151d2c6db 19 #include "queue.h"
oprospero 0:26a151d2c6db 20 #include "PwmIn.h"
oprospero 0:26a151d2c6db 21
oprospero 0:26a151d2c6db 22 const int BAUDRATE = 38400;
oprospero 2:bd1621102cad 23 const int BUFFERSIZE = 18;
oprospero 0:26a151d2c6db 24
oprospero 0:26a151d2c6db 25 class com
oprospero 0:26a151d2c6db 26 {
oprospero 0:26a151d2c6db 27 public:
oprospero 0:26a151d2c6db 28 com( PinName, PinName, PinName ); // Setup the com serial port. (tx, rx)
oprospero 0:26a151d2c6db 29 bool isData(); // Is there data to be read?
oprospero 0:26a151d2c6db 30 bool isSignalGood();
oprospero 0:26a151d2c6db 31 short * read(); // Read from the queue.
oprospero 4:f8e953201251 32 void ackCheck();
oprospero 5:7cdf299ea7a4 33 bool rdy2ack();
oprospero 0:26a151d2c6db 34
oprospero 1:4f53de75bc96 35 private:
oprospero 12:bf4642578682 36 void write( short, short ); // Write to the port.
oprospero 1:4f53de75bc96 37 Serial xbeeTx; // tx - DIN, rx - DOUT
oprospero 1:4f53de75bc96 38 Serial xbeeRx; // tx - DIN, rx - DOUT
oprospero 4:f8e953201251 39 queue *txBuffer;
oprospero 1:4f53de75bc96 40 PwmIn rssi;
oprospero 1:4f53de75bc96 41
oprospero 12:bf4642578682 42 bool rdy2build;
oprospero 12:bf4642578682 43 bool isA1;
oprospero 0:26a151d2c6db 44 void callback(); // Handle the interrupts.
oprospero 0:26a151d2c6db 45
oprospero 12:bf4642578682 46 char buffer1[BUFFERSIZE]; // Buffer for holding serial data.
oprospero 12:bf4642578682 47 char buffer2[BUFFERSIZE]; // Buffer for holding serial data.
oprospero 12:bf4642578682 48 int index1; // Location in the buffer to place next data.
oprospero 12:bf4642578682 49 int index2; // Location in the buffer to place next data.
oprospero 12:bf4642578682 50 int pindex; // Location in the buffer to place next data.
oprospero 0:26a151d2c6db 51 int signalStrength;
oprospero 1:4f53de75bc96 52
oprospero 0:26a151d2c6db 53 };
oprospero 0:26a151d2c6db 54
oprospero 0:26a151d2c6db 55 #endif