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

Diff: com.cpp

Revision:
21:117e01fc0373
Parent:
20:95244d4f47f6
Child:
22:0e8e22f161ff
--- a/com.cpp	Wed Oct 22 16:09:56 2014 +0000
+++ b/com.cpp	Thu Oct 23 04:46:10 2014 +0000
@@ -24,9 +24,10 @@
     #define GET(x)
 #endif
 
-com::com(PinName tx, PinName rx): xbee(NC,rx), xbtx(tx,NC)
+//com::com(PinName tx, PinName rx): xbee(NC,rx), xbtx(tx,NC)
+com::com(PinName tx, PinName rx): xbee(tx,rx)
 {
-    xbtx.baud(BAUDRATE);
+//    xbtx.baud(BAUDRATE);
     xbee.baud(BAUDRATE);
     xbee.attach(this,&com::callback);
 }
@@ -41,7 +42,7 @@
     while(xbee.readable())
     {
         char data = xbee.getc();
-        xbtx.putc(data);
+        xbee.putc(data);
         rxBuffer.add(data);
     }
     __enable_irq();
@@ -154,7 +155,7 @@
 void com::sendACK()
 {
     __disable_irq();
-    if( !txBuffer.isEmpty() && xbtx.writeable() )
+    if( !txBuffer.isEmpty() && xbee.writeable() )
     {
         short * pkt = txBuffer.pop();
         write(pkt[0],pkt[1]); //may need to disable interrupt
@@ -166,10 +167,10 @@
 
 void com::write( short command, short seq  )
 {  
-    xbtx.putc( 255 );                     // End of message.
-    xbtx.putc( (char)command );           // Command
-    xbtx.putc( (char) seq);            // Second 8 bits in array.
-    xbtx.putc( (char) command + seq );        // Checksum array[0] + array[1].
+    xbee.putc( 255 );                     // End of message.
+    xbee.putc( (char)command );           // Command
+    xbee.putc( (char) seq);            // Second 8 bits in array.
+    xbee.putc( (char) command + seq );        // Checksum array[0] + array[1].
 }
 
 void com::print(char* str)