Prosper Van
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:
- 16:89695823d407
- Parent:
- 15:3f742edaa359
- Child:
- 17:acef0fb07510
--- a/com.cpp Wed Aug 27 06:20:23 2014 +0000
+++ b/com.cpp Thu Sep 25 02:30:25 2014 +0000
@@ -20,15 +20,14 @@
#ifdef DEBUG_COM
Timer timerCom;
#define NL "\n\r"
- #define PRINT(x) xbeeTx.printf(x) //Serial.print(x)
- #define PRINTF(x, y) xbeeTx.printf( (x) ,(y) ) //Serial.print(x, y)
- #define PRINTLN(x) PRINT(x);PRINT(NL)
- #define PRINTLNF(x, y) PRINTF((x) ,(y));PRINT(NL)
- #define START timerCom.start();
- #define STOP timerCom.stop()
- #define RESET timerCom.reset()
- #define READ timerCom.read_us()
- #define GET(x) x = READ
+ #define PRINT(x) xbeeTx.printf(x) //Serial.print(x)
+ #define PRINTF xbeeTx.printf //Serial.print(x, y)
+ #define PRINTLN(x) PRINT(x);PRINT(NL)
+ #define START timerCom.start();
+ #define STOP timerCom.stop()
+ #define RESET timerCom.reset()
+ #define READ timerCom.read_us()
+ #define GET(x) x = READ
#else
#define PRINT(x)
#define PRINTF(x, y)
@@ -63,90 +62,6 @@
START;
}
-/************************* bool isData() ********************************/
-/* */
-/*************************************************************************/
-
-//bool com::isData()
-//{
-// return rdy2build;
-//}
-
-bool com::isData()
-{
- static short packetIndex = 0;
- static short pack_cmd = 0;
- static short pack_value[2] = {0,0};
- static short pack_seq = 0;
- static short pack_checksum = 0;
- while ( !rxBuffer->isEmpty() )
- {
- short * data = rxBuffer->pop();
- switch (packetIndex)
- {
- case 0:
- {
- if ( *data == 255 )
- packetIndex++;
- break;
- }
- case 1:
- {
- if ( *data < 13 )
- {
- pack_cmd = *data;
- packetIndex++;
- }
- else
- packetIndex = 0;
- break;
- }
- case 2:
- {
- pack_value[1] = *data;
- packetIndex++;
- break;
- }
- case 3:
- {
- pack_value[0] = *data;
- packetIndex++;
- break;
- }
- case 4:
- {
- pack_seq = *data;
- packetIndex++;
- break;
- }
- case 5:
- {
- short temp = pack_value[0] + pack_cmd;
- pack_checksum = *data;
- if ( temp == pack_checksum )
- {
- short * ackPacket = new short[2];
- ackPacket[0] = pack_cmd;
- ackPacket[1] = pack_seq;
- txBuffer->add( ackPacket ); // Ack the packet with sequence nuber.
-
- short * array = new short[2];
- array[0] = pack_cmd;
- array[1] = pack_value[1] * 128 + pack_value[0];
- cmdBuffer->add( array );
- }
-
- packetIndex = 0;
- break;
- }
- default:
- packetIndex = 0;
- break;
- }
-
- }
- return !cmdBuffer->isEmpty();
-}
/************************ void write( char ) *****************************/
/* Write a packet out the xbee com port. */
@@ -178,13 +93,12 @@
{
__disable_irq();
short * pkt = txBuffer->pop();
+ write(pkt[0],pkt[1]); //may need to disable interrupt
__enable_irq();
- write(pkt[0],pkt[1]); //may need to disable interrupt
// #ifdef DEBUG_COM
if(pkt[1] % 5 == 0)
{
- PRINTLNF("len: %d",txBuffer->queueLength());
- xbeeTx.printf("len: %d\n\r",txBuffer->queueLength());
+ PRINTF("len: %d\n\r",txBuffer->queueLength());
}
// #endif
delete[] pkt;
@@ -198,7 +112,6 @@
}
-
/************************ void callback() ********************************/
/* */
/*************************************************************************/
@@ -246,11 +159,12 @@
void com::callback()
{
__disable_irq();
+ PRINTF("Reading\n\r");
while( xbeeRx.readable() )
{
short *data = new short;
- *data = xbeeRx.getc();
-
+ data[0] = xbeeRx.getc();
+ PRINTF("d: %d\n\r", data[0]);
rxBuffer->add( data );
}
__enable_irq();
@@ -322,6 +236,105 @@
}
+/************************* bool isData() ********************************/
+/* */
+/*************************************************************************/
+
+//bool com::isData()
+//{
+// return rdy2build;
+//}
+
+bool com::isData()
+{
+ static short packetIndex = 0;
+ static short pack_cmd = 0;
+ static short pack_value[2] = {0,0};
+ static short pack_seq = 0;
+ static short pack_checksum = 0;
+
+ __disable_irq();
+ while ( !rxBuffer->isEmpty() )
+ {
+ short * data = rxBuffer->pop();
+ __enable_irq();
+ PRINTF("d: %d \n\r", *data);
+ switch (packetIndex)
+ {
+ case 0:
+ {
+ if ( *data == 255 )
+ packetIndex++;
+ break;
+ }
+ case 1:
+ {
+ if ( *data < 13 )
+ {
+ pack_cmd = *data;
+ packetIndex++;
+ }
+ else
+ packetIndex = 0;
+ break;
+ }
+ case 2:
+ {
+ pack_value[1] = *data;
+ packetIndex++;
+ break;
+ }
+ case 3:
+ {
+ if ( *data < 128 )
+ {
+ pack_value[0] = *data;
+ packetIndex++;
+ }
+ else
+ packetIndex = 0;
+ break;
+ }
+ case 4:
+ {
+ pack_seq = *data;
+ packetIndex++;
+ break;
+ }
+ case 5:
+ {
+ short temp = pack_value[0] + pack_cmd;
+ pack_checksum = *data;
+ if ( temp == pack_checksum )
+ {
+ short * ackPacket = new short[2];
+ ackPacket[0] = pack_cmd;
+ ackPacket[1] = pack_seq;
+ txBuffer->add( ackPacket ); // Ack the packet with sequence nuber.
+
+ short * array = new short[2];
+ array[0] = pack_cmd;
+ array[1] = pack_value[1] * 128 + pack_value[0];
+ cmdBuffer->add( array );
+ }
+
+ packetIndex = 0;
+ break;
+ }
+ default:
+ packetIndex = 0;
+ break;
+ }
+
+ __disable_irq();
+ delete[] data;
+
+ }
+ __enable_irq();
+ return !cmdBuffer->isEmpty();
+}
+
+
/********************** bool isSignalGood() ******************************/
/* For future use */
/*************************************************************************/