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@5:7cdf299ea7a4, 2014-04-22 (annotated)

Committer:
oprospero
Date:
Tue Apr 22 06:28:49 2014 +0000
Revision:
5:7cdf299ea7a4
Parent:
4:f8e953201251
Child:
12:bf4642578682
fixed previous commit. Added txQueue initialization

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 void write( short, short ); // Write to the port.
oprospero 0:26a151d2c6db 32 short * read(); // Read from the queue.
oprospero 2:bd1621102cad 33 void setAPImode(bool mode);
oprospero 4:f8e953201251 34 void ackCheck();
oprospero 5:7cdf299ea7a4 35 bool rdy2ack();
oprospero 0:26a151d2c6db 36
oprospero 1:4f53de75bc96 37 private:
oprospero 1:4f53de75bc96 38 Serial xbeeTx; // tx - DIN, rx - DOUT
oprospero 1:4f53de75bc96 39 Serial xbeeRx; // tx - DIN, rx - DOUT
oprospero 1:4f53de75bc96 40 queue *rxBuffer; // queue of commands ready to be read.
oprospero 4:f8e953201251 41 queue *txBuffer;
oprospero 1:4f53de75bc96 42 PwmIn rssi;
oprospero 1:4f53de75bc96 43
oprospero 2:bd1621102cad 44 bool api_mode;
oprospero 2:bd1621102cad 45
oprospero 0:26a151d2c6db 46 void callback(); // Handle the interrupts.
oprospero 0:26a151d2c6db 47 void packetBuilder(); // Called by callback to place commandes into the queue.
oprospero 0:26a151d2c6db 48
oprospero 0:26a151d2c6db 49 char buffer[BUFFERSIZE]; // Buffer for holding serial data.
oprospero 0:26a151d2c6db 50 int bLength; // 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