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@2:bd1621102cad, 2014-04-20 (annotated)

Committer:
oprospero
Date:
Sun Apr 20 02:27:39 2014 +0000
Revision:
2:bd1621102cad
Parent:
1:4f53de75bc96
Child:
4:f8e953201251
clean ups

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 0:26a151d2c6db 34
oprospero 1:4f53de75bc96 35 private:
oprospero 1:4f53de75bc96 36 Serial xbeeTx; // tx - DIN, rx - DOUT
oprospero 1:4f53de75bc96 37 Serial xbeeRx; // tx - DIN, rx - DOUT
oprospero 1:4f53de75bc96 38 queue *rxBuffer; // queue of commands ready to be read.
oprospero 1:4f53de75bc96 39 PwmIn rssi;
oprospero 1:4f53de75bc96 40
oprospero 2:bd1621102cad 41 bool api_mode;
oprospero 2:bd1621102cad 42
oprospero 0:26a151d2c6db 43 void callback(); // Handle the interrupts.
oprospero 0:26a151d2c6db 44 void packetBuilder(); // Called by callback to place commandes into the queue.
oprospero 0:26a151d2c6db 45
oprospero 0:26a151d2c6db 46 char buffer[BUFFERSIZE]; // Buffer for holding serial data.
oprospero 0:26a151d2c6db 47 int bLength; // Location in the buffer to place next data.
oprospero 0:26a151d2c6db 48 int signalStrength;
oprospero 1:4f53de75bc96 49
oprospero 0:26a151d2c6db 50 };
oprospero 0:26a151d2c6db 51
oprospero 0:26a151d2c6db 52 #endif