XBee API mode library
Receive.cpp@8:776b8dc51932, 2013-01-29 (annotated)
- Committer:
- yamaguch
- Date:
- Tue Jan 29 13:46:41 2013 +0000
- Revision:
- 8:776b8dc51932
- Parent:
- 4:c05dc188f177
- Child:
- 10:3da24a020e67
rtos support
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yamaguch | 0:0232a97b3883 | 1 | /* |
yamaguch | 8:776b8dc51932 | 2 | Copyright (c) 2013, Senio Networks, Inc. |
yamaguch | 0:0232a97b3883 | 3 | |
yamaguch | 0:0232a97b3883 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
yamaguch | 0:0232a97b3883 | 5 | of this software and associated documentation files (the "Software"), to deal |
yamaguch | 0:0232a97b3883 | 6 | in the Software without restriction, including without limitation the rights |
yamaguch | 0:0232a97b3883 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
yamaguch | 0:0232a97b3883 | 8 | copies of the Software, and to permit persons to whom the Software is |
yamaguch | 0:0232a97b3883 | 9 | furnished to do so, subject to the following conditions: |
yamaguch | 0:0232a97b3883 | 10 | |
yamaguch | 0:0232a97b3883 | 11 | The above copyright notice and this permission notice shall be included in |
yamaguch | 0:0232a97b3883 | 12 | all copies or substantial portions of the Software. |
yamaguch | 0:0232a97b3883 | 13 | |
yamaguch | 0:0232a97b3883 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
yamaguch | 0:0232a97b3883 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
yamaguch | 0:0232a97b3883 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
yamaguch | 0:0232a97b3883 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
yamaguch | 0:0232a97b3883 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
yamaguch | 0:0232a97b3883 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
yamaguch | 0:0232a97b3883 | 20 | THE SOFTWARE. |
yamaguch | 0:0232a97b3883 | 21 | */ |
yamaguch | 0:0232a97b3883 | 22 | |
yamaguch | 0:0232a97b3883 | 23 | #include "XBee.h" |
yamaguch | 0:0232a97b3883 | 24 | |
yamaguch | 8:776b8dc51932 | 25 | #ifndef XBEE_RTOS |
yamaguch | 8:776b8dc51932 | 26 | #define LOCK() NVIC_DisableIRQ(UARTx_IRQn[_serial.index]) |
yamaguch | 8:776b8dc51932 | 27 | #define UNLOCK() NVIC_EnableIRQ(UARTx_IRQn[_serial.index]) |
yamaguch | 0:0232a97b3883 | 28 | const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn}; |
yamaguch | 8:776b8dc51932 | 29 | #else |
yamaguch | 8:776b8dc51932 | 30 | #define LOCK() mutex.lock() |
yamaguch | 8:776b8dc51932 | 31 | #define UNLOCK() mutex.unlock(); |
yamaguch | 8:776b8dc51932 | 32 | #endif |
yamaguch | 0:0232a97b3883 | 33 | |
yamaguch | 8:776b8dc51932 | 34 | XBee::FrameType XBee::receive(float timeout) |
yamaguch | 8:776b8dc51932 | 35 | { |
yamaguch | 0:0232a97b3883 | 36 | flush(); |
yamaguch | 8:776b8dc51932 | 37 | |
yamaguch | 0:0232a97b3883 | 38 | while (true) { |
yamaguch | 8:776b8dc51932 | 39 | LOCK(); |
yamaguch | 8:776b8dc51932 | 40 | //::printf(">receive()\n"); |
yamaguch | 0:0232a97b3883 | 41 | if (out != in || free == 0) { |
yamaguch | 0:0232a97b3883 | 42 | FrameType type = getFrameType(buf[INDEX(out + 2)]); |
yamaguch | 0:0232a97b3883 | 43 | if (type != None) { |
yamaguch | 0:0232a97b3883 | 44 | received = out; |
yamaguch | 8:776b8dc51932 | 45 | //::printf("<receive()1\n"); |
yamaguch | 8:776b8dc51932 | 46 | UNLOCK(); |
yamaguch | 0:0232a97b3883 | 47 | return type; |
yamaguch | 0:0232a97b3883 | 48 | } |
yamaguch | 0:0232a97b3883 | 49 | int size = SIZE(buf, out); |
yamaguch | 0:0232a97b3883 | 50 | out = INDEX(out + 2 + size); |
yamaguch | 0:0232a97b3883 | 51 | free += (2 + size); |
yamaguch | 8:776b8dc51932 | 52 | //::printf("<receive()2\n"); |
yamaguch | 8:776b8dc51932 | 53 | UNLOCK(); |
yamaguch | 0:0232a97b3883 | 54 | continue; |
yamaguch | 0:0232a97b3883 | 55 | } else if (timeout <= 0) { |
yamaguch | 8:776b8dc51932 | 56 | //::printf("<receive()3\n"); |
yamaguch | 8:776b8dc51932 | 57 | UNLOCK(); |
yamaguch | 0:0232a97b3883 | 58 | return None; |
yamaguch | 0:0232a97b3883 | 59 | } |
yamaguch | 8:776b8dc51932 | 60 | //::printf("<receive()4\n"); |
yamaguch | 8:776b8dc51932 | 61 | UNLOCK(); |
yamaguch | 8:776b8dc51932 | 62 | |
yamaguch | 8:776b8dc51932 | 63 | #ifndef XBEE_RTOS |
yamaguch | 0:0232a97b3883 | 64 | wait(0.001); |
yamaguch | 0:0232a97b3883 | 65 | timeout -= 0.001; |
yamaguch | 8:776b8dc51932 | 66 | #else |
yamaguch | 8:776b8dc51932 | 67 | Thread::wait(50); |
yamaguch | 8:776b8dc51932 | 68 | timeout -= 0.05; |
yamaguch | 8:776b8dc51932 | 69 | #endif |
yamaguch | 0:0232a97b3883 | 70 | } |
yamaguch | 0:0232a97b3883 | 71 | } |
yamaguch | 0:0232a97b3883 | 72 | |
yamaguch | 0:0232a97b3883 | 73 | /* |
yamaguch | 0:0232a97b3883 | 74 | * function seekFor() - |
yamaguch | 0:0232a97b3883 | 75 | * |
yamaguch | 3:8453df14bd30 | 76 | * searches buf[] in range between the index out and in for a frame of specified type and id. |
yamaguch | 0:0232a97b3883 | 77 | * if the frame is found before timeout, returns the index of the packet, otherwise -1. |
yamaguch | 0:0232a97b3883 | 78 | * |
yamaguch | 0:0232a97b3883 | 79 | */ |
yamaguch | 8:776b8dc51932 | 80 | int XBee::seekFor(FrameType type, char id, float timeout) |
yamaguch | 8:776b8dc51932 | 81 | { |
yamaguch | 0:0232a97b3883 | 82 | int index = out; |
yamaguch | 0:0232a97b3883 | 83 | while (true) { |
yamaguch | 0:0232a97b3883 | 84 | if (index != in) { |
yamaguch | 3:8453df14bd30 | 85 | if (getFrameType(buf[INDEX(index + 2)]) == type && (id == 0 || buf[INDEX(index + 3)] == id)) |
yamaguch | 0:0232a97b3883 | 86 | return index; |
yamaguch | 0:0232a97b3883 | 87 | int size = SIZE(buf, index); |
yamaguch | 0:0232a97b3883 | 88 | index = INDEX(index + 2 + size); |
yamaguch | 0:0232a97b3883 | 89 | continue; |
yamaguch | 0:0232a97b3883 | 90 | } else if (timeout <= 0) { |
yamaguch | 0:0232a97b3883 | 91 | return -1; |
yamaguch | 0:0232a97b3883 | 92 | } |
yamaguch | 8:776b8dc51932 | 93 | #ifndef XBEE_RTOS |
yamaguch | 0:0232a97b3883 | 94 | wait(0.001); |
yamaguch | 0:0232a97b3883 | 95 | timeout -= 0.001; |
yamaguch | 8:776b8dc51932 | 96 | #else |
yamaguch | 8:776b8dc51932 | 97 | Thread::wait(10); |
yamaguch | 8:776b8dc51932 | 98 | timeout -= 0.01; |
yamaguch | 8:776b8dc51932 | 99 | #endif |
yamaguch | 0:0232a97b3883 | 100 | } |
yamaguch | 0:0232a97b3883 | 101 | } |
yamaguch | 0:0232a97b3883 | 102 | |
yamaguch | 8:776b8dc51932 | 103 | XBee::FrameType XBee::getFrameType(char c) |
yamaguch | 8:776b8dc51932 | 104 | { |
yamaguch | 0:0232a97b3883 | 105 | switch (c) { |
yamaguch | 0:0232a97b3883 | 106 | case 0x00: |
yamaguch | 0:0232a97b3883 | 107 | return None; |
yamaguch | 0:0232a97b3883 | 108 | case 0x88: |
yamaguch | 0:0232a97b3883 | 109 | return ATCommandResponse; |
yamaguch | 0:0232a97b3883 | 110 | case 0x8A: |
yamaguch | 0:0232a97b3883 | 111 | return ModemStatus; |
yamaguch | 0:0232a97b3883 | 112 | case 0x8B: |
yamaguch | 0:0232a97b3883 | 113 | return ZigBeeTransmitStatus; |
yamaguch | 0:0232a97b3883 | 114 | case 0x90: |
yamaguch | 0:0232a97b3883 | 115 | return ZigBeeReceivePacket; |
yamaguch | 0:0232a97b3883 | 116 | case 0x91: |
yamaguch | 0:0232a97b3883 | 117 | return ZigBeeExplicitRxIndicator; |
yamaguch | 0:0232a97b3883 | 118 | case 0x92: |
yamaguch | 0:0232a97b3883 | 119 | return ZigBeeIODataSampleRxIndicator; |
yamaguch | 0:0232a97b3883 | 120 | case 0x94: |
yamaguch | 0:0232a97b3883 | 121 | return XBeeSensorReadIndicator; |
yamaguch | 0:0232a97b3883 | 122 | case 0x95: |
yamaguch | 0:0232a97b3883 | 123 | return NodeIdentificationIndicator; |
yamaguch | 0:0232a97b3883 | 124 | case 0x97: |
yamaguch | 0:0232a97b3883 | 125 | return RemoteCommandResponse; |
yamaguch | 0:0232a97b3883 | 126 | default: |
yamaguch | 0:0232a97b3883 | 127 | return Other; |
yamaguch | 0:0232a97b3883 | 128 | } |
yamaguch | 0:0232a97b3883 | 129 | } |
yamaguch | 0:0232a97b3883 | 130 | |
yamaguch | 8:776b8dc51932 | 131 | void XBee::flush() |
yamaguch | 8:776b8dc51932 | 132 | { |
yamaguch | 8:776b8dc51932 | 133 | LOCK(); |
yamaguch | 0:0232a97b3883 | 134 | if (received == out) { |
yamaguch | 0:0232a97b3883 | 135 | do { |
yamaguch | 0:0232a97b3883 | 136 | int size = SIZE(buf, out); |
yamaguch | 0:0232a97b3883 | 137 | out = INDEX(out + 2 + size); |
yamaguch | 0:0232a97b3883 | 138 | free += 2 + size; |
yamaguch | 0:0232a97b3883 | 139 | } while (out != in && getFrameType(buf[INDEX(out + 2)]) == None); |
yamaguch | 0:0232a97b3883 | 140 | if (debug) leds = leds & 12; //**LEDS=xx00 |
yamaguch | 0:0232a97b3883 | 141 | } |
yamaguch | 8:776b8dc51932 | 142 | UNLOCK(); |
yamaguch | 0:0232a97b3883 | 143 | } |
yamaguch | 0:0232a97b3883 | 144 | |
yamaguch | 8:776b8dc51932 | 145 | #ifndef XBEE_RTOS |
yamaguch | 8:776b8dc51932 | 146 | void XBee::rxInterruptHandler() |
yamaguch | 8:776b8dc51932 | 147 | { |
yamaguch | 8:776b8dc51932 | 148 | static bool escaped = false; |
yamaguch | 8:776b8dc51932 | 149 | |
yamaguch | 0:0232a97b3883 | 150 | if (debug) leds = leds ^ 4; //**LEDS=x@xx |
yamaguch | 0:0232a97b3883 | 151 | |
yamaguch | 0:0232a97b3883 | 152 | while (readable()) { |
yamaguch | 0:0232a97b3883 | 153 | char c = getc() & 255; |
yamaguch | 8:776b8dc51932 | 154 | |
yamaguch | 8:776b8dc51932 | 155 | if (apiMode == 2) { |
yamaguch | 8:776b8dc51932 | 156 | if (escaped) { |
yamaguch | 8:776b8dc51932 | 157 | c ^= 0x20; |
yamaguch | 8:776b8dc51932 | 158 | escaped = false; |
yamaguch | 8:776b8dc51932 | 159 | } else if (c == ESCAPE) { |
yamaguch | 8:776b8dc51932 | 160 | escaped = true; |
yamaguch | 8:776b8dc51932 | 161 | continue; |
yamaguch | 8:776b8dc51932 | 162 | } |
yamaguch | 8:776b8dc51932 | 163 | } |
yamaguch | 8:776b8dc51932 | 164 | |
yamaguch | 0:0232a97b3883 | 165 | switch (state) { |
yamaguch | 0:0232a97b3883 | 166 | case LENGTH1: |
yamaguch | 0:0232a97b3883 | 167 | cur = in; |
yamaguch | 0:0232a97b3883 | 168 | buf[cur] = c; |
yamaguch | 0:0232a97b3883 | 169 | state = LENGTH2; |
yamaguch | 0:0232a97b3883 | 170 | break; |
yamaguch | 0:0232a97b3883 | 171 | case LENGTH2: |
yamaguch | 0:0232a97b3883 | 172 | if ((buf[cur] << 8 | c) + 2 < BUFSIZE) { |
yamaguch | 0:0232a97b3883 | 173 | state = DATA; |
yamaguch | 0:0232a97b3883 | 174 | while (free < (buf[cur] << 8 | c) + 2) { |
yamaguch | 0:0232a97b3883 | 175 | int size = SIZE(buf, out); |
yamaguch | 0:0232a97b3883 | 176 | out = INDEX(out + 2 + size); |
yamaguch | 0:0232a97b3883 | 177 | free += size + 2; |
yamaguch | 0:0232a97b3883 | 178 | } |
yamaguch | 0:0232a97b3883 | 179 | buf[INDEX(cur + 1)] = c; |
yamaguch | 0:0232a97b3883 | 180 | cur = INDEX(cur + 2); |
yamaguch | 0:0232a97b3883 | 181 | if (debug) leds = (leds & 12) | 1; //**LEDS=xx01 |
yamaguch | 0:0232a97b3883 | 182 | } else { |
yamaguch | 0:0232a97b3883 | 183 | state = UNKNOWN; |
yamaguch | 0:0232a97b3883 | 184 | if (debug) leds = leds & 12; //**LEDS=xx00 |
yamaguch | 0:0232a97b3883 | 185 | } |
yamaguch | 0:0232a97b3883 | 186 | break; |
yamaguch | 0:0232a97b3883 | 187 | case DATA: |
yamaguch | 0:0232a97b3883 | 188 | buf[cur] = c; |
yamaguch | 0:0232a97b3883 | 189 | cur = INDEX(cur + 1); |
yamaguch | 0:0232a97b3883 | 190 | if (debug) leds = (leds & 12) | (cur & 3); //**LEDS=xx@@ |
yamaguch | 0:0232a97b3883 | 191 | if (cur == INDEX(in + 2 + SIZE(buf, in))) state = SUMCHECK; |
yamaguch | 0:0232a97b3883 | 192 | break; |
yamaguch | 0:0232a97b3883 | 193 | case SUMCHECK: |
yamaguch | 0:0232a97b3883 | 194 | for (int i = INDEX(in + 2); i != cur; i = INDEX(i + 1)) { |
yamaguch | 0:0232a97b3883 | 195 | c += buf[i]; |
yamaguch | 0:0232a97b3883 | 196 | } |
yamaguch | 0:0232a97b3883 | 197 | if (c == 255) { |
yamaguch | 0:0232a97b3883 | 198 | if (debug) leds = (leds & 12) | 3; //**LEDS=xx11 |
yamaguch | 0:0232a97b3883 | 199 | in = cur; |
yamaguch | 8:776b8dc51932 | 200 | free = in < out ? out - in : BUFSIZE + out - in; |
yamaguch | 0:0232a97b3883 | 201 | } |
yamaguch | 0:0232a97b3883 | 202 | state = UNKNOWN; |
yamaguch | 0:0232a97b3883 | 203 | break; |
yamaguch | 0:0232a97b3883 | 204 | default: |
yamaguch | 0:0232a97b3883 | 205 | if (c == PREAMBLE) state = LENGTH1; |
yamaguch | 0:0232a97b3883 | 206 | if (debug) leds = (leds & 12) | 1; //**LEDS=xx01 |
yamaguch | 0:0232a97b3883 | 207 | } |
yamaguch | 0:0232a97b3883 | 208 | } |
yamaguch | 0:0232a97b3883 | 209 | } |
yamaguch | 8:776b8dc51932 | 210 | #else |
yamaguch | 8:776b8dc51932 | 211 | void XBee::rxISR() |
yamaguch | 8:776b8dc51932 | 212 | { |
yamaguch | 8:776b8dc51932 | 213 | int c = -1; |
yamaguch | 8:776b8dc51932 | 214 | switch (_serial.index) { |
yamaguch | 8:776b8dc51932 | 215 | case 0: { |
yamaguch | 8:776b8dc51932 | 216 | uint32_t UART_0_IIR = LPC_UART0->IIR; |
yamaguch | 8:776b8dc51932 | 217 | if (readable()) c = LPC_UART0->RBR; |
yamaguch | 8:776b8dc51932 | 218 | } |
yamaguch | 8:776b8dc51932 | 219 | break; |
yamaguch | 8:776b8dc51932 | 220 | case 1: { |
yamaguch | 8:776b8dc51932 | 221 | uint32_t UART_1_IIR = LPC_UART1->IIR; |
yamaguch | 8:776b8dc51932 | 222 | if (readable()) c = LPC_UART1->RBR; |
yamaguch | 8:776b8dc51932 | 223 | } |
yamaguch | 8:776b8dc51932 | 224 | break; |
yamaguch | 8:776b8dc51932 | 225 | case 2: { |
yamaguch | 8:776b8dc51932 | 226 | uint32_t UART_2_IIR = LPC_UART2->IIR; |
yamaguch | 8:776b8dc51932 | 227 | if (readable()) c = LPC_UART2->RBR; |
yamaguch | 8:776b8dc51932 | 228 | } |
yamaguch | 8:776b8dc51932 | 229 | break; |
yamaguch | 8:776b8dc51932 | 230 | case 3: { |
yamaguch | 8:776b8dc51932 | 231 | uint32_t UART_3_IIR = LPC_UART3->IIR; |
yamaguch | 8:776b8dc51932 | 232 | if (readable()) c = LPC_UART3->RBR; |
yamaguch | 8:776b8dc51932 | 233 | } |
yamaguch | 8:776b8dc51932 | 234 | break; |
yamaguch | 8:776b8dc51932 | 235 | } |
yamaguch | 8:776b8dc51932 | 236 | |
yamaguch | 8:776b8dc51932 | 237 | if (c != -1) { |
yamaguch | 8:776b8dc51932 | 238 | rxBuf = c; |
yamaguch | 8:776b8dc51932 | 239 | signal(); |
yamaguch | 8:776b8dc51932 | 240 | } |
yamaguch | 8:776b8dc51932 | 241 | } |
yamaguch | 0:0232a97b3883 | 242 | |
yamaguch | 8:776b8dc51932 | 243 | void XBee::run() |
yamaguch | 8:776b8dc51932 | 244 | { |
yamaguch | 8:776b8dc51932 | 245 | bool escaped = false; |
yamaguch | 0:0232a97b3883 | 246 | |
yamaguch | 8:776b8dc51932 | 247 | while (true) { |
yamaguch | 8:776b8dc51932 | 248 | signalWait(); |
yamaguch | 8:776b8dc51932 | 249 | mutex.lock(); |
yamaguch | 8:776b8dc51932 | 250 | if (debug && rxBuf.readable()) leds = leds ^ 4; // x@xx |
yamaguch | 0:0232a97b3883 | 251 | |
yamaguch | 8:776b8dc51932 | 252 | while (rxBuf.readable()) { |
yamaguch | 8:776b8dc51932 | 253 | char c = rxBuf.getc() & 255; |
yamaguch | 8:776b8dc51932 | 254 | //::printf("getc = %02X\n", c); |
yamaguch | 8:776b8dc51932 | 255 | if (apiMode == 2) { |
yamaguch | 8:776b8dc51932 | 256 | if (escaped) { |
yamaguch | 8:776b8dc51932 | 257 | c ^= 0x20; |
yamaguch | 8:776b8dc51932 | 258 | escaped = false; |
yamaguch | 8:776b8dc51932 | 259 | } else if (c == ESCAPE) { |
yamaguch | 8:776b8dc51932 | 260 | escaped = true; |
yamaguch | 8:776b8dc51932 | 261 | continue; |
yamaguch | 8:776b8dc51932 | 262 | } |
yamaguch | 8:776b8dc51932 | 263 | } |
yamaguch | 0:0232a97b3883 | 264 | |
yamaguch | 8:776b8dc51932 | 265 | switch (state) { |
yamaguch | 8:776b8dc51932 | 266 | case LENGTH1: |
yamaguch | 8:776b8dc51932 | 267 | cur = in; |
yamaguch | 8:776b8dc51932 | 268 | buf[cur] = c; |
yamaguch | 8:776b8dc51932 | 269 | state = LENGTH2; |
yamaguch | 8:776b8dc51932 | 270 | break; |
yamaguch | 8:776b8dc51932 | 271 | case LENGTH2: |
yamaguch | 8:776b8dc51932 | 272 | //::printf(">length2 in = %04X, out = %04X, free = %d\n", in, out, free); |
yamaguch | 8:776b8dc51932 | 273 | if ((buf[cur] << 8 | c) + 2 < BUFSIZE) { |
yamaguch | 8:776b8dc51932 | 274 | state = DATA; |
yamaguch | 8:776b8dc51932 | 275 | while (free < (buf[cur] << 8 | c) + 2) { |
yamaguch | 8:776b8dc51932 | 276 | int size = SIZE(buf, out); |
yamaguch | 8:776b8dc51932 | 277 | out = INDEX(out + size + 2); |
yamaguch | 8:776b8dc51932 | 278 | free += (size + 2); |
yamaguch | 8:776b8dc51932 | 279 | } |
yamaguch | 8:776b8dc51932 | 280 | buf[INDEX(cur + 1)] = c; |
yamaguch | 8:776b8dc51932 | 281 | cur = INDEX(cur + 2); |
yamaguch | 8:776b8dc51932 | 282 | if (debug) leds = (leds & 12) | 2; // xx10 |
yamaguch | 8:776b8dc51932 | 283 | } else { |
yamaguch | 8:776b8dc51932 | 284 | state = UNKNOWN; |
yamaguch | 8:776b8dc51932 | 285 | leds = leds & 12; //** update leds |
yamaguch | 8:776b8dc51932 | 286 | } |
yamaguch | 8:776b8dc51932 | 287 | //::printf("<length2 in = %04X, out = %04X, free = %d\n", in, out, free); |
yamaguch | 8:776b8dc51932 | 288 | break; |
yamaguch | 8:776b8dc51932 | 289 | case DATA: |
yamaguch | 8:776b8dc51932 | 290 | buf[cur] = c; |
yamaguch | 8:776b8dc51932 | 291 | cur = INDEX(cur + 1); |
yamaguch | 8:776b8dc51932 | 292 | if (debug) leds = (leds & 12) | (cur & 3); //**LEDS=xx@@ |
yamaguch | 8:776b8dc51932 | 293 | if (cur == INDEX(in + 2 + SIZE(buf, in))) state = SUMCHECK; |
yamaguch | 8:776b8dc51932 | 294 | break; |
yamaguch | 8:776b8dc51932 | 295 | case SUMCHECK: |
yamaguch | 8:776b8dc51932 | 296 | for (int i = INDEX(in + 2); i != cur; i = INDEX(i + 1)) { |
yamaguch | 8:776b8dc51932 | 297 | c += buf[i]; |
yamaguch | 8:776b8dc51932 | 298 | } |
yamaguch | 8:776b8dc51932 | 299 | if (c == 255) { |
yamaguch | 8:776b8dc51932 | 300 | if (debug) leds = (leds & 12) | 3; //**LEDS=xx11 |
yamaguch | 8:776b8dc51932 | 301 | in = cur; |
yamaguch | 8:776b8dc51932 | 302 | free = in <= out ? out - in : BUFSIZE + out - in; // maybe in == out, then free == 0, but != BUFSIZE |
yamaguch | 0:0232a97b3883 | 303 | } |
yamaguch | 0:0232a97b3883 | 304 | state = UNKNOWN; |
yamaguch | 8:776b8dc51932 | 305 | break; |
yamaguch | 8:776b8dc51932 | 306 | default: |
yamaguch | 8:776b8dc51932 | 307 | if (c == PREAMBLE) state = LENGTH1; |
yamaguch | 8:776b8dc51932 | 308 | if (debug) leds = (leds & 12) | 1; //**LEDS=xx01 |
yamaguch | 8:776b8dc51932 | 309 | } |
yamaguch | 8:776b8dc51932 | 310 | } |
yamaguch | 8:776b8dc51932 | 311 | mutex.unlock(); |
yamaguch | 8:776b8dc51932 | 312 | } |
yamaguch | 8:776b8dc51932 | 313 | } |
yamaguch | 8:776b8dc51932 | 314 | #endif |
yamaguch | 8:776b8dc51932 | 315 | #if 0 |
yamaguch | 8:776b8dc51932 | 316 | void XBee::rxHandler(void const *args) |
yamaguch | 8:776b8dc51932 | 317 | { |
yamaguch | 8:776b8dc51932 | 318 | bool escaped = false; |
yamaguch | 8:776b8dc51932 | 319 | |
yamaguch | 8:776b8dc51932 | 320 | XBee& self = *((XBee *) args); |
yamaguch | 8:776b8dc51932 | 321 | BusOut& leds = self.leds; |
yamaguch | 8:776b8dc51932 | 322 | int& apiMode = self.apiMode; |
yamaguch | 8:776b8dc51932 | 323 | volatile int& cur = self.cur; |
yamaguch | 8:776b8dc51932 | 324 | volatile int& in = self.in; |
yamaguch | 8:776b8dc51932 | 325 | volatile int& out = self.out; |
yamaguch | 8:776b8dc51932 | 326 | volatile int& free = self.free; |
yamaguch | 8:776b8dc51932 | 327 | bool& debug = self.debug; |
yamaguch | 8:776b8dc51932 | 328 | Mutex& mutex = self.mutex; |
yamaguch | 8:776b8dc51932 | 329 | |
yamaguch | 8:776b8dc51932 | 330 | //int prevFree = free; |
yamaguch | 8:776b8dc51932 | 331 | |
yamaguch | 8:776b8dc51932 | 332 | while (true) { |
yamaguch | 8:776b8dc51932 | 333 | mutex.lock(); |
yamaguch | 8:776b8dc51932 | 334 | //if (prevFree != free) { |
yamaguch | 8:776b8dc51932 | 335 | //::printf("rx in = %04X, out = %04X, free = %d -> %d\n", in, out, prevFree, free); |
yamaguch | 8:776b8dc51932 | 336 | //prevFree = free; |
yamaguch | 8:776b8dc51932 | 337 | //} |
yamaguch | 8:776b8dc51932 | 338 | if (debug && self.readable()) leds = leds ^ 4; // x@xx |
yamaguch | 8:776b8dc51932 | 339 | |
yamaguch | 8:776b8dc51932 | 340 | while (self.readable()) { |
yamaguch | 8:776b8dc51932 | 341 | //if (prevFree != free) { |
yamaguch | 8:776b8dc51932 | 342 | //::printf("length2 in = %04X, out = %04X, free = %d -> %d\n", in, out, prevFree, free); |
yamaguch | 8:776b8dc51932 | 343 | //prevFree = free; |
yamaguch | 8:776b8dc51932 | 344 | //} |
yamaguch | 8:776b8dc51932 | 345 | char c = self.getc() & 255; |
yamaguch | 8:776b8dc51932 | 346 | |
yamaguch | 8:776b8dc51932 | 347 | if (apiMode == 2) { |
yamaguch | 8:776b8dc51932 | 348 | if (escaped) { |
yamaguch | 8:776b8dc51932 | 349 | c ^= 0x20; |
yamaguch | 8:776b8dc51932 | 350 | escaped = false; |
yamaguch | 8:776b8dc51932 | 351 | } else if (c == ESCAPE) { |
yamaguch | 8:776b8dc51932 | 352 | escaped = true; |
yamaguch | 8:776b8dc51932 | 353 | continue; |
yamaguch | 0:0232a97b3883 | 354 | } |
yamaguch | 8:776b8dc51932 | 355 | } |
yamaguch | 8:776b8dc51932 | 356 | |
yamaguch | 8:776b8dc51932 | 357 | switch (self.state) { |
yamaguch | 8:776b8dc51932 | 358 | case LENGTH1: |
yamaguch | 8:776b8dc51932 | 359 | cur = in; |
yamaguch | 8:776b8dc51932 | 360 | self.buf[cur] = c; |
yamaguch | 8:776b8dc51932 | 361 | self.state = LENGTH2; |
yamaguch | 8:776b8dc51932 | 362 | break; |
yamaguch | 8:776b8dc51932 | 363 | case LENGTH2: |
yamaguch | 8:776b8dc51932 | 364 | //::printf(">length2 in = %04X, out = %04X, free = %d\n", in, out, free); |
yamaguch | 8:776b8dc51932 | 365 | if ((self.buf[cur] << 8 | c) + 2 < BUFSIZE) { |
yamaguch | 8:776b8dc51932 | 366 | self.state = DATA; |
yamaguch | 8:776b8dc51932 | 367 | while (free < (self.buf[cur] << 8 | c) + 2) { |
yamaguch | 8:776b8dc51932 | 368 | int size = SIZE(self.buf, out); |
yamaguch | 8:776b8dc51932 | 369 | out = INDEX(out + size + 2); |
yamaguch | 8:776b8dc51932 | 370 | free += (size + 2); |
yamaguch | 8:776b8dc51932 | 371 | } |
yamaguch | 8:776b8dc51932 | 372 | self.buf[INDEX(cur + 1)] = c; |
yamaguch | 8:776b8dc51932 | 373 | cur = INDEX(cur + 2); |
yamaguch | 8:776b8dc51932 | 374 | if (debug) leds = (leds & 12) | 2; // xx10 |
yamaguch | 8:776b8dc51932 | 375 | //::printf("<length2 in = %04X, out = %04X, free = %d\n", in, out, free); |
yamaguch | 8:776b8dc51932 | 376 | } else { |
yamaguch | 8:776b8dc51932 | 377 | self.state = UNKNOWN; |
yamaguch | 8:776b8dc51932 | 378 | leds = leds & 12; //** update leds |
yamaguch | 8:776b8dc51932 | 379 | } |
yamaguch | 8:776b8dc51932 | 380 | break; |
yamaguch | 8:776b8dc51932 | 381 | case DATA: |
yamaguch | 8:776b8dc51932 | 382 | self.buf[cur] = c; |
yamaguch | 8:776b8dc51932 | 383 | cur = INDEX(cur + 1); |
yamaguch | 8:776b8dc51932 | 384 | if (debug) leds = (leds & 12) | (cur & 3); //**LEDS=xx@@ |
yamaguch | 8:776b8dc51932 | 385 | if (cur == INDEX(in + 2 + SIZE(self.buf, in))) self.state = SUMCHECK; |
yamaguch | 8:776b8dc51932 | 386 | break; |
yamaguch | 8:776b8dc51932 | 387 | case SUMCHECK: |
yamaguch | 8:776b8dc51932 | 388 | //::printf(">sumcheck in = %04X, out = %04X, free = %d\n", in, out, free); |
yamaguch | 8:776b8dc51932 | 389 | for (int i = INDEX(in + 2); i != cur; i = INDEX(i + 1)) { |
yamaguch | 8:776b8dc51932 | 390 | c += self.buf[i]; |
yamaguch | 8:776b8dc51932 | 391 | } |
yamaguch | 8:776b8dc51932 | 392 | if (c == 255) { |
yamaguch | 8:776b8dc51932 | 393 | if (debug) leds = (leds & 12) | 3; //**LEDS=xx11 |
yamaguch | 8:776b8dc51932 | 394 | in = cur; |
yamaguch | 8:776b8dc51932 | 395 | free = in <= out ? out - in : BUFSIZE + out - in; // maybe in == out then free == 0, but != BUFSIZE |
yamaguch | 8:776b8dc51932 | 396 | } |
yamaguch | 8:776b8dc51932 | 397 | self.state = UNKNOWN; |
yamaguch | 8:776b8dc51932 | 398 | //::printf("<sumcheck in = %04X, out = %04X, free = %d\n", in, out, free); |
yamaguch | 8:776b8dc51932 | 399 | break; |
yamaguch | 8:776b8dc51932 | 400 | default: |
yamaguch | 8:776b8dc51932 | 401 | if (c == PREAMBLE) self.state = LENGTH1; |
yamaguch | 8:776b8dc51932 | 402 | if (debug) leds = (leds & 12) | 1; //**LEDS=xx01 |
yamaguch | 8:776b8dc51932 | 403 | } |
yamaguch | 0:0232a97b3883 | 404 | } |
yamaguch | 8:776b8dc51932 | 405 | mutex.unlock(); |
yamaguch | 8:776b8dc51932 | 406 | Thread::wait(1); |
yamaguch | 0:0232a97b3883 | 407 | } |
yamaguch | 8:776b8dc51932 | 408 | } |
yamaguch | 8:776b8dc51932 | 409 | #endif |