Hiroshi Yamaguchi
XBee API mode library
Diff: Receive.cpp
- Revision:
- 0:0232a97b3883
- Child:
- 3:8453df14bd30
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Receive.cpp Thu Jul 26 10:33:11 2012 +0000
@@ -0,0 +1,231 @@
+/*
+Copyright (c) 2011, Senio Networks, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include "XBee.h"
+
+#define disableIRQ() NVIC_DisableIRQ(UARTx_IRQn[_uidx])
+#define enableIRQ() NVIC_EnableIRQ(UARTx_IRQn[_uidx])
+
+const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn};
+
+XBee::FrameType XBee::receive(float timeout) {
+ flush();
+ while (true) {
+ disableIRQ();
+ if (out != in || free == 0) {
+ FrameType type = getFrameType(buf[INDEX(out + 2)]);
+ if (type != None) {
+ received = out;
+ enableIRQ();
+ return type;
+ }
+ int size = SIZE(buf, out);
+ out = INDEX(out + 2 + size);
+ free += (2 + size);
+ enableIRQ();
+ continue;
+ } else if (timeout <= 0) {
+ enableIRQ();
+ return None;
+ }
+ enableIRQ();
+ wait(0.001);
+ timeout -= 0.001;
+ }
+}
+
+/*
+ * function seekFor() -
+ *
+ * searches buf[] in range between the index out and in for a specified frametype packet.
+ * if the frame is found before timeout, returns the index of the packet, otherwise -1.
+ *
+ */
+int XBee::seekFor(FrameType type, float timeout) {
+ int index = out;
+ while (true) {
+ if (index != in) {
+ if (getFrameType(buf[INDEX(index + 2)]) == type)
+ return index;
+ int size = SIZE(buf, index);
+ index = INDEX(index + 2 + size);
+ continue;
+ } else if (timeout <= 0) {
+ return -1;
+ }
+ wait(0.001);
+ timeout -= 0.001;
+ }
+}
+
+XBee::FrameType XBee::getFrameType(char c) {
+ switch (c) {
+ case 0x00:
+ return None;
+ case 0x88:
+ return ATCommandResponse;
+ case 0x8A:
+ return ModemStatus;
+ case 0x8B:
+ return ZigBeeTransmitStatus;
+ case 0x90:
+ return ZigBeeReceivePacket;
+ case 0x91:
+ return ZigBeeExplicitRxIndicator;
+ case 0x92:
+ return ZigBeeIODataSampleRxIndicator;
+ case 0x94:
+ return XBeeSensorReadIndicator;
+ case 0x95:
+ return NodeIdentificationIndicator;
+ case 0x97:
+ return RemoteCommandResponse;
+ default:
+ return Other;
+ }
+}
+
+void XBee::flush() {
+ disableIRQ();
+ if (received == out) {
+ do {
+ int size = SIZE(buf, out);
+ out = INDEX(out + 2 + size);
+ free += 2 + size;
+ } while (out != in && getFrameType(buf[INDEX(out + 2)]) == None);
+ if (debug) leds = leds & 12; //**LEDS=xx00
+ }
+ enableIRQ();
+}
+
+void XBee::rxInterruptHandler() {
+ if (debug) leds = leds ^ 4; //**LEDS=x@xx
+
+ while (readable()) {
+ char c = getc() & 255;
+ switch (state) {
+ case LENGTH1:
+ cur = in;
+ buf[cur] = c;
+ state = LENGTH2;
+ break;
+ case LENGTH2:
+ if ((buf[cur] << 8 | c) + 2 < BUFSIZE) {
+ state = DATA;
+ while (free < (buf[cur] << 8 | c) + 2) {
+ int size = SIZE(buf, out);
+ out = INDEX(out + 2 + size);
+ free += size + 2;
+ }
+ buf[INDEX(cur + 1)] = c;
+ cur = INDEX(cur + 2);
+ if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
+ } else {
+ state = UNKNOWN;
+ if (debug) leds = leds & 12; //**LEDS=xx00
+ }
+ break;
+ case DATA:
+ buf[cur] = c;
+ cur = INDEX(cur + 1);
+ if (debug) leds = (leds & 12) | (cur & 3); //**LEDS=xx@@
+ if (cur == INDEX(in + 2 + SIZE(buf, in))) state = SUMCHECK;
+ break;
+ case SUMCHECK:
+ for (int i = INDEX(in + 2); i != cur; i = INDEX(i + 1)) {
+ c += buf[i];
+ }
+ if (c == 255) {
+ if (debug) leds = (leds & 12) | 3; //**LEDS=xx11
+ in = cur;
+ free = in <= out ? out - in : BUFSIZE + out - in;
+ }
+ state = UNKNOWN;
+ break;
+ default:
+ if (c == PREAMBLE) state = LENGTH1;
+ if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
+ }
+ }
+}
+
+void XBee::rxInterruptHandler2() {
+ static bool escaped = false;
+
+ if (debug) leds = leds ^ 4; // x@xx
+
+ while (readable()) {
+ char c = getc() & 255;
+
+ if (escaped) {
+ c ^= 0x20;
+ escaped = false;
+ } else if (c == ESCAPE) {
+ escaped = true;
+ continue;
+ }
+
+ switch (state) {
+ case LENGTH1:
+ cur = in;
+ buf[cur] = c;
+ state = LENGTH2;
+ break;
+ case LENGTH2:
+ if ((buf[cur] << 8 | c) + 2 < BUFSIZE) {
+ state = DATA;
+ while (free < (buf[cur] << 8 | c) + 2) {
+ int size = SIZE(buf, out);
+ out = INDEX(out + size + 2);
+ free += (size + 2);
+ }
+ buf[INDEX(cur + 1)] = c;
+ cur = INDEX(cur + 2);
+ if (debug) leds = (leds & 12) | 2; // xx10
+ } else {
+ state = UNKNOWN;
+ leds = leds & 12; //** update leds
+ }
+ break;
+ case DATA:
+ buf[cur] = c;
+ cur = INDEX(cur + 1);
+ if (debug) leds = (leds & 12) | (cur & 3); //**LEDS=xx@@
+ if (cur == INDEX(in + 2 + SIZE(buf, in))) state = SUMCHECK;
+ break;
+ case SUMCHECK:
+ for (int i = INDEX(in + 2); i != cur; i = INDEX(i + 1)) {
+ c += buf[i];
+ }
+ if (c == 255) {
+ if (debug) leds = (leds & 12) | 3; //**LEDS=xx11
+ in = cur;
+ free = in <= out ? out - in : BUFSIZE + out - in;
+ }
+ state = UNKNOWN;
+ break;
+ default:
+ if (c == PREAMBLE) state = LENGTH1;
+ if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
+ }
+ }
+}
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