Hiroshi Yamaguchi
XBee API mode library
Diff: Receive.cpp
- Revision:
- 8:776b8dc51932
- Parent:
- 4:c05dc188f177
- Child:
- 10:3da24a020e67
--- a/Receive.cpp Fri Jan 25 02:26:14 2013 +0000
+++ b/Receive.cpp Tue Jan 29 13:46:41 2013 +0000
@@ -1,5 +1,5 @@
/*
-Copyright (c) 2011, Senio Networks, Inc.
+Copyright (c) 2013, 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
@@ -22,34 +22,51 @@
#include "XBee.h"
-#define disableIRQ() NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
-#define enableIRQ() NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
-
+#ifndef XBEE_RTOS
+#define LOCK() NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
+#define UNLOCK() NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn};
+#else
+#define LOCK() mutex.lock()
+#define UNLOCK() mutex.unlock();
+#endif
-XBee::FrameType XBee::receive(float timeout) {
+XBee::FrameType XBee::receive(float timeout)
+{
flush();
+
while (true) {
- disableIRQ();
+ LOCK();
+ //::printf(">receive()\n");
if (out != in || free == 0) {
FrameType type = getFrameType(buf[INDEX(out + 2)]);
if (type != None) {
received = out;
- enableIRQ();
+ //::printf("<receive()1\n");
+ UNLOCK();
return type;
}
int size = SIZE(buf, out);
out = INDEX(out + 2 + size);
free += (2 + size);
- enableIRQ();
+ //::printf("<receive()2\n");
+ UNLOCK();
continue;
} else if (timeout <= 0) {
- enableIRQ();
+ //::printf("<receive()3\n");
+ UNLOCK();
return None;
}
- enableIRQ();
+ //::printf("<receive()4\n");
+ UNLOCK();
+
+#ifndef XBEE_RTOS
wait(0.001);
timeout -= 0.001;
+#else
+ Thread::wait(50);
+ timeout -= 0.05;
+#endif
}
}
@@ -60,7 +77,8 @@
* if the frame is found before timeout, returns the index of the packet, otherwise -1.
*
*/
-int XBee::seekFor(FrameType type, char id, float timeout) {
+int XBee::seekFor(FrameType type, char id, float timeout)
+{
int index = out;
while (true) {
if (index != in) {
@@ -72,12 +90,18 @@
} else if (timeout <= 0) {
return -1;
}
+#ifndef XBEE_RTOS
wait(0.001);
timeout -= 0.001;
+#else
+ Thread::wait(10);
+ timeout -= 0.01;
+#endif
}
}
-XBee::FrameType XBee::getFrameType(char c) {
+XBee::FrameType XBee::getFrameType(char c)
+{
switch (c) {
case 0x00:
return None;
@@ -104,8 +128,9 @@
}
}
-void XBee::flush() {
- disableIRQ();
+void XBee::flush()
+{
+ LOCK();
if (received == out) {
do {
int size = SIZE(buf, out);
@@ -114,14 +139,29 @@
} while (out != in && getFrameType(buf[INDEX(out + 2)]) == None);
if (debug) leds = leds & 12; //**LEDS=xx00
}
- enableIRQ();
+ UNLOCK();
}
-void XBee::rxInterruptHandler() {
+#ifndef XBEE_RTOS
+void XBee::rxInterruptHandler()
+{
+ static bool escaped = false;
+
if (debug) leds = leds ^ 4; //**LEDS=x@xx
while (readable()) {
char c = getc() & 255;
+
+ if (apiMode == 2) {
+ if (escaped) {
+ c ^= 0x20;
+ escaped = false;
+ } else if (c == ESCAPE) {
+ escaped = true;
+ continue;
+ }
+ }
+
switch (state) {
case LENGTH1:
cur = in;
@@ -157,7 +197,7 @@
if (c == 255) {
if (debug) leds = (leds & 12) | 3; //**LEDS=xx11
in = cur;
- free = in <= out ? out - in : BUFSIZE + out - in;
+ free = in < out ? out - in : BUFSIZE + out - in;
}
state = UNKNOWN;
break;
@@ -167,65 +207,203 @@
}
}
}
-
-void XBee::rxInterruptHandler2() {
- static bool escaped = false;
+#else
+void XBee::rxISR()
+{
+ int c = -1;
+ switch (_serial.index) {
+ case 0: {
+ uint32_t UART_0_IIR = LPC_UART0->IIR;
+ if (readable()) c = LPC_UART0->RBR;
+ }
+ break;
+ case 1: {
+ uint32_t UART_1_IIR = LPC_UART1->IIR;
+ if (readable()) c = LPC_UART1->RBR;
+ }
+ break;
+ case 2: {
+ uint32_t UART_2_IIR = LPC_UART2->IIR;
+ if (readable()) c = LPC_UART2->RBR;
+ }
+ break;
+ case 3: {
+ uint32_t UART_3_IIR = LPC_UART3->IIR;
+ if (readable()) c = LPC_UART3->RBR;
+ }
+ break;
+ }
+
+ if (c != -1) {
+ rxBuf = c;
+ signal();
+ }
+}
- if (debug) leds = leds ^ 4; // x@xx
+void XBee::run()
+{
+ bool escaped = false;
- while (readable()) {
- char c = getc() & 255;
+ while (true) {
+ signalWait();
+ mutex.lock();
+ if (debug && rxBuf.readable()) leds = leds ^ 4; // x@xx
- if (escaped) {
- c ^= 0x20;
- escaped = false;
- } else if (c == ESCAPE) {
- escaped = true;
- continue;
- }
+ while (rxBuf.readable()) {
+ char c = rxBuf.getc() & 255;
+ //::printf("getc = %02X\n", c);
+ if (apiMode == 2) {
+ 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);
+ switch (state) {
+ case LENGTH1:
+ cur = in;
+ buf[cur] = c;
+ state = LENGTH2;
+ break;
+ case LENGTH2:
+ //::printf(">length2 in = %04X, out = %04X, free = %d\n", in, out, free);
+ 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
+ }
+ //::printf("<length2 in = %04X, out = %04X, free = %d\n", in, out, free);
+ 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; // maybe in == out, then free == 0, but != BUFSIZE
}
- 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;
+ default:
+ if (c == PREAMBLE) state = LENGTH1;
+ if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
+ }
+ }
+ mutex.unlock();
+ }
+}
+#endif
+#if 0
+void XBee::rxHandler(void const *args)
+{
+ bool escaped = false;
+
+ XBee& self = *((XBee *) args);
+ BusOut& leds = self.leds;
+ int& apiMode = self.apiMode;
+ volatile int& cur = self.cur;
+ volatile int& in = self.in;
+ volatile int& out = self.out;
+ volatile int& free = self.free;
+ bool& debug = self.debug;
+ Mutex& mutex = self.mutex;
+
+ //int prevFree = free;
+
+ while (true) {
+ mutex.lock();
+ //if (prevFree != free) {
+ //::printf("rx in = %04X, out = %04X, free = %d -> %d\n", in, out, prevFree, free);
+ //prevFree = free;
+ //}
+ if (debug && self.readable()) leds = leds ^ 4; // x@xx
+
+ while (self.readable()) {
+ //if (prevFree != free) {
+ //::printf("length2 in = %04X, out = %04X, free = %d -> %d\n", in, out, prevFree, free);
+ //prevFree = free;
+ //}
+ char c = self.getc() & 255;
+
+ if (apiMode == 2) {
+ if (escaped) {
+ c ^= 0x20;
+ escaped = false;
+ } else if (c == ESCAPE) {
+ escaped = true;
+ continue;
}
- 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
+ }
+
+ switch (self.state) {
+ case LENGTH1:
+ cur = in;
+ self.buf[cur] = c;
+ self.state = LENGTH2;
+ break;
+ case LENGTH2:
+ //::printf(">length2 in = %04X, out = %04X, free = %d\n", in, out, free);
+ if ((self.buf[cur] << 8 | c) + 2 < BUFSIZE) {
+ self.state = DATA;
+ while (free < (self.buf[cur] << 8 | c) + 2) {
+ int size = SIZE(self.buf, out);
+ out = INDEX(out + size + 2);
+ free += (size + 2);
+ }
+ self.buf[INDEX(cur + 1)] = c;
+ cur = INDEX(cur + 2);
+ if (debug) leds = (leds & 12) | 2; // xx10
+ //::printf("<length2 in = %04X, out = %04X, free = %d\n", in, out, free);
+ } else {
+ self.state = UNKNOWN;
+ leds = leds & 12; //** update leds
+ }
+ break;
+ case DATA:
+ self.buf[cur] = c;
+ cur = INDEX(cur + 1);
+ if (debug) leds = (leds & 12) | (cur & 3); //**LEDS=xx@@
+ if (cur == INDEX(in + 2 + SIZE(self.buf, in))) self.state = SUMCHECK;
+ break;
+ case SUMCHECK:
+ //::printf(">sumcheck in = %04X, out = %04X, free = %d\n", in, out, free);
+ for (int i = INDEX(in + 2); i != cur; i = INDEX(i + 1)) {
+ c += self.buf[i];
+ }
+ if (c == 255) {
+ if (debug) leds = (leds & 12) | 3; //**LEDS=xx11
+ in = cur;
+ free = in <= out ? out - in : BUFSIZE + out - in; // maybe in == out then free == 0, but != BUFSIZE
+ }
+ self.state = UNKNOWN;
+ //::printf("<sumcheck in = %04X, out = %04X, free = %d\n", in, out, free);
+ break;
+ default:
+ if (c == PREAMBLE) self.state = LENGTH1;
+ if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
+ }
}
+ mutex.unlock();
+ Thread::wait(1);
}
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file