Hiroshi Yamaguchi
XBee API mode library
Diff: Receive.cpp
- Revision:
- 14:af6e497bbf52
- Parent:
- 10:3da24a020e67
- Child:
- 16:cdfcb63b2c4b
--- a/Receive.cpp Thu Mar 14 08:02:24 2013 +0000
+++ b/Receive.cpp Thu Mar 14 09:38:54 2013 +0000
@@ -31,33 +31,27 @@
#define UNLOCK() mutex.unlock();
#endif
-XBee::FrameType XBee::receive(float timeout)
-{
+XBee::FrameType XBee::receive(float timeout) {
flush();
while (true) {
LOCK();
- //::printf(">receive()\n");
if (out != in || free == 0) {
FrameType type = getFrameType(buf[INDEX(out + 2)]);
if (type != None) {
received = out;
- //::printf("<receive()1\n");
UNLOCK();
return type;
}
int size = SIZE(buf, out);
out = INDEX(out + 2 + size);
free += (2 + size);
- //::printf("<receive()2\n");
UNLOCK();
continue;
} else if (timeout <= 0) {
- //::printf("<receive()3\n");
UNLOCK();
return None;
}
- //::printf("<receive()4\n");
UNLOCK();
#ifndef XBEE_RTOS
@@ -100,8 +94,7 @@
return -1;
}
-XBee::FrameType XBee::getFrameType(char c)
-{
+XBee::FrameType XBee::getFrameType(char c) {
switch (c) {
case 0x00:
return None;
@@ -128,8 +121,7 @@
}
}
-void XBee::flush()
-{
+void XBee::flush() {
LOCK();
if (received == out) {
do {
@@ -143,9 +135,8 @@
}
#ifndef XBEE_RTOS
-void XBee::rxInterruptHandler()
-{
- static bool escaped = false;
+void XBee::rxInterruptHandler() {
+ static bool escaped = false;
if (debug) leds = leds ^ 4; //**LEDS=x@xx
@@ -208,8 +199,7 @@
}
}
#else
-void XBee::rxISR()
-{
+void XBee::rxISR() {
int c = -1;
switch (_serial.index) {
case 0: {
@@ -240,8 +230,7 @@
}
}
-void XBee::run()
-{
+void XBee::run() {
bool escaped = false;
while (true) {
@@ -251,7 +240,6 @@
while (rxBuf.readable()) {
char c = rxBuf.getc() & 255;
- //::printf("getc = %02X\n", c);
if (apiMode == 2) {
if (escaped) {
c ^= 0x20;
@@ -269,7 +257,6 @@
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) {
@@ -284,7 +271,6 @@
state = UNKNOWN;
if (debug) leds = leds & 12; //** update leds
}
- //::printf("<length2 in = %04X, out = %04X, free = %d\n", in, out, free);
break;
case DATA:
buf[cur] = c;
@@ -311,99 +297,4 @@
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;
- }
- }
-
- 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);
- }
-}
#endif
\ No newline at end of file