Hiroshi Yamaguchi
XBee API mode library
Diff: Receive.cpp
- Revision:
- 16:cdfcb63b2c4b
- Parent:
- 14:af6e497bbf52
- Child:
- 17:2f728fd13bc0
--- a/Receive.cpp Thu Mar 14 09:45:41 2013 +0000
+++ b/Receive.cpp Wed Mar 20 00:28:27 2013 +0000
@@ -22,14 +22,9 @@
#include "XBee.h"
-#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) {
flush();
@@ -53,14 +48,8 @@
return None;
}
UNLOCK();
-
-#ifndef XBEE_RTOS
wait(0.001);
timeout -= 0.001;
-#else
- Thread::wait(50);
- timeout -= 0.05;
-#endif
}
}
@@ -71,30 +60,40 @@
* 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 index = out;
+int XBee::seekFor(FrameType type, char id, float timeout)
+{
+ LOCK();
- while (timeout > 0) {
- if (index != in) {
- if (getFrameType(buf[INDEX(index + 2)]) == type && (id == 0 || buf[INDEX(index + 3)] == id))
+ while (out != in && getFrameType(buf[INDEX(out + 2)]) == None) {
+ int size = SIZE(buf, out);
+ out = INDEX(out + 2 + size);
+ free += 2 + size;
+ }
+
+ int index = out;
+ while (true) {
+ if (index != in) {
+ if (getFrameType(buf[INDEX(index + 2)]) == type && (id == 0 || buf[INDEX(index + 3)] == id)) {
+ UNLOCK();
return index;
+ }
+ //::printf("seekFor: index = %02X\n", index);
int size = SIZE(buf, index);
index = INDEX(index + 2 + size);
- } else {
-#ifndef XBEE_RTOS
+ continue;
+ } else if (timeout <= 0) {
+ UNLOCK();
+ return -1;
+ }
+ UNLOCK();
wait(0.001);
timeout -= 0.001;
-#else
- Thread::wait(10);
- timeout -= 0.01;
-#endif
- }
+ LOCK();
}
-
- return -1;
}
-XBee::FrameType XBee::getFrameType(char c) {
+XBee::FrameType XBee::getFrameType(char c)
+{
switch (c) {
case 0x00:
return None;
@@ -121,7 +120,8 @@
}
}
-void XBee::flush() {
+void XBee::flush()
+{
LOCK();
if (received == out) {
do {
@@ -129,27 +129,46 @@
out = INDEX(out + 2 + size);
free += 2 + size;
} while (out != in && getFrameType(buf[INDEX(out + 2)]) == None);
- if (debug) leds = leds & 12; //**LEDS=xx00
}
UNLOCK();
}
-#ifndef XBEE_RTOS
-void XBee::rxInterruptHandler() {
+void XBee::rxISR() {
+ static enum {UNKNOWN, LENGTH1, LENGTH2, DATA, SUMCHECK} state = UNKNOWN;
static bool escaped = false;
+ int c = -1;
+
+ switch (_serial.index) {
+ case 0: {// USBTX, USBRX
+ uint32_t UART_0_IIR = LPC_UART0->IIR;
+ if (readable()) c = LPC_UART0->RBR;
+ }
+ break;
+ case 1: {// p13/14
+ uint32_t UART_1_IIR = LPC_UART1->IIR;
+ if (readable()) c = LPC_UART1->RBR;
+ }
+ break;
+ case 2: {// p28/27
+ uint32_t UART_2_IIR = LPC_UART2->IIR;
+ if (readable()) c = LPC_UART2->RBR;
+ }
+ break;
+ case 3: {// p9/10
+ uint32_t UART_3_IIR = LPC_UART3->IIR;
+ if (readable()) c = LPC_UART3->RBR;
+ }
+ break;
+ }
- if (debug) leds = leds ^ 4; //**LEDS=x@xx
-
- while (readable()) {
- char c = getc() & 255;
-
+ if (c != -1) {
if (apiMode == 2) {
if (escaped) {
c ^= 0x20;
escaped = false;
} else if (c == ESCAPE) {
escaped = true;
- continue;
+ return;
}
}
@@ -159,142 +178,42 @@
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;
+ out = INDEX(out + size + 2);
+ free += (size + 2);
}
buf[INDEX(cur + 1)] = c;
cur = INDEX(cur + 2);
- if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
- } else {
+ } 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;
+ 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
+ if ((c & 255) == 255) {
in = cur;
- free = in < out ? out - in : BUFSIZE + out - in;
+ free = in <= out ? out - in : BUFSIZE + out - in; // maybe in == out, then free == 0, but != BUFSIZE
}
state = UNKNOWN;
break;
+
default:
- if (c == PREAMBLE) state = LENGTH1;
- if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
+ if (c == PREAMBLE)
+ state = LENGTH1;
}
}
-}
-#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;
- notify();
- }
-}
-
-void XBee::run() {
- bool escaped = false;
-
- while (true) {
- wait();
- mutex.lock();
- if (debug && rxBuf.readable()) leds = leds ^ 4; // x@xx
-
- while (rxBuf.readable()) {
- char c = rxBuf.getc() & 255;
- 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);
- }
- buf[INDEX(cur + 1)] = c;
- cur = INDEX(cur + 2);
- if (debug) leds = (leds & 12) | 2; // xx10
- } else {
- state = UNKNOWN;
- if (debug) 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; // maybe in == out, then free == 0, but != BUFSIZE
- }
- state = UNKNOWN;
- break;
- default:
- if (c == PREAMBLE) state = LENGTH1;
- if (debug) leds = (leds & 12) | 1; //**LEDS=xx01
- }
- }
- mutex.unlock();
- }
-}
-#endif
\ No newline at end of file
+}
\ No newline at end of file