LLAPSerial.cpp

00001 /** 
00002  * LLAP Serial for use with Ciseco SRF/XRF wireless modules
00003  *
00004  * @author Andrew Lindsay
00005  *
00006  * @section DESCRIPTION
00007  *
00008  * Wireless modules available at http://shop.ciseco.co.uk/rf-module-range/
00009  * Library developped with ST Micro Nucleo F401 and Ciseco SRF shield.
00010  * Sheild needs to be modified as Tx/Rx on pins 0 and 1 conflict with the USB debug port.
00011  * They need joining to Rx - PA_12, Tx - PA_11 on the outer row of pins. 
00012  * See http://mbed.org/platforms/ST-Nucleo-F401RE/ for pinouts.
00013  *
00014  * This code is based on the Ciseco LLAPSerial library for Arduino at https://github.com/CisecoPlc/LLAPSerial but updated to
00015  * work as a mbed library
00016  *
00017  * Converted and updated by Andrew Lindsay @AndrewDLindsay April 2014
00018  *
00019  * For the SRF sheild to work correctly, some mods are needed to the Nucleo board. SB13 and SB14 need to be removed,
00020  * SB62 and SB63 need to be bridged. This then removes the UART from the USB output. An alternative UART is then needed
00021  * for debug purposes.
00022  * 
00023  * @section LICENSE
00024  *
00025  * The MIT License (MIT)
00026  * 
00027  * Copyright (c) 2014 Andrew Lindsay (andrew [at] thiseldo [dot] co [dot] uk)
00028  * 
00029  * Permission is hereby granted, free of charge, to any person obtaining a copy
00030  * of this software and associated documentation files (the "Software"), to deal
00031  * in the Software without restriction, including without limitation the rights
00032  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00033  * copies of the Software, and to permit persons to whom the Software is
00034  * furnished to do so, subject to the following conditions:
00035  * 
00036  * The above copyright notice and this permission notice shall be included in
00037  * all copies or substantial portions of the Software.
00038  * 
00039  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00040  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00041  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00042  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00043  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00044  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00045  * THE SOFTWARE.
00046 
00047  */
00048  
00049 #include "mbed.h"
00050 #include "LLAPSerial.h"
00051 
00052 // Constructors to pass in Tx/Rx, enable pins and optional ID, default is -- as defined in LLAPSerial.h
00053 LLAPSerial::LLAPSerial(PinName txPin, PinName rxPin, PinName enableSRF, bool checkDevIDin, char *dID) : srf(txPin, rxPin), srfEnable( enableSRF )
00054 {
00055     srf.baud(115200);
00056     
00057     bMsgReceived = false;
00058     setDeviceId(dID);
00059     cMessage[12]=0;     // ensure terminated
00060     inPtr = cMessage;
00061     checkDevID = checkDevIDin;
00062     
00063     // Enable the SRF
00064     srfEnable = 1;
00065 
00066     // Attach the receive interrupt handler
00067     srf.attach( this,&LLAPSerial::SerialEvent );
00068 }
00069 
00070 
00071 void LLAPSerial::processMessage()
00072 {
00073     if( checkDevID ) {
00074         if (cMessage[1] != deviceId[0]) return;
00075         if (cMessage[2] != deviceId[1]) return;
00076     }
00077     // now we have LLAP.cMessage[3] to LLAP.cMessage[11] as the actual message
00078     if (0 == strncmp(&cMessage[3],"HELLO----",9)) {
00079         srf.printf("%s",cMessage); // echo the message
00080         return;
00081     } else if (0 == strncmp(&cMessage[3],"CHDEVID",7)) {
00082         if (strchr("-#@?\\*ABCDEFGHIJKLMNOPQRSTUVWXYZ", cMessage[10]) != 0 && strchr("-#@?\\*ABCDEFGHIJKLMNOPQRSTUVWXYZ", cMessage[11]) != 0) {
00083             deviceId[0] = cMessage[10];
00084             deviceId[1] = cMessage[11];
00085             srf.printf( "%s", cMessage); // echo the message
00086         }
00087     } else {
00088         strncpy(sMessage, &cMessage[0], 12); // let the main program deal with it
00089         bMsgReceived = true;
00090     }
00091 }
00092 
00093 void LLAPSerial::SerialEvent( void )
00094 {
00095     if (bMsgReceived) return; // get out if previous message not yet processed
00096     if (srf.readable() ) {
00097         // get the new char:
00098         char inChar = (char)srf.getc();
00099         if (inChar == 'a') {
00100             // Start of a new message
00101             inPtr = cMessage;
00102         }
00103         *inPtr++ = inChar;
00104         if( inPtr >= &cMessage[12]) {
00105             // Message received, terminate, process and reset pointer
00106             *inPtr = '\0';
00107             processMessage();
00108             inPtr = cMessage;
00109         }
00110     }
00111 }
00112 
00113 /*
00114 void LLAPSerial::SerialEvent( void )
00115 {
00116     if (bMsgReceived) return; // get out if previous message not yet processed
00117     if (srf.readable() ) {
00118         // get the new byte:
00119         char inChar = (char)srf.getc();
00120         if (inChar == 'a') {
00121             cMessage[0] = inChar;
00122             for (int i = 1; i<12; i++) {
00123                 inChar = (char)srf.getc();
00124                 if( inChar == 'a' )
00125                     return;     // out of sync so abort and pick it up next time round
00126                 cMessage[i] = inChar;
00127             }
00128             cMessage[12]=0;
00129             processMessage();
00130         } else
00131             srf.getc();  // throw away the character
00132     }
00133 }
00134 */
00135 
00136 void LLAPSerial::sendMessage(char *sToSend)
00137 {
00138     cMessage[0] = 'a';
00139     cMessage[1] = deviceId[0];
00140     cMessage[2] = deviceId[1];
00141     for (int i = 0; i<9; i++) {
00142         if (i < strlen(sToSend) )
00143             cMessage[i+3] = sToSend[i];
00144         else
00145             cMessage[i+3] = '-';
00146     }
00147 
00148     srf.printf("%s",cMessage);
00149 }
00150 
00151 void LLAPSerial::sendMessage(char* sToSend, char* valueToSend)
00152 {
00153     cMessage[0] = 'a';
00154     cMessage[1] = deviceId[0];
00155     cMessage[2] = deviceId[1];
00156     for (int i = 0; i<9; i++) {
00157         if (i < strlen(sToSend))
00158             cMessage[i+3] = sToSend[i];
00159         else if (i < strlen(sToSend) + strlen(valueToSend))
00160             cMessage[i+3] = valueToSend[i - strlen(sToSend)];
00161         else
00162             cMessage[i+3] = '-';
00163     }
00164 
00165     srf.printf("%s", cMessage);
00166 }
00167 
00168 
00169 void LLAPSerial::sendInt(char *sToSend, int value)
00170 {
00171     char cValue[7];     // long enough for -32767 and the trailing zero
00172     sprintf( cValue,"%d", value );
00173     int cValuePtr = 0;
00174 
00175     cMessage[0] = 'a';
00176     cMessage[1] = deviceId[0];
00177     cMessage[2] = deviceId[1];
00178     for (int i = 0; i<9; i++) {
00179         if (i < strlen(sToSend))
00180             cMessage[i+3] = sToSend[i];
00181         else if (cValuePtr < 7 && cValue[cValuePtr] !=0)
00182             cMessage[i+3] = cValue[cValuePtr++];
00183         else
00184             cMessage[i+3] = '-';
00185     }
00186 
00187     srf.printf("%s",cMessage);
00188 }
00189 
00190 void LLAPSerial::sendIntWithDP(char *sToSend, int value, int decimalPlaces)
00191 {
00192     char cValue[8];     // long enough for -3276.7 and the trailing zero
00193     int cValuePtr=0;
00194     //itoa(value, cValue,10);
00195     sprintf( cValue,"%d", value );
00196     char* cp = &cValue[strlen(cValue)];
00197     *(cp+1) = 0;    // new terminator
00198     while (decimalPlaces-- && --cp ) {
00199         *(cp+1) = *cp;
00200     }
00201     *cp = '.';
00202 
00203     cMessage[0] = 'a';
00204     cMessage[1] = deviceId[0];
00205     cMessage[2] = deviceId[1];
00206     for (int i = 0; i<9; i++) {
00207         if (i < strlen(sToSend))
00208             cMessage[i+3] = sToSend[i];
00209         else if (cValuePtr < 8 && cValue[cValuePtr] !=0)
00210             cMessage[i+3] = cValue[cValuePtr++];
00211         else
00212             cMessage[i+3] = '-';
00213     }
00214 
00215     srf.printf("%s", cMessage);
00216 }
00217 
00218 void LLAPSerial::setDeviceId(char* cId)
00219 {
00220     deviceId[0] = cId[0];
00221     deviceId[1] = cId[1];
00222 }