Hiroshi Yamaguchi
XBee API mode library
Revision 16:cdfcb63b2c4b, committed 2013-03-20
- Comitter:
- yamaguch
- Date:
- Wed Mar 20 00:28:27 2013 +0000
- Parent:
- 15:10224db0fc2b
- Child:
- 17:2f728fd13bc0
- Commit message:
- non rtos version
Changed in this revision
--- 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
--- a/Scan.cpp Thu Mar 14 09:45:41 2013 +0000
+++ b/Scan.cpp Wed Mar 20 00:28:27 2013 +0000
@@ -80,7 +80,7 @@
case Address16:
switch (frameType) {
case ZigBeeTransmitStatus:
- from = 4;
+ from = 2;
break;
case ZigBeeReceivePacket:
case ZigBeeIODataSampleRxIndicator:
--- a/Send.cpp Thu Mar 14 09:45:41 2013 +0000
+++ b/Send.cpp Wed Mar 20 00:28:27 2013 +0000
@@ -23,6 +23,10 @@
#include "XBee.h"
#include <stdarg.h>
+#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};
+
void XBee::sendCommand(const char *command, int8_t param, bool queue) {
sendCommand(command, (uint64_t) param, queue);
}
@@ -143,19 +147,29 @@
createTxRequest(frame_id, data, length, buf, sizeof(buf));
sendFrame(buf, length + 14);
- frame_id = frame_id % 255 + 1;
+ bool ret = true;
if (timeout > 0) {
int index = seekFor(ZigBeeTransmitStatus, frame_id, timeout);
if (index != -1) {
char delivery;
scan(index, DeliveryStatus, &delivery);
- buf[INDEX(index + 2)] = 0x00;
- return delivery == 0;
+ this->buf[INDEX(index + 2)] = None;
+ //::printf("index = %02X, out = %02X, in = %02X\n", index, out, in);
+ if (index == out) {
+ LOCK();
+ int size = SIZE(this->buf, out);
+ out = INDEX(out + 2 + size);
+ free += (2 + size);
+ UNLOCK();
+ }
+ ret = (delivery == 0);
} else
- return false;
+ ret = false;
}
- return true;
+
+ frame_id = frame_id % 255 + 1;
+ return ret;
}
void XBee::setSendConfirmation(float sendConfirmation) {
@@ -191,7 +205,6 @@
void XBee::sendFrame(const char *frame, int length) {
char checksum = 255;
- if (debug) leds = leds | 8; //**LEDS=1xxx
send(PREAMBLE);
@@ -212,7 +225,6 @@
}
send(checksum);
}
- if (debug) leds = leds & 7; //**LEDS=0xxx
}
int XBee::createTxRequest(char frame_id, const char *data, int data_length, char *buf, int buf_size) {
--- a/XBee.cpp Thu Mar 14 09:45:41 2013 +0000
+++ b/XBee.cpp Wed Mar 20 00:28:27 2013 +0000
@@ -22,67 +22,37 @@
#include "XBee.h"
-#ifndef XBEE_RTOS
-XBee::XBee(Serial& ser, int apiMode, bool debug)
- : Serial(ser), mon(USBTX, USBRX), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
- memset(buf, 0, BUFSIZE);
- attach(this, &XBee::rxInterruptHandler, RxIrq);
-}
-
-XBee::XBee(PinName tx, PinName rx, int apiMode, bool debug)
- : Serial(tx, rx), mon(USBTX, USBRX), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
- memset(buf, 0, BUFSIZE);
- attach(this, &XBee::rxInterruptHandler, RxIrq);
-}
+#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};
-XBee::XBee(Serial& ser, Serial& mon, int apiMode, bool debug)
- : Serial(ser), mon(mon), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
+XBee::XBee(Serial& ser, int apiMode)
+ : Serial(ser), mon(USBTX, USBRX), apiMode(apiMode),
+ in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
memset(buf, 0, BUFSIZE);
- attach(this, &XBee::rxInterruptHandler, RxIrq);
-}
-
-XBee::XBee(PinName tx, PinName rx, Serial& mon, int apiMode, bool debug)
- : Serial(tx, rx), mon(mon), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
- memset(buf, 0, BUFSIZE);
- attach(this, &XBee::rxInterruptHandler, RxIrq);
-}
-#else
-XBee::XBee(Serial& ser, int apiMode, bool debug)
- : Serial(ser), AbstractThread(osPriorityAboveNormal), mon(USBTX, USBRX), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
- memset(buf, 0, BUFSIZE);
- start();
attach(this, &XBee::rxISR, RxIrq);
}
-XBee::XBee(PinName tx, PinName rx, int apiMode, bool debug)
- : Serial(tx, rx), AbstractThread(osPriorityAboveNormal), mon(USBTX, USBRX), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
+XBee::XBee(PinName tx, PinName rx, int apiMode)
+ : Serial(tx, rx), mon(USBTX, USBRX), apiMode(apiMode),
+ in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
memset(buf, 0, BUFSIZE);
- start();
attach(this, &XBee::rxISR, RxIrq);
}
-XBee::XBee(Serial& ser, Serial& mon, int apiMode, bool debug)
- : Serial(ser), AbstractThread(osPriorityAboveNormal), mon(mon), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
+XBee::XBee(Serial& ser, Serial& mon, int apiMode)
+ : Serial(ser), mon(mon), apiMode(apiMode),
+ in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
memset(buf, 0, BUFSIZE);
- start();
attach(this, &XBee::rxISR, RxIrq);
}
-XBee::XBee(PinName tx, PinName rx, Serial& mon, int apiMode, bool debug)
- : Serial(tx, rx), AbstractThread(osPriorityAboveNormal), mon(mon), leds(LED1, LED2, LED3, LED4), apiMode(apiMode),
- state(UNKNOWN), in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0), debug(debug) {
+XBee::XBee(PinName tx, PinName rx, Serial& mon, int apiMode)
+ : Serial(tx, rx), mon(mon), apiMode(apiMode),
+ in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
memset(buf, 0, BUFSIZE);
- start();
attach(this, &XBee::rxISR, RxIrq);
}
-#endif
bool XBee::init(float timeout) {
while (readable()) getc();
@@ -202,7 +172,14 @@
}
}
}
- buf[INDEX(index + 2)] = 0x00;
+ buf[INDEX(index + 2)] = None;
+ if (index == out) {
+ LOCK();
+ int size = SIZE(buf, out);
+ out = INDEX(out + 2 + size);
+ free += (2 + size);
+ UNLOCK();
+ }
}
return succeeded ? data : 0;
--- a/XBee.h Thu Mar 14 09:45:41 2013 +0000
+++ b/XBee.h Wed Mar 20 00:28:27 2013 +0000
@@ -23,13 +23,6 @@
#ifndef XBEE_H
#define XBEE_H
-#define XBEE_RTOS
-
-#ifdef XBEE_RTOS
-#include "rtos.h"
-#include "AbstractThread.h"
-#include "RingBuffer.h"
-#endif
#include "mbed.h"
#include "XBeeDataTypes.h"
@@ -44,11 +37,7 @@
/**
* class for XBee module API mode interface
*/
-class XBee : public Serial
-#ifdef XBEE_RTOS
-, AbstractThread
-#endif
-{
+class XBee : public Serial {
public:
/**
@@ -213,7 +202,7 @@
* @param apiMode API mode either 1 or 2 (use escape; default)
* @param debug display debugging (I/O state) information through LEDs
*/
- XBee(Serial& ser, int apiMode = 2, bool debug = false);
+ XBee(Serial& ser, int apiMode = 2);
/**
* creates an XBee interface object.
@@ -223,7 +212,7 @@
* @param apiMode API mode either 1 or 2 (use escape; default)
* @param debug display debugging (I/O state) information through LEDs
*/
- XBee(PinName tx, PinName rx, int apiMode = 2, bool debug = false);
+ XBee(PinName tx, PinName rx, int apiMode = 2);
/**
* creates an XBee interface object.
@@ -233,7 +222,7 @@
* @param apiMode API mode either 1 or 2 (use escape; default)
* @param debug display debugging (I/O state) information through LEDs
*/
- XBee(Serial& ser, Serial& mon, int apiMode = 2, bool debug = false);
+ XBee(Serial& ser, Serial& mon, int apiMode = 2);
/**
* creates an XBee interface object.
@@ -244,7 +233,7 @@
* @param apiMode API mode either 1 or 2 (use escape; default)
* @param debug display debugging (I/O state) information through LEDs
*/
- XBee(PinName tx, PinName rx, Serial& mon, int apiMode = 2, bool debug = false);
+ XBee(PinName tx, PinName rx, Serial& mon, int apiMode = 2);
/**
* initializes XBee module.
@@ -479,22 +468,15 @@
private:
Serial mon;
- BusOut leds;
int apiMode;
- volatile enum {UNKNOWN, LENGTH1, LENGTH2, DATA, SUMCHECK} state;
volatile int cur, in, out, received, free;
char frame_id;
float sendConfirmation;
char destination64[8];
char destination16[2];
char buf[BUFSIZE];
-#ifdef XBEE_RTOS
- RingBuffer<char, 128> rxBuf;
-#endif
bool debug;
-#ifdef XBEE_RTOS
- Mutex mutex;
-#endif
+
void send(char c);
void send2(char c);
void sendFrame(const char *frame, int length);
@@ -506,12 +488,7 @@
FrameType getFrameType(char c);
bool scan(int i, ValueType type, char *value, int maxlength = 1, int *length = 0);
void flush();
-#ifndef XBEE_RTOS
- void rxInterruptHandler();
-#else
void rxISR();
- virtual void run();
-#endif
void dump(const char *data, int length);
void dumpIOSample(const char *data, int length);
void copy(char *toBuf, int fromIndex, int length);