Revision 17:2f728fd13bc0, committed 2013-03-21

Comitter:

yamaguch

Date:

Thu Mar 21 06:51:31 2013 +0000

Parent:

16:cdfcb63b2c4b

Commit message:

rewrote to use rtos Semaphore only

Changed in this revision

--- a/Dump.cpp	Wed Mar 20 00:28:27 2013 +0000
+++ b/Dump.cpp	Thu Mar 21 06:51:31 2013 +0000
@@ -23,6 +23,10 @@
 #include "XBee.h"
 #include <ctype.h>
 
+#define INDEX(n)    ((n) % BUFSIZE)
+#define SIZE(b, i)  (b[i] << 8 | b[INDEX(i + 1)])
+#define min(x, y)   ((x) <= (y) ? (x) : (y))
+
 void XBee::dump() {
     if (received != out || (in == out && free != 0))
         return;

--- a/Receive.cpp	Wed Mar 20 00:28:27 2013 +0000
+++ b/Receive.cpp	Thu Mar 21 06:51:31 2013 +0000
@@ -22,11 +22,15 @@
 
 #include "XBee.h"
 
-#define LOCK()          NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
-#define UNLOCK()        NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
+#define LOCK()      NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
+#define UNLOCK()    NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
+#define INDEX(n)    ((n) % BUFSIZE)
+#define SIZE(b, i)  (b[i] << 8 | b[INDEX(i + 1)])
+
 const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn};
 
 XBee::FrameType XBee::receive(float timeout) {
+    timer.reset();
     flush();
 
     while (true) {
@@ -43,13 +47,13 @@
             free += (2 + size);
             UNLOCK();
             continue;
-        } else if (timeout <= 0) {
+        } else if (timeout <= timer.read()) {
             UNLOCK();
             return None;
+        } else {
+            UNLOCK();
+            sem.wait((int) ((timeout - timer.read()) * 1000));
         }
-        UNLOCK();
-        wait(0.001);
-        timeout -= 0.001;
     }
 }
 
@@ -60,8 +64,8 @@
  * 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) {
+    timer.reset();
     LOCK();
 
     while (out != in && getFrameType(buf[INDEX(out + 2)]) == None) {
@@ -77,23 +81,21 @@
                 UNLOCK();
                 return index;
             }
-            //::printf("seekFor: index = %02X\n", index);
             int size = SIZE(buf, index);
             index = INDEX(index + 2 + size);
             continue;
-        } else if (timeout <= 0) {
+        } else if (timeout <= timer.read()) {
             UNLOCK();
             return -1;
+        } else {
+            UNLOCK();
+            sem.wait((int) ((timeout - timer.read()) * 1000));
+            LOCK();
         }
-        UNLOCK();
-        wait(0.001);
-        timeout -= 0.001;
-        LOCK();
     }
 }
 
-XBee::FrameType XBee::getFrameType(char c)
-{
+XBee::FrameType XBee::getFrameType(char c) {
     switch (c) {
         case 0x00:
             return None;
@@ -120,8 +122,7 @@
     }
 }
 
-void XBee::flush()
-{
+void XBee::flush() {
     LOCK();
     if (received == out) {
         do {
@@ -162,7 +163,7 @@
     }
 
     if (c != -1) {
-        if (apiMode == 2) {
+        if (api == 2) {
             if (escaped) {
                 c ^= 0x20;
                 escaped = false;
@@ -209,6 +210,7 @@
                     free = in <= out ? out - in : BUFSIZE + out - in; // maybe in == out, then free == 0, but != BUFSIZE
                 }
                 state = UNKNOWN;
+                sem.release();
                 break;
                 
             default:

--- a/RingBuffer.h	Wed Mar 20 00:28:27 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-/*
-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
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-#ifndef RING_BUFFER_H
-#define RING_BUFFER_H
-
-#include <stdio.h>
-template <typename T, size_t SIZE>
-class RingBuffer {
-public:
-    RingBuffer() : head(0), tail(0) {
-    }
-
-    int writable() {
-        return head < tail ? tail - head - 1 : tail - head + (sizeof(buf) / sizeof(T)) - 1;
-    }
-
-    int readable() {
-        return tail <= head ? head - tail : head - tail + (sizeof(buf) / sizeof(T)) - 1;
-    }
-
-    T putc(T c) {
-        if (!writable())
-            return (T) -1;
-
-        buf[head] = c;
-        head = (head + 1) % (sizeof(buf) / sizeof(T));
-
-        return c;
-    }
-
-    int getc() {
-        if (readable()) {
-            T c = buf[tail];
-            tail = (tail + 1) % (sizeof(buf) / sizeof(T));
-            return c;
-        }
-        return -1;
-    }
-
-    T operator=(T c) {
-        return putc(c);
-    }
-
-    operator int() {
-        return (int) getc();
-    }
-
-    int head, tail;
-    T buf[SIZE];
-};
-
-#endif
\ No newline at end of file

--- a/Scan.cpp	Wed Mar 20 00:28:27 2013 +0000
+++ b/Scan.cpp	Thu Mar 21 06:51:31 2013 +0000
@@ -22,6 +22,70 @@
 
 #include "XBee.h"
 
+#define INDEX(n)    ((n) % BUFSIZE)
+#define SIZE(b, i)  (b[i] << 8 | b[INDEX(i + 1)])
+#define min(x, y)   ((x) <= (y) ? (x) : (y))
+
+bool XBee::scan(XBeeFrameID& id) {
+    return scan(XBee::FrameID, id.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeRetryCount& count) {
+    return scan(XBee::RetryCount, count.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeStatus& status) {
+    return scan(XBee::Status, status.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeDeliveryStatus& status) {
+    return scan(XBee::DeliveryStatus, status.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeDiscoveryStatus& status) {
+    return scan(XBee::DiscoveryStatus, status.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeReceiveOptions& options) {
+    return scan(XBee::ReceiveOptions, options.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeDeviceType& device) {
+    return scan(XBee::DeviceType, device.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeSourceEvent& event) {
+    return scan(XBee::SourceEvent, event.raw_address(), 1);
+}
+
+bool XBee::scan(XBeeAddress64& address64) {
+    return scan(XBee::Address64, address64.raw_address(), 8);
+}
+
+bool XBee::scan(XBeeAddress16& address16) {
+    return scan(XBee::Address16, address16.raw_address(), 2);
+}
+
+bool XBee::scan(XBeeATCommand& command) {
+    return scan(XBee::ATCommand, command.raw_address(), 3);
+}
+
+bool XBee::scan(XBeeCommandData& data) {
+    return scan(XBee::CommandData, data.raw_address(), data.capacity, &data.size);
+}
+
+bool XBee::scan(XBeeReceivedData& data) {
+    return scan(XBee::ReceivedData, data.raw_address(), data.capacity, &data.size);
+}
+
+bool XBee::scan(XBeeNodeIdentifier& ni) {
+    return scan(XBee::NIString, ni.raw_address(), ni.capacity, &ni.size);
+}
+
+bool XBee::scan(XBeeRawData& data) {
+    return scan(XBee::RawData, data.raw_address(), data.capacity, &data.size);
+}
+
 bool XBee::scan(ValueType type, char *value, int maxlength, int *length) {
     if (received != out || (in == out && free != 0))
         return false;

--- a/Send.cpp	Wed Mar 20 00:28:27 2013 +0000
+++ b/Send.cpp	Thu Mar 21 06:51:31 2013 +0000
@@ -23,8 +23,11 @@
 #include "XBee.h"
 #include <stdarg.h>
 
-#define LOCK()          NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
-#define UNLOCK()        NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
+#define LOCK()      NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
+#define UNLOCK()    NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
+#define INDEX(n)    ((n) % BUFSIZE)
+#define SIZE(b, i)  (b[i] << 8 | b[INDEX(i + 1)])
+
 const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn};
 
 void XBee::sendCommand(const char *command, int8_t param, bool queue) {
@@ -208,7 +211,7 @@
 
     send(PREAMBLE);
 
-    if (apiMode == 2) {
+    if (api == 2) {
         send2((length >> 8) & 255);
         send2(length & 255);
         for (int i = 0; i < length; i++) {

--- a/XBee.cpp	Wed Mar 20 00:28:27 2013 +0000
+++ b/XBee.cpp	Thu Mar 21 06:51:31 2013 +0000
@@ -22,44 +22,55 @@
 
 #include "XBee.h"
 
-#define LOCK()          NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
-#define UNLOCK()        NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
+#define LOCK()      NVIC_DisableIRQ(UARTx_IRQn[_serial.index])
+#define UNLOCK()    NVIC_EnableIRQ(UARTx_IRQn[_serial.index])
+#define INDEX(n)    ((n) % BUFSIZE)
+#define SIZE(b, i)  (b[i] << 8 | b[INDEX(i + 1)])
+#define min(x, y)   ((x) <= (y) ? (x) : (y))
+
 const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn};
 
-XBee::XBee(Serial& ser, int apiMode)
-    : Serial(ser), mon(USBTX, USBRX), apiMode(apiMode),
+XBee::XBee(Serial& ser, int api)
+    : Serial(ser), mon(USBTX, USBRX), sem(0), api(api),
       in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
     memset(buf, 0, BUFSIZE);
     attach(this, &XBee::rxISR, RxIrq);
+    timer.start();
 }
 
-XBee::XBee(PinName tx, PinName rx, int apiMode)
-    : Serial(tx, rx), mon(USBTX, USBRX), apiMode(apiMode),
+XBee::XBee(PinName tx, PinName rx, int api)
+    : Serial(tx, rx), mon(USBTX, USBRX), sem(0), api(api),
       in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
     memset(buf, 0, BUFSIZE);
     attach(this, &XBee::rxISR, RxIrq);
+    timer.start();
 }
 
-XBee::XBee(Serial& ser, Serial& mon, int apiMode)
-    : Serial(ser), mon(mon), apiMode(apiMode),
+XBee::XBee(Serial& ser, Serial& mon, int api)
+    : Serial(ser), mon(mon), sem(0), api(api),
       in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
     memset(buf, 0, BUFSIZE);
     attach(this, &XBee::rxISR, RxIrq);
+    timer.start();
 }
 
-XBee::XBee(PinName tx, PinName rx, Serial& mon, int apiMode)
-    : Serial(tx, rx), mon(mon), apiMode(apiMode),
+XBee::XBee(PinName tx, PinName rx, Serial& mon, int api)
+    : Serial(tx, rx), mon(mon), sem(0), api(api),
       in(0), out(0), received(-1), free(BUFSIZE), frame_id(1), sendConfirmation(0) {
     memset(buf, 0, BUFSIZE);
     attach(this, &XBee::rxISR, RxIrq);
+    timer.start();
 }
 
 bool XBee::init(float timeout) {
-    while (readable()) getc();
-    while (timeout > 0 && getFirmwareVersion() == -1) {
-        timeout -= 1;
+    Timer timer2;
+    timer2.start();
+    
+    while (readable())
+        getc();
+        
+    while (timer2.read() < timeout && getFirmwareVersion() == -1)
         wait(0.8);
-    }
 
     switch (getFirmwareVersion() & 0xFF00) {
         case 0x2100:
@@ -200,8 +211,4 @@
     memcpy(toBuf, &buf[fromIndex], length1);
     if (length1 < length)
         memcpy(toBuf + length1, &buf[0], length - length1);
-}
-
-void XBee::setDebug(bool debug) {
-    this->debug = debug;
 }
\ No newline at end of file

--- a/XBee.h	Wed Mar 20 00:28:27 2013 +0000
+++ b/XBee.h	Thu Mar 21 06:51:31 2013 +0000
@@ -25,14 +25,11 @@
 
 #include "mbed.h"
 #include "XBeeDataTypes.h"
+#include "rtos.h"
 
-#define min(x, y)       ((x) < (y) ? (x) : (y))
-#define INDEX(n)        ((n) % BUFSIZE)
-#define SIZE(b, i)      (b[i] << 8 | b[INDEX(i + 1)])
-
-const int BUFSIZE = 512;
 const char ESCAPE = 0x7D;
 const char PREAMBLE = 0x7E;
+const int BUFSIZE = 512;
 
 /**
  * class for XBee module API mode interface
@@ -199,30 +196,27 @@
      * creates an XBee interface object.
      *
      * @param ser Serial object through which XBee module is connected to mbed
-     * @param apiMode API mode either 1 or 2 (use escape; default)
-     * @param debug display debugging (I/O state) information through LEDs
+     * @param api API mode either 1 or 2 (use escape; default)
      */
-    XBee(Serial& ser, int apiMode = 2);
+    XBee(Serial& ser, int api = 2);
 
     /**
      * creates an XBee interface object.
      *
      * @param tx TX pin connected to XBee
      * @param rx RX pin connected to XBee
-     * @param apiMode API mode either 1 or 2 (use escape; default)
-     * @param debug display debugging (I/O state) information through LEDs
+     * @param api API mode either 1 or 2 (use escape; default)
      */
-    XBee(PinName tx, PinName rx, int apiMode = 2);
+    XBee(PinName tx, PinName rx, int api = 2);
 
     /**
      * creates an XBee interface object.
      *
      * @param ser Serial object through which XBee module is connected to mbed
      * @param mon alternate Serial object for monitoring (use serial ports other than USBTX/USBRX)
-     * @param apiMode API mode either 1 or 2 (use escape; default)
-     * @param debug display debugging (I/O state) information through LEDs
+     * @param api API mode either 1 or 2 (use escape; default)
      */
-    XBee(Serial& ser, Serial& mon, int apiMode = 2);
+    XBee(Serial& ser, Serial& mon, int api = 2);
 
     /**
      * creates an XBee interface object.
@@ -230,10 +224,9 @@
      * @param tx TX pin connected to XBee
      * @param rx RX pin connected to XBee
      * @param mon alternate Serial object for monitoring (use serial ports other than USBTX/USBRX)
-     * @param apiMode API mode either 1 or 2 (use escape; default)
-     * @param debug display debugging (I/O state) information through LEDs
+     * @param api API mode either 1 or 2 (use escape; default)
      */
-    XBee(PinName tx, PinName rx, Serial& mon, int apiMode = 2);
+    XBee(PinName tx, PinName rx, Serial& mon, int api = 2);
     
     /**
      * initializes XBee module.
@@ -400,21 +393,21 @@
      *
      * @param true if scan succeeded, false otherwise
      */
-    bool scan(XBeeFrameID& id) { return scan(XBee::FrameID, id.raw_address(), 1); }
-    bool scan(XBeeRetryCount& count) { return scan(XBee::RetryCount, count.raw_address(), 1); }
-    bool scan(XBeeStatus& status) { return scan(XBee::Status, status.raw_address(), 1); }
-    bool scan(XBeeDeliveryStatus& status) { return scan(XBee::DeliveryStatus, status.raw_address(), 1); }
-    bool scan(XBeeDiscoveryStatus& status) { return scan(XBee::DiscoveryStatus, status.raw_address(), 1); }
-    bool scan(XBeeReceiveOptions& options) { return scan(XBee::ReceiveOptions, options.raw_address(), 1); }
-    bool scan(XBeeDeviceType& device) { return scan(XBee::DeviceType, device.raw_address(), 1); }
-    bool scan(XBeeSourceEvent& event) { return scan(XBee::SourceEvent, event.raw_address(), 1); }
-    bool scan(XBeeAddress64& address64) { return scan(XBee::Address64, address64.raw_address(), 8); }
-    bool scan(XBeeAddress16& address16) { return scan(XBee::Address16, address16.raw_address(), 2); }
-    bool scan(XBeeATCommand& command) { return scan(XBee::ATCommand, command.raw_address(), 3); }
-    bool scan(XBeeCommandData& data) { return scan(XBee::CommandData, data.raw_address(), data.capacity, &data.size); }
-    bool scan(XBeeReceivedData& data) { return scan(XBee::ReceivedData, data.raw_address(), data.capacity, &data.size); }
-    bool scan(XBeeNodeIdentifier& ni) { return scan(XBee::NIString, ni.raw_address(), ni.capacity, &ni.size); }
-    bool scan(XBeeRawData& data) { return scan(XBee::RawData, data.raw_address(), data.capacity, &data.size); }
+    bool scan(XBeeFrameID& id);
+    bool scan(XBeeRetryCount& count);
+    bool scan(XBeeStatus& status);
+    bool scan(XBeeDeliveryStatus& status);
+    bool scan(XBeeDiscoveryStatus& status);
+    bool scan(XBeeReceiveOptions& options);
+    bool scan(XBeeDeviceType& device);
+    bool scan(XBeeSourceEvent& event);
+    bool scan(XBeeAddress64& address64);
+    bool scan(XBeeAddress16& address16);
+    bool scan(XBeeATCommand& command);
+    bool scan(XBeeCommandData& data);
+    bool scan(XBeeReceivedData& data);
+    bool scan(XBeeNodeIdentifier& ni);
+    bool scan(XBeeRawData& data);
     
     /**
      * scan received data according to the specified format.
@@ -443,13 +436,6 @@
     char getFrameID();
 
     /**
-    * sets to run in debug mode.
-    *
-    * @param debug true to display debugging information
-    */
-    void setDebug(bool debug);
-
-    /**
     * displays received data in dump format.
     */
     void dump();
@@ -468,14 +454,15 @@
 
 private:
     Serial mon;
-    int apiMode;
+    Timer timer;
+    Semaphore sem;
+    int api;
     volatile int cur, in, out, received, free;
     char frame_id;
     float sendConfirmation;
     char destination64[8];
     char destination16[2];
     char buf[BUFSIZE];
-    bool debug;
 
     void send(char c);
     void send2(char c);