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Kevin |
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#include "maindefs.h"
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#include "msg_queues.h"
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#include "xbee.h"
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#include "timers.h"
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#include <usart.h>
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#include <delays.h>
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#pragma udata xbee_data
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XBEE_FRAME data_frame;
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#pragma udata
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XBEE_DATA *xbee_data_ptr;
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void *xbee_data_array_ptr;
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/* Initialize variables used by this library */
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void xbee_init(XBEE_DATA *xd) {
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TRISBbits.TRISB0 = 1; // RB0 is CTS, set by XBee chip
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TRISBbits.TRISB1 = 0; // RB1 is RTS, set by PIC
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TRISCbits.TRISC5 = 0; // RC5 is Sleep
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LATBbits.LATB0 = 0; // Pin set high to signal stop sending data to XBee
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LATBbits.LATB1 = 0; // Pin set high to indicate stop sending data to PIC
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LATCbits.LATC5 = 0; // Pin set high to sleep XBee module
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xbee_data_ptr = xd;
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xbee_data_ptr->dataind = 0;
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xbee_data_ptr->checksum_sum = 0;
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xbee_data_ptr->read_state = XBEE_STATE_READ_START;
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xbee_data_ptr->rcv_frame.FRAME = &data_frame;
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// Grab a pointer to where the unique frame array starts
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xbee_data_array_ptr = xbee_data_ptr->rcv_frame.FRAME;
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}
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/* Here we handle the serial input from the UART interrupt */
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void xbee_read_serial(unsigned char c) {
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// Reset on start bit and start saving data
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if (c == XBEE_START_DELIMITER) {
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// On detect start delimiter, clear out initial array
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xbee_data_ptr->dataind = 0;
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xbee_data_ptr->checksum_sum = 0;
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xbee_data_ptr->rcv_frame.start_delimiter = XBEE_START_DELIMITER;
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xbee_data_ptr->read_state = XBEE_STATE_READ_LENGTH_HIGH;
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} else {
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switch(xbee_data_ptr->read_state) {
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case XBEE_STATE_READ_START:
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// Do nothing and wait till start bit is read
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break;
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case XBEE_STATE_READ_LENGTH_HIGH:
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// Read length (MSB)
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xbee_data_ptr->rcv_frame.length.INT_16.char_value[1] = c;
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xbee_data_ptr->read_state = XBEE_STATE_READ_LENGTH_LOW;
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break;
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case XBEE_STATE_READ_LENGTH_LOW:
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// Read length (LSB)
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xbee_data_ptr->rcv_frame.length.INT_16.char_value[0] = c;
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xbee_data_ptr->read_state = XBEE_STATE_READ_FRAME_DATA;
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break;
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case XBEE_STATE_READ_FRAME_DATA:
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// Read unique frame data
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if (xbee_data_ptr->dataind < xbee_data_ptr->rcv_frame.length.INT_16.int_value) {
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*((char*)xbee_data_array_ptr + xbee_data_ptr->dataind) = c;
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xbee_data_ptr->checksum_sum += c;
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xbee_data_ptr->dataind++;
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}
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// If total length is read, the next byte is the expected checksum
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if (xbee_data_ptr->dataind == xbee_data_ptr->rcv_frame.length.INT_16.int_value) {
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xbee_data_ptr->read_state = XBEE_STATE_READ_CHECKSUM;
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}
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break;
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case XBEE_STATE_READ_CHECKSUM:
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// Calculate and compare checksum
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if (0xFF - xbee_data_ptr->checksum_sum == c) {
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// Frame was recieved successfully
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xbee_process_recieved_frame();
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xbee_data_ptr->read_state = XBEE_STATE_READ_START;
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} else {
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// If checksum does not match, drop frame
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DBG_PRINT_XBEE("XBEE: checksum mismatch\r\n");
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xbee_data_ptr->read_state = XBEE_STATE_READ_START;
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}
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break;
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}
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}
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}
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/* This is called when a full frame arrives to process the frame data */
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void xbee_process_recieved_frame() {
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char ret_status;
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// Here we want to process each frame and send the data to Main()
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// Send the frame to main() with the message type depending on the frame type
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switch(*((unsigned char *) xbee_data_array_ptr)) {
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case XBEE_RX_AT_COMMAND_RESPONSE:
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DBG_PRINT_XBEE("XBEE: parsing recieved AT command response frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_AT_COMMAND_RESPONSE, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_DATA_PACKET:
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DBG_PRINT_XBEE("XBEE: parsing recieved data recieved frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_DATA_PACKET, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_DATA_TX_STATUS:
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DBG_PRINT_XBEE("XBEE: parsing recieved TX status frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_DATA_TX_STATUS, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_IO_DATA_SAMPLE:
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DBG_PRINT_XBEE("XBEE: parsing recieved IO data sample frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_IO_DATA_SAMPLE, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_EXPLICIT_COMMAND:
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DBG_PRINT_XBEE("XBEE: parsing recieved explicit command frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_EXPLICIT_COMMAND, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_REMOTE_AT_COMMAND_RESPONSE:
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DBG_PRINT_XBEE("XBEE: parsing recieved remote AT command frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_REMOTE_AT_COMMAND_RESPONSE, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_ROUTE_RECORD:
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DBG_PRINT_XBEE("XBEE: parsing recieved route record frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_ROUTE_RECORD, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_NODE_IDENTIFICATION:
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DBG_PRINT_XBEE("XBEE: parsing recieved node identification frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_NODE_IDENTIFICATION, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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case XBEE_RX_FRAME_MODEM_STATUS:
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DBG_PRINT_XBEE("XBEE: parsing recieved modem status frame\r\n");
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ret_status = MQ_sendmsg_ToMainFromHigh(xbee_data_ptr->rcv_frame.length.INT_16.char_value[0], MSGTYPE_XBEE_RX_FRAME_MODEM_STATUS, (void *)xbee_data_array_ptr);
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if (ret_status < 0) {
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DBG_PRINT_XBEE("XBEE: (ERROR) send message to main failed with error %x\r\n", ret_status);
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}
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break;
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default:
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DBG_PRINT_XBEE("XBEE: (ERROR) unrecognized frame type\r\n");
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}
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}
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//void xbee_process_transmit_frame_interrupt(void) {
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// unsigned char i;
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// char length;
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//
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// if (MQ_peek_FromMainToHigh() == MSGTYPE_XBEE_TX_FRAME) {
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// length = MQ_recvmsg_FromMainToHigh(MSGLEN, (unsigned char *) xbee_data_ptr->msgtype, (void *) xbee_data_array_ptr);
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// xbee_data_ptr->checksum_sum = 0;
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// Write2USART(XBEE_START_DELIMITER);
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// while (Busy2USART());
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// Write2USART(0x00);
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// while (Busy2USART());
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// Write2USART(length);
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// while (Busy2USART());
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// for (i = 0; i < length; i++) {
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// Write2USART(*((unsigned char *) xbee_data_array_ptr + i));
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// xbee_data_ptr->checksum_sum += *((unsigned char *) xbee_data_array_ptr + i);
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// while (Busy2USART());
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// }
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// Write2USART(0xFF - xbee_data_ptr->checksum_sum);
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// while (Busy2USART());
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// }
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//}
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void xbee_process_transmit_frame(void *data, unsigned char length) {
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unsigned char i;
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unsigned char checksum = 0;
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Write2USART(XBEE_START_DELIMITER);
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while (Busy2USART() || xbee_read_CTS());
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Write2USART(0x00);
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while (Busy2USART() || xbee_read_CTS());
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Write2USART(length);
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while (Busy2USART() || xbee_read_CTS());
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for (i = 0; i < length; i++) {
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Write2USART(*((unsigned char *) data + i));
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checksum += *((unsigned char *) data + i);
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while (Busy2USART() || xbee_read_CTS());
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}
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Write2USART(0xFF - checksum);
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while (Busy2USART());
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}
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void xbee_set_RTS(unsigned char c) {
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if (c) {
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LATBbits.LATB1 = 1; // Set high to stop receiving data
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} else {
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LATBbits.LATB1 = 0; // Set low to resume receiving data
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}
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}
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unsigned char xbee_read_CTS() {
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unsigned char c = PORTBbits.RB0;
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if (c) {
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return 0x1; // High indicates stop sending data
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} else {
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return 0x0; // Low indicates ok to send data
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}
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}
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void xbee_sleep() {
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LATCbits.LATC5 = 1;
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}
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void xbee_wake() {
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LATCbits.LATC5 = 0;
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}
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