| 3,6 → 3,7 |
|---|
| #include <string.h> |
| |
| static XBEE_DATA xbee_data; |
| static XBEE_DATA *xbee_data_p = &xbee_data; |
| static void *xbee_data_frame; |
| static void *xbee_frame; |
| |
| 14,17 → 15,17 |
|---|
| XBEE_CTS_LAT = 0; // Pin set high to signal stop sending data to XBee |
| XBEE_RTS_LAT = 0; // Pin set high to indicate stop sending data to PIC |
| |
| xbee_data.dataind = 0; |
| xbee_data.checksum_sum = 0; |
| xbee_data.frame_rdy = 0; |
| xbee_data.escape_flag = 0; |
| xbee_data.read_state = XBEE_STATE_READ_START; |
| xbee_data_p->dataind = 0; |
| xbee_data_p->checksum_sum = 0; |
| xbee_data_p->frame_rdy = 0; |
| xbee_data_p->escape_flag = 0; |
| xbee_data_p->read_state = XBEE_STATE_READ_START; |
| |
| // memset(&xbee_data, 0, 32); |
| |
| // Grab a pointer to where the unique frame array starts |
| xbee_data_frame = &(xbee_data.rcv_frame.FRAME); |
| xbee_frame = &(xbee_data.rcv_frame); |
| xbee_data_frame = &(xbee_data_p->rcv_frame.FRAME); |
| xbee_frame = &(xbee_data_p->rcv_frame); |
| } |
| |
| /* Here we handle the serial input from the UART interrupt */ |
| 32,31 → 33,30 |
|---|
| // For some reason writing the length straight to xbee_data doesnt seem to work |
| // so we work around it by pointing to the length bytes directly |
| XBEE_ADDRESS_16 *length = xbee_frame + 1; |
| |
| |
| #ifdef XBEE_USE_ESCAPE_CHAR |
| if (c == XBEE_ESCAPE_CHAR) { |
| // Next byte needs is an escaped char |
| xbee_data.escape_flag = 1; |
| xbee_data_p->escape_flag = 1; |
| return; |
| } |
| |
| if (xbee_data.escape_flag) { |
| if (xbee_data_p->escape_flag) { |
| // XOR byte with 0x20 to get escaped char |
| c ^= XBEE_ESCAPE_VAL; |
| xbee_data.escape_flag = 0; |
| xbee_data_p->escape_flag = 0; |
| } |
| #endif |
| |
| // Reset on start bit and start saving data |
| if (c == XBEE_START_DELIMITER) { |
| // On detect start delimiter, clear out initial array |
| xbee_data.dataind = 0; |
| xbee_data.checksum_sum = 0; |
| xbee_data.frame_rdy = 0; |
| xbee_data.read_state = XBEE_STATE_READ_LENGTH_HIGH; |
| xbee_data_p->dataind = 0; |
| xbee_data_p->checksum_sum = 0; |
| xbee_data_p->frame_rdy = 0; |
| xbee_data_p->read_state = XBEE_STATE_READ_LENGTH_HIGH; |
| *((unsigned char *)xbee_frame) = XBEE_START_DELIMITER; |
| } else { |
| switch (xbee_data.read_state) { |
| switch (xbee_data_p->read_state) { |
| case XBEE_STATE_READ_START: |
| // Do nothing and wait till start bit is read |
| break; |
| 63,36 → 63,36 |
|---|
| case XBEE_STATE_READ_LENGTH_HIGH: |
| // Read length (MSB) |
| length->INT_16.char_value[1] = c; |
| xbee_data.read_state = XBEE_STATE_READ_LENGTH_LOW; |
| xbee_data_p->read_state = XBEE_STATE_READ_LENGTH_LOW; |
| break; |
| case XBEE_STATE_READ_LENGTH_LOW: |
| // Read length (LSB) |
| length->INT_16.char_value[0] = c; |
| xbee_data.read_state = XBEE_STATE_READ_FRAME_DATA; |
| xbee_data_p->read_state = XBEE_STATE_READ_FRAME_DATA; |
| break; |
| case XBEE_STATE_READ_FRAME_DATA: |
| // Read unique frame data |
| if (xbee_data.dataind < xbee_data.rcv_frame.length.INT_16.int_value) { |
| *((char*) xbee_data_frame + xbee_data.dataind) = c; |
| xbee_data.checksum_sum += c; |
| xbee_data.dataind++; |
| if (xbee_data_p->dataind < xbee_data_p->rcv_frame.length.INT_16.int_value) { |
| *((char*) xbee_data_frame + xbee_data_p->dataind) = c; |
| xbee_data_p->checksum_sum += c; |
| xbee_data_p->dataind++; |
| } |
| // If total length is read, the next byte is the expected checksum |
| if (xbee_data.dataind == xbee_data.rcv_frame.length.INT_16.int_value) { |
| xbee_data.read_state = XBEE_STATE_READ_CHECKSUM; |
| if (xbee_data_p->dataind == xbee_data_p->rcv_frame.length.INT_16.int_value) { |
| xbee_data_p->read_state = XBEE_STATE_READ_CHECKSUM; |
| } |
| break; |
| case XBEE_STATE_READ_CHECKSUM: |
| // Calculate and compare checksum |
| if (0xFF - xbee_data.checksum_sum == c) { |
| if (0xFF - xbee_data_p->checksum_sum == c) { |
| // Frame was recieved successfully |
| xbee_data.frame_rdy = 1; |
| xbee_data_p->frame_rdy = 1; |
| // XBee_Process_Received_Frame(); |
| } else { |
| // If checksum does not match, drop frame |
| DBG_PRINT_XBEE("XBEE: checksum mismatch\r\n"); |
| } |
| xbee_data.read_state = XBEE_STATE_READ_START; |
| xbee_data_p->read_state = XBEE_STATE_READ_START; |
| break; |
| } |
| } |
| 100,7 → 100,7 |
|---|
| |
| /* This processes the frame data within the interrupt. Dont use this. */ |
| void XBee_Process_Received_Frame() { |
| // DBG_PRINT_XBEE("Length: %d\r\n", xbee_data.rcv_frame.length.INT_16.int_value); |
| // DBG_PRINT_XBEE("Length: %d\r\n", xbee_data_p->rcv_frame.length.INT_16.int_value); |
| // Here we process the received frame depending on the frame type |
| switch (*((unsigned char *) xbee_data_frame)) { |
| case XBEE_RX_AT_COMMAND_RESPONSE: |
| 136,12 → 136,12 |
|---|
| } |
| |
| unsigned int XBee_Get_Received_Frame(unsigned char *frame) { |
| if (!xbee_data.frame_rdy) { |
| if (!xbee_data_p->frame_rdy) { |
| return 0; |
| } else { |
| memcpy(frame, xbee_data_frame, xbee_data.rcv_frame.length.INT_16.int_value); |
| xbee_data.frame_rdy = 0; // Reset frame ready status |
| return xbee_data.rcv_frame.length.INT_16.int_value; |
| memcpy(frame, xbee_data_frame, xbee_data_p->rcv_frame.length.INT_16.int_value); |
| xbee_data_p->frame_rdy = 0; // Reset frame ready status |
| return xbee_data_p->rcv_frame.length.INT_16.int_value; |
| } |
| } |
| |