[XBee] Optimized UART communication
This commit is contained in:
Jan Gromeš
parent
cd434fbd69
commit
d1fc5d6722
2 changed files with 39 additions and 26 deletions
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@ -22,17 +22,7 @@ int16_t XBee::begin(long speed) {
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_mod->init(USE_UART, INT_NONE);
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// reset module
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pinMode(_mod->int1(), OUTPUT);
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delay(10);
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digitalWrite(_mod->int1(), HIGH);
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delay(500);
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digitalWrite(_mod->int1(), LOW);
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delay(500);
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pinMode(_mod->int1(), INPUT);
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delay(500);
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// wait for boot
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delay(3000);
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reset();
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// empty UART buffer (garbage data)
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_mod->ATemptyBuffer();
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@ -40,7 +30,6 @@ int16_t XBee::begin(long speed) {
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// send test frame (get baudrate setting)
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uint8_t frameID = _frameID++;
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sendApiFrame(XBEE_API_FRAME_AT_COMMAND_QUEUE, frameID, "BD");
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delay(20);
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// get response code
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int16_t state = readApiFrame(frameID, 4);
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@ -51,6 +40,17 @@ int16_t XBee::begin(long speed) {
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return(state);
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}
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void XBee::reset() {
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pinMode(_mod->int1(), OUTPUT);
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delay(10);
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digitalWrite(_mod->int1(), HIGH);
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delay(500);
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digitalWrite(_mod->int1(), LOW);
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delay(500);
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pinMode(_mod->int1(), INPUT);
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delay(500);
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}
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int16_t XBee::transmit(uint8_t* dest, const char* payload, uint8_t radius) {
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uint8_t destNetwork[] = {0xFF, 0xFE};
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return(transmit(dest, destNetwork, payload, radius));
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@ -71,7 +71,6 @@ int16_t XBee::transmit(uint8_t* dest, uint8_t* destNetwork, const char* payload,
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uint8_t frameID = _frameID++;
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sendApiFrame(XBEE_API_FRAME_ZIGBEE_TRANSMIT_REQUEST, frameID, cmd, dataLen);
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delete[] cmd;
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delay(40);
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// get response code
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return(readApiFrame(frameID, 5));
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@ -149,7 +148,6 @@ int16_t XBee::setPanId(uint8_t* panId) {
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// send frame
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uint8_t frameID = _frameID++;
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sendApiFrame(XBEE_API_FRAME_AT_COMMAND_QUEUE, frameID, cmd, 10);
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delay(40);
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// get response code
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int16_t state = readApiFrame(frameID, 4);
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@ -195,6 +193,17 @@ int16_t XBeeSerial::begin(long speed) {
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return(ERR_NONE);
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}
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void XBeeSerial::reset() {
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pinMode(_mod->int1(), OUTPUT);
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delay(10);
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digitalWrite(_mod->int1(), HIGH);
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delay(500);
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digitalWrite(_mod->int1(), LOW);
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delay(500);
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pinMode(_mod->int1(), INPUT);
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delay(500);
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}
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int16_t XBeeSerial::setDestinationAddress(const char* destinationAddressHigh, const char* destinationAddressLow) {
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// enter command mode
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DEBUG_PRINTLN_STR("Entering command mode ...");
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@ -277,14 +286,7 @@ bool XBeeSerial::enterCmdMode() {
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DEBUG_PRINT(i + 1);
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DEBUG_PRINTLN_STR(" of 10 tries)");
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pinMode(_mod->int1(), OUTPUT);
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delay(10);
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digitalWrite(_mod->int1(), HIGH);
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delay(500);
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digitalWrite(_mod->int1(), LOW);
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delay(500);
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pinMode(_mod->int1(), INPUT);
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delay(500);
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reset();
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_mod->ATsendCommand("ATCN");
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}
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@ -298,7 +300,6 @@ int16_t XBee::confirmChanges() {
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// save changes to non-volatile memory
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uint8_t frameID = _frameID++;
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sendApiFrame(XBEE_API_FRAME_AT_COMMAND_QUEUE, frameID, "WR");
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delay(40);
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// get response code
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int16_t state = readApiFrame(frameID, 4);
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@ -309,7 +310,6 @@ int16_t XBee::confirmChanges() {
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// apply changes
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frameID = _frameID++;
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sendApiFrame(XBEE_API_FRAME_AT_COMMAND_QUEUE, frameID, "AC");
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delay(40);
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// get response code
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state = readApiFrame(frameID, 4);
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@ -354,8 +354,9 @@ void XBee::sendApiFrame(uint8_t type, uint8_t id, uint8_t* data, uint16_t length
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int16_t XBee::readApiFrame(uint8_t frameID, uint8_t codePos) {
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// TODO: modemStatus frames may be sent at any time, interfering with frame parsing. Add check to make sure this does not happen.
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// get number of bytes in response
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uint16_t numBytes = getNumBytes(10000, 5);
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// get number of bytes in response (must be enough to read the length field
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uint16_t numBytes = getNumBytes(5000, 3);
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if(numBytes == 0) {
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return(ERR_FRAME_MALFORMED);
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}
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@ -363,6 +364,14 @@ int16_t XBee::readApiFrame(uint8_t frameID, uint8_t codePos) {
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// checksum byte is not included in length field
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numBytes++;
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// wait until all response bytes are available (5s timeout)
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uint32_t start = millis();
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while(_mod->ModuleSerial->available() < numBytes) {
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if(millis() - start >= 5000) {
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return(ERR_FRAME_MALFORMED);
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}
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}
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// read the response
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uint8_t* resp = new uint8_t[numBytes];
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for(uint16_t i = 0; i < numBytes; i++) {
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@ -375,11 +384,13 @@ int16_t XBee::readApiFrame(uint8_t frameID, uint8_t codePos) {
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checksum += resp[i];
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}
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if(checksum != 0xFF) {
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DEBUG_PRINTLN_HEX(checksum);
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return(ERR_FRAME_INCORRECT_CHECKSUM);
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}
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// check frame ID
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if(resp[1] != frameID) {
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DEBUG_PRINTLN(resp[1]);
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return(ERR_FRAME_UNEXPECTED_ID);
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}
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@ -38,6 +38,7 @@ class XBeeSerial: public ISerial {
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// basic methods
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int16_t begin(long speed);
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void reset();
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// configuration methods
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int16_t setDestinationAddress(const char* destinationAddressHigh, const char* destinationAddressLow);
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@ -55,6 +56,7 @@ class XBee {
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// basic methods
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int16_t begin(long speed);
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void reset();
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int16_t transmit(uint8_t* dest, const char* payload, uint8_t radius = 1);
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int16_t transmit(uint8_t* dest, uint8_t* destNetwork, const char* payload, uint8_t radius = 1);
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size_t available();
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