// Wait for the response to the join message
uint8_t EndDevice::joiningWaitResponse() {
DEBUG_MSG("[JOINING WAIT RESPONSE]");
if (hasTimedOut()) {
// Timed out waiting for a response to the join message
disableTimeout();
State = EndDeviceError;
return TICK_JOIN_TIMEOUT;
} else if (xbee.getResponse().isAvailable()) {
if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
ZBRxResponse zbrr;
xbee.getResponse().getZBRxResponse(zbrr);
if (zbrr.getDataLength() == 1 && zbrr.getData()[0] == 'K') {
// Got a correct response
disableTimeout();
State = EndDeviceIdle;
return TICK_JOIN_OK;
} else {
// TODO: Got wrong response, ignore it?
State = EndDeviceError;
return TICK_JOIN_BAD_MSG; // XXX: Not sure if this check/return value is needed really
}
} else {
// TODO: Other type of message
}
}
return TICK_OK;
}
// Recieve data from the base station.
uint8_t EndDevice::requestWait() {
DEBUG_MSG("[REQUEST WAIT]");
if (hasTimedOut()) {
// Timed out waiting for more data
disableTimeout();
// Discard the partially received data
dataEnd = data;
// Retry the update 4 times.
timesTimeout++;
if (timesTimeout > 3) {
State = EndDeviceError;
timesTimeout = 0;
return TICK_UPDATE_TIMEOUT;
} else {
State = EndDeviceRequestSend;
}
} else if (xbee.getResponse().isAvailable()) {
if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
DEBUG_MSG(" GOT PACKET");
// Has a data packet
disableTimeout();
ZBRxResponse zbrr;
xbee.getResponse().getZBRxResponse(zbrr);
// Copy the data into the buffer
memcpy(dataEnd, zbrr.getData(), zbrr.getDataLength());
dataEnd += zbrr.getDataLength();
// Test if this was the final data packet for this message
if (zbrr.getData()[zbrr.getDataLength()-1] == 0) {
timesTimeout = 0; // Reset timeout counter as we got a complete message
DEBUG_MSG(" GOT MSG");
DEBUG_MSG((char *) data);
State = EndDeviceIdle;
dataEnd = data;
return TICK_NEW_MSG;
} else {
setTimeout(5000);
}
} else {
// TODO: Other type of message
}
}
return TICK_OK;
}
// Set timeout for associaton to complete
uint8_t EndDevice::start() {
DEBUG_MSG("[START]");
updateFlag = false; // Make sure this flag is reset as it may stay active if radio is reset while the flag is active
disableTimeout(); // Make sure the timer is not active afte a reset
wakeupFlag = false;
setTimeout(10000);
State = EndDeviceFormingNetwork;
return TICK_OK;
}
void setMD49commands(void) {
//set acceleration if command changed since last set of acceleration
if (i2cdata[2] NOT currentAcceleration) {
setAcceleration(i2cdata[2]);
}
//set new mode only if changed
if (i2cdata[3] NOT currentMode) {
setMode(i2cdata[3]);
}
//set speed continuously, when timeout is enabled
if (statusTimeout == 1) {
setSpeed1(i2cdata[0]);
setSpeed2(i2cdata[1]);
}
//set speed once changed, when timeout is disabled
if (statusTimeout == 0) {
if (recentSpeed1 != i2cdata[0]) {
setSpeed1(i2cdata[0]);
}
if (recentSpeed2 != i2cdata[1]) {
setSpeed2(i2cdata[1]);
}
}
//reset encoders if byte was checked
if (i2cdata[4] == 1) {
resetEncoders();
i2cdata[4] = 0;
}
//set regulator if changed
if (i2cdata[5] == 0) {
if (statusRegulator NOT i2cdata[5]) {
disableRegulator();
}
} else if (i2cdata[5] == 1) {
if (statusRegulator NOT i2cdata[5]) {
enableRegulator();
}
}
// set timeout if changed
if (i2cdata[6] == 0) {
if (statusTimeout NOT i2cdata[6]) {
disableTimeout();
}
} else if (i2cdata[6] == 1) {
if (statusTimeout NOT i2cdata[6]) {
enableTimeout();
}
}
}
void init_MD49data(void) {
// init bytes 0-14 (Commands)
i2cdata[0] = 128; // default: speed1=0
recentSpeed1 = i2cdata[0]; // save last set speed1
i2cdata[1] = 128; // default: speed2=0
recentSpeed2 = i2cdata[1]; // save last set speed2
i2cdata[2] = 5; // default: acceleration=5
currentAcceleration = i2cdata[2]; // save last set acceleration
i2cdata[3] = 0; // default: mode=0
currentMode = i2cdata[3]; // save last set Mode
setMode(0); // set default mode
i2cdata[4] = 0; // default: reset encoders=0
i2cdata[5] = 1; // default: enabled regulator
enableRegulator();
//disableRegulator();
statusRegulator = i2cdata[5]; // save current state of regulator
i2cdata[6] = 0; // default: disabled timeout
//enableTimeout();
disableTimeout();
statusTimeout = i2cdata[6]; // save current state of timeout
i2cdata[7] = 0; // default encoder1 value byte 1
i2cdata[8] = 0; // default encoder1 value byte 2
i2cdata[9] = 0; // default encoder1 value byte 3
i2cdata[10] = 0; // default encoder1 value byte 4
i2cdata[11] = 0; // default encoder2 value byte 1
i2cdata[12] = 0; // default encoder2 value byte 2
i2cdata[13] = 0; // default encoder2 value byte 3
i2cdata[14] = 0; // default encoder2 value byte 4
// init bytes 15-32 (Data)
i2cdata[15] = 0; // default encoder1 value byte 1
i2cdata[16] = 0; // default encoder1 value byte 2
i2cdata[17] = 0; // default encoder1 value byte 3
i2cdata[18] = 0; // default encoder1 value byte 4
i2cdata[19] = 0; // default encoder2 value byte 1
i2cdata[20] = 0; // default encoder2 value byte 2
i2cdata[21] = 0; // default encoder2 value byte 3
i2cdata[22] = 0; // default encoder2 value byte 4
i2cdata[23] = 128; // default speed1 is zero
i2cdata[24] = 128; // default speed2 is zero
i2cdata[25] = 0; // default: volts
i2cdata[26] = 0; // default: current1
i2cdata[27] = 0; // default: current2
i2cdata[28] = 0; // default: error
i2cdata[29] = 5; // default: acceleration
i2cdata[30] = 0; // default: mode
i2cdata[31] = 1; // default: enabled regulator
i2cdata[32] = 0; // default: disabled timeout
}
// Send the reset command to the radio, ignoring any ongoing activities
uint8_t EndDevice::resetStart() {
DEBUG_MSG("[RESET START]");
// Reset everything
resetFlag = false;
disableTimeout();
dataEnd = data;
// Issue reset command
uint8_t cmd[] = {'N', 'R'};
AtCommandRequest atcr(cmd);
xbee.send(atcr);
State = EndDeviceResetWait;
return TICK_OK;
}
// Waits for the "Associated" modem status message
uint8_t EndDevice::formingNetwork() {
DEBUG_MSG("[FORMING NETWORK]");
if (hasTimedOut()) {
DEBUG_MSG("TIMEOUT");
State = EndDeviceError;
return TICK_ASSOC_FAIL;
// TODO: Check association status and return appropriate error message.
}
if (xbee.getResponse().isAvailable()) {
if (xbee.getResponse().getApiId() == MODEM_STATUS_RESPONSE) {
ModemStatusResponse msr;
xbee.getResponse().getModemStatusResponse(msr);
if (msr.getStatus() == ASSOCIATED) {
disableTimeout();
State = EndDeviceJoiningSend;
} else {
// TODO: Not associated meddelande
}
} else {
// TODO: Annan meddelande-typ
}
}
return TICK_OK;
}
