void RadioReceiveTask::beforeResume() {
// Don't count suspended time towards timeout!
_lastMessageReceived = xTaskGetTickCount();
// Get rid of garbage collected during transmit period (like talk of other radios)
_clearSerialBuffer();
}
void RadioReceiveTask::task() {
_clearSerialBuffer();
_initialiseDiscoveryState();
// Packet
byte packetBuffer[RADIO_PACKET_WITH_RSSI_LENGTH];
uint8_t packetBufferLength = 0;
#ifdef RADIO_DEBUG_MODE
uint8_t serialRingBufferHWM = 0;
#endif
_wakeUp();
_currentMessageReceiver = NO_CURRENT_MESSAGE;
while (true) {
uint8_t availableBytes = RADIO_SERIAL.available();
if (availableBytes > 0) {
pinMode(PIN_LED_RXL, OUTPUT);
digitalWrite(PIN_LED_RXL, 1);
#ifdef RADIO_DEBUG_MODE
if (serialRingBufferHWM < availableBytes) {
serialRingBufferHWM = availableBytes;
debug::log("RadioReceiveTask: serialRingBufferHWM=" + String(serialRingBufferHWM));
}
#endif
while (availableBytes > 0) {
packetBuffer[packetBufferLength] = RADIO_SERIAL.read();
packetBufferLength++;
availableBytes--;
// Only handle one packet at a time
if (packetBufferLength == RADIO_PACKET_WITH_RSSI_LENGTH) {
break; // we have enough for one packet
}
}
#ifdef RADIO_DEBUG_MODE_EXTENDED
debug::log("RadioReceiveTask: Current buffer:");
debug::logByteArray(packetBuffer, packetBufferLength);
#endif
packetBufferLength = _parsePacketBuffer(packetBuffer, packetBufferLength);
digitalWrite(PIN_LED_RXL, 0);
_lastMessageReceived = xTaskGetTickCount();
} else {
vTaskDelay(RADIO_NO_DATA_SLEEP_DURATION);
}
_checkForStateChange();
}
}
inline void RadioTask::_initialiseReceiveState() {
debug::log("RadioTask: Starting to receive on channel " + String(_bestChannel));
_enterAtMode();
RADIO_SERIAL.println("ATZD3"); // output format <payload>|<rssi>
RADIO_SERIAL.println("ATPK3A"); // 58byte packet length
RADIO_SERIAL.println("ATCN" + _intToHex(_bestChannel)); // Channel
RADIO_SERIAL.println("ATAC"); // apply
RADIO_SERIAL.flush();
_leaveAtMode();
_radioState = RADIO_STATE_RECEIVE;
_clearSerialBuffer();
}
void RadioTask::task() {
// Temporary: Remove me soon!
_outgoingPacketBuffer[0] = 0x90;
_outgoingPacketBuffer[1] = 0x03; // ping service
for (uint8_t i=2; i<RADIO_PACKET_LENGTH; i++) {
_outgoingPacketBuffer[i] = i - 2;
}
_outgoingPacketAvailable = true;
// Setup radio communitcation
RADIO_SERIAL.begin(RADIO_SERIAL_BAUD);
// Setup AT Mode pin
pinMode(RADIO_AT_MODE_PIN, OUTPUT);
_clearSerialBuffer();
_initialiseDiscoveryState();
// Packet
byte packetBuffer[RADIO_PACKET_WITH_RSSI_LENGTH];
uint8_t packetBufferLength = 0;
_currentMessageReceiver = NO_CURRENT_MESSAGE;
while (true) {
uint8_t availableBytes = RADIO_SERIAL.available();
if (availableBytes > 0) {
while (availableBytes > 0) {
packetBuffer[packetBufferLength] = RADIO_SERIAL.read();
packetBufferLength++;
availableBytes--;
// Only handle one packet at a time
if (packetBufferLength == RADIO_PACKET_WITH_RSSI_LENGTH) {
break; // we have enough for one packet
}
}
packetBufferLength = _parsePacketBuffer(packetBuffer, packetBufferLength);
_lastMessageReceived = xTaskGetTickCount();
}
_checkForStateChange();
}
}
inline void RadioTask::_initialiseDiscoveryState() {
debug::log("RadioTask: Starting discovery state");
_bestRssi = 255;
_bestChannel = NO_CHANNEL_DISCOVERED;
_radioState = RADIO_STATE_DISCOVERY;
_discoveryFinishingTime = xTaskGetTickCount() + RADIO_DISCOVERY_TIME;
_enterAtMode();
RADIO_SERIAL.println("ATZD3"); // output format <payload>|<rssi>
RADIO_SERIAL.println("ATPK08"); // 8byte packet length
RADIO_SERIAL.println(String("ATCN") + String(RADIO_DISCOVERY_CHANNEL)); // Discovery Channel
RADIO_SERIAL.println("ATAC"); // apply
RADIO_SERIAL.flush();
_leaveAtMode();
_clearSerialBuffer();
}
inline uint8_t RadioReceiveTask::_parsePacketBuffer(byte packetBuffer[], uint8_t packetBufferLength) {
// Have we received a whole packet yet?
bool receivedWholePacket =
packetBufferLength >= 5 + 1 && // Has to have at least one byte payload
packetBuffer[packetBufferLength - 1] >= 48 && packetBuffer[packetBufferLength - 1] <= 57 && // Digit
packetBuffer[packetBufferLength - 2] >= 48 && packetBuffer[packetBufferLength - 2] <= 57 && // Digit
packetBuffer[packetBufferLength - 3] >= 48 && packetBuffer[packetBufferLength - 3] <= 57 && // Digit
packetBuffer[packetBufferLength - 4] == '-' &&
packetBuffer[packetBufferLength - 5] == '|';
// If the data looks like a packet we can start parsing it
if (receivedWholePacket) {
// read rssi and then ignore the packet footer
_rssi = (packetBuffer[packetBufferLength - 1] - 48) +
(packetBuffer[packetBufferLength - 2] - 48) * 10 +
(packetBuffer[packetBufferLength - 3] - 48) * 100;
packetBufferLength -= 5;
#ifdef RADIO_DEBUG_MODE
debug::log("Packet!");
#endif
if (_radioState == RADIO_STATE_DISCOVERY) {
_handleDiscoveryPacket(packetBuffer, packetBufferLength, _rssi);
} else if (_radioState == RADIO_STATE_RECEIVE) {
_handleReceivePacket(packetBuffer, packetBufferLength);
}
packetBufferLength = 0;
} else if (packetBufferLength == RADIO_PACKET_WITH_RSSI_LENGTH) {
#ifdef RADIO_DEBUG_MODE
debug::log("RadioReceiveTask: Packet does not conform");
debug::logByteArray(packetBuffer, 58);
#endif
// Something's wrong, we received enough bytes but it's not formated correctly.
// Let's sleep a while and clear the buffer. Hopefully that'll fix it.
vTaskDelay(7);
_clearSerialBuffer();
packetBufferLength = 0;
}
return packetBufferLength;
}
inline void RadioReceiveTask::_initialiseReceiveState() {
debug::log("RadioReceiveTask: Starting to receive on channel " + String(_bestChannel) + " with RSSI " + String(_bestRssi));
_enterAtMode();
RADIO_SERIAL.println("ATZD3"); // output format <payload>|<rssi>
RADIO_SERIAL.println("ATPK3A"); // 58byte packet length
RADIO_SERIAL.println("ATCN" + Utils::intToHex(_bestChannel)); // Channel
RADIO_SERIAL.println("ATAC"); // apply
RADIO_SERIAL.flush();
_leaveAtMode();
// This channel might be in transmit phase. Sleep it out.
if (_bestChannelRemainingTransmitWindow > 0) {
vTaskDelay(_bestChannelRemainingTransmitWindow);
_lastMessageReceived = xTaskGetTickCount();
}
_radioState = RADIO_STATE_RECEIVE;
_clearSerialBuffer();
}
