void appMain(void)
{
static uint8_t buffer[100];
radioSetTxPower(TX_POWER);
radioSetReceiveHandle(rcvRadio);
radioOn();
uint32_t lastTime = getTimeMs();
for (;;) {
int8_t rssi = radioGetLastRSSI();
if ((int32_t) getTimeMs() - (int32_t) lastTime > 1000) {
radioSend(buffer, sizeof(buffer));
PRINTF("rssi=%d\n", rssi);
lastTime = getTimeMs();
if (rxOk) --rxOk;
if (!rxOk) redLedOn();
else redLedOff();
}
greenLedToggle();
busyWait(getWaitInterval(rssi));
}
}
//Recieved radio packet, send over UART
void xbeeHandleRx(MacPacket packet) {
int i;
unsigned char checksum;
unsigned char pld_len = payGetPayloadLength(packet->payload);
unsigned char* pld_str = payToString(packet->payload);
unsigned char xb_frame_len = pld_len + XB_OVERHEAD_LENGTH;
WordVal src_addr = packet->src_addr;
dmaTxReady = 0;
checksum = XB_API_ID;
checksum += src_addr.byte.HB;
checksum += src_addr.byte.LB;
//CRITICAL_SECTION_START
txBufferA[0] = XB_RX_START; //Start Byte
txBufferA[1] = 0x00; //Length High Byte
txBufferA[2] = xb_frame_len; //Length Low Byte
txBufferA[3] = XB_API_ID; //API Identifier - Currently only support the RX type
txBufferA[4] = src_addr.byte.HB; //Source Address High byte
txBufferA[5] = src_addr.byte.LB; //Source Address Low Byte
txBufferA[6] = radioGetLastRSSI(); //'RSSI' Not currently implemented
txBufferA[7] = 0x00; //'Options' Not currently implemented
for(i = 0; i < pld_len; i++) {
checksum += pld_str[i];
txBufferA[RX_FRAME_OFFSET + i] = pld_str[i];
}
txBufferA[RX_FRAME_OFFSET + pld_len] = 0xFF - checksum; //set Checksum byte
//CRITICAL_SECTION_END
// pld_len + RX_FRAME_OFFSET + length(CHKSUM) - 1
DMA6CNT = pld_len + RX_FRAME_OFFSET;
DMA6CONbits.CHEN = 1;
DMA6REQbits.FORCE = 1;
}
// --------------------------------------------
// --------------------------------------------
void onRadioRecv(void)
{
static bool flRxProcessing=false;
if(flRxProcessing){
#ifdef PRINT_PACKETS
PRINTF("RX Locked\n");
#endif
return;
}
flRxProcessing=true; // There is a chance for a small race condition
#ifdef PRINT_PACKETS
uint32_t rxTime = getTimeMs();
#endif
int16_t rxLen;
rssi_t rssi;
lqi_t lqi;
rxIdx++;
if( rxIdx < 0 ) rxIdx=0;
led1Toggle();
// rxLen = radioRecv( &(DB_REC(db)), DB_REC_SIZE(db));
// DB_REC(db).recLen = rxLen;
rxLen = radioRecv(&radioBuffer, sizeof(radioBuffer));
rssi = radioGetLastRSSI();
lqi = radioGetLastLQI();
#ifdef PRINT_PACKETS
PRINTF("%d\t%d\t%d\t%d\t%ld\t", (int)rxIdx, (int)rxLen, (int)rssi, (int)lqi, (long)rxTime);
#endif
#ifdef PRINT_PACKETS
if (rxLen < 0) {
PRINTF("RX failed\n");
}
else if (rxLen > 0 ) {
debugHexdump((uint8_t *) &radioBuffer, rxLen);
// debugHexdump((uint8_t *) &(DB_REC(db)), rxLen);
}
#endif
if (rxLen < 0) {
led2Toggle();
flRxProcessing=false;
return;
}
if( ! MSG_SIGNATURE_OK(radioBuffer) ) { flRxProcessing = false; return; }
// Anticipated payload types.
MSG_NEW_PAYLOAD_PTR(radioBuffer, phaser_ping_t, test_data_p);
MSG_NEW_PAYLOAD_PTR(radioBuffer, phaser_control_t, ctrl_data_p);
MSG_NEW_PAYLOAD_PTR(radioBuffer, msg_text_data_t, msg_text_p);
MSG_NEW_PAYLOAD_PTR(radioBuffer, test_config_t, test_config_p);
int act = MSG_ACT_CLEAR;
bool flOK=true;
switch( radioBuffer.id ){
case PH_MSG_Test:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, phaser_ping_t, flOK=false );
if( !flOK ){
PRINTF("BadChk\n");
break;
}
// Check if new experiment iteration started.
if(lastExpIdx != test_data_p->expIdx && curExp){
sendTestResults();
}
processTestMsg(test_data_p, rssi, lqi);
break;
case PH_MSG_Angle:
if(curExp) sendTestResults();
if( flRestart ){ // Best time to resend the restart message after the angle change
send_ctrl_msg(MSG_ACT_RESTART);
flRestart = false;
}
break;
case PH_MSG_Control:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, phaser_control_t, break);
if(curExp) sendTestResults();
act = ctrl_data_p->action;
if(act == MSG_ACT_START ){
flRestart = false; // Clear restart command attempt
}
printAction(act);
break;
case PH_MSG_Text:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, msg_text_data_t, break );
PRINTF(msg_text_p->text);
PRINTF("\n");
break;
case PH_MSG_Config:
MSG_CHECK_FOR_PAYLOAD(radioBuffer, test_config_t, break );
PRINTF("Config received:\n");
// TODO: parse the config and print
print_test_config(test_config_p);
}
flRxProcessing=false;
}
