// Constructor
Atlas::Atlas() {
#ifdef USE_MUX
pinMode( muxPin1, OUTPUT );
pinMode( muxPin2, OUTPUT );
#endif
_atlas.begin( baud );
}
bool transportInit() {
// Reset the state machine
_dev.begin(MY_RS485_BAUD_RATE);
_serialReset();
#if defined(MY_RS485_DE_PIN)
pinMode(MY_RS485_DE_PIN, OUTPUT);
digitalWrite(MY_RS485_DE_PIN, LOW);
#endif
return true;
}
String Atlas::querystamp( int port, String query ) {
select( port );
#else
String Atlas::querystamp( String query ) {
#endif
Serial.println( "query : " + query );
char c = 0;
buffer = "";
_atlas.print( query );
delay( 1200 );
while( _atlas.available() ) {
c = _atlas.read();
buffer += c;
if( c == '\r' ) {
break;
}
}
return buffer;
}
// select a port on the MUX
void Atlas::select( int i ) {
off();
switch( i ) {
case 0:
digitalWrite( muxPin1, LOW );
analogWrite( muxPin2, 0 );
break;
case 1:
digitalWrite( muxPin1, LOW );
analogWrite( muxPin2, 255 );
break;
case 2:
digitalWrite( muxPin1, HIGH );
analogWrite( muxPin2, 0 );
break;
case 3:
digitalWrite( muxPin1, HIGH );
analogWrite( muxPin2, 255 );
break;
}
mux_port = i;
// pause in case there's any ringing in the circuit
delay(8);
// toss out any extra stuff in the buffer
while( _atlas.available() ) _atlas.read();
// blink four times
for( int j = 0; j < 5; j++ ) {
off();
delay(50);
on();
delay(50);
}
// enter quiecent mode
_atlas.print( "e\r" );
delay(100);
}
bool transportSend(uint8_t to, const void* data, uint8_t len)
{
const char *datap = static_cast<char const *>(data);
unsigned char i;
unsigned char cs = 0;
unsigned char del;
// This is how many times to try and transmit before failing.
unsigned char timeout = 10;
// Let's start out by looking for a collision. If there has been anything seen in
// the last millisecond, then wait for a random time and check again.
while (_serialProcess()) {
del = rand() % 20;
for (i = 0; i < del; i++) {
delay(1);
_serialProcess();
}
timeout--;
if (timeout == 0) {
// Failed to transmit!!!
return false;
}
}
#if defined(MY_RS485_DE_PIN)
digitalWrite(MY_RS485_DE_PIN, HIGH);
delayMicroseconds(5);
#endif
// Start of header by writing multiple SOH
for(byte w=0; w<1; w++) _dev.write(SOH);
_dev.write(to); // Destination address
cs += to;
_dev.write(_nodeId); // Source address
cs += _nodeId;
_dev.write(ICSC_SYS_PACK); // Command code
cs += ICSC_SYS_PACK;
_dev.write(len); // Length of text
cs += len;
_dev.write(STX); // Start of text
for(i=0; i<len; i++) {
_dev.write(datap[i]); // Text bytes
cs += datap[i];
}
_dev.write(ETX); // End of text
_dev.write(cs);
_dev.write(EOT);
#if defined(MY_RS485_DE_PIN)
#ifdef __PIC32MX__
// MPIDE has nothing yet for this. It uses the hardware buffer, which
// could be up to 8 levels deep. For now, let's just delay for 8
// characters worth.
delayMicroseconds((F_CPU/9600)+1);
#else
#if defined(ARDUINO) && ARDUINO >= 100
#if ARDUINO >= 104
// Arduino 1.0.4 and upwards does it right
_dev.flush();
#else
// Between 1.0.0 and 1.0.3 it almost does it - need to compensate
// for the hardware buffer. Delay for 2 bytes worth of transmission.
_dev.flush();
delayMicroseconds((20000000UL/9600)+1);
#endif
#endif
#endif
digitalWrite(MY_RS485_DE_PIN, LOW);
#endif
return true;
}
// This is the main reception state machine. Progress through the states
// is keyed on either special control characters, or counted number of bytes
// received. If all the data is in the right format, and the calculated
// checksum matches the received checksum, AND the destination station is
// our station ID, then look for a registered command that matches the
// command code. If all the above is true, execute the command's
// function.
bool _serialProcess()
{
char inch;
unsigned char i;
if (!_dev.available()) return false;
while(_dev.available()) {
inch = _dev.read();
switch(_recPhase) {
// Case 0 looks for the header. Bytes arrive in the serial interface and get
// shifted through a header buffer. When the start and end characters in
// the buffer match the SOH/STX pair, and the destination station ID matches
// our ID, save the header information and progress to the next state.
case 0:
memcpy(&_header[0],&_header[1],5);
_header[5] = inch;
if ((_header[0] == SOH) && (_header[5] == STX) && (_header[1] != _header[2])) {
_recCalcCS = 0;
_recStation = _header[1];
_recSender = _header[2];
_recCommand = _header[3];
_recLen = _header[4];
for (i=1; i<=4; i++) {
_recCalcCS += _header[i];
}
_recPhase = 1;
_recPos = 0;
//Check if we should process this message
//We reject the message if we are the sender
//We reject if we are not the receiver and message is not a broadcast
if ((_recSender == _nodeId) ||
(_recStation != _nodeId &&
_recStation != BROADCAST_ADDRESS)) {
_dev.print(" wrongid: ");
_dev.print(_recStation);
_dev.print(" - ");
_dev.println(_nodeId);
_serialReset();
break;
}
if (_recLen == 0) {
_recPhase = 2;
}
}
break;
// Case 1 receives the data portion of the packet. Read in "_recLen" number
// of bytes and store them in the _data array.
case 1:
_data[_recPos++] = inch;
_recCalcCS += inch;
if (_recPos == _recLen) {
_recPhase = 2;
}
break;
// After the data comes a single ETX character. Do we have it? If not,
// reset the state machine to default and start looking for a new header.
case 2:
// Packet properly terminated?
if (inch == ETX) {
_recPhase = 3;
} else {
_serialReset();
}
break;
// Next comes the checksum. We have already calculated it from the incoming
// data, so just store the incoming checksum byte for later.
case 3:
_recCS = inch;
_recPhase = 4;
break;
// The final state - check the last character is EOT and that the checksum matches.
// If that test passes, then look for a valid command callback to execute.
// Execute it if found.
case 4:
if (inch == EOT) {
if (_recCS == _recCalcCS) {
// First, check for system level commands. It is possible
// to register your own callback as well for system level
// commands which will be called after the system default
// hook.
switch (_recCommand) {
case ICSC_SYS_PACK:
_packet_from = _recSender;
_packet_len = _recLen;
_packet_received = true;
break;
}
}
}
//Clear the data
_serialReset();
//Return true, we have processed one command
return true;
break;
}
}
return true;
}
// turn the LED off
void Atlas::off() {
_atlas.print( "l0\r" );
}
// turn the LED on
void Atlas::on() {
_atlas.print( "l1\r" );
}