Driver to send and receive unaddressed, unreliable datagrams via a serial connection. More...

#include <RH_Serial.h>

Inheritance diagram for RH_Serial:

Public Member Functions
	RH_Serial (HardwareSerial &serial)

HardwareSerial &	serial ()

virtual bool	init ()

virtual bool	available ()

virtual void	waitAvailable (uint16_t polldelay=0)

virtual bool	waitAvailableTimeout (uint16_t timeout, uint16_t polldelay=0)

virtual bool	recv (uint8_t buf, uint8_t len)

virtual bool	send (const uint8_t *data, uint8_t len)

virtual uint8_t	maxMessageLength ()

Public Member Functions inherited from RHGenericDriver
	RHGenericDriver ()
	Constructor.

virtual	~RHGenericDriver ()
	Generic destructor to prevent warnings when objects are dynamically allocated.

virtual bool	init ()

virtual bool	available ()=0

virtual bool	recv (uint8_t buf, uint8_t len)=0

virtual bool	send (const uint8_t *data, uint8_t len)=0

virtual uint8_t	maxMessageLength ()=0

virtual void	waitAvailable (uint16_t polldelay=0)

virtual bool	waitPacketSent ()

virtual bool	waitPacketSent (uint16_t timeout)

virtual bool	waitAvailableTimeout (uint16_t timeout, uint16_t polldelay=0)

virtual bool	waitCAD ()

void	setCADTimeout (unsigned long cad_timeout)

virtual bool	isChannelActive ()

virtual void	setThisAddress (uint8_t thisAddress)

virtual void	setHeaderTo (uint8_t to)

virtual void	setHeaderFrom (uint8_t from)

virtual void	setHeaderId (uint8_t id)

virtual void	setHeaderFlags (uint8_t set, uint8_t clear=RH_FLAGS_APPLICATION_SPECIFIC)

virtual void	setPromiscuous (bool promiscuous)

virtual uint8_t	headerTo ()

virtual uint8_t	headerFrom ()

virtual uint8_t	headerId ()

virtual uint8_t	headerFlags ()

virtual int16_t	lastRssi ()

virtual RHMode	mode ()

virtual void	setMode (RHMode mode)
	Sets the operating mode of the transport. More...

virtual bool	sleep ()

virtual uint16_t	rxBad ()

virtual uint16_t	rxGood ()

virtual uint16_t	txGood ()

Protected Types
enum	RxState { RxStateInitialising = 0 , RxStateIdle , RxStateDLE , RxStateData , RxStateEscape , RxStateWaitFCS1 , RxStateWaitFCS2 }
	Defines different receiver states in teh receiver state machine. More...

Protected Member Functions
void	handleRx (uint8_t ch)

void	clearRxBuf ()
	Empties the Rx buffer.

void	appendRxBuf (uint8_t ch)
	Adds a charater to the Rx buffer.

void	validateRxBuf ()

void	txData (uint8_t ch)

Protected Attributes
HardwareSerial &	_serial
	Reference to the HardwareSerial port we will use.

RxState	_rxState
	The current state of the Rx state machine.

uint16_t	_rxFcs
	Progressive FCS calc (CCITT CRC-16 covering all received data (but not stuffed DLEs), plus trailing DLE, ETX)

uint16_t	_rxRecdFcs
	The received FCS at the end of the current message.

uint8_t	_rxBuf [RH_SERIAL_MAX_PAYLOAD_LEN]
	The Rx buffer.

uint8_t	_rxBufLen
	Current length of data in the Rx buffer.

bool	_rxBufValid
	True if the data in the Rx buffer is value and uncorrupted and complete message is available for collection.

uint16_t	_txFcs
	FCS for transmitted data.

Protected Attributes inherited from RHGenericDriver
volatile RHMode	_mode
	The current transport operating mode.

uint8_t	_thisAddress
	This node id.

bool	_promiscuous
	Whether the transport is in promiscuous mode.

volatile uint8_t	_rxHeaderTo
	TO header in the last received mesasge.

volatile uint8_t	_rxHeaderFrom
	FROM header in the last received mesasge.

volatile uint8_t	_rxHeaderId
	ID header in the last received mesasge.

volatile uint8_t	_rxHeaderFlags
	FLAGS header in the last received mesasge.

uint8_t	_txHeaderTo
	TO header to send in all messages.

uint8_t	_txHeaderFrom
	FROM header to send in all messages.

uint8_t	_txHeaderId
	ID header to send in all messages.

uint8_t	_txHeaderFlags
	FLAGS header to send in all messages.

volatile int16_t	_lastRssi
	The value of the last received RSSI value, in some transport specific units.

volatile uint16_t	_rxBad
	Count of the number of bad messages (eg bad checksum etc) received.

volatile uint16_t	_rxGood
	Count of the number of successfully transmitted messaged.

volatile uint16_t	_txGood
	Count of the number of bad messages (correct checksum etc) received.

volatile bool	_cad
	Channel activity detected.

unsigned int	_cad_timeout
	Channel activity timeout in ms.

Additional Inherited Members
Public Types inherited from RHGenericDriver
enum	RHMode { RHModeInitialising = 0 , RHModeSleep , RHModeIdle , RHModeTx , RHModeRx , RHModeCad }
	Defines different operating modes for the transport hardware. More...

Static Public Member Functions inherited from RHGenericDriver
static void	printBuffer (const char prompt, const uint8_t buf, uint8_t len)

Detailed Description

Driver to send and receive unaddressed, unreliable datagrams via a serial connection.

This class sends and received packetized messages over a serial connection. It can be used for point-to-point or multidrop, RS232, RS488 or other serial connections as supported by your controller hardware. It can also be used to communicate via radios with serial interfaces such as:

APC220 Radio Data Module http://www.dfrobot.com/image/data/TEL0005/APC220_Datasheet.pdf http://www.dfrobot.com/image/data/TEL0005/APC220_Datasheet.pdf
3DR Telemetry Radio https://store.3drobotics.com/products/3dr-radio
HopeRF HM-TR module http://www.hoperf.com/upload/rf_app/HM-TRS.pdf
Others

Compiles and runs on Linux, OSX and all the microprocessers and MCUs suported by radiohead. On Linux and OSX, a RadioHead specific version of HardwareSerial (in RHutil/HardwareSerial.*) encapsulates access to any serial port (or suported USB-serial converter)

The packetised messages include message encapsulation, headers, a message payload and a checksum. It therefore can support robust binary message passing with error-detection and retransmission when used with the appropriate manager. This allows reliable serial communicaitons even over very long lines where noise might otherwise affect reliablity of the communications.

Packet Format

All messages sent and received by this RH_Serial Driver conform to this packet format:

DLE 
STX
TO Header                (1 octet)
FROM Header              (1 octet)
ID Header                (1 octet)
FLAGS Header             (1 octet)
Message payload          (0 to 60 octets)
DLE
ETX
Frame Check Sequence FCS CCITT CRC-16 (2 octets)

If any of octets from TO header through to the end of the payload are a DLE, then they are preceded by a DLE (ie DLE stuffing). The FCS covers everything from the TO header to the ETX inclusive, but not any stuffed DLEs

Physical connection

The physical connection to your serial port will depend on the type of platform you are on.

For example, many arduinos only support a single Serial port on pins 0 and 1, which is shared with the USB host connections. On such Arduinos, it is not possible to use both RH_Serial on the Serial port as well as using the Serial port for debugand other printing or communications.

On Arduino Mega and Due, there are 4 serial ports:

Serial: this is the serial port connected to the USB interface and the programming host.
Serial1: on pins 18 (Tx) and 19 (Rx)
Serial2: on pins 16 (Tx) and 17 (Rx)
Serial3: on pins 14 (Tx) and 15 (Rx)

On Uno32, there are 2 serial ports:

SerialUSB: this is the port for the USB host connection.
Serial1: on pins 39 (Rx) and 40 (Tx)

On Maple and Flymaple, there are 4 serial ports:

SerialUSB: this is the port for the USB host connection.
Serial1: on pins 7 (Tx) and 8 (Rx)
Serial2: on pins 0 (Rx) and 1 (Tx)
Serial3: on pins 29 (Tx) and 30 (Rx)

On Linux and OSX there can be any number of serial ports.

On Linux, names like /dev/ttyUSB0 (for a FTDO USB-serial converter)
On OSX, names like /dev/tty.usbserial-A501YSWL (for a FTDO USB-serial converter)

On STM32 F4 Discovery with Arduino and Arduino_STM32, there are 4 serial ports. We had success with port 2 (TX on pin PA2 and RX on pin PA3) and initialising the driver like this: RH_Serial driver(Serial2);

Note that it is necessary for you to select which Serial port your RF_Serial will use and pass it to the contructor. On Linux you must pass an instance of HardwareSerial.

Testing

You can test this class and the RHReliableDatagram manager on Unix and OSX with back-to-back connected FTDI USB-serial adapters. Back-to-back means the TX of one is connected to the RX of the other and vice-versa. You should also join the ground pins.

Assume the 2 USB-serial adapters are connected by USB and have been assigned device names: /dev/ttyUSB0 and /dev/ttyUSB1. Build the example RHReliableDatagram client and server programs:

tools/simBuild examples/serial/serial_reliable_datagram_server/serial_reliable_datagram_server.ino

tools/simBuild examples/serial/serial_reliable_datagram_client/serial_reliable_datagram_client.ino

RH_Serial::serial

HardwareSerial & serial()

In one window run the server, specifying the device to use as an environment variable:

RH_HARDWARESERIAL_DEVICE_NAME=/dev/ttyUSB1 ./serial_reliable_datagram_server

And in another window run the client, specifying the other device to use as an environment variable:

RH_HARDWARESERIAL_DEVICE_NAME=/dev/ttyUSB0 ./serial_reliable_datagram_client

You should see the 2 programs passing messages to each other.

Member Enumeration Documentation

◆ RxState

enum RH_Serial::RxState

protected

Defines different receiver states in teh receiver state machine.

Enumerator
RxStateInitialising	Before init() is called.
RxStateIdle	Waiting for an STX.
RxStateDLE	Waiting for the DLE after STX.
RxStateData	Receiving data.
RxStateEscape	Got a DLE while receiving data.
RxStateWaitFCS1	Got DLE ETX, waiting for first FCS octet.
RxStateWaitFCS2	Waiting for second FCS octet.

Constructor & Destructor Documentation

◆ RH_Serial()

RH_Serial::RH_Serial ( HardwareSerial & serial )

Constructor

Parameters

[in] serial Reference to the HardwareSerial port which will be used by this instance. On Unix and OSX, this is an instance of RHutil/HardwareSerial. On Arduino and other, it is an instance of the built in HardwareSerial class.

Member Function Documentation

◆ available()

virtual bool RH_Serial::available ( )

virtual

Tests whether a new message is available This can be called multiple times in a timeout loop.

Returns: true if a new, complete, error-free uncollected message is available to be retreived by recv()

Implements RHGenericDriver.

◆ handleRx()

void RH_Serial::handleRx ( uint8_t ch )

protected

HAndle a character received from the serial port. IMplements the receiver state machine

◆ init()

virtual bool RH_Serial::init ( )

virtual

Initialise the Driver transport hardware and software. Make sure the Driver is properly configured before calling init().

Returns: true if initialisation succeeded.

Reimplemented from RHGenericDriver.

◆ maxMessageLength()

virtual uint8_t RH_Serial::maxMessageLength ( )

virtual

Returns the maximum message length available in this Driver.

Returns: The maximum legal message length

Implements RHGenericDriver.

◆ recv()

virtual bool RH_Serial::recv	(	uint8_t *	buf,
		uint8_t *	len
	)

virtual

If there is a valid message available, copy it to buf and return true else return false. If a message is copied, *len is set to the length (Caution, 0 length messages are permitted). You should be sure to call this function frequently enough to not miss any messages It is recommended that you call it in your main loop.

Parameters

[in]	buf	Location to copy the received message
[in,out]	len	Pointer to the number of octets available in buf. The number be reset to the actual number of octets copied.

Returns: true if a valid message was copied to buf

Implements RHGenericDriver.

◆ send()

virtual bool RH_Serial::send	(	const uint8_t *	data,
		uint8_t	len
	)

virtual

Waits until any previous transmit packet is finished being transmitted with waitPacketSent(). Then loads a message into the transmitter and starts the transmitter. Note that a message length of 0 is NOT permitted.

Parameters

[in]	data	Array of data to be sent
[in]	len	Number of bytes of data to send (> 0)

Returns: true if the message length was valid and it was correctly queued for transmit

Implements RHGenericDriver.

◆ serial()

HardwareSerial & RH_Serial::serial ( )

Return the HardwareSerial port in use by this instance

Returns: The current HardwareSerial as a reference

◆ txData()

void RH_Serial::txData ( uint8_t ch )

protected

Sends a single data octet to the serial port. Implements DLE stuffing and keeps track of the senders FCS

◆ validateRxBuf()

void RH_Serial::validateRxBuf ( )

protected

Checks whether the Rx buffer contains valid data that is complete and uncorrupted Check the FCS, the TO address, and extracts the headers

◆ waitAvailable()

virtual void RH_Serial::waitAvailable ( uint16_t polldelay = 0 )

virtual

Wait until a new message is available from the driver. Blocks until a complete message is received as reported by available()

Parameters

[in] polldelay Time between polling available() in milliseconds. This can be useful in multitaking environment like Linux to prevent waitAvailableTimeout using all the CPU while polling for receiver activity

Reimplemented from RHGenericDriver.

◆ waitAvailableTimeout()

virtual bool RH_Serial::waitAvailableTimeout	(	uint16_t	timeout,
		uint16_t	polldelay = `0`
	)

virtual

Wait until a new message is available from the driver or the timeout expires. Blocks until a complete message is received as reported by available() or the timeout expires.

Parameters

[in]	timeout	The maximum time to wait in milliseconds
[in]	polldelay	Time between polling available() in milliseconds. This can be useful in multitaking environment like Linux to prevent waitAvailableTimeout using all the CPU while polling for receiver activity

Returns: true if a message is available as reported by available(), false on timeout.

Reimplemented from RHGenericDriver.

The documentation for this class was generated from the following file:

RH_Serial.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ RxState

Constructor & Destructor Documentation

◆ RH_Serial()

Member Function Documentation

◆ available()

◆ handleRx()

◆ init()

◆ maxMessageLength()

◆ recv()

◆ send()

◆ serial()

◆ txData()

◆ validateRxBuf()

◆ waitAvailable()

◆ waitAvailableTimeout()