1.串口通信样例
本文以tinyos-2.1.1下的TestSerial样例程序为例;
其路径为/opt/tinyos-2.1.1/apps/tests/TestSerial
TestSerialAppC.nc
#include "TestSerial.h"
configuration TestSerialAppC {}
implementation {
components TestSerialC as App, LedsC, MainC;
components SerialActiveMessageC as AM;
components new TimerMilliC();
App.Boot -> MainC.Boot;
App.Control -> AM;
App.Receive -> AM.Receive[AM_TEST_SERIAL_MSG];
App.AMSend -> AM.AMSend[AM_TEST_SERIAL_MSG];
App.Leds -> LedsC;
App.MilliTimer -> TimerMilliC;
App.Packet -> AM;
}
TestSerialC.nc
#include "Timer.h"
#include "TestSerial.h"
module TestSerialC {
uses {
interface SplitControl as Control;
interface Leds;
interface Boot;
interface Receive;
interface AMSend;
interface Timer<TMilli> as MilliTimer;
interface Packet;
}
}
implementation {
message_t packet;
bool locked = FALSE;
uint16_t counter = 0;
event void Boot.booted() {
call Control.start();
}
event void MilliTimer.fired() {
counter++;
if (locked) {
return;
}
else {
test_serial_msg_t* rcm = (test_serial_msg_t*)call Packet.getPayload(&packet, sizeof(test_serial_msg_t));
if (rcm == NULL) {return;}
if (call Packet.maxPayloadLength() < sizeof(test_serial_msg_t)) {
return;
}
rcm->counter = counter;
if (call AMSend.send(AM_BROADCAST_ADDR, &packet, sizeof(test_serial_msg_t)) == SUCCESS) {
locked = TRUE;
}
}
}
event message_t* Receive.receive(message_t* bufPtr,
void* payload, uint8_t len) {
if (len != sizeof(test_serial_msg_t)) {return bufPtr;}
else {
test_serial_msg_t* rcm = (test_serial_msg_t*)payload;
if (rcm->counter & 0x1) {
call Leds.led0On();
}
else {
call Leds.led0Off();
}
if (rcm->counter & 0x2) {
call Leds.led1On();
}
else {
call Leds.led1Off();
}
if (rcm->counter & 0x4) {
call Leds.led2On();
}
else {
call Leds.led2Off();
}
return bufPtr;
}
}
event void AMSend.sendDone(message_t* bufPtr, error_t error) {
if (&packet == bufPtr) {
locked = FALSE;
}
}
event void Control.startDone(error_t err) {
if (err == SUCCESS) {
call MilliTimer.startPeriodic(1000);
}
}
event void Control.stopDone(error_t err) {}
}
TestSerial.h
#ifndef TEST_SERIAL_H
#define TEST_SERIAL_H
typedef nx_struct test_serial_msg {
nx_uint16_t counter;
} test_serial_msg_t;
enum {
AM_TEST_SERIAL_MSG = 0x89,
};
#endif
2.编译烧录程序
cd /opt/tinyos-2.1.1/apps/tests/TestSerial //进入目录
make telosb install //编译烧录
3.获取节点发送的串口数据
1)Ubuntu下的Listen监听
使用tinyos自带的Listen工具监听节点发送给我们的数据包
命令为:
java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB0:telosb
其结果如下图所示:
2)windows下的串口工具监听
使用windows下的串口工具监听节点发送给我们的数据包
其结果如下图所示:
4.节点数据的简易分析
可以看出节点发送的真实数据包为:
7E 45 00 FF FF 00 00 02 00 89 00 F0 FE DB 7E
这与TinyOS的TEP技术文档中的TEP113中介绍的一致
即可以分解为如下几个部分:
7E 45 00 FF FF 00 00 02 00 89 00 F0 FE DB 7E
-
F 包头帧 7E 数据包的开头与结尾标志位
-
P 协议帧 45 代表数据是否需要应答信号,44表示需要应答的节点接收数据,45则表示节点发送的数据。在serial.h头文件中有定义SERIAL_PROTO_PACKET_NOACK = 69。
-
S 序号帧 序号字节,与SerialP.nc有关
其中没有S位的原因见TEP的原文:
SerialP uses SerialFrameComm to send a delimiter between frames, a serial-level type field, the bytes of the packet, and a two-byte frame CRC. For mote-to-host gap detection and link reliability, a sequence number may also be sent (not activated in the default implementation). -
D 包类帧 00 包格式的分派字节,与SerialDispatcherC.nc相关,用于串口分发,AM消息默认为0,TOS_SERIAL_ACTIVE_MESSAGE_ID = 0
-
Payload 负载帧 FF FF 00 00 02 00 89 00 F0 表示的是发送的payload数据段
FF FF dest 目的地地址
00 00 src源地址,T2.0默认不填充该部分,所以为0
02 length就是后面data载荷长度
00 group 在T2.0中注释掉了,不填充,故为0
89 type
注意:7E->7D 5E,7D->7D 5D -
CR 校验帧 FE DB 由CRC校验产生的校验位,低位在前,高位在后
-
F 包尾帧 7E
5.crc校验方法
uint16_t crcByte(uint16_t crc, uint8_t b) {
crc = (uint8_t)(crc >> 8) | (crc << 8);
crc ^= b;
crc ^= (uint8_t)(crc & 0xff) >> 4;
crc ^= crc << 12;
crc ^= (crc & 0xff) << 5;
return crc;
}
6.接收与发送的区别
7E 45 00 X1 X2 00 00 X3 00 X4 Payload(AM) F1 F2 7E <<==PC上接收到的
7E 44 00 00 X1 X2 00 00 X3 00 X4 Payload(AM) F1 F2 7E <<==PC发往节点的
两点区别:
1,PROTO由45换成了44,44=SERIAL_PROTO_PACKET_ACK,由于T2.0中只支持ACK方式的接收
2,增加了分发字段 00 ,主要是由于在SerialP的接收状态机中增加了RXSTATE_TOKEN,且在触发SerialDispatcherC时,用于分发标识。反正固定写00下面就能正确接收了