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[ZigBee] 16、Zigbee协议栈应用（二）——基于OSAL的无线控制LED闪烁分析（下）

news 来源：原创 2024/5/3 19:03:51

说在前面：上一篇介绍了无线LED闪烁实现的OSAL部分，本篇介绍如何实现无线数据收发及数据处理：

上一篇是用SI跟着流程查看源码，我个人认为以架构的思维去了解代码能让人更清晰

：：ZMain.c程序入口文件

这里chipcon_cstartup.s51是汇编的启动文件，ZMain.c相当于main文件，里面有main函数：

 1 int main( void )
 2 {
 3     osal_int_disable( INTS_ALL );// Turn off interrupts         关中断
 4     HAL_BOARD_INIT();// Initialization for board related stuff such as LEDs
 5     zmain_vdd_check();// Make sure supply voltage is high enough to run   检查芯片是否上电正常
 6     InitBoard( OB_COLD );// Initialize board I/O  初始化I/O，LED，Timer等
 7     HalDriverInit();// Initialze HAL drivers 初始化硬件抽象层驱动模块
 8     osal_nv_init( NULL );// Initialize NV System 初始化flash存储器
 9     znpTestRF();// Initialize and check the ZNP RF Test Mode NV items. 
10     ZMacInit();// Initialize the MAC  初始化MAC层
11     zmain_ext_addr();// Determine the extended address  确定IEEE64位地址
12 
13 #if defined ZCL_KEY_ESTABLISH
14     zmain_cert_init();// Initialize the Certicom certificate information.
15 #endif
16 
17     zgInit();// Initialize basic NV items  初始化非易失变量
18 
19 #ifndef NONWK
20     afInit();// Since the AF isn't a task, call it's initialization routine
21 #endif
22 
23     osal_init_system();// Initialize the operating system     初始化OS（重点介绍1）
24     osal_int_enable( INTS_ALL );// Allow interrupts       使能中断
25     InitBoard( OB_READY );// Final board initialization      最终板载初始化
26     zmain_dev_info();// Display information about this device     显示设备信息（这里有LCD屏幕）
27 
28 #ifdef LCD_SUPPORTED/* Display the device info on the LCD 将信息显示在LCD上*/
29     zmain_lcd_init();      
30 #endif
31 
32 #ifdef WDT_IN_PM1
33     WatchDogEnable( WDTIMX );/* If WDT is used, this is a good place to enable it. */
34 #endif
35 
36     osal_start_znp(); // No Return from here    执行操作系统（重点介绍2）
37 
38     return 0;  // Shouldn't get here.
39 } // main()

main主要是初始化，然后启动OS，进入大循环，根据任务优先级处理相应任务。

：：OSAL_SampleApp.c任务数组及任务初始化文件

上篇讲到main函数核心有：

初始化最核心的是OSAL任务初始化：（这里的tasksArr是所有任务的索引，后文还会介绍）

 1 /*********************************************************************
 2  * GLOBAL VARIABLES
 3  */
 4 
 5 // The order in this table must be identical to the task initialization calls below in osalInitTask.
 6 const pTaskEventHandlerFn tasksArr[] =
 7 {
 8     macEventLoop,
 9     nwk_event_loop,
10     Hal_ProcessEvent,
11 #if defined( MT_TASK )
12     MT_ProcessEvent,
13 #endif
14     APS_event_loop,
15 #if defined ( ZIGBEE_FRAGMENTATION )
16     APSF_ProcessEvent,
17 #endif
18     ZDApp_event_loop,
19 #if defined ( ZIGBEE_FREQ_AGILITY ) || defined ( ZIGBEE_PANID_CONFLICT )
20     ZDNwkMgr_event_loop,
21 #endif
22     SampleApp_ProcessEvent
23 };
24 
25 const uint8 tasksCnt = sizeof( tasksArr ) / sizeof( tasksArr[0] );
26 uint16 *tasksEvents;
27 
28 /*********************************************************************
29  * FUNCTIONS
30  *********************************************************************/
31 
32 /*********************************************************************
33  * @fn      osalInitTasks
34  *
35  * @brief   This function invokes the initialization function for each task.
36  *
37  * @param   void
38  *
39  * @return  none
40  */
41 void osalInitTasks( void )
42 {
43     uint8 taskID = 0;
44 
45     // 分配内存，返回指向缓冲区的指针
46     tasksEvents = (uint16 *)osal_mem_alloc( sizeof( uint16 ) * tasksCnt);
47     // 设置所分配的内存空间单元值为0
48     osal_memset( tasksEvents, 0, (sizeof( uint16 ) * tasksCnt));
49 
50     // 任务优先级由高向低依次排列，高优先级对应taskID 的值反而小
51     macTaskInit( taskID++ );  //macTaskInit(0) ，用户不需考虑
52     nwk_init( taskID++ );     //nwk_init(1)，用户不需考虑
53     Hal_Init( taskID++ );     //Hal_Init(2) ，用户需考虑
54 #if defined( MT_TASK )
55     MT_TaskInit( taskID++ );
56 #endif
57     APS_Init( taskID++ );      //APS_Init(3) ，用户不需考虑
58 #if defined ( ZIGBEE_FRAGMENTATION )
59     APSF_Init( taskID++ );
60 #endif
61     ZDApp_Init( taskID++ );    //ZDApp_Init(4) ，用户需考虑
62 #if defined ( ZIGBEE_FREQ_AGILITY ) || defined ( ZIGBEE_PANID_CONFLICT )
63     ZDNwkMgr_Init( taskID++ );
64 #endif
65     //用户创建的任务
66     SampleApp_Init( taskID );  // SampleApp_Init _Init(5) ，用户需考虑
67 }

：：SampApp.c文件APP任务实现文件

承接上面66行，SampleApp_Init( uint8 task_id )负责初始化本工程定制化任务无线LED闪烁相关的初始化工作：

 1 void SampleApp_Init( uint8 task_id )
 2 { 
 3   SampleApp_TaskID = task_id;   //osal分配的任务ID随着用户添加任务的增多而改变
 4   SampleApp_NwkState = DEV_INIT;//设备状态设定为ZDO层中定义的初始化状态
 5   SampleApp_TransID = 0;        //消息发送ID（多消息时有顺序之分）
 6   
 7   // Device hardware initialization can be added here or in main() (Zmain.c).
 8   // If the hardware is application specific - add it here.
 9   // If the hardware is other parts of the device add it in main().
10 
11  #if defined ( BUILD_ALL_DEVICES )
12   // The "Demo" target is setup to have BUILD_ALL_DEVICES and HOLD_AUTO_START
13   // We are looking at a jumper (defined in SampleAppHw.c) to be jumpered
14   // together - if they are - we will start up a coordinator. Otherwise,
15   // the device will start as a router.
16   if ( readCoordinatorJumper() )
17     zgDeviceLogicalType = ZG_DEVICETYPE_COORDINATOR;
18   else
19     zgDeviceLogicalType = ZG_DEVICETYPE_ROUTER;
20 #endif // BUILD_ALL_DEVICES
21 
22 //该段的意思是，如果设置了HOLD_AUTO_START宏定义，将会在启动芯片的时候会暂停启动
23 //流程，只有外部触发以后才会启动芯片。其实就是需要一个按钮触发它的启动流程。  
24 #if defined ( HOLD_AUTO_START )
25   // HOLD_AUTO_START is a compile option that will surpress ZDApp
26   //  from starting the device and wait for the application to
27   //  start the device.
28   ZDOInitDevice(0);
29 #endif
30 
31   // Setup for the periodic message's destination address 设置发送数据的方式和目的地址寻址模式
32   // Broadcast to everyone 发送模式:广播发送
33   SampleApp_Periodic_DstAddr.addrMode = (afAddrMode_t)AddrBroadcast;//广播
34   SampleApp_Periodic_DstAddr.endPoint = SAMPLEAPP_ENDPOINT; //指定端点号
35   SampleApp_Periodic_DstAddr.addr.shortAddr = 0xFFFF;//指定目的网络地址为广播地址
36 
37   // Setup for the flash command's destination address - Group 1 组播发送
38   SampleApp_Flash_DstAddr.addrMode = (afAddrMode_t)afAddrGroup; //组寻址
39   SampleApp_Flash_DstAddr.endPoint = SAMPLEAPP_ENDPOINT; //指定端点号
40   SampleApp_Flash_DstAddr.addr.shortAddr = SAMPLEAPP_FLASH_GROUP;//组号0x0001
41 
42   // Fill out the endpoint description. 定义本设备用来通信的APS层端点描述符
43   SampleApp_epDesc.endPoint = SAMPLEAPP_ENDPOINT; //指定端点号
44   SampleApp_epDesc.task_id = &SampleApp_TaskID;   //SampleApp 描述符的任务ID
45   SampleApp_epDesc.simpleDesc
46             = (SimpleDescriptionFormat_t *)&SampleApp_SimpleDesc;//SampleApp简单描述符
47   SampleApp_epDesc.latencyReq = noLatencyReqs;    //延时策略
48 
49   // Register the endpoint description with the AF
50   afRegister( &SampleApp_epDesc );    //向AF层登记描述符
51 
52   // Register for all key events - This app will handle all key events
53   RegisterForKeys( SampleApp_TaskID ); // 登记所有的按键事件
54 
55   // By default, all devices start out in Group 1
56   SampleApp_Group.ID = 0x0001;//组号
57   osal_memcpy( SampleApp_Group.name, "Group 1", 7  );//设定组名
58   aps_AddGroup( SAMPLEAPP_ENDPOINT, &SampleApp_Group );//把该组登记添加到APS中
59 
60 #if defined ( LCD_SUPPORTED )
61   HalLcdWriteString( "SampleApp", HAL_LCD_LINE_1 ); //如果支持LCD，显示提示信息
62 #endif
63 }

SampleApp_Init( uint8 task_id )

上篇讲过OS启动后进入大循环，扫描当前优先级最高的任务执行！

其中若osal_run_task执行了本工程定制化任务的消息，通过调用tasksArr[idx]（上面 OSAL_SampleApp.c中讲的任务数组）就相当于调用了SampleApp_ProcessEvent函数，将消息传送给任务处理函数：

 1 //用户应用任务的事件处理函数
 2 uint16 SampleApp_ProcessEvent( uint8 task_id, uint16 events )
 3 {
 4     afIncomingMSGPacket_t *MSGpkt;
 5     (void)task_id;  // Intentionally unreferenced parameter
 6 
 7     if ( events & SYS_EVENT_MSG ) //接收系统消息再进行判断
 8     {
 9         //接收属于本应用任务SampleApp的消息，以SampleApp_TaskID标记
10         MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( SampleApp_TaskID );
11         while ( MSGpkt )
12         {
13             switch ( MSGpkt->hdr.event )
14             {
15             // Received when a key is pressed
16             case KEY_CHANGE://按键事件
17                 SampleApp_HandleKeys( ((keyChange_t *)MSGpkt)->state, ((keyChange_t *)MSGpkt)->keys );
18                 break;
19 
20             // Received when a messages is received (OTA) for this endpoint
21             case AF_INCOMING_MSG_CMD://接收数据事件,调用函数AF_DataRequest()接收数据
22                 SampleApp_MessageMSGCB( MSGpkt );//调用回调函数对收到的数据进行处理（1、数据发送函数）
23                 break;
24 
25             // Received whenever the device changes state in the network
26             case ZDO_STATE_CHANGE:
27                 //只要网络状态发生改变，就通过ZDO_STATE_CHANGE事件通知所有的任务。
28                 //同时完成对协调器，路由器，终端的设置
29                 SampleApp_NwkState = (devStates_t)(MSGpkt->hdr.status);
30                 //if ( (SampleApp_NwkState == DEV_ZB_COORD)//实验中协调器只接收数据所以取消发送事件
31                 if ( (SampleApp_NwkState == DEV_ROUTER) || (SampleApp_NwkState == DEV_END_DEVICE) )
32                 {
33                     // Start sending the periodic message in a regular interval.
34                     //这个定时器只是为发送周期信息开启的，设备启动初始化后从这里开始
35                     //触发第一个周期信息的发送，然后周而复始下去
36                     osal_start_timerEx( SampleApp_TaskID,
37                                         SAMPLEAPP_SEND_PERIODIC_MSG_EVT,
38                                         SAMPLEAPP_SEND_PERIODIC_MSG_TIMEOUT );
39                 }
40                 else
41                 {
42                     // Device is no longer in the network
43                 }
44                 break;
45 
46             default:
47                 break;
48             }
49 
50             // Release the memory 事件处理完了，释放消息占用的内存
51             osal_msg_deallocate( (uint8 *)MSGpkt );
52 
53             // Next - if one is available 指针指向下一个放在缓冲区的待处理的事件，
54             //返回while ( MSGpkt )重新处理事件，直到缓冲区没有等待处理事件为止
55             MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( SampleApp_TaskID );
56         }
57 
58         // return unprocessed events 返回未处理的事件
59         return (events ^ SYS_EVENT_MSG);
60     }
61 
62     // Send a message out - This event is generated by a timer
63     //  (setup in SampleApp_Init()).
64     if ( events & SAMPLEAPP_SEND_PERIODIC_MSG_EVT )
65     {
66         // Send the periodic message 处理周期性事件，
67         //利用SampleApp_SendPeriodicMessage()处理完当前的周期性事件，然后启动定时器
68         //开启下一个周期性事情，这样一种循环下去，也即是上面说的周期性事件了，
69         //可以做为传感器定时采集、上传任务
70         SampleApp_SendPeriodicMessage();
71 
72         // Setup to send message again in normal period (+ a little jitter)
73         osal_start_timerEx( SampleApp_TaskID, SAMPLEAPP_SEND_PERIODIC_MSG_EVT,
74                             (SAMPLEAPP_SEND_PERIODIC_MSG_TIMEOUT + (osal_rand() & 0x00FF)) );
75 
76         // return unprocessed events 返回未处理的事件
77         return (events ^ SAMPLEAPP_SEND_PERIODIC_MSG_EVT);
78     }
79 
80     // Discard unknown events
81     return 0;
82 }

接收函数：

 1 //接收数据，参数为接收到的数据
 2 void SampleApp_MessageMSGCB( afIncomingMSGPacket_t *pkt )
 3 {
 4     uint16 flashTime;
 5     byte buf[3];
 6 
 7     switch ( pkt->clusterId ) //判断簇ID
 8     {
 9     case SAMPLEAPP_PERIODIC_CLUSTERID: //收到广播数据
10         osal_memset(buf, 0 , 3);
11         osal_memcpy(buf, pkt->cmd.Data, 2); //复制数据到缓冲区中
12 
13         if(buf[0] == 'D' && buf[1] == '1')  //判断收到的数据是否为"D1"
14         {
15             HalLedBlink(HAL_LED_1, 0, 50, 500);//如果是则Led1间隔500ms闪烁
16 #if defined(ZDO_COORDINATOR) //协调器收到"D1"后,返回"D1"给终端，让终端Led1也闪烁
17             SampleApp_SendPeriodicMessage();
18 #endif
19         }
20         else
21         {
22             HalLedSet(HAL_LED_1, HAL_LED_MODE_ON);
23         }
24         break;
25 
26     case SAMPLEAPP_FLASH_CLUSTERID: //收到组播数据
27         flashTime = BUILD_UINT16(pkt->cmd.Data[1], pkt->cmd.Data[2] );
28         HalLedBlink( HAL_LED_4, 4, 50, (flashTime / 4) );
29         break;
30     }
31 }

发送函数：

 1 //分析发送周期信息
 2 void SampleApp_SendPeriodicMessage( void )
 3 {
 4     byte SendData[3] = "D1";
 5 
 6     // 调用AF_DataRequest将数据无线广播出去
 7     if( AF_DataRequest( &SampleApp_Periodic_DstAddr,//发送目的地址＋端点地址和传送模式
 8                         &SampleApp_epDesc,//源(答复或确认)终端的描述（比如操作系统中任务ID等）源EP
 9                         SAMPLEAPP_PERIODIC_CLUSTERID, //被Profile指定的有效的集群号
10                         2,       // 发送数据长度
11                         SendData,// 发送数据缓冲区
12                         &SampleApp_TransID,     // 任务ID号
13                         AF_DISCV_ROUTE,      // 有效位掩码的发送选项
14                         AF_DEFAULT_RADIUS ) == afStatus_SUCCESS )  //传送跳数，通常设置为AF_DEFAULT_RADIUS
15     {
16     }
17     else
18     {
19         HalLedSet(HAL_LED_1, HAL_LED_MODE_ON);
20         // Error occurred in request to send.
21     }
22 }