Diff: xbee.cpp

Revision:

9:902d0f74333c

Parent:

8:ba349a2eeb37

Child:

10:dac25a0076f5

Child:

15:04e892ae9361

diff -r ba349a2eeb37 -r 902d0f74333c xbee.cpp
--- a/xbee.cpp	Tue Feb 14 04:25:55 2017 +0000
+++ b/xbee.cpp	Tue Feb 14 19:47:20 2017 +0000
@@ -11,6 +11,15 @@
     wait(3);    // waiting for initiation
 }
 
+char XBee::getChar()
+{
+    while (!comm.readable())
+    {
+        wait(0.02);
+    }
+    return comm.getc();
+}
+
 void XBee::pcPrint(char* c)
 {
     int i = 0;
@@ -111,7 +120,6 @@
         
         while (i < paramLen)
         {
-            mail->put(&(optionalParam)[i]);
             cmdtosend[7 + i] = (optionalParam)[i];
             i++;
         }
@@ -135,7 +143,7 @@
         i++;
     }
     
-    wait(0.1);
+    wait(0.2);
 }
 
 char* XBee::InterpretMessage()
@@ -144,35 +152,37 @@
     
     if (comm.readable())
     {
-        
-        char start = comm.getc(); // = FRAMEDELIMITER
+        char start = getChar(); // = FRAMEDELIMITER
         //assert
-        char len_msb = comm.getc();
-        char len_lsb = comm.getc();
-
-        int len = ((int) len_msb << 4) + (int) len_lsb;
-        char frame_data[len];
-        
-        // Resolving frame type
-        char type = comm.getc();
-        len--;
-        
-        switch (type){
-            case 0x88: ATCommandResponse(len);
-                break;
-            case 0x8A: ModemStatus(len);
-                break;
-            case 0x8B: ZigBeeTransmitStatus(len);
-                break;
-            case 0x90: ZigBeeReceivePacket(len);
-                break;
-            default: pcPrint("Please implement response of type ");
-                printHexa(type);
-                pcPrint("\r\n\0");
-                for (int i = 0; i <len; i++) 
-                {      
-                    comm.getc();
-                }
+        if (start == FRAMEDELIMITER)
+        {
+            char len_msb = getChar();
+            char len_lsb = getChar();
+    
+            int len = ((int) len_msb << 4) + (int) len_lsb;
+            char frame_data[len];
+            
+            // Resolving frame type
+            char type = getChar();
+            len--;
+            
+            switch (type){
+                case 0x88: ATCommandResponse(len);
+                    break;
+                case 0x8A: ModemStatus(len);
+                    break;
+                case 0x8B: ZigBeeTransmitStatus(len);
+                    break;
+                case 0x90: ZigBeeReceivePacket(len);
+                    break;
+                default: pcPrint("Please implement response of type ");
+                    printHexa(type);
+                    pcPrint("\r\n\0");
+                    for (int i = 0; i <len; i++) 
+                    {      
+                        getChar();
+                    }
+            }
         }
     }
     return response;
@@ -181,15 +191,15 @@
 void XBee::ATCommandResponse(int len)
 {
     char total = 0x88;
-    char id = comm.getc();
+    char id = getChar();
     total += id;
     char* command0 = mail->alloc();
     char* command1 = mail->alloc();
-    *command0 = comm.getc();
+    *command0 = getChar();
     total += *command0;
-    *command1 = comm.getc();
+    *command1 = getChar();
     total += *command1;
-    char status = comm.getc();
+    char status = getChar();
     total += status;
     int i = 0;
     len-= 4;
@@ -217,14 +227,14 @@
     {
         if (comm.readable())
         {
-            data[i] = comm.getc();
+            data[i] = getChar();
             total += data[i];
             printHexa(data[i]);
             i++;
         }
     }
     
-    char checksum = comm.getc();
+    char checksum = getChar();
     total += checksum;
     // Verify checksum
     if (total != 0xFF)
@@ -236,7 +246,7 @@
 
 void XBee::ModemStatus(int len)
 {
-    char status = comm.getc();
+    char status = getChar();
     
     switch (status){
         case 0 : pcPrint("Hardware reset\r\n\0"); break;
@@ -250,7 +260,7 @@
         default : pcPrint("stack error\r\n\0"); break;
     }
     
-    char checksum = comm.getc();
+    char checksum = getChar();
     
     checksum += 0x8A + status;
     
@@ -262,12 +272,12 @@
 
 void XBee::ZigBeeTransmitStatus(int len)
 {
-    char id = comm.getc();
-    char msb = comm.getc();
-    char lsb = comm.getc();
-    char retry =  comm.getc();
-    char status = comm.getc();
-    char discovery = comm.getc();
+    char id = getChar();
+    char msb = getChar();
+    char lsb = getChar();
+    char retry =  getChar();
+    char status = getChar();
+    char discovery = getChar();
     char checksum;
     
     pcPrint("Response to transmit #");
@@ -300,7 +310,7 @@
         }
     }
     
-    checksum = comm.getc();
+    checksum = getChar();
     // Validate checksum TODO
 }
 
@@ -314,30 +324,30 @@
         
     while(i < 8)
     {
-        adresse64bit[i] = comm.getc();
+        adresse64bit[i] = getChar();
         i++;
     }
     
-    adresse16bit[0] = comm.getc();
-    adresse16bit[1] = comm.getc();
+    adresse16bit[0] = getChar();
+    adresse16bit[1] = getChar();
     
-    receiveOptions = comm.getc();
+    receiveOptions = getChar();
     
     pcPrint("Data received : ");
     
     i = 11;
     while (i < len)
     {
-        printHexa(comm.getc());
+        printHexa(getChar());
         i++;   
     }
     pcPrint("\r\n");
     
-    checksum = comm.getc();
+    checksum = getChar();
     // Validate checksum TODO
 }
 
-void XBee::ZigBeeTransmit(int adresse16, int adresse64, char *data, int dataLength)
+void XBee::ZigBeeTransmit(int adresse16, int adresse64msb, int adresse64lsb, char *data, int dataLength)
 {
     // Frame Type 0x10
     // 0x0000000000000000 - Reserved 64-bit address for the coordinator
@@ -359,14 +369,14 @@
     cmdtosend[2] = 0x0E + dataLength;
     cmdtosend[3] = 0x10;        // Frame type
     cmdtosend[4] = 0x01;        // Frame number
-    cmdtosend[5] = 0x00;        // MSB adresse 64-bit 
-    cmdtosend[6] = 0x00;
-    cmdtosend[7] = 0x00;
-    cmdtosend[8] = 0x00;
-    cmdtosend[9] = 0x00;
-    cmdtosend[10] = 0x00;
-    cmdtosend[11] = 0xFF;
-    cmdtosend[12] = 0xFF; // LSB adresse 64-bit
+    cmdtosend[5] = adresse64msb & 0xFF000000;        // MSB adresse 64-bit 
+    cmdtosend[6] = adresse64msb & 0x00FF0000;
+    cmdtosend[7] = adresse64msb & 0x0000FF00;
+    cmdtosend[8] = adresse64msb & 0x000000FF;
+    cmdtosend[9] = adresse64msb & 0xFF000000;
+    cmdtosend[10] = adresse64msb & 0x00FF0000;
+    cmdtosend[11] = adresse64msb & 0x0000FF00;
+    cmdtosend[12] = adresse64msb & 0x000000FF; // LSB adresse 64-bit
     cmdtosend[13] = adresse16 >> 16;                  // MSB adresse 16-bit
     cmdtosend[14] = adresse16 && 0b0000000011111111;  // LSB adresse 16-bit
     cmdtosend[15] = 0x00;       // Broadcast Radius
@@ -385,15 +395,6 @@
         }
     }
     
-    //cmdtosend[17] = 0x00;       // Start RF DATA
-    //cmdtosend[18] = 0x00;
-    //cmdtosend[19] = 0x00;
-    //cmdtosend[20] = 0x00;
-    //cmdtosend[21] = 0x00;
-    //cmdtosend[22] = 0x00;
-    //cmdtosend[23] = 0x00;
-    //cmdtosend[24] = 0x00;       // End RF DATA
-    
     // Calculate checksum
     i = 3;
     while (i < (cmdlength - 1))
@@ -411,4 +412,17 @@
         i++;
     }
     wait(0.1);
+}
+
+void XBee::BroadcastHelloWorld()
+{
+    char hello[5] = {'H', 'e', 'l', 'l', 'o'};
+    char world[5] = {'w', 'o', 'r', 'l', 'd'};
+    
+    while (1)
+    {
+        ZigBeeTransmit(0x0000, 0x00000000, 0x00000000, &hello[0], 5);
+        ZigBeeTransmit(0x0000, 0x00000000, 0x00000000, &world[0], 5);
+        wait(2);
+    }
 }
\ No newline at end of file