File content as of revision 3:889e47988154:

#include "mbed.h"
#include "rtos.h"
#include "EthernetInterface.h"

LocalFileSystem local("local");

DigitalOut led1(LED1);
DigitalOut ledError(LED4);

DigitalOut reset(p8);
RawSerial xbee(p13, p14);

RawSerial pc(USBTX, USBRX);

Thread* receptionThread;
Thread* processingThread;
Thread* ledThread;
Thread* ethernetReceptionThread;
Thread* errorDisplay;

TCPSocketConnection sock;

char LED_Toggle[] = {0x7E, 0x00, 0x10, 0x17, 0x01, 0x00, 0x00, 0x00,
                     0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x02, 0x44, 0x30, 0x00, 0x25
                    }; //Change index 13 & 14 & 18 & 19

char AT_ID[] = {0x7E, 0x00, 0x06, 0x09, 0x01, 0x49 , 0x44, 0x00, 0x00, 0x00}; // +DATA + CS (7 & 8)
const char AT_WR[] = {0x7E, 0x00, 0x04, 0x09, 0x01, 0x57, 0x52, 0x4C};
const char AT_AC[] = {0x7E, 0x00, 0x04, 0x09, 0x01, 0x41, 0x43, 0x71};

typedef struct {
    char msg[25];
} message;

typedef struct {
    char al;
    char ah;
} address;

address addresses[2];
char addressCounter = 0;

Queue<message, 25> queue;
MemoryPool<message, 25> mPool;

char checksum(char array[], char length)
{
    char cs = 0;
    for (int i = 3; i<length - 1; i++) {
        cs += array[i];
    }
    return 0xFF - cs;
}

int traitementAcc(char msb, char lsb)
{
    int val = msb > 127 ? 0xFFFFF000 | (msb << 4) : msb << 4;

    // Ajout des LSB
    val += lsb >> 4;

    val = val > 2047 ? 2048 - val : val;
    val = val > 1024 ? 1024 : val;
    val = val < -1024 ? -1024 : val;

    return val;
}

void reception()
{
    while(1) {
        if(xbee.readable()) {
            message* msg = mPool.alloc();

            msg->msg[0] = xbee.getc();

            if(msg->msg[0] == 0x7E) {
                msg->msg[1] = xbee.getc();
                msg->msg[2] = xbee.getc();

                for (int i = 3; i < msg->msg[2] + 4; i++) {
                    msg->msg[i] = xbee.getc();
                }

                queue.put(msg);
            } else {
                mPool.free(msg);
            }
        }
    }
}

void processing()
{
    while(1) {
        message* msg = (message*)queue.get().value.p;

        switch(msg->msg[3]) {
            case 0x88:
                if (msg->msg[7] != 0x00) {
                    errorDisplay->signal_set(0x1);
                    printf("AT command error\r\n");
                }
                break;
            case 0x8A:
                if (msg->msg[4] != 0x00 && msg->msg[4] != 0x06) {
                    errorDisplay->signal_set(0x1);
                    printf("%02x - Modem error\r\n", msg->msg[4]);
                }
                break;
            case 0x97:
                if (msg->msg[17] != 0x00) {
                    errorDisplay->signal_set(0x1);
                    printf("%02x - Remote AT command error\r\n", msg->msg[4]);
                }
                break;
            case 0x90:
                if(msg->msg[2] >= 0x0C) {
                    bool exists = false;

                    for (int i = 0; i< sizeof(addresses); i++) {
                        if(addresses[i].ah == msg->msg[12] && addresses[i].al == msg->msg[13]) {
                            exists = true;
                            break;
                        }
                    }

                    if (!exists) {
                        pc.printf("----------------------\r\n");
                        for(int i = 0; i < msg->msg[2] + 4;i++){
                            pc.printf("%02x ", msg->msg[i]);
                        }
                        pc.printf("\r\n----------------------\r\n");
                        addresses[addressCounter].ah = msg->msg[12];
                        addresses[addressCounter].al = msg->msg[13];
                        pc.printf("New address: %02x %02x\r\n", addresses[addressCounter].ah, addresses[addressCounter].al);
                        addressCounter++;
                    }

                    char data[7];
                    //pc.printf("%02x ", msg->msg[15]);
                    for(int i = 15; i < msg->msg[2] + 3; i++) {
                        data[i - 15] = msg->msg[i];
                    }

                    switch(data[0]) {
                        case 0x00:
                            char response[] = "Etat du bouton:  ";
                            if (data[1] == 0x00) {
                                response[16] = '0';
                            } else if (data[1] == 0x01) {
                                response[16] = '1';
                            }
                            sock.send_all(response, 17);
                            pc.printf("Sending to server: %s\r\n", response);
                            break;
                        case 0x01:
                            int x = traitementAcc(data[1], data[2]);
                            int y = traitementAcc(data[3], data[4]);
                            int z = traitementAcc(data[5], data[6]);
                            char out[128];
                            sprintf(out, "Accelerometre [x: %d, y: %d, z: %d]", x,y,z);

                            sock.send_all(out, 128);
                            pc.printf("Sending to server: %s\r\n", out);
                            break;
                    }

                    /*
                    for(int i = 0; i < msg->msg[2] + 4;i++){
                        pc.printf("%02x ", msg->msg[i]);
                    }
                    pc.printf("\r\n");*/

                }
                break;
            default:
                errorDisplay->signal_set(0x1);
                printf("Invalid command error\r\n");
                break;
        }

        mPool.free(msg);
    }
}

void error_display()
{
    while(1) {
        Thread::signal_wait(0x1);
        ledError = 1;
        wait(1);
        ledError = 0;
    }
}

void flashLED()
{
    bool high = true;
    while(1) {
        Thread::signal_wait(0x1);

        for (int i = 0; i < addressCounter; i++) {
            LED_Toggle[13] = addresses[i].ah;
            LED_Toggle[14] = addresses[i].al;
            LED_Toggle[18] = high ? 0x05 : 0x04;
            LED_Toggle[19] = checksum(LED_Toggle, sizeof(LED_Toggle));

            while(!xbee.writeable()) {}
            for (int j = 0; j < sizeof(LED_Toggle); j++) {
                xbee.putc(LED_Toggle[j]);
            }
        }
        led1 = !led1;
        high = !high;
    }
}

void LEDSignal()
{
    ledThread->signal_set(0x1);
}

void receiveEthernet()
{
    char reception[256];
    sock.receive_all(reception, 256);
    //pc.printf("Received from server: %s", reception);
}

int main()
{
    reset = 0;
    wait(0.4);
    reset = 1;
    wait(1);

    int pan;
    char url[128];

    FILE* f = fopen("/local/coord.cfg", "r");
    fscanf(f,"%x", &pan);
    fscanf(f,"%s", &url);
    fclose(f);

    pc.printf("URL: %s", url);

    char buff[2];
    buff[0]=(pan>>8)&0xff;
    buff[1]=(pan)&0xff;

    AT_ID[7] = buff[0];
    AT_ID[8] = buff[1];

    pc.printf("PAN: %02x%02x", AT_ID[7],AT_ID[8]);

    char cs = checksum(AT_ID, sizeof(AT_ID));
    pc.printf("CS: %02x\r\n", cs);

    AT_ID[9] = cs;

    for(char i = 0; i<sizeof(AT_ID); i++) {
        xbee.putc(AT_ID[i]);
    }

    for(char i = 0; i<sizeof(AT_WR); i++) {
        xbee.putc(AT_WR[i]);
    }

    for(char i = 0; i<sizeof(AT_AC); i++) {
        xbee.putc(AT_AC[i]);
    }


    /*
    EthernetInterface eth;
    eth.init(); //Use DHCP
    eth.connect();
    printf("IP Address is %s\r\n", eth.getIPAddress());

    while(sock.connect(url, 8000)){};
    */

    Thread errorDisplayLocal;
    errorDisplay = &errorDisplayLocal;
    errorDisplay->start(&error_display);

    Thread localReceptionThread;
    receptionThread = &localReceptionThread;
    receptionThread->start(&reception);
    Thread localLedThread;
    ledThread = &localLedThread;
    ledThread->start(&flashLED);
    
    Ticker horloge;
    horloge.attach(&LEDSignal, 2.5);

    Thread localProcessingThread;
    processingThread = &localProcessingThread;
    processingThread->start(&processing);
    
    /*
    addresses[0].ah = 0xf4;
    addresses[1].al = 0x13;
    addressCounter++;
    */


    Thread localEthernetReceptionThread;
    ethernetReceptionThread = &localEthernetReceptionThread;
    ethernetReceptionThread->start(&receiveEthernet);

    while(1) {

    }
}