NerfUS / NerfUSXbee

Librairie xbee.

Dependents:   NerfUS-Coord NerfUSTarget

Fork of APP3_xbee by Team APP

mbed_source/xbee.cpp@24:00c42ba87ef7, 2017-04-05 (annotated)

Committer:
GaiSensei
Date:
Wed Apr 05 21:09:32 2017 +0000
Revision:
24:00c42ba87ef7
Parent:
23:2b67589150d9
Child:
25:64ea9e695a1f
Child:
26:bb44aeb9665e
Envoyer a une adresse compile

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaiSensei 16:f4df01448b59 1 /////////////////////////////////////////////////////////////
GaiSensei 16:f4df01448b59 2 // APP 3 //
GaiSensei 16:f4df01448b59 3 // //
GaiSensei 16:f4df01448b59 4 // Université de Sherbrooke //
GaiSensei 16:f4df01448b59 5 // Génie informatique //
GaiSensei 16:f4df01448b59 6 // Session 5, Hiver 2017 //
GaiSensei 16:f4df01448b59 7 // //
GaiSensei 16:f4df01448b59 8 // Date: 14 février 2017 //
GaiSensei 16:f4df01448b59 9 // //
GaiSensei 16:f4df01448b59 10 // Auteurs: Maxime Dupuis, dupm2216 //
GaiSensei 16:f4df01448b59 11 // Bruno Allaire-Lemay, allb2701 //
GaiSensei 16:f4df01448b59 12 /////////////////////////////////////////////////////////////
GaiSensei 16:f4df01448b59 13
GaiSensei 16:f4df01448b59 14 #include "xbee.h"
GaiSensei 16:f4df01448b59 15 #include <cassert>
GaiSensei 16:f4df01448b59 16
GaiSensei 16:f4df01448b59 17
GaiSensei 16:f4df01448b59 18
GaiSensei 16:f4df01448b59 19 DigitalOut led_1(LED1);
GaiSensei 16:f4df01448b59 20 Mail<ingoing_value_t, 30> parsed_frames;
GaiSensei 16:f4df01448b59 21 RawSerial xbee(p13, p14);
GaiSensei 16:f4df01448b59 22 Mutex mutex;
GaiSensei 16:f4df01448b59 23 DigitalOut error_led(p6);
GaiSensei 16:f4df01448b59 24 Thread error_led_thread;
GaiSensei 16:f4df01448b59 25
GaiSensei 23:2b67589150d9 26 const int FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[2] = {0x10, 0x01};
GaiSensei 23:2b67589150d9 27 const int FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[4] = {0xFF, 0xFE, 0x00, 0x00};
GaiSensei 16:f4df01448b59 28 const int AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[15] = {0x17, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFE, 0x02, 0x50, 0x32};
GaiSensei 16:f4df01448b59 29 const char LED_COMMAND_POWER_ON = 0x05;
GaiSensei 16:f4df01448b59 30 const char LED_COMMAND_POWER_OFF = 0x04;
GaiSensei 16:f4df01448b59 31 const int RECEIVE_PACKET_MESSAGE_START_INDEX = 15;
GaiSensei 23:2b67589150d9 32 const int RECEIVE_PACKET_SOURCE_ADDRESS_START_INDEX = 4;
GaiSensei 16:f4df01448b59 33
GaiSensei 16:f4df01448b59 34 const char START_DELIMITER = 0x7E;
GaiSensei 16:f4df01448b59 35
GaiSensei 16:f4df01448b59 36 bool is_character_that_needs_escape(const char character)
GaiSensei 16:f4df01448b59 37 {
GaiSensei 16:f4df01448b59 38 //printf("%X\r\n", character);
GaiSensei 16:f4df01448b59 39 switch(character)
GaiSensei 16:f4df01448b59 40 {
GaiSensei 16:f4df01448b59 41 case 0x7E: return true;
GaiSensei 16:f4df01448b59 42 case 0x7D: return true;
GaiSensei 16:f4df01448b59 43 case 0x11: return true;
GaiSensei 16:f4df01448b59 44 case 0x13: return true;
GaiSensei 16:f4df01448b59 45 default: return false;
GaiSensei 16:f4df01448b59 46 }
GaiSensei 16:f4df01448b59 47 }
GaiSensei 16:f4df01448b59 48
GaiSensei 23:2b67589150d9 49 void send_message_via_xbee(const char* message, const int length, int address[8])
GaiSensei 16:f4df01448b59 50 {
GaiSensei 23:2b67589150d9 51 const vector<char> transmit_request = generate_transmit_request(message, length, address);
GaiSensei 16:f4df01448b59 52
GaiSensei 16:f4df01448b59 53 mutex.lock();
GaiSensei 16:f4df01448b59 54 for(int i=0; i<transmit_request.size(); i++)
GaiSensei 16:f4df01448b59 55 {
GaiSensei 16:f4df01448b59 56 xbee.putc(transmit_request[i]);
GaiSensei 16:f4df01448b59 57 }
GaiSensei 16:f4df01448b59 58 mutex.unlock();
GaiSensei 16:f4df01448b59 59 }
GaiSensei 16:f4df01448b59 60
GaiSensei 23:2b67589150d9 61 vector<char> generate_transmit_request(const char* message, const int length, int address[8])
GaiSensei 16:f4df01448b59 62 {
GaiSensei 16:f4df01448b59 63 vector<char> request;
GaiSensei 16:f4df01448b59 64
GaiSensei 16:f4df01448b59 65 unsigned char checksum = 0xFF;
GaiSensei 16:f4df01448b59 66
GaiSensei 16:f4df01448b59 67 request.push_back(START_DELIMITER);
GaiSensei 16:f4df01448b59 68
GaiSensei 16:f4df01448b59 69 const uint16_t frame_length = 0x0E + length;
GaiSensei 16:f4df01448b59 70 const uint8_t frame_length_msb = frame_length >> 8;
GaiSensei 16:f4df01448b59 71 const uint8_t frame_length_lsb = (frame_length << 8) >> 8;
GaiSensei 16:f4df01448b59 72 request.push_back(frame_length_msb);
GaiSensei 16:f4df01448b59 73 request.push_back(frame_length_lsb);
GaiSensei 16:f4df01448b59 74
GaiSensei 23:2b67589150d9 75 for(int i=0; i<2; i++)
GaiSensei 23:2b67589150d9 76 {
GaiSensei 23:2b67589150d9 77 request.push_back(FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[i]);
GaiSensei 23:2b67589150d9 78 checksum -= FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[i];
GaiSensei 23:2b67589150d9 79 }
GaiSensei 23:2b67589150d9 80
GaiSensei 23:2b67589150d9 81 for(int i=0; i<8; i++)
GaiSensei 16:f4df01448b59 82 {
GaiSensei 23:2b67589150d9 83 request.push_back(address[i]);
GaiSensei 23:2b67589150d9 84 checksum -= address[i];
GaiSensei 23:2b67589150d9 85 }
GaiSensei 23:2b67589150d9 86
GaiSensei 23:2b67589150d9 87 for(int i=0; i<4; i++)
GaiSensei 23:2b67589150d9 88 {
GaiSensei 23:2b67589150d9 89 request.push_back(FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[i]);
GaiSensei 23:2b67589150d9 90 checksum -= FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[i];
GaiSensei 16:f4df01448b59 91 }
GaiSensei 16:f4df01448b59 92
GaiSensei 16:f4df01448b59 93 for(int i=0; i<length; i++)
GaiSensei 16:f4df01448b59 94 {
GaiSensei 16:f4df01448b59 95 request.push_back(message[i]);
GaiSensei 16:f4df01448b59 96 checksum -= message[i];
GaiSensei 16:f4df01448b59 97 }
GaiSensei 16:f4df01448b59 98
GaiSensei 16:f4df01448b59 99 request.push_back(checksum);
GaiSensei 16:f4df01448b59 100
GaiSensei 16:f4df01448b59 101 return request;
GaiSensei 16:f4df01448b59 102 }
GaiSensei 16:f4df01448b59 103
GaiSensei 16:f4df01448b59 104 vector<char> generate_led_command(const bool power_on)
GaiSensei 16:f4df01448b59 105 {
GaiSensei 16:f4df01448b59 106 vector<char> request;
GaiSensei 16:f4df01448b59 107
GaiSensei 16:f4df01448b59 108 unsigned char checksum = 0xFF;
GaiSensei 16:f4df01448b59 109
GaiSensei 16:f4df01448b59 110 request.push_back(START_DELIMITER);
GaiSensei 16:f4df01448b59 111
GaiSensei 16:f4df01448b59 112 const uint16_t frame_length = 0x10;
GaiSensei 16:f4df01448b59 113 const uint8_t frame_length_msb = frame_length >> 8;
GaiSensei 16:f4df01448b59 114 const uint8_t frame_length_lsb = (frame_length << 8) >> 8;
GaiSensei 16:f4df01448b59 115 request.push_back(frame_length_msb);
GaiSensei 16:f4df01448b59 116 request.push_back(frame_length_lsb);
GaiSensei 16:f4df01448b59 117
GaiSensei 16:f4df01448b59 118 for(int i=0; i<15; i++)
GaiSensei 16:f4df01448b59 119 {
GaiSensei 16:f4df01448b59 120 request.push_back(AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[i]);
GaiSensei 16:f4df01448b59 121 checksum -= AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[i];
GaiSensei 16:f4df01448b59 122 }
GaiSensei 16:f4df01448b59 123
GaiSensei 16:f4df01448b59 124 const char led_power_state = power_on ? LED_COMMAND_POWER_ON : LED_COMMAND_POWER_OFF;
GaiSensei 16:f4df01448b59 125 request.push_back(led_power_state);
GaiSensei 16:f4df01448b59 126 checksum -= led_power_state;
GaiSensei 16:f4df01448b59 127
GaiSensei 16:f4df01448b59 128 request.push_back(checksum);
GaiSensei 16:f4df01448b59 129
GaiSensei 16:f4df01448b59 130 return request;
GaiSensei 16:f4df01448b59 131 }
GaiSensei 16:f4df01448b59 132
GaiSensei 24:00c42ba87ef7 133 void read_frame(void const *args)
GaiSensei 16:f4df01448b59 134 {
GaiSensei 16:f4df01448b59 135 while(true)
GaiSensei 16:f4df01448b59 136 {
GaiSensei 16:f4df01448b59 137 while(xbee.getc() != 0x7E);
GaiSensei 16:f4df01448b59 138
GaiSensei 16:f4df01448b59 139 vector<char> frame;
GaiSensei 16:f4df01448b59 140
GaiSensei 16:f4df01448b59 141 frame.push_back(0x7E);
GaiSensei 16:f4df01448b59 142
GaiSensei 16:f4df01448b59 143 const uint8_t frame_size_msb = xbee.getc();
GaiSensei 16:f4df01448b59 144 const uint8_t frame_size_lsb = xbee.getc();
GaiSensei 16:f4df01448b59 145 frame.push_back(frame_size_msb);
GaiSensei 16:f4df01448b59 146 frame.push_back(frame_size_lsb);
GaiSensei 16:f4df01448b59 147 const uint16_t frame_size = (frame_size_msb << 8) + frame_size_lsb;
GaiSensei 16:f4df01448b59 148
GaiSensei 16:f4df01448b59 149 for(int i=0; i<frame_size + 1; i++)
GaiSensei 16:f4df01448b59 150 {
GaiSensei 16:f4df01448b59 151 frame.push_back(xbee.getc());
GaiSensei 16:f4df01448b59 152 }
GaiSensei 16:f4df01448b59 153
GaiSensei 16:f4df01448b59 154 handle_frame(frame);
GaiSensei 16:f4df01448b59 155 }
GaiSensei 16:f4df01448b59 156 }
GaiSensei 16:f4df01448b59 157
GaiSensei 16:f4df01448b59 158 vector<char> parse_receive_packet(const vector<char>& frame)
GaiSensei 23:2b67589150d9 159 {
GaiSensei 23:2b67589150d9 160 vector<char> message;
GaiSensei 23:2b67589150d9 161 for(int i=0; i<8; i++)
GaiSensei 23:2b67589150d9 162 {
GaiSensei 23:2b67589150d9 163 message.push_back(frame.at(RECEIVE_PACKET_SOURCE_ADDRESS_START_INDEX + i));
GaiSensei 23:2b67589150d9 164 }
GaiSensei 23:2b67589150d9 165 for(int i=0; i< frame.size() - RECEIVE_PACKET_MESSAGE_START_INDEX; i++)
GaiSensei 23:2b67589150d9 166 {
GaiSensei 23:2b67589150d9 167 message.push_back(frame.at(RECEIVE_PACKET_MESSAGE_START_INDEX + i));
GaiSensei 23:2b67589150d9 168 }
GaiSensei 16:f4df01448b59 169 return message;
GaiSensei 16:f4df01448b59 170 }
GaiSensei 16:f4df01448b59 171
GaiSensei 16:f4df01448b59 172 vector<char> parse_transmit_status(const vector<char>& frame)
GaiSensei 16:f4df01448b59 173 {
GaiSensei 16:f4df01448b59 174 vector<char> relevant_content;
GaiSensei 16:f4df01448b59 175
GaiSensei 16:f4df01448b59 176 const char delivery_status = frame.at(8);
GaiSensei 16:f4df01448b59 177 relevant_content.push_back(delivery_status);
GaiSensei 16:f4df01448b59 178
GaiSensei 16:f4df01448b59 179 return relevant_content;
GaiSensei 16:f4df01448b59 180 }
GaiSensei 16:f4df01448b59 181
GaiSensei 16:f4df01448b59 182 vector<char> parse_at_command_response(const vector<char>& frame)
GaiSensei 16:f4df01448b59 183 {
GaiSensei 16:f4df01448b59 184 vector<char> relevant_content;
GaiSensei 16:f4df01448b59 185
GaiSensei 16:f4df01448b59 186 const char command_status = frame.at(7);
GaiSensei 16:f4df01448b59 187 relevant_content.push_back(command_status);
GaiSensei 16:f4df01448b59 188
GaiSensei 16:f4df01448b59 189 return relevant_content;
GaiSensei 16:f4df01448b59 190 }
GaiSensei 16:f4df01448b59 191
GaiSensei 16:f4df01448b59 192 vector<char> parse_remote_command_response(const vector<char>& frame)
GaiSensei 16:f4df01448b59 193 {
GaiSensei 16:f4df01448b59 194 vector<char> relevant_content;
GaiSensei 16:f4df01448b59 195
GaiSensei 16:f4df01448b59 196 const char command_status = frame.at(17);
GaiSensei 16:f4df01448b59 197 relevant_content.push_back(command_status);
GaiSensei 16:f4df01448b59 198
GaiSensei 16:f4df01448b59 199 return relevant_content;
GaiSensei 16:f4df01448b59 200 }
GaiSensei 16:f4df01448b59 201
GaiSensei 16:f4df01448b59 202 void manage_error_led()
GaiSensei 16:f4df01448b59 203 {
GaiSensei 16:f4df01448b59 204 while(true)
GaiSensei 16:f4df01448b59 205 {
GaiSensei 16:f4df01448b59 206 osSignalWait(0x1, osWaitForever);
GaiSensei 16:f4df01448b59 207 error_led = 1;
GaiSensei 16:f4df01448b59 208 wait_ms(1000);
GaiSensei 16:f4df01448b59 209 error_led = 0;
GaiSensei 16:f4df01448b59 210 }
GaiSensei 16:f4df01448b59 211 }
GaiSensei 16:f4df01448b59 212
GaiSensei 16:f4df01448b59 213 void send_blink_led_at_command(const bool toggle_current_command)
GaiSensei 16:f4df01448b59 214 {
GaiSensei 16:f4df01448b59 215 static bool is_current_command_turn_on = false;
GaiSensei 16:f4df01448b59 216 if(toggle_current_command)
GaiSensei 16:f4df01448b59 217 {
GaiSensei 16:f4df01448b59 218 is_current_command_turn_on = !is_current_command_turn_on;
GaiSensei 16:f4df01448b59 219 }
GaiSensei 16:f4df01448b59 220
GaiSensei 16:f4df01448b59 221 const vector<char> led_command = generate_led_command(is_current_command_turn_on);
GaiSensei 16:f4df01448b59 222 for(int i=0; i<led_command.size(); i++)
GaiSensei 16:f4df01448b59 223 {
GaiSensei 16:f4df01448b59 224 xbee.putc(led_command[i]);
GaiSensei 16:f4df01448b59 225 }
GaiSensei 16:f4df01448b59 226 }
GaiSensei 16:f4df01448b59 227
GaiSensei 24:00c42ba87ef7 228 void handle_parsed_frames_from_mailbox(void const *args)
GaiSensei 16:f4df01448b59 229 {
GaiSensei 16:f4df01448b59 230 while(true)
GaiSensei 16:f4df01448b59 231 {
GaiSensei 16:f4df01448b59 232 osEvent event = parsed_frames.get();
GaiSensei 16:f4df01448b59 233 assert(event.status == osEventMail);
GaiSensei 16:f4df01448b59 234
GaiSensei 16:f4df01448b59 235 ingoing_value_t *parsed_frame = (ingoing_value_t*)event.value.p;
GaiSensei 24:00c42ba87ef7 236 parse_nerfus_message(ingoing_value_to_vector(*parsed_frame), (void(*)(vector<uint8_t>, int*))args);
GaiSensei 16:f4df01448b59 237 parsed_frames.free(parsed_frame);
GaiSensei 16:f4df01448b59 238 }
GaiSensei 16:f4df01448b59 239 }
GaiSensei 16:f4df01448b59 240
GaiSensei 16:f4df01448b59 241 vector<char> ingoing_value_to_vector(const ingoing_value_t& value)
GaiSensei 16:f4df01448b59 242 {
GaiSensei 16:f4df01448b59 243 vector<char> result;
GaiSensei 16:f4df01448b59 244 for(int i=0; i<value.size; i++)
GaiSensei 16:f4df01448b59 245 {
GaiSensei 16:f4df01448b59 246 result.push_back(value.content[i]);
GaiSensei 16:f4df01448b59 247 }
GaiSensei 16:f4df01448b59 248 return result;
GaiSensei 16:f4df01448b59 249 }
GaiSensei 16:f4df01448b59 250
GaiSensei 16:f4df01448b59 251 void handle_frame(const vector<char>& frame)
GaiSensei 16:f4df01448b59 252 {
GaiSensei 16:f4df01448b59 253 ingoing_value_t *parsed_frame = parsed_frames.alloc();
GaiSensei 16:f4df01448b59 254
GaiSensei 16:f4df01448b59 255 const vector<char> parsed_frame_vector = parse_frame(frame);
GaiSensei 16:f4df01448b59 256 for(int i=0; i<parsed_frame_vector.size(); i++)
GaiSensei 16:f4df01448b59 257 {
GaiSensei 16:f4df01448b59 258 parsed_frame->content[i] = parsed_frame_vector.at(i);
GaiSensei 16:f4df01448b59 259 }
GaiSensei 16:f4df01448b59 260 parsed_frame->size = parsed_frame_vector.size();
GaiSensei 16:f4df01448b59 261
GaiSensei 16:f4df01448b59 262 parsed_frames.put(parsed_frame);
GaiSensei 16:f4df01448b59 263 }
GaiSensei 16:f4df01448b59 264
GaiSensei 16:f4df01448b59 265 vector<char> parse_frame(const vector<char>& frame)
GaiSensei 16:f4df01448b59 266 {
GaiSensei 16:f4df01448b59 267 vector<char> parsed_frame;
GaiSensei 16:f4df01448b59 268
GaiSensei 16:f4df01448b59 269 const char frame_type = frame.at(3);
GaiSensei 16:f4df01448b59 270 parsed_frame.push_back(frame_type);
GaiSensei 16:f4df01448b59 271
GaiSensei 16:f4df01448b59 272 vector<char> parsed_frame_relevant_content;
GaiSensei 16:f4df01448b59 273
GaiSensei 16:f4df01448b59 274 switch(frame_type)
GaiSensei 16:f4df01448b59 275 {
GaiSensei 16:f4df01448b59 276 case FRAME_TYPE_RECEIVE_PACKET:
GaiSensei 16:f4df01448b59 277 {
GaiSensei 16:f4df01448b59 278 parsed_frame_relevant_content = parse_receive_packet(frame);
GaiSensei 16:f4df01448b59 279 break;
GaiSensei 16:f4df01448b59 280 }
GaiSensei 16:f4df01448b59 281 case FRAME_TYPE_TRANSMIT_STATUS:
GaiSensei 16:f4df01448b59 282 {
GaiSensei 16:f4df01448b59 283 parsed_frame_relevant_content = parse_transmit_status(frame);
GaiSensei 16:f4df01448b59 284 break;
GaiSensei 16:f4df01448b59 285 }
GaiSensei 16:f4df01448b59 286 case FRAME_TYPE_AT_COMMAND_RESPONSE:
GaiSensei 16:f4df01448b59 287 {
GaiSensei 16:f4df01448b59 288 parsed_frame_relevant_content = parse_at_command_response(frame);
GaiSensei 16:f4df01448b59 289 break;
GaiSensei 16:f4df01448b59 290 }
GaiSensei 16:f4df01448b59 291 case FRAME_TYPE_REMOTE_COMMAND_RESPONSE:
GaiSensei 16:f4df01448b59 292 {
GaiSensei 16:f4df01448b59 293 parsed_frame_relevant_content = parse_remote_command_response(frame);
GaiSensei 16:f4df01448b59 294 break;
GaiSensei 16:f4df01448b59 295 }
GaiSensei 16:f4df01448b59 296 default:
GaiSensei 16:f4df01448b59 297 printf("Unsupported frame:\r\n");
GaiSensei 16:f4df01448b59 298 for(int i=0; i<frame.size(); i++)
GaiSensei 16:f4df01448b59 299 {
GaiSensei 16:f4df01448b59 300 printf("Bit #%d: %d\r\n", i, frame.at(i));
GaiSensei 16:f4df01448b59 301 }
GaiSensei 16:f4df01448b59 302 }
GaiSensei 16:f4df01448b59 303
GaiSensei 16:f4df01448b59 304 for(vector<char>::iterator it = parsed_frame_relevant_content.begin(); it < parsed_frame_relevant_content.end(); it++)
GaiSensei 16:f4df01448b59 305 {
GaiSensei 16:f4df01448b59 306 parsed_frame.push_back(*it);
GaiSensei 16:f4df01448b59 307 }
GaiSensei 16:f4df01448b59 308
GaiSensei 16:f4df01448b59 309 return parsed_frame;
GaiSensei 16:f4df01448b59 310 }
GaiSensei 16:f4df01448b59 311
GaiSensei 23:2b67589150d9 312 void parse_nerfus_message(const vector<char>& parsed_frame, void (*callback)(vector<uint8_t>, int*))
GaiSensei 19:9f25d8abec9e 313 {
GaiSensei 23:2b67589150d9 314 int address[8];
GaiSensei 23:2b67589150d9 315 for(int i=1; i<9; i++)
GaiSensei 16:f4df01448b59 316 {
GaiSensei 24:00c42ba87ef7 317 address[i-1] = parsed_frame[i];
GaiSensei 16:f4df01448b59 318 }
GaiSensei 23:2b67589150d9 319 vector<uint8_t> message;
GaiSensei 23:2b67589150d9 320 for(int i=9; i<13; i++)
GaiSensei 23:2b67589150d9 321 {
GaiSensei 23:2b67589150d9 322 message.push_back(parsed_frame[i]);
GaiSensei 23:2b67589150d9 323 }
GaiSensei 23:2b67589150d9 324 callback(message, address);
GaiSensei 16:f4df01448b59 325 }
GaiSensei 16:f4df01448b59 326
GaiSensei 16:f4df01448b59 327 void parsed_button_event_frame_to_string(const vector<char>& parsed_frame, char* readable_string_output)
GaiSensei 16:f4df01448b59 328 {
GaiSensei 16:f4df01448b59 329 const char button_state = parsed_frame[2];
GaiSensei 16:f4df01448b59 330 switch(button_state)
GaiSensei 16:f4df01448b59 331 {
GaiSensei 16:f4df01448b59 332 case BUTTON_RELEASED:
GaiSensei 16:f4df01448b59 333 strcpy(readable_string_output, "Button state: released");
GaiSensei 16:f4df01448b59 334 break;
GaiSensei 16:f4df01448b59 335
GaiSensei 16:f4df01448b59 336 case BUTTON_PRESSED:
GaiSensei 16:f4df01448b59 337 strcpy(readable_string_output, "Button state: pressed");
GaiSensei 16:f4df01448b59 338 break;
GaiSensei 16:f4df01448b59 339
GaiSensei 16:f4df01448b59 340 default:
GaiSensei 16:f4df01448b59 341 strcpy(readable_string_output, "Button state: invalid state");
GaiSensei 16:f4df01448b59 342 break;
GaiSensei 16:f4df01448b59 343 }
GaiSensei 16:f4df01448b59 344 }
GaiSensei 16:f4df01448b59 345
GaiSensei 16:f4df01448b59 346 void parsed_accelerometer_event_frame_to_string(const vector<char>& parsed_frame, char* readable_string_output)
GaiSensei 16:f4df01448b59 347 {
GaiSensei 16:f4df01448b59 348 const uint8_t x = parsed_frame[2];
GaiSensei 16:f4df01448b59 349 const uint8_t y = parsed_frame[3];
GaiSensei 16:f4df01448b59 350 const uint8_t z = parsed_frame[4];
GaiSensei 16:f4df01448b59 351 sprintf(readable_string_output, "Accelerometer state: x=0x%X, y=0x%X, z=0x%X", x, y, z);
GaiSensei 16:f4df01448b59 352 }
GaiSensei 16:f4df01448b59 353
GaiSensei 16:f4df01448b59 354 vector<string> read_file(string path)
GaiSensei 16:f4df01448b59 355 {
GaiSensei 16:f4df01448b59 356 LocalFileSystem local("local");
GaiSensei 16:f4df01448b59 357 vector<string> result;
GaiSensei 16:f4df01448b59 358 char buffer[128] = "";
GaiSensei 16:f4df01448b59 359 FILE *fp = fopen(path.c_str(), "r");
GaiSensei 16:f4df01448b59 360 bool ret = (fgets(buffer, 64, fp)) ;
GaiSensei 16:f4df01448b59 361
GaiSensei 16:f4df01448b59 362 string value(buffer);
GaiSensei 16:f4df01448b59 363 string first_value = "";
GaiSensei 16:f4df01448b59 364 string second_value = "";
GaiSensei 16:f4df01448b59 365 bool which_value = true;
GaiSensei 16:f4df01448b59 366
GaiSensei 16:f4df01448b59 367 for(int i=0; i<value.size(); i++)
GaiSensei 16:f4df01448b59 368 {
GaiSensei 16:f4df01448b59 369 if(buffer[i] == ';')
GaiSensei 16:f4df01448b59 370 {
GaiSensei 16:f4df01448b59 371 which_value = false;
GaiSensei 16:f4df01448b59 372 }
GaiSensei 16:f4df01448b59 373 else
GaiSensei 16:f4df01448b59 374 {
GaiSensei 16:f4df01448b59 375 if(which_value)
GaiSensei 16:f4df01448b59 376 {
GaiSensei 16:f4df01448b59 377 first_value += buffer[i];
GaiSensei 16:f4df01448b59 378 }
GaiSensei 16:f4df01448b59 379 else
GaiSensei 16:f4df01448b59 380 {
GaiSensei 16:f4df01448b59 381 second_value += buffer[i];
GaiSensei 16:f4df01448b59 382 }
GaiSensei 16:f4df01448b59 383 }
GaiSensei 16:f4df01448b59 384 }
GaiSensei 16:f4df01448b59 385 result.push_back(first_value);
GaiSensei 16:f4df01448b59 386 result.push_back(second_value);
GaiSensei 16:f4df01448b59 387 return result;
GaiSensei 16:f4df01448b59 388 }
GaiSensei 16:f4df01448b59 389
GaiSensei 16:f4df01448b59 390 char hexa_char_to_dec(char hexa_char)
GaiSensei 16:f4df01448b59 391 {
GaiSensei 16:f4df01448b59 392 if('0' <= hexa_char && hexa_char <= '9')
GaiSensei 16:f4df01448b59 393 {
GaiSensei 16:f4df01448b59 394 return hexa_char - 48;
GaiSensei 16:f4df01448b59 395 }
GaiSensei 16:f4df01448b59 396 if('A' <= hexa_char && hexa_char <= 'F')
GaiSensei 16:f4df01448b59 397 {
GaiSensei 16:f4df01448b59 398 return hexa_char - 55;
GaiSensei 16:f4df01448b59 399 }
GaiSensei 16:f4df01448b59 400 if('a' <= hexa_char && hexa_char <= 'f')
GaiSensei 16:f4df01448b59 401 {
GaiSensei 16:f4df01448b59 402 return hexa_char - 87;
GaiSensei 16:f4df01448b59 403 }
GaiSensei 16:f4df01448b59 404 assert(false && "Wtf");
GaiSensei 16:f4df01448b59 405 return hexa_char;
GaiSensei 16:f4df01448b59 406 }
GaiSensei 16:f4df01448b59 407
GaiSensei 16:f4df01448b59 408 vector<char> string_to_data(string pan_id)
GaiSensei 16:f4df01448b59 409 {
GaiSensei 16:f4df01448b59 410 vector<char> result;
GaiSensei 16:f4df01448b59 411
GaiSensei 16:f4df01448b59 412 for(int i=0; i < pan_id.size(); i += 2)
GaiSensei 16:f4df01448b59 413 {
GaiSensei 16:f4df01448b59 414 const char dec_val = ( hexa_char_to_dec(pan_id[i]) ) * 16 + hexa_char_to_dec(pan_id[i]);
GaiSensei 16:f4df01448b59 415 result.push_back(dec_val);
GaiSensei 16:f4df01448b59 416 }
GaiSensei 16:f4df01448b59 417
GaiSensei 16:f4df01448b59 418 return result;
GaiSensei 16:f4df01448b59 419 }
GaiSensei 16:f4df01448b59 420
GaiSensei 16:f4df01448b59 421 void set_pan_id(string pan_id)
GaiSensei 16:f4df01448b59 422 {
GaiSensei 16:f4df01448b59 423 const int pan_id_beginning[7] = {0x7E, 0x00, 0x06, 0x08, 0x01, 0x49, 0x44};
GaiSensei 16:f4df01448b59 424 unsigned char checksum = 0xFF;
GaiSensei 16:f4df01448b59 425
GaiSensei 16:f4df01448b59 426 xbee.putc(pan_id_beginning[0]);
GaiSensei 16:f4df01448b59 427 xbee.putc(pan_id_beginning[1]);
GaiSensei 16:f4df01448b59 428 xbee.putc(pan_id_beginning[2]);
GaiSensei 16:f4df01448b59 429
GaiSensei 16:f4df01448b59 430 for(int i=3; i<7; i++)
GaiSensei 16:f4df01448b59 431 {
GaiSensei 16:f4df01448b59 432 checksum -= pan_id_beginning[i];
GaiSensei 16:f4df01448b59 433 xbee.putc(pan_id_beginning[i]);
GaiSensei 16:f4df01448b59 434 }
GaiSensei 16:f4df01448b59 435
GaiSensei 16:f4df01448b59 436 vector<char> pan_id_char = string_to_data(pan_id);
GaiSensei 16:f4df01448b59 437 for(int i=0; i<pan_id_char.size(); i++)
GaiSensei 16:f4df01448b59 438 {
GaiSensei 16:f4df01448b59 439 checksum -= pan_id_char.at(i);
GaiSensei 16:f4df01448b59 440 xbee.putc(pan_id_char.at(i));
GaiSensei 16:f4df01448b59 441 }
GaiSensei 16:f4df01448b59 442
GaiSensei 16:f4df01448b59 443 xbee.putc(checksum);
GaiSensei 16:f4df01448b59 444 }