NerfUS / NerfUSXbee

Librairie xbee.

Dependents:   NerfUS-Coord NerfUSTarget

Fork of APP3_xbee by Team APP

mbed_source/xbee.cpp@33:da71d952fcd6, 2017-04-10 (annotated)

Committer:
GaiSensei
Date:
Mon Apr 10 17:33:13 2017 +0000
Revision:
33:da71d952fcd6
Parent:
28:d3671aeb50df 
Only handle nerfus transmit requests

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 DigitalOut led_1(LED1);
GaiSensei 16:f4df01448b59 18 Mail<ingoing_value_t, 30> parsed_frames;
GaiSensei 16:f4df01448b59 19 RawSerial xbee(p13, p14);
GaiSensei 16:f4df01448b59 20 Mutex mutex;
GaiSensei 16:f4df01448b59 21 DigitalOut error_led(p6);
GaiSensei 16:f4df01448b59 22 Thread error_led_thread;
GaiSensei 16:f4df01448b59 23
GaiSensei 23:2b67589150d9 24 const int FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[2] = {0x10, 0x01};
GaiSensei 23:2b67589150d9 25 const int FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[4] = {0xFF, 0xFE, 0x00, 0x00};
GaiSensei 16:f4df01448b59 26 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 27 const char LED_COMMAND_POWER_ON = 0x05;
GaiSensei 16:f4df01448b59 28 const char LED_COMMAND_POWER_OFF = 0x04;
GaiSensei 16:f4df01448b59 29 const int RECEIVE_PACKET_MESSAGE_START_INDEX = 15;
GaiSensei 23:2b67589150d9 30 const int RECEIVE_PACKET_SOURCE_ADDRESS_START_INDEX = 4;
GaiSensei 16:f4df01448b59 31
GaiSensei 16:f4df01448b59 32 const char START_DELIMITER = 0x7E;
GaiSensei 16:f4df01448b59 33
GaiSensei 16:f4df01448b59 34 bool is_character_that_needs_escape(const char character)
GaiSensei 16:f4df01448b59 35 {
GaiSensei 16:f4df01448b59 36 //printf("%X\r\n", character);
GaiSensei 16:f4df01448b59 37 switch(character)
GaiSensei 16:f4df01448b59 38 {
GaiSensei 16:f4df01448b59 39 case 0x7E: return true;
GaiSensei 16:f4df01448b59 40 case 0x7D: return true;
GaiSensei 16:f4df01448b59 41 case 0x11: return true;
GaiSensei 16:f4df01448b59 42 case 0x13: return true;
GaiSensei 16:f4df01448b59 43 default: return false;
GaiSensei 16:f4df01448b59 44 }
GaiSensei 16:f4df01448b59 45 }
GaiSensei 16:f4df01448b59 46
GaiSensei 23:2b67589150d9 47 void send_message_via_xbee(const char* message, const int length, int address[8])
GaiSensei 16:f4df01448b59 48 {
GaiSensei 23:2b67589150d9 49 const vector<char> transmit_request = generate_transmit_request(message, length, address);
GaiSensei 16:f4df01448b59 50
GaiSensei 16:f4df01448b59 51 mutex.lock();
GaiSensei 16:f4df01448b59 52 for(int i=0; i<transmit_request.size(); i++)
GaiSensei 16:f4df01448b59 53 {
GaiSensei 16:f4df01448b59 54 xbee.putc(transmit_request[i]);
GaiSensei 16:f4df01448b59 55 }
GaiSensei 16:f4df01448b59 56 mutex.unlock();
GaiSensei 16:f4df01448b59 57 }
GaiSensei 16:f4df01448b59 58
GaiSensei 23:2b67589150d9 59 vector<char> generate_transmit_request(const char* message, const int length, int address[8])
GaiSensei 16:f4df01448b59 60 {
GaiSensei 16:f4df01448b59 61 vector<char> request;
GaiSensei 16:f4df01448b59 62
GaiSensei 16:f4df01448b59 63 unsigned char checksum = 0xFF;
GaiSensei 16:f4df01448b59 64
GaiSensei 16:f4df01448b59 65 request.push_back(START_DELIMITER);
GaiSensei 16:f4df01448b59 66
GaiSensei 16:f4df01448b59 67 const uint16_t frame_length = 0x0E + length;
GaiSensei 16:f4df01448b59 68 const uint8_t frame_length_msb = frame_length >> 8;
GaiSensei 16:f4df01448b59 69 const uint8_t frame_length_lsb = (frame_length << 8) >> 8;
GaiSensei 16:f4df01448b59 70 request.push_back(frame_length_msb);
GaiSensei 16:f4df01448b59 71 request.push_back(frame_length_lsb);
GaiSensei 16:f4df01448b59 72
GaiSensei 23:2b67589150d9 73 for(int i=0; i<2; i++)
GaiSensei 23:2b67589150d9 74 {
GaiSensei 23:2b67589150d9 75 request.push_back(FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[i]);
GaiSensei 23:2b67589150d9 76 checksum -= FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[i];
GaiSensei 23:2b67589150d9 77 }
GaiSensei 23:2b67589150d9 78
GaiSensei 23:2b67589150d9 79 for(int i=0; i<8; i++)
GaiSensei 16:f4df01448b59 80 {
GaiSensei 23:2b67589150d9 81 request.push_back(address[i]);
GaiSensei 23:2b67589150d9 82 checksum -= address[i];
GaiSensei 23:2b67589150d9 83 }
GaiSensei 23:2b67589150d9 84
GaiSensei 23:2b67589150d9 85 for(int i=0; i<4; i++)
GaiSensei 23:2b67589150d9 86 {
GaiSensei 23:2b67589150d9 87 request.push_back(FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[i]);
GaiSensei 23:2b67589150d9 88 checksum -= FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[i];
GaiSensei 16:f4df01448b59 89 }
GaiSensei 16:f4df01448b59 90
GaiSensei 16:f4df01448b59 91 for(int i=0; i<length; i++)
GaiSensei 16:f4df01448b59 92 {
GaiSensei 16:f4df01448b59 93 request.push_back(message[i]);
GaiSensei 16:f4df01448b59 94 checksum -= message[i];
GaiSensei 16:f4df01448b59 95 }
GaiSensei 16:f4df01448b59 96
GaiSensei 16:f4df01448b59 97 request.push_back(checksum);
GaiSensei 16:f4df01448b59 98
GaiSensei 16:f4df01448b59 99 return request;
GaiSensei 16:f4df01448b59 100 }
GaiSensei 16:f4df01448b59 101
GaiSensei 16:f4df01448b59 102 vector<char> generate_led_command(const bool power_on)
GaiSensei 16:f4df01448b59 103 {
GaiSensei 16:f4df01448b59 104 vector<char> request;
GaiSensei 16:f4df01448b59 105
GaiSensei 16:f4df01448b59 106 unsigned char checksum = 0xFF;
GaiSensei 16:f4df01448b59 107
GaiSensei 16:f4df01448b59 108 request.push_back(START_DELIMITER);
GaiSensei 16:f4df01448b59 109
GaiSensei 16:f4df01448b59 110 const uint16_t frame_length = 0x10;
GaiSensei 16:f4df01448b59 111 const uint8_t frame_length_msb = frame_length >> 8;
GaiSensei 16:f4df01448b59 112 const uint8_t frame_length_lsb = (frame_length << 8) >> 8;
GaiSensei 16:f4df01448b59 113 request.push_back(frame_length_msb);
GaiSensei 16:f4df01448b59 114 request.push_back(frame_length_lsb);
GaiSensei 16:f4df01448b59 115
GaiSensei 16:f4df01448b59 116 for(int i=0; i<15; i++)
GaiSensei 16:f4df01448b59 117 {
GaiSensei 16:f4df01448b59 118 request.push_back(AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[i]);
GaiSensei 16:f4df01448b59 119 checksum -= AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[i];
GaiSensei 16:f4df01448b59 120 }
GaiSensei 16:f4df01448b59 121
GaiSensei 16:f4df01448b59 122 const char led_power_state = power_on ? LED_COMMAND_POWER_ON : LED_COMMAND_POWER_OFF;
GaiSensei 16:f4df01448b59 123 request.push_back(led_power_state);
GaiSensei 16:f4df01448b59 124 checksum -= led_power_state;
GaiSensei 16:f4df01448b59 125
GaiSensei 16:f4df01448b59 126 request.push_back(checksum);
GaiSensei 16:f4df01448b59 127
GaiSensei 16:f4df01448b59 128 return request;
GaiSensei 16:f4df01448b59 129 }
GaiSensei 16:f4df01448b59 130
GaiSensei 28:d3671aeb50df 131 void read_frame()
GaiSensei 16:f4df01448b59 132 {
GaiSensei 16:f4df01448b59 133 while(true)
GaiSensei 16:f4df01448b59 134 {
GaiSensei 16:f4df01448b59 135 while(xbee.getc() != 0x7E);
GaiSensei 16:f4df01448b59 136
GaiSensei 16:f4df01448b59 137 vector<char> frame;
GaiSensei 16:f4df01448b59 138
GaiSensei 16:f4df01448b59 139 frame.push_back(0x7E);
GaiSensei 16:f4df01448b59 140
GaiSensei 16:f4df01448b59 141 const uint8_t frame_size_msb = xbee.getc();
GaiSensei 16:f4df01448b59 142 const uint8_t frame_size_lsb = xbee.getc();
GaiSensei 16:f4df01448b59 143 frame.push_back(frame_size_msb);
GaiSensei 16:f4df01448b59 144 frame.push_back(frame_size_lsb);
GaiSensei 16:f4df01448b59 145 const uint16_t frame_size = (frame_size_msb << 8) + frame_size_lsb;
GaiSensei 16:f4df01448b59 146
GaiSensei 16:f4df01448b59 147 for(int i=0; i<frame_size + 1; i++)
GaiSensei 16:f4df01448b59 148 {
GaiSensei 16:f4df01448b59 149 frame.push_back(xbee.getc());
GaiSensei 16:f4df01448b59 150 }
GaiSensei 16:f4df01448b59 151
GaiSensei 16:f4df01448b59 152 handle_frame(frame);
GaiSensei 16:f4df01448b59 153 }
GaiSensei 16:f4df01448b59 154 }
GaiSensei 16:f4df01448b59 155
GaiSensei 16:f4df01448b59 156 vector<char> parse_receive_packet(const vector<char>& frame)
GaiSensei 23:2b67589150d9 157 {
GaiSensei 23:2b67589150d9 158 vector<char> message;
GaiSensei 23:2b67589150d9 159 for(int i=0; i<8; i++)
GaiSensei 23:2b67589150d9 160 {
GaiSensei 23:2b67589150d9 161 message.push_back(frame.at(RECEIVE_PACKET_SOURCE_ADDRESS_START_INDEX + i));
GaiSensei 23:2b67589150d9 162 }
GaiSensei 23:2b67589150d9 163 for(int i=0; i< frame.size() - RECEIVE_PACKET_MESSAGE_START_INDEX; i++)
GaiSensei 23:2b67589150d9 164 {
GaiSensei 23:2b67589150d9 165 message.push_back(frame.at(RECEIVE_PACKET_MESSAGE_START_INDEX + i));
GaiSensei 23:2b67589150d9 166 }
GaiSensei 16:f4df01448b59 167 return message;
GaiSensei 16:f4df01448b59 168 }
GaiSensei 16:f4df01448b59 169
GaiSensei 16:f4df01448b59 170 vector<char> parse_transmit_status(const vector<char>& frame)
GaiSensei 16:f4df01448b59 171 {
GaiSensei 16:f4df01448b59 172 vector<char> relevant_content;
GaiSensei 16:f4df01448b59 173
GaiSensei 16:f4df01448b59 174 const char delivery_status = frame.at(8);
GaiSensei 16:f4df01448b59 175 relevant_content.push_back(delivery_status);
GaiSensei 16:f4df01448b59 176
GaiSensei 16:f4df01448b59 177 return relevant_content;
GaiSensei 16:f4df01448b59 178 }
GaiSensei 16:f4df01448b59 179
GaiSensei 16:f4df01448b59 180 vector<char> parse_at_command_response(const vector<char>& frame)
GaiSensei 16:f4df01448b59 181 {
GaiSensei 16:f4df01448b59 182 vector<char> relevant_content;
GaiSensei 16:f4df01448b59 183
GaiSensei 16:f4df01448b59 184 const char command_status = frame.at(7);
GaiSensei 16:f4df01448b59 185 relevant_content.push_back(command_status);
GaiSensei 16:f4df01448b59 186
GaiSensei 16:f4df01448b59 187 return relevant_content;
GaiSensei 16:f4df01448b59 188 }
GaiSensei 16:f4df01448b59 189
GaiSensei 16:f4df01448b59 190 vector<char> parse_remote_command_response(const vector<char>& frame)
GaiSensei 16:f4df01448b59 191 {
GaiSensei 16:f4df01448b59 192 vector<char> relevant_content;
GaiSensei 16:f4df01448b59 193
GaiSensei 16:f4df01448b59 194 const char command_status = frame.at(17);
GaiSensei 16:f4df01448b59 195 relevant_content.push_back(command_status);
GaiSensei 16:f4df01448b59 196
GaiSensei 16:f4df01448b59 197 return relevant_content;
GaiSensei 16:f4df01448b59 198 }
GaiSensei 16:f4df01448b59 199
GaiSensei 16:f4df01448b59 200 void manage_error_led()
GaiSensei 16:f4df01448b59 201 {
GaiSensei 16:f4df01448b59 202 while(true)
GaiSensei 16:f4df01448b59 203 {
GaiSensei 16:f4df01448b59 204 osSignalWait(0x1, osWaitForever);
GaiSensei 16:f4df01448b59 205 error_led = 1;
GaiSensei 16:f4df01448b59 206 wait_ms(1000);
GaiSensei 16:f4df01448b59 207 error_led = 0;
GaiSensei 16:f4df01448b59 208 }
GaiSensei 16:f4df01448b59 209 }
GaiSensei 16:f4df01448b59 210
GaiSensei 16:f4df01448b59 211 void send_blink_led_at_command(const bool toggle_current_command)
GaiSensei 16:f4df01448b59 212 {
GaiSensei 16:f4df01448b59 213 static bool is_current_command_turn_on = false;
GaiSensei 16:f4df01448b59 214 if(toggle_current_command)
GaiSensei 16:f4df01448b59 215 {
GaiSensei 16:f4df01448b59 216 is_current_command_turn_on = !is_current_command_turn_on;
GaiSensei 16:f4df01448b59 217 }
GaiSensei 16:f4df01448b59 218
GaiSensei 16:f4df01448b59 219 const vector<char> led_command = generate_led_command(is_current_command_turn_on);
GaiSensei 16:f4df01448b59 220 for(int i=0; i<led_command.size(); i++)
GaiSensei 16:f4df01448b59 221 {
GaiSensei 16:f4df01448b59 222 xbee.putc(led_command[i]);
GaiSensei 16:f4df01448b59 223 }
GaiSensei 16:f4df01448b59 224 }
GaiSensei 16:f4df01448b59 225
GaiSensei 24:00c42ba87ef7 226 void handle_parsed_frames_from_mailbox(void const *args)
GaiSensei 16:f4df01448b59 227 {
GaiSensei 16:f4df01448b59 228 while(true)
GaiSensei 16:f4df01448b59 229 {
GaiSensei 16:f4df01448b59 230 osEvent event = parsed_frames.get();
GaiSensei 16:f4df01448b59 231 assert(event.status == osEventMail);
GaiSensei 16:f4df01448b59 232
GaiSensei 16:f4df01448b59 233 ingoing_value_t *parsed_frame = (ingoing_value_t*)event.value.p;
GaiSensei 24:00c42ba87ef7 234 parse_nerfus_message(ingoing_value_to_vector(*parsed_frame), (void(*)(vector<uint8_t>, int*))args);
GaiSensei 16:f4df01448b59 235 parsed_frames.free(parsed_frame);
GaiSensei 16:f4df01448b59 236 }
GaiSensei 16:f4df01448b59 237 }
GaiSensei 16:f4df01448b59 238
GaiSensei 16:f4df01448b59 239 vector<char> ingoing_value_to_vector(const ingoing_value_t& value)
GaiSensei 16:f4df01448b59 240 {
GaiSensei 16:f4df01448b59 241 vector<char> result;
GaiSensei 16:f4df01448b59 242 for(int i=0; i<value.size; i++)
GaiSensei 16:f4df01448b59 243 {
GaiSensei 16:f4df01448b59 244 result.push_back(value.content[i]);
GaiSensei 16:f4df01448b59 245 }
GaiSensei 16:f4df01448b59 246 return result;
GaiSensei 16:f4df01448b59 247 }
GaiSensei 16:f4df01448b59 248
GaiSensei 16:f4df01448b59 249 void handle_frame(const vector<char>& frame)
GaiSensei 16:f4df01448b59 250 {
GaiSensei 16:f4df01448b59 251 ingoing_value_t *parsed_frame = parsed_frames.alloc();
GaiSensei 16:f4df01448b59 252
GaiSensei 16:f4df01448b59 253 const vector<char> parsed_frame_vector = parse_frame(frame);
GaiSensei 16:f4df01448b59 254 for(int i=0; i<parsed_frame_vector.size(); i++)
GaiSensei 16:f4df01448b59 255 {
GaiSensei 16:f4df01448b59 256 parsed_frame->content[i] = parsed_frame_vector.at(i);
GaiSensei 16:f4df01448b59 257 }
GaiSensei 16:f4df01448b59 258 parsed_frame->size = parsed_frame_vector.size();
GaiSensei 16:f4df01448b59 259
GaiSensei 16:f4df01448b59 260 parsed_frames.put(parsed_frame);
GaiSensei 16:f4df01448b59 261 }
GaiSensei 16:f4df01448b59 262
GaiSensei 16:f4df01448b59 263 vector<char> parse_frame(const vector<char>& frame)
GaiSensei 16:f4df01448b59 264 {
GaiSensei 16:f4df01448b59 265 vector<char> parsed_frame;
GaiSensei 16:f4df01448b59 266
GaiSensei 16:f4df01448b59 267 const char frame_type = frame.at(3);
GaiSensei 16:f4df01448b59 268 parsed_frame.push_back(frame_type);
GaiSensei 16:f4df01448b59 269
GaiSensei 16:f4df01448b59 270 vector<char> parsed_frame_relevant_content;
GaiSensei 16:f4df01448b59 271
GaiSensei 16:f4df01448b59 272 switch(frame_type)
GaiSensei 16:f4df01448b59 273 {
GaiSensei 16:f4df01448b59 274 case FRAME_TYPE_RECEIVE_PACKET:
GaiSensei 16:f4df01448b59 275 {
GaiSensei 16:f4df01448b59 276 parsed_frame_relevant_content = parse_receive_packet(frame);
GaiSensei 16:f4df01448b59 277 break;
GaiSensei 16:f4df01448b59 278 }
GaiSensei 16:f4df01448b59 279 case FRAME_TYPE_TRANSMIT_STATUS:
GaiSensei 16:f4df01448b59 280 {
GaiSensei 16:f4df01448b59 281 parsed_frame_relevant_content = parse_transmit_status(frame);
GaiSensei 16:f4df01448b59 282 break;
GaiSensei 16:f4df01448b59 283 }
GaiSensei 16:f4df01448b59 284 case FRAME_TYPE_AT_COMMAND_RESPONSE:
GaiSensei 16:f4df01448b59 285 {
GaiSensei 16:f4df01448b59 286 parsed_frame_relevant_content = parse_at_command_response(frame);
GaiSensei 16:f4df01448b59 287 break;
GaiSensei 16:f4df01448b59 288 }
GaiSensei 16:f4df01448b59 289 case FRAME_TYPE_REMOTE_COMMAND_RESPONSE:
GaiSensei 16:f4df01448b59 290 {
GaiSensei 16:f4df01448b59 291 parsed_frame_relevant_content = parse_remote_command_response(frame);
GaiSensei 16:f4df01448b59 292 break;
GaiSensei 16:f4df01448b59 293 }
GaiSensei 16:f4df01448b59 294 default:
GaiSensei 16:f4df01448b59 295 printf("Unsupported frame:\r\n");
GaiSensei 16:f4df01448b59 296 for(int i=0; i<frame.size(); i++)
GaiSensei 16:f4df01448b59 297 {
GaiSensei 16:f4df01448b59 298 printf("Bit #%d: %d\r\n", i, frame.at(i));
GaiSensei 16:f4df01448b59 299 }
GaiSensei 16:f4df01448b59 300 }
GaiSensei 16:f4df01448b59 301
GaiSensei 16:f4df01448b59 302 for(vector<char>::iterator it = parsed_frame_relevant_content.begin(); it < parsed_frame_relevant_content.end(); it++)
GaiSensei 16:f4df01448b59 303 {
GaiSensei 16:f4df01448b59 304 parsed_frame.push_back(*it);
GaiSensei 16:f4df01448b59 305 }
GaiSensei 16:f4df01448b59 306
GaiSensei 16:f4df01448b59 307 return parsed_frame;
GaiSensei 16:f4df01448b59 308 }
GaiSensei 16:f4df01448b59 309
GaiSensei 23:2b67589150d9 310 void parse_nerfus_message(const vector<char>& parsed_frame, void (*callback)(vector<uint8_t>, int*))
GaiSensei 19:9f25d8abec9e 311 {
GaiSensei 33:da71d952fcd6 312 if(parsed_frame[0] == FRAME_TYPE_RECEIVE_PACKET)
GaiSensei 16:f4df01448b59 313 {
GaiSensei 33:da71d952fcd6 314 int address[8];
GaiSensei 33:da71d952fcd6 315 for(int i=1; i<9; i++)
GaiSensei 33:da71d952fcd6 316 {
GaiSensei 33:da71d952fcd6 317 address[i-1] = parsed_frame[i];
GaiSensei 33:da71d952fcd6 318 }
GaiSensei 33:da71d952fcd6 319 vector<uint8_t> message;
GaiSensei 33:da71d952fcd6 320 for(int i=9; i<13; i++)
GaiSensei 33:da71d952fcd6 321 {
GaiSensei 33:da71d952fcd6 322 message.push_back(parsed_frame[i]);
GaiSensei 33:da71d952fcd6 323 }
GaiSensei 33:da71d952fcd6 324 callback(message, address);
GaiSensei 16:f4df01448b59 325 }
GaiSensei 16:f4df01448b59 326 }
GaiSensei 16:f4df01448b59 327
GaiSensei 16:f4df01448b59 328 void parsed_button_event_frame_to_string(const vector<char>& parsed_frame, char* readable_string_output)
GaiSensei 16:f4df01448b59 329 {
GaiSensei 16:f4df01448b59 330 const char button_state = parsed_frame[2];
GaiSensei 16:f4df01448b59 331 switch(button_state)
GaiSensei 16:f4df01448b59 332 {
GaiSensei 16:f4df01448b59 333 case BUTTON_RELEASED:
GaiSensei 16:f4df01448b59 334 strcpy(readable_string_output, "Button state: released");
GaiSensei 16:f4df01448b59 335 break;
GaiSensei 16:f4df01448b59 336
GaiSensei 16:f4df01448b59 337 case BUTTON_PRESSED:
GaiSensei 16:f4df01448b59 338 strcpy(readable_string_output, "Button state: pressed");
GaiSensei 16:f4df01448b59 339 break;
GaiSensei 16:f4df01448b59 340
GaiSensei 16:f4df01448b59 341 default:
GaiSensei 16:f4df01448b59 342 strcpy(readable_string_output, "Button state: invalid state");
GaiSensei 16:f4df01448b59 343 break;
GaiSensei 16:f4df01448b59 344 }
GaiSensei 16:f4df01448b59 345 }
GaiSensei 16:f4df01448b59 346
GaiSensei 16:f4df01448b59 347 void parsed_accelerometer_event_frame_to_string(const vector<char>& parsed_frame, char* readable_string_output)
GaiSensei 16:f4df01448b59 348 {
GaiSensei 16:f4df01448b59 349 const uint8_t x = parsed_frame[2];
GaiSensei 16:f4df01448b59 350 const uint8_t y = parsed_frame[3];
GaiSensei 16:f4df01448b59 351 const uint8_t z = parsed_frame[4];
GaiSensei 16:f4df01448b59 352 sprintf(readable_string_output, "Accelerometer state: x=0x%X, y=0x%X, z=0x%X", x, y, z);
GaiSensei 16:f4df01448b59 353 }
GaiSensei 16:f4df01448b59 354
GaiSensei 16:f4df01448b59 355 vector<string> read_file(string path)
GaiSensei 16:f4df01448b59 356 {
GaiSensei 16:f4df01448b59 357 LocalFileSystem local("local");
GaiSensei 16:f4df01448b59 358 vector<string> result;
GaiSensei 16:f4df01448b59 359 char buffer[128] = "";
GaiSensei 16:f4df01448b59 360 FILE *fp = fopen(path.c_str(), "r");
GaiSensei 16:f4df01448b59 361 bool ret = (fgets(buffer, 64, fp)) ;
GaiSensei 16:f4df01448b59 362
GaiSensei 16:f4df01448b59 363 string value(buffer);
GaiSensei 16:f4df01448b59 364 string first_value = "";
GaiSensei 16:f4df01448b59 365 string second_value = "";
GaiSensei 16:f4df01448b59 366 bool which_value = true;
GaiSensei 16:f4df01448b59 367
GaiSensei 16:f4df01448b59 368 for(int i=0; i<value.size(); i++)
GaiSensei 16:f4df01448b59 369 {
GaiSensei 16:f4df01448b59 370 if(buffer[i] == ';')
GaiSensei 16:f4df01448b59 371 {
GaiSensei 16:f4df01448b59 372 which_value = false;
GaiSensei 16:f4df01448b59 373 }
GaiSensei 16:f4df01448b59 374 else
GaiSensei 16:f4df01448b59 375 {
GaiSensei 16:f4df01448b59 376 if(which_value)
GaiSensei 16:f4df01448b59 377 {
GaiSensei 16:f4df01448b59 378 first_value += buffer[i];
GaiSensei 16:f4df01448b59 379 }
GaiSensei 16:f4df01448b59 380 else
GaiSensei 16:f4df01448b59 381 {
GaiSensei 16:f4df01448b59 382 second_value += buffer[i];
GaiSensei 16:f4df01448b59 383 }
GaiSensei 16:f4df01448b59 384 }
GaiSensei 16:f4df01448b59 385 }
GaiSensei 16:f4df01448b59 386 result.push_back(first_value);
GaiSensei 16:f4df01448b59 387 result.push_back(second_value);
GaiSensei 16:f4df01448b59 388 return result;
GaiSensei 16:f4df01448b59 389 }
GaiSensei 16:f4df01448b59 390
GaiSensei 16:f4df01448b59 391 char hexa_char_to_dec(char hexa_char)
GaiSensei 16:f4df01448b59 392 {
GaiSensei 16:f4df01448b59 393 if('0' <= hexa_char && hexa_char <= '9')
GaiSensei 16:f4df01448b59 394 {
GaiSensei 16:f4df01448b59 395 return hexa_char - 48;
GaiSensei 16:f4df01448b59 396 }
GaiSensei 16:f4df01448b59 397 if('A' <= hexa_char && hexa_char <= 'F')
GaiSensei 16:f4df01448b59 398 {
GaiSensei 16:f4df01448b59 399 return hexa_char - 55;
GaiSensei 16:f4df01448b59 400 }
GaiSensei 16:f4df01448b59 401 if('a' <= hexa_char && hexa_char <= 'f')
GaiSensei 16:f4df01448b59 402 {
GaiSensei 16:f4df01448b59 403 return hexa_char - 87;
GaiSensei 16:f4df01448b59 404 }
GaiSensei 16:f4df01448b59 405 assert(false && "Wtf");
GaiSensei 16:f4df01448b59 406 return hexa_char;
GaiSensei 16:f4df01448b59 407 }
GaiSensei 16:f4df01448b59 408
GaiSensei 16:f4df01448b59 409 vector<char> string_to_data(string pan_id)
GaiSensei 16:f4df01448b59 410 {
GaiSensei 16:f4df01448b59 411 vector<char> result;
GaiSensei 16:f4df01448b59 412
GaiSensei 16:f4df01448b59 413 for(int i=0; i < pan_id.size(); i += 2)
GaiSensei 16:f4df01448b59 414 {
GaiSensei 16:f4df01448b59 415 const char dec_val = ( hexa_char_to_dec(pan_id[i]) ) * 16 + hexa_char_to_dec(pan_id[i]);
GaiSensei 16:f4df01448b59 416 result.push_back(dec_val);
GaiSensei 16:f4df01448b59 417 }
GaiSensei 16:f4df01448b59 418
GaiSensei 16:f4df01448b59 419 return result;
GaiSensei 16:f4df01448b59 420 }
GaiSensei 16:f4df01448b59 421
GaiSensei 16:f4df01448b59 422 void set_pan_id(string pan_id)
GaiSensei 16:f4df01448b59 423 {
GaiSensei 16:f4df01448b59 424 const int pan_id_beginning[7] = {0x7E, 0x00, 0x06, 0x08, 0x01, 0x49, 0x44};
GaiSensei 16:f4df01448b59 425 unsigned char checksum = 0xFF;
GaiSensei 16:f4df01448b59 426
GaiSensei 16:f4df01448b59 427 xbee.putc(pan_id_beginning[0]);
GaiSensei 16:f4df01448b59 428 xbee.putc(pan_id_beginning[1]);
GaiSensei 16:f4df01448b59 429 xbee.putc(pan_id_beginning[2]);
GaiSensei 16:f4df01448b59 430
GaiSensei 16:f4df01448b59 431 for(int i=3; i<7; i++)
GaiSensei 16:f4df01448b59 432 {
GaiSensei 16:f4df01448b59 433 checksum -= pan_id_beginning[i];
GaiSensei 16:f4df01448b59 434 xbee.putc(pan_id_beginning[i]);
GaiSensei 16:f4df01448b59 435 }
GaiSensei 16:f4df01448b59 436
GaiSensei 16:f4df01448b59 437 vector<char> pan_id_char = string_to_data(pan_id);
GaiSensei 16:f4df01448b59 438 for(int i=0; i<pan_id_char.size(); i++)
GaiSensei 16:f4df01448b59 439 {
GaiSensei 16:f4df01448b59 440 checksum -= pan_id_char.at(i);
GaiSensei 16:f4df01448b59 441 xbee.putc(pan_id_char.at(i));
GaiSensei 16:f4df01448b59 442 }
GaiSensei 16:f4df01448b59 443
GaiSensei 16:f4df01448b59 444 xbee.putc(checksum);
GaiSensei 16:f4df01448b59 445 }