Librairie xbee.
Dependents: NerfUS-Coord NerfUSTarget
Fork of APP3_xbee by
mbed_source/xbee.cpp
- Committer:
- GaiSensei
- Date:
- 2017-04-05
- Revision:
- 28:d3671aeb50df
- Parent:
- 26:bb44aeb9665e
- Child:
- 33:da71d952fcd6
File content as of revision 28:d3671aeb50df:
///////////////////////////////////////////////////////////// // APP 3 // // // // Université de Sherbrooke // // Génie informatique // // Session 5, Hiver 2017 // // // // Date: 14 février 2017 // // // // Auteurs: Maxime Dupuis, dupm2216 // // Bruno Allaire-Lemay, allb2701 // ///////////////////////////////////////////////////////////// #include "xbee.h" #include <cassert> DigitalOut led_1(LED1); Mail<ingoing_value_t, 30> parsed_frames; RawSerial xbee(p13, p14); Mutex mutex; DigitalOut error_led(p6); Thread error_led_thread; const int FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[2] = {0x10, 0x01}; const int FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[4] = {0xFF, 0xFE, 0x00, 0x00}; 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}; const char LED_COMMAND_POWER_ON = 0x05; const char LED_COMMAND_POWER_OFF = 0x04; const int RECEIVE_PACKET_MESSAGE_START_INDEX = 15; const int RECEIVE_PACKET_SOURCE_ADDRESS_START_INDEX = 4; const char START_DELIMITER = 0x7E; bool is_character_that_needs_escape(const char character) { //printf("%X\r\n", character); switch(character) { case 0x7E: return true; case 0x7D: return true; case 0x11: return true; case 0x13: return true; default: return false; } } void send_message_via_xbee(const char* message, const int length, int address[8]) { const vector<char> transmit_request = generate_transmit_request(message, length, address); mutex.lock(); for(int i=0; i<transmit_request.size(); i++) { xbee.putc(transmit_request[i]); } mutex.unlock(); } vector<char> generate_transmit_request(const char* message, const int length, int address[8]) { vector<char> request; unsigned char checksum = 0xFF; request.push_back(START_DELIMITER); const uint16_t frame_length = 0x0E + length; const uint8_t frame_length_msb = frame_length >> 8; const uint8_t frame_length_lsb = (frame_length << 8) >> 8; request.push_back(frame_length_msb); request.push_back(frame_length_lsb); for(int i=0; i<2; i++) { request.push_back(FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[i]); checksum -= FRAME_SPECIFIC_DATA_BEGIN_BEFORE_ADDRESS[i]; } for(int i=0; i<8; i++) { request.push_back(address[i]); checksum -= address[i]; } for(int i=0; i<4; i++) { request.push_back(FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[i]); checksum -= FRAME_SPECIFIC_DATA_BEGIN_AFTER_ADDRESS[i]; } for(int i=0; i<length; i++) { request.push_back(message[i]); checksum -= message[i]; } request.push_back(checksum); return request; } vector<char> generate_led_command(const bool power_on) { vector<char> request; unsigned char checksum = 0xFF; request.push_back(START_DELIMITER); const uint16_t frame_length = 0x10; const uint8_t frame_length_msb = frame_length >> 8; const uint8_t frame_length_lsb = (frame_length << 8) >> 8; request.push_back(frame_length_msb); request.push_back(frame_length_lsb); for(int i=0; i<15; i++) { request.push_back(AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[i]); checksum -= AT_COMMAND_LED_FRAME_SPECIFIC_DATA_BEGIN[i]; } const char led_power_state = power_on ? LED_COMMAND_POWER_ON : LED_COMMAND_POWER_OFF; request.push_back(led_power_state); checksum -= led_power_state; request.push_back(checksum); return request; } void read_frame() { while(true) { while(xbee.getc() != 0x7E); vector<char> frame; frame.push_back(0x7E); const uint8_t frame_size_msb = xbee.getc(); const uint8_t frame_size_lsb = xbee.getc(); frame.push_back(frame_size_msb); frame.push_back(frame_size_lsb); const uint16_t frame_size = (frame_size_msb << 8) + frame_size_lsb; for(int i=0; i<frame_size + 1; i++) { frame.push_back(xbee.getc()); } handle_frame(frame); } } vector<char> parse_receive_packet(const vector<char>& frame) { vector<char> message; for(int i=0; i<8; i++) { message.push_back(frame.at(RECEIVE_PACKET_SOURCE_ADDRESS_START_INDEX + i)); } for(int i=0; i< frame.size() - RECEIVE_PACKET_MESSAGE_START_INDEX; i++) { message.push_back(frame.at(RECEIVE_PACKET_MESSAGE_START_INDEX + i)); } return message; } vector<char> parse_transmit_status(const vector<char>& frame) { vector<char> relevant_content; const char delivery_status = frame.at(8); relevant_content.push_back(delivery_status); return relevant_content; } vector<char> parse_at_command_response(const vector<char>& frame) { vector<char> relevant_content; const char command_status = frame.at(7); relevant_content.push_back(command_status); return relevant_content; } vector<char> parse_remote_command_response(const vector<char>& frame) { vector<char> relevant_content; const char command_status = frame.at(17); relevant_content.push_back(command_status); return relevant_content; } void manage_error_led() { while(true) { osSignalWait(0x1, osWaitForever); error_led = 1; wait_ms(1000); error_led = 0; } } void send_blink_led_at_command(const bool toggle_current_command) { static bool is_current_command_turn_on = false; if(toggle_current_command) { is_current_command_turn_on = !is_current_command_turn_on; } const vector<char> led_command = generate_led_command(is_current_command_turn_on); for(int i=0; i<led_command.size(); i++) { xbee.putc(led_command[i]); } } void handle_parsed_frames_from_mailbox(void const *args) { while(true) { osEvent event = parsed_frames.get(); assert(event.status == osEventMail); ingoing_value_t *parsed_frame = (ingoing_value_t*)event.value.p; parse_nerfus_message(ingoing_value_to_vector(*parsed_frame), (void(*)(vector<uint8_t>, int*))args); parsed_frames.free(parsed_frame); } } vector<char> ingoing_value_to_vector(const ingoing_value_t& value) { vector<char> result; for(int i=0; i<value.size; i++) { result.push_back(value.content[i]); } return result; } void handle_frame(const vector<char>& frame) { ingoing_value_t *parsed_frame = parsed_frames.alloc(); const vector<char> parsed_frame_vector = parse_frame(frame); for(int i=0; i<parsed_frame_vector.size(); i++) { parsed_frame->content[i] = parsed_frame_vector.at(i); } parsed_frame->size = parsed_frame_vector.size(); parsed_frames.put(parsed_frame); } vector<char> parse_frame(const vector<char>& frame) { vector<char> parsed_frame; const char frame_type = frame.at(3); parsed_frame.push_back(frame_type); vector<char> parsed_frame_relevant_content; switch(frame_type) { case FRAME_TYPE_RECEIVE_PACKET: { parsed_frame_relevant_content = parse_receive_packet(frame); break; } case FRAME_TYPE_TRANSMIT_STATUS: { parsed_frame_relevant_content = parse_transmit_status(frame); break; } case FRAME_TYPE_AT_COMMAND_RESPONSE: { parsed_frame_relevant_content = parse_at_command_response(frame); break; } case FRAME_TYPE_REMOTE_COMMAND_RESPONSE: { parsed_frame_relevant_content = parse_remote_command_response(frame); break; } default: printf("Unsupported frame:\r\n"); for(int i=0; i<frame.size(); i++) { printf("Bit #%d: %d\r\n", i, frame.at(i)); } } for(vector<char>::iterator it = parsed_frame_relevant_content.begin(); it < parsed_frame_relevant_content.end(); it++) { parsed_frame.push_back(*it); } return parsed_frame; } void parse_nerfus_message(const vector<char>& parsed_frame, void (*callback)(vector<uint8_t>, int*)) { int address[8]; for(int i=1; i<9; i++) { address[i-1] = parsed_frame[i]; } vector<uint8_t> message; for(int i=9; i<13; i++) { message.push_back(parsed_frame[i]); } callback(message, address); } void parsed_button_event_frame_to_string(const vector<char>& parsed_frame, char* readable_string_output) { const char button_state = parsed_frame[2]; switch(button_state) { case BUTTON_RELEASED: strcpy(readable_string_output, "Button state: released"); break; case BUTTON_PRESSED: strcpy(readable_string_output, "Button state: pressed"); break; default: strcpy(readable_string_output, "Button state: invalid state"); break; } } void parsed_accelerometer_event_frame_to_string(const vector<char>& parsed_frame, char* readable_string_output) { const uint8_t x = parsed_frame[2]; const uint8_t y = parsed_frame[3]; const uint8_t z = parsed_frame[4]; sprintf(readable_string_output, "Accelerometer state: x=0x%X, y=0x%X, z=0x%X", x, y, z); } vector<string> read_file(string path) { LocalFileSystem local("local"); vector<string> result; char buffer[128] = ""; FILE *fp = fopen(path.c_str(), "r"); bool ret = (fgets(buffer, 64, fp)) ; string value(buffer); string first_value = ""; string second_value = ""; bool which_value = true; for(int i=0; i<value.size(); i++) { if(buffer[i] == ';') { which_value = false; } else { if(which_value) { first_value += buffer[i]; } else { second_value += buffer[i]; } } } result.push_back(first_value); result.push_back(second_value); return result; } char hexa_char_to_dec(char hexa_char) { if('0' <= hexa_char && hexa_char <= '9') { return hexa_char - 48; } if('A' <= hexa_char && hexa_char <= 'F') { return hexa_char - 55; } if('a' <= hexa_char && hexa_char <= 'f') { return hexa_char - 87; } assert(false && "Wtf"); return hexa_char; } vector<char> string_to_data(string pan_id) { vector<char> result; for(int i=0; i < pan_id.size(); i += 2) { const char dec_val = ( hexa_char_to_dec(pan_id[i]) ) * 16 + hexa_char_to_dec(pan_id[i]); result.push_back(dec_val); } return result; } void set_pan_id(string pan_id) { const int pan_id_beginning[7] = {0x7E, 0x00, 0x06, 0x08, 0x01, 0x49, 0x44}; unsigned char checksum = 0xFF; xbee.putc(pan_id_beginning[0]); xbee.putc(pan_id_beginning[1]); xbee.putc(pan_id_beginning[2]); for(int i=3; i<7; i++) { checksum -= pan_id_beginning[i]; xbee.putc(pan_id_beginning[i]); } vector<char> pan_id_char = string_to_data(pan_id); for(int i=0; i<pan_id_char.size(); i++) { checksum -= pan_id_char.at(i); xbee.putc(pan_id_char.at(i)); } xbee.putc(checksum); }