Small changes
Dependencies: FATFileSystem
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Diff: XBee.cpp
- Revision:
- 7:e431d9d47db6
- Child:
- 12:15597e45eea0
diff -r 405c6e5a4eaf -r e431d9d47db6 XBee.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/XBee.cpp Mon Nov 11 09:39:58 2013 +0000 @@ -0,0 +1,751 @@ + +#include "mbed.h" +#include "mbed_debug.h" +#include "XBee.h" + +#define XBEE_END_CMD ("\r") +#define CR (0x0D) +#define RESP_OK ("OK") + +#define XBEE_START_DEL (0x7E) + +#define XBEE_API_ID_TX_64 (0x00) +#define XBEE_API_ID_AT_CMD (0x08) +#define XBEE_API_ID_AT_RESP (0x88) +#define XBEE_API_ID_TX_STAT (0x89) +#define XBEE_API_ID_RX_64 (0x80) +#define XBEE_API_ID_RX_16 (0x81) +#define XBEE_API_ID_MOD_STAT (0x8A) + +#define XBEE_MOD_STAT_HW_RESET (0) +#define XBEE_MOD_STAT_WD_RESET (1) +#define XBEE_MOD_STAT_ASSOC (2) +#define XBEE_MOD_STAT_DIASSOC (3) +#define XBEE_MOD_STAT_SYNC_LOST (4) +#define XBEE_MOD_STAT_COORD_REALG (5) +#define XBEE_MOD_STAT_COORD_START (6) + +#define XBEE_TX_STAT_SUCCESS (0) +#define XBEE_TX_STAT_NOACK (1) +#define XBEE_TX_STAT_CCA_FAIL (2) +#define XBEE_TX_STAT_PURGED (3) + +#define XBEE_RECV_FRAME_TO (2000) + +XBee::XBee(PinName tx, PinName rx, PinName reset, PinName sleep) : + _serial(tx, rx), _reset(reset), _sleep(sleep) { + _serial.baud(9600); + _serial.format(8, Serial::None, 1); + + _serial.attach(this, &XBee::uartRxIrq, Serial::RxIrq); + + rxqIn = 0; + rxqOut = 0; + _rfFrameTimeout = 0; + _rfFrameTimer.reset(); + + _rfState = RfStateFrame; + _rfPos = 0; + _rfFrameLen = 0; + _rfFrameId = 0; + + _initialized = false; + _type = Coordinator; + + _addrHi = 0; + _addrLo = 0; + _rssi = 0; + _frameId = 0; + _txStatus = TxStatusOk; + _recvData = NULL; + _recvLen = 0; + + // we enter sleep when sleep pin is high + _sleep = 0; +} + +XBee::XBeeError XBee::init(XBeeType type, const char* panId) { + XBeeError err = Ok; + char idBuf[10]; + + resetModule(); + + _type = type; + + do { + + if (panId == NULL || strlen(panId) != 4) { + err = ArgumentError; + break; + } + + err = commandMode(); + if (err != Ok) { + debug("XBee: +++ failed\n"); + break; + } + + // set the sleep mode to Hibernate + err = atSet("ATSM1"); + if (err != Ok) { + debug("Xbee: ATSM1 failed\r\n"); + break; + } + + // change PAN ID to EAEA + sprintf(idBuf, "ATID%s", panId); + err = atSet(idBuf); + if (err != Ok) { + debug("Xbee: ATID failed\r\n"); + break; + } + + // use 64-bit addressing + err = atSet("ATMYFFFE"); + if (err != Ok) { + debug("Xbee: ATMYFFFE failed\r\n"); + break; + } + + // Coordinator + if (type == Coordinator) { + + // - will not perform Active Scan to locate PAN ID + // - will not perform Energy Scan to determine free channel + // - allow End devices to associate with this coordinator + err = atSet("ATA24"); + if (err != Ok) { + debug("Xbee: ATA24 failed\r\n"); + break; + } + + // set this node as coordinator + err = atSet("ATCE1"); + if (err != Ok) { + debug("Xbee: ATCE1 failed\r\n"); + break; + } + } + else { + // - only associates with Coordinator on matching PAN ID + // - only associates with Coordinator on matching channel + // - device attempts association until success + err = atSet("ATA14"); + if (err != Ok) { + debug("Xbee: ATA14 failed\r\n"); + break; + } + } + + + // change to API mode + err = atSet("ATAP1"); + if (err != Ok) { + debug("Xbee: ATAP1 failed\r\n"); + break; + } + + } while(0); + + + return err; +} + +void XBee::process() { + uint32_t len = 0; + char data = 0; + + if (_rfFrameTimeout > 0 && (int)_rfFrameTimeout < _rfFrameTimer.read_ms()) { + _rfState = RfStateFrame; + debug("Xbee: Frame timer expired\r\n"); + _rfFrameTimeout = 0; + _rfFrameTimer.stop(); + } + + if (!uartRxQIsEmpty()) { + + len = uartReceive(&data, 1); + if (len > 0) { + processByte(data); + } + + } +} + +XBee::XBeeError XBee::getRemoteAddress(uint32_t* addrHi, uint32_t* addrLo) { + if (!_initialized) { + return NotInitializedError; + } + + if (addrHi == NULL || addrLo == NULL) { + return ArgumentError; + } + + *addrHi = _addrHi; + *addrLo = _addrLo; + + return Ok; +} + +XBee::XBeeError XBee::getRssi(uint8_t* rssi ) { + if (!_initialized) { + return NotInitializedError; + } + + if (rssi == NULL) { + return ArgumentError; + } + + *rssi = _rssi; + + return Ok; +} + +XBee::XBeeError XBee::getTxStatus(uint8_t* frameId, XBeeTxStatus* status) { + if (!_initialized) { + return NotInitializedError; + } + + if (frameId == NULL || status == NULL) { + return ArgumentError; + } + + *frameId = _frameId; + *status = _txStatus; + + return Ok; +} + +XBee::XBeeError XBee::getData(char** data, uint8_t* len) { + if (!_initialized) { + return NotInitializedError; + } + + if (data == NULL || len == NULL) { + return ArgumentError; + } + + *data = _recvData; + *len = _recvLen; + + return Ok; +} + +XBee::XBeeError XBee::send(uint32_t addrHi, uint32_t addrLo, char* data, + uint8_t len, uint8_t* frameId) +{ + if (!_initialized) { + return NotInitializedError; + } + + return apiTx64(addrHi, addrLo, data, len, frameId); +} + +XBee::XBeeError XBee::discoverNodes() { + if (!_initialized) { + return NotInitializedError; + } + + return apiAtCmd("ND", 0, false); +} + + +XBee::XBeeError XBee::enterSleep() { + _sleep = 1; + + return Ok; +} + +XBee::XBeeError XBee::exitSleep() { + _sleep = 0; + + return Ok; +} + + +void XBee::uartRxIrq() { + while(_serial.readable()) { + uartRxQPut(_serial.getc()); + } +} + +void XBee::uartRxQPut(uint8_t data) +{ + // full + if (rxqOut == (rxqIn + 1) % RX_BUF_SIZE) { + return; + } + + rxq[rxqIn] = data; + rxqIn = (rxqIn + 1) % RX_BUF_SIZE; +} + +uint8_t XBee::uartRxQGet() +{ + uint8_t d = 0; + // empty + if (rxqIn == rxqOut) { + return 0; + } + + d = rxq[rxqOut]; + rxqOut = (rxqOut + 1) % RX_BUF_SIZE; + + return d; +} + +bool XBee::uartRxQIsEmpty() +{ + return (rxqIn == rxqOut); +} + +uint32_t XBee::uartReceive(char *buf, uint32_t buflen) +{ + + uint32_t pos = 0; + + while(buflen > 0 && !uartRxQIsEmpty()) { + buf[pos] = uartRxQGet(); + pos++; + buflen--; + } + + return pos; +} + +int32_t XBee::uartReadLine(char* buf, uint32_t bufLen, uint32_t timeout) +{ + uint32_t pos = 0; + uint32_t len = 0; + Timer tim; + + tim.reset(); + tim.start(); + + while(pos < bufLen && tim.read_ms() < (int)timeout) { + + len = uartReceive(&buf[pos], 1); + if (len > 0 && buf[pos] == CR) { + buf[pos] = '\0'; + break; + } + + pos += len; + } + + if (pos >= bufLen) { + return BufTooSmallError; + } + + if (tim.read_ms() > (int)timeout) { + return TimeOutError; + } + + return pos; +} + +void XBee::resetModule() { + // reset pulse must be at least 200 ns. Using 1 ms. + _reset = 0; + wait_ms(1); + _reset = 1; + + // wait to make sure the module has started + wait_ms(500); + rxqIn = 0; + rxqOut = 0; +} + +XBee::XBeeError XBee::commandMode() { + XBeeError err = Ok; + int32_t lineLen = 0; + char ebuf[10]; + + _serial.printf("+++"); + + lineLen = uartReadLine(ebuf, 10, 1200); + + do { + if (lineLen < 0) { + // error while reading + err = ReadError; + break; + } + + if (strcmp(RESP_OK, (char*)ebuf) != 0) { + // didn't receive OK + err = CmdError; + break; + } + } while(0); + + return err; +} + +XBee::XBeeError XBee::atGet(const char* atCmd, char* resp, uint32_t respLen) +{ + + int32_t lineLen = 0; + XBeeError err = Ok; + + _serial.printf("%s%s", atCmd, XBEE_END_CMD); + + do { + + // a response is expected + if (resp != NULL && respLen > 0) { + lineLen = uartReadLine(resp, respLen, 1000); + + if (lineLen < 0) { + // error while reading + err = ReadError; + break; + } + + } + + } while(0); + + return err; +} + +XBee::XBeeError XBee::atSet(const char* atCmd) +{ + char b[10]; + XBeeError err = Ok; + + err = atGet(atCmd, b, 10); + if (err == Ok) { + + if (strcmp(RESP_OK, (char*)b) != 0) { + // didn't receive OK + err = CmdError; + } + } + + return err; +} + +void XBee::processByte(char data) +{ + switch(_rfState) { + case RfStateFrame: + if (data == XBEE_START_DEL) { + _rfPos = 0; + _rfFrameLen = 0; + _rfState = RfStateLength; + + // start timer to make sure an entire frame is received + // within a specific time + _rfFrameTimeout = XBEE_RECV_FRAME_TO; + _rfFrameTimer.reset(); + _rfFrameTimer.start(); + } + + break; + case RfStateLength: + _rfFrameLen |= (data << (8*(1-_rfPos))); + _rfPos++; + if (_rfPos == 2) { + _rfPos = 0; + _rfState = RfStateData; + + if (_rfFrameLen > XBEE_BUF_SZ) { + debug("Xbee: Frame len %d > max buffer len %d\r\n", + (int)_rfFrameLen, (int)XBEE_BUF_SZ); + _rfFrameLen = XBEE_BUF_SZ; + } + + } + break; + case RfStateData: + _rfBuf[_rfPos++] = data; + // read up until checksum (1 byte) + if (_rfPos == _rfFrameLen+1) { + _rfState = RfStateFrame; + + // cancel timer + _rfFrameTimeout = 0; + _rfFrameTimer.stop(); + + processFrame(_rfBuf, _rfPos); + } + break; + + } +} + +void XBee::processFrame(char* buf, uint32_t len) +{ + + uint32_t addrLo = 0; + uint32_t addrHi = 0; + char* b = NULL; + uint32_t bLen = 0; + + if (len < 2) { + debug("Xbee: Invalid frame length (%d)\r\n", (int)len); + return; + } + + // verify checksum + if (checksum(buf, len) != 0) { + debug("Xbee: Invalid checksum\r\n"); + return; + } + + switch(buf[0]) { + case XBEE_API_ID_AT_RESP: + if (len < 5) { + debug("Xbee: AT resp data too small: %d\r\n ", (int)len); + return; + } + + // there is a value + if (len > 6) { + b = &buf[5]; + bLen = len-5-1; + } + + handleAtResponse(buf[1], &buf[2], buf[4], b, bLen); + break; + case XBEE_API_ID_TX_STAT: + handleTxStatus(buf[1], buf[2]); + break; + case XBEE_API_ID_RX_64: + if (len < 12) { + debug("Xbee: RX data too small: %d\r\n ", (int)len); + return; + } + addrHi = bufTo32bitInt(&buf[1]); + addrLo = bufTo32bitInt(&buf[5]); + + processData(addrHi, addrLo, buf[9], buf[10], &buf[11], len-11-1); + break; + case XBEE_API_ID_RX_16: + debug("Xbee: RX 16 bit (unhandled)\r\n"); + break; + case XBEE_API_ID_MOD_STAT: + handleModemStatus(buf[1]); + break; + default: + debug("Xbee: Unhandled API ID: %x\r\n ", buf[0]); + + break; + } + +} + +void XBee::handleAtResponse(uint8_t frameId, char* atBuf, uint8_t status, + char* valueBuf, uint32_t valueLen) +{ + + if (strncmp("ND", (char*)atBuf, 2) == 0) { + handleDiscovery(status, valueBuf, valueLen); + } + +} + +void XBee::handleDiscovery(uint8_t status, char* buf, uint32_t len) +{ + + if (status == 0 && len >= 11) { + _addrHi = bufTo32bitInt(&buf[2]); + _addrLo = bufTo32bitInt(&buf[6]); + _rssi = buf[10]; + + _callbacks[CbNodeFound].call(); + + } +} + +void XBee::handleTxStatus(uint8_t frameId, uint8_t status) +{ + _frameId = frameId; + switch(status) { + case XBEE_TX_STAT_SUCCESS: + _txStatus = TxStatusOk; + break; + case XBEE_TX_STAT_NOACK: + _txStatus = TxStatusNoAck; + break; + case XBEE_TX_STAT_CCA_FAIL: + _txStatus = TxStatusCCA; + break; + case XBEE_TX_STAT_PURGED: + _txStatus = TxStatusPurged; + break; + } + + _callbacks[CbTxStat].call(); + +} + +void XBee::processData(uint32_t addrHi, uint32_t addrLo, uint8_t rssi, + uint8_t opt, char* buf, uint32_t len) +{ + _addrHi = addrHi; + _addrLo = addrLo; + _rssi = rssi; + _recvData = buf; + _recvLen = len; + + _callbacks[CbDataAvailable].call(); +} + +void XBee::handleModemStatus(uint8_t status) { + + if (_type == Coordinator && status == XBEE_MOD_STAT_COORD_START) { + _initialized = true; + _callbacks[CbDeviceUp].call(); + } + else if (_type == EndDevice && status == XBEE_MOD_STAT_ASSOC) { + _initialized = 1; + _callbacks[CbDeviceUp].call(); + } + else if (_type == EndDevice && status == XBEE_MOD_STAT_DIASSOC) { + _initialized = false; + _callbacks[CbDeviceDown].call(); + } + +} + +char XBee::checksum(char* buf, uint32_t len) +{ + int i = 0; + char cs = 0; + + for (i = 0; i < (int)len; i++) { + cs += buf[i]; + } + + return (0xFF - cs); +} + +uint32_t XBee::bufTo32bitInt(const char* buf) +{ + uint32_t v = 0; + + v |= (buf[0] << 24); + v |= (buf[1] << 16); + v |= (buf[2] << 8); + v |= (buf[3]); + + return v; +} + +void XBee::int32bitToBuf(uint32_t v, char* buf) +{ + + buf[0] = ((v >> 24) & 0xff); + buf[1] = ((v >> 16) & 0xff); + buf[2] = ((v >> 8) & 0xff); + buf[3] = ((v >> 0) & 0xff); + +} + + +XBee::XBeeError XBee::apiTx64(uint32_t addrHi, uint32_t addrLo, char* data, + uint32_t len, uint8_t* frameId) +{ + char buf[100]; + + + // limiting to 85 bytes data. Remaining 15 bytes belong to the + // frame + if (len > 85) { + return ArgumentError; + } + + buf[0] = XBEE_START_DEL; + + // length + buf[1] = 0; + buf[2] = 11+len; + + // AP ID + buf[3] = XBEE_API_ID_TX_64; + + // frame ID + buf[4] = getFrameId(); + + + // address + int32bitToBuf(addrHi, &buf[5]); + int32bitToBuf(addrLo, &buf[9]); + + // options + buf[13] = 0; + + // data + memcpy(&buf[14], data, len); + + // checksum + buf[14+len] = checksum(&buf[3], buf[2]); + + if (frameId != NULL) { + *frameId = buf[4]; + } + + + for (int i = 0; i < (15+len); i++) { + _serial.putc(buf[i]); + } + + + return Ok; +} + +XBee::XBeeError XBee::apiAtCmd(const char* atCmd, uint32_t param, bool useParameter) +{ + char buf[12]; + int pos = 0; + + buf[0] = XBEE_START_DEL; + + // length + buf[1] = 0; + buf[2] = 4; + if (useParameter) { + buf[2] += 4; + } + + // AP ID + buf[3] = XBEE_API_ID_AT_CMD; + + // frame ID + buf[4] = getFrameId(); + + // AT cmd + buf[5] = atCmd[0]; + buf[6] = atCmd[1]; + pos = 7; + + // AT parameter + if (useParameter) { + buf[pos++] = ((param >> 24) & 0xff); + buf[pos++] = ((param >> 16) & 0xff); + buf[pos++] = ((param >> 8) & 0xff); + buf[pos++] = ((param >> 0) & 0xff); + } + + // checksum + buf[pos] = checksum(&buf[3], pos-3); + pos++; + + for (int i = 0; i < pos; i++) { + _serial.putc(buf[i]); + } + + return Ok; +} + +uint8_t XBee::getFrameId(void) +{ + _rfFrameId++; + if (_rfFrameId == 0) { + _rfFrameId = 1; + } + + return _rfFrameId; +}