myxbee
Fork of XBEE by
XBEE.cpp@0:8cdf90642ef6, 2016-10-18 (annotated)
- Committer:
- RobinIsLeg
- Date:
- Tue Oct 18 03:29:46 2016 +0000
- Revision:
- 0:8cdf90642ef6
- Child:
- 1:ce4058bc0913
Initial Release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RobinIsLeg | 0:8cdf90642ef6 | 1 | #include "XBEE.h" |
RobinIsLeg | 0:8cdf90642ef6 | 2 | #include <string> |
RobinIsLeg | 0:8cdf90642ef6 | 3 | #include "SwitchCase.h" |
RobinIsLeg | 0:8cdf90642ef6 | 4 | |
RobinIsLeg | 0:8cdf90642ef6 | 5 | |
RobinIsLeg | 0:8cdf90642ef6 | 6 | |
RobinIsLeg | 0:8cdf90642ef6 | 7 | XBEE::XBEE(Serial* SerialAddress) |
RobinIsLeg | 0:8cdf90642ef6 | 8 | { |
RobinIsLeg | 0:8cdf90642ef6 | 9 | //Serial fish3(PTC17, PTC16); |
RobinIsLeg | 0:8cdf90642ef6 | 10 | cBuffer = new CBuffer(SerialAddress); |
RobinIsLeg | 0:8cdf90642ef6 | 11 | xbeeSerial = SerialAddress; |
RobinIsLeg | 0:8cdf90642ef6 | 12 | |
RobinIsLeg | 0:8cdf90642ef6 | 13 | } |
RobinIsLeg | 0:8cdf90642ef6 | 14 | |
RobinIsLeg | 0:8cdf90642ef6 | 15 | bool XBEE::scanForStartBytes() |
RobinIsLeg | 0:8cdf90642ef6 | 16 | { |
RobinIsLeg | 0:8cdf90642ef6 | 17 | startBytes[0] = 0; |
RobinIsLeg | 0:8cdf90642ef6 | 18 | startBytes[1] = 0; |
RobinIsLeg | 0:8cdf90642ef6 | 19 | startBytes[2] = 0; |
RobinIsLeg | 0:8cdf90642ef6 | 20 | |
RobinIsLeg | 0:8cdf90642ef6 | 21 | while(startBytes[0] != STARTBYTE0) |
RobinIsLeg | 0:8cdf90642ef6 | 22 | { |
RobinIsLeg | 0:8cdf90642ef6 | 23 | if(cBuffer->available() <=0){return false;} |
RobinIsLeg | 0:8cdf90642ef6 | 24 | startBytes[0] = cBuffer->read(); |
RobinIsLeg | 0:8cdf90642ef6 | 25 | } |
RobinIsLeg | 0:8cdf90642ef6 | 26 | if(cBuffer->available() <=0){return false;} |
RobinIsLeg | 0:8cdf90642ef6 | 27 | startBytes[1] = cBuffer->read(); |
RobinIsLeg | 0:8cdf90642ef6 | 28 | if(startBytes[1] == STARTBYTE1) |
RobinIsLeg | 0:8cdf90642ef6 | 29 | { |
RobinIsLeg | 0:8cdf90642ef6 | 30 | if(cBuffer->available() <=0){return false;} |
RobinIsLeg | 0:8cdf90642ef6 | 31 | startBytes[2] = cBuffer->read(); |
RobinIsLeg | 0:8cdf90642ef6 | 32 | } |
RobinIsLeg | 0:8cdf90642ef6 | 33 | |
RobinIsLeg | 0:8cdf90642ef6 | 34 | if( (startBytes[0] != STARTBYTE0) || (startBytes[1] != STARTBYTE1) || (startBytes[2] != STARTBYTE2)){return false;} |
RobinIsLeg | 0:8cdf90642ef6 | 35 | return true; |
RobinIsLeg | 0:8cdf90642ef6 | 36 | } |
RobinIsLeg | 0:8cdf90642ef6 | 37 | |
RobinIsLeg | 0:8cdf90642ef6 | 38 | |
RobinIsLeg | 0:8cdf90642ef6 | 39 | void XBEE::checkForCommand() |
RobinIsLeg | 0:8cdf90642ef6 | 40 | { |
RobinIsLeg | 0:8cdf90642ef6 | 41 | while(cBuffer->available() > 0) |
RobinIsLeg | 0:8cdf90642ef6 | 42 | { |
RobinIsLeg | 0:8cdf90642ef6 | 43 | if(scanForStartBytes() && (cBuffer->available() > 0)) |
RobinIsLeg | 0:8cdf90642ef6 | 44 | { |
RobinIsLeg | 0:8cdf90642ef6 | 45 | |
RobinIsLeg | 0:8cdf90642ef6 | 46 | switchCase(cBuffer->read()); |
RobinIsLeg | 0:8cdf90642ef6 | 47 | |
RobinIsLeg | 0:8cdf90642ef6 | 48 | } |
RobinIsLeg | 0:8cdf90642ef6 | 49 | |
RobinIsLeg | 0:8cdf90642ef6 | 50 | |
RobinIsLeg | 0:8cdf90642ef6 | 51 | |
RobinIsLeg | 0:8cdf90642ef6 | 52 | } |
RobinIsLeg | 0:8cdf90642ef6 | 53 | |
RobinIsLeg | 0:8cdf90642ef6 | 54 | } |
RobinIsLeg | 0:8cdf90642ef6 | 55 | |
RobinIsLeg | 0:8cdf90642ef6 | 56 | void XBEE::sendCommand(const char* info) |
RobinIsLeg | 0:8cdf90642ef6 | 57 | { |
RobinIsLeg | 0:8cdf90642ef6 | 58 | xbeeSerial->putc(STARTBYTE0); |
RobinIsLeg | 0:8cdf90642ef6 | 59 | xbeeSerial->putc(STARTBYTE1); |
RobinIsLeg | 0:8cdf90642ef6 | 60 | xbeeSerial->putc(STARTBYTE2); |
RobinIsLeg | 0:8cdf90642ef6 | 61 | xbeeSerial->putc(STATUSSTRING); |
RobinIsLeg | 0:8cdf90642ef6 | 62 | xbeeSerial->printf(info); |
RobinIsLeg | 0:8cdf90642ef6 | 63 | } |
RobinIsLeg | 0:8cdf90642ef6 | 64 | void XBEE::sendCommand(int info) |
RobinIsLeg | 0:8cdf90642ef6 | 65 | { |
RobinIsLeg | 0:8cdf90642ef6 | 66 | xbeeSerial->putc(STARTBYTE0); |
RobinIsLeg | 0:8cdf90642ef6 | 67 | xbeeSerial->putc(STARTBYTE1); |
RobinIsLeg | 0:8cdf90642ef6 | 68 | xbeeSerial->putc(STARTBYTE2); |
RobinIsLeg | 0:8cdf90642ef6 | 69 | xbeeSerial->putc(STATUSSTRING); |
RobinIsLeg | 0:8cdf90642ef6 | 70 | xbeeSerial->printf("%d",info); |
RobinIsLeg | 0:8cdf90642ef6 | 71 | } |
RobinIsLeg | 0:8cdf90642ef6 | 72 | |
RobinIsLeg | 0:8cdf90642ef6 | 73 | void XBEE::sendCommand(float info) |
RobinIsLeg | 0:8cdf90642ef6 | 74 | { |
RobinIsLeg | 0:8cdf90642ef6 | 75 | xbeeSerial->putc(STARTBYTE0); |
RobinIsLeg | 0:8cdf90642ef6 | 76 | xbeeSerial->putc(STARTBYTE1); |
RobinIsLeg | 0:8cdf90642ef6 | 77 | xbeeSerial->putc(STARTBYTE2); |
RobinIsLeg | 0:8cdf90642ef6 | 78 | xbeeSerial->putc(STATUSSTRING); |
RobinIsLeg | 0:8cdf90642ef6 | 79 | xbeeSerial->printf("%f",info); |
RobinIsLeg | 0:8cdf90642ef6 | 80 | } |
RobinIsLeg | 0:8cdf90642ef6 | 81 | |
RobinIsLeg | 0:8cdf90642ef6 | 82 | void XBEE::sendCommand(double info) |
RobinIsLeg | 0:8cdf90642ef6 | 83 | { |
RobinIsLeg | 0:8cdf90642ef6 | 84 | xbeeSerial->putc(STARTBYTE0); |
RobinIsLeg | 0:8cdf90642ef6 | 85 | xbeeSerial->putc(STARTBYTE1); |
RobinIsLeg | 0:8cdf90642ef6 | 86 | xbeeSerial->putc(STARTBYTE2); |
RobinIsLeg | 0:8cdf90642ef6 | 87 | xbeeSerial->putc(STATUSSTRING); |
RobinIsLeg | 0:8cdf90642ef6 | 88 | xbeeSerial->printf("%f",info); |
RobinIsLeg | 0:8cdf90642ef6 | 89 | } |
RobinIsLeg | 0:8cdf90642ef6 | 90 | void XBEE::sendCommand(char command, int sizeOfPayload,char payload[]) |
RobinIsLeg | 0:8cdf90642ef6 | 91 | { |
RobinIsLeg | 0:8cdf90642ef6 | 92 | xbeeSerial->putc(STARTBYTE0); |
RobinIsLeg | 0:8cdf90642ef6 | 93 | xbeeSerial->putc(STARTBYTE1); |
RobinIsLeg | 0:8cdf90642ef6 | 94 | xbeeSerial->putc(STARTBYTE2); |
RobinIsLeg | 0:8cdf90642ef6 | 95 | xbeeSerial->putc(command); |
RobinIsLeg | 0:8cdf90642ef6 | 96 | for(int i=0; i<sizeOfPayload; i++) |
RobinIsLeg | 0:8cdf90642ef6 | 97 | { |
RobinIsLeg | 0:8cdf90642ef6 | 98 | xbeeSerial->putc(payload[i]); |
RobinIsLeg | 0:8cdf90642ef6 | 99 | } |
RobinIsLeg | 0:8cdf90642ef6 | 100 | |
RobinIsLeg | 0:8cdf90642ef6 | 101 | } |
RobinIsLeg | 0:8cdf90642ef6 | 102 | void XBEE::sendCommand(char command) |
RobinIsLeg | 0:8cdf90642ef6 | 103 | { |
RobinIsLeg | 0:8cdf90642ef6 | 104 | xbeeSerial->putc(STARTBYTE0); |
RobinIsLeg | 0:8cdf90642ef6 | 105 | xbeeSerial->putc(STARTBYTE1); |
RobinIsLeg | 0:8cdf90642ef6 | 106 | xbeeSerial->putc(STARTBYTE2); |
RobinIsLeg | 0:8cdf90642ef6 | 107 | xbeeSerial->putc(command); |
RobinIsLeg | 0:8cdf90642ef6 | 108 | } |
RobinIsLeg | 0:8cdf90642ef6 | 109 | |
RobinIsLeg | 0:8cdf90642ef6 | 110 | void XBEE::test() |
RobinIsLeg | 0:8cdf90642ef6 | 111 | { |
RobinIsLeg | 0:8cdf90642ef6 | 112 | while(1){ |
RobinIsLeg | 0:8cdf90642ef6 | 113 | if(cBuffer->available()){xbeeSerial->printf("Receiving from 101\n\r");} |
RobinIsLeg | 0:8cdf90642ef6 | 114 | while(cBuffer->available() > 0){xbeeSerial->putc(cBuffer->read());} |
RobinIsLeg | 0:8cdf90642ef6 | 115 | xbeeSerial->putc('A'); |
RobinIsLeg | 0:8cdf90642ef6 | 116 | wait(0.5); |
RobinIsLeg | 0:8cdf90642ef6 | 117 | } |
RobinIsLeg | 0:8cdf90642ef6 | 118 | |
RobinIsLeg | 0:8cdf90642ef6 | 119 | |
RobinIsLeg | 0:8cdf90642ef6 | 120 | } |