EmbeddedArtists AB / Mbed 2 deprecated lpc812_exp_solution_exp-port-xbee

Solutions for the XBee experiments for LPC812 MAX

Dependencies:   mbed

XBee.cpp@0:54828b08e71d, 2013-11-20 (annotated)

Committer:
embeddedartists
Date:
Wed Nov 20 08:26:28 2013 +0000
Revision:
0:54828b08e71d
First Version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
embeddedartists 0:54828b08e71d 1
embeddedartists 0:54828b08e71d 2 #include "mbed.h"
embeddedartists 0:54828b08e71d 3 #include "mbed_debug.h"
embeddedartists 0:54828b08e71d 4 #include "XBee.h"
embeddedartists 0:54828b08e71d 5
embeddedartists 0:54828b08e71d 6 #define XBEE_END_CMD ("\r")
embeddedartists 0:54828b08e71d 7 #define CR (0x0D)
embeddedartists 0:54828b08e71d 8 #define RESP_OK ("OK")
embeddedartists 0:54828b08e71d 9
embeddedartists 0:54828b08e71d 10 #define XBEE_START_DEL (0x7E)
embeddedartists 0:54828b08e71d 11
embeddedartists 0:54828b08e71d 12 #define XBEE_API_ID_TX_64 (0x00)
embeddedartists 0:54828b08e71d 13 #define XBEE_API_ID_AT_CMD (0x08)
embeddedartists 0:54828b08e71d 14 #define XBEE_API_ID_AT_RESP (0x88)
embeddedartists 0:54828b08e71d 15 #define XBEE_API_ID_TX_STAT (0x89)
embeddedartists 0:54828b08e71d 16 #define XBEE_API_ID_RX_64 (0x80)
embeddedartists 0:54828b08e71d 17 #define XBEE_API_ID_RX_16 (0x81)
embeddedartists 0:54828b08e71d 18 #define XBEE_API_ID_MOD_STAT (0x8A)
embeddedartists 0:54828b08e71d 19
embeddedartists 0:54828b08e71d 20 #define XBEE_MOD_STAT_HW_RESET (0)
embeddedartists 0:54828b08e71d 21 #define XBEE_MOD_STAT_WD_RESET (1)
embeddedartists 0:54828b08e71d 22 #define XBEE_MOD_STAT_ASSOC (2)
embeddedartists 0:54828b08e71d 23 #define XBEE_MOD_STAT_DIASSOC (3)
embeddedartists 0:54828b08e71d 24 #define XBEE_MOD_STAT_SYNC_LOST (4)
embeddedartists 0:54828b08e71d 25 #define XBEE_MOD_STAT_COORD_REALG (5)
embeddedartists 0:54828b08e71d 26 #define XBEE_MOD_STAT_COORD_START (6)
embeddedartists 0:54828b08e71d 27
embeddedartists 0:54828b08e71d 28 #define XBEE_TX_STAT_SUCCESS (0)
embeddedartists 0:54828b08e71d 29 #define XBEE_TX_STAT_NOACK (1)
embeddedartists 0:54828b08e71d 30 #define XBEE_TX_STAT_CCA_FAIL (2)
embeddedartists 0:54828b08e71d 31 #define XBEE_TX_STAT_PURGED (3)
embeddedartists 0:54828b08e71d 32
embeddedartists 0:54828b08e71d 33 #define XBEE_RECV_FRAME_TO (2000)
embeddedartists 0:54828b08e71d 34
embeddedartists 0:54828b08e71d 35 XBee::XBee(PinName tx, PinName rx, PinName reset, PinName sleep) :
embeddedartists 0:54828b08e71d 36 _serial(tx, rx), _reset(reset), _sleep(sleep) {
embeddedartists 0:54828b08e71d 37 _serial.baud(9600);
embeddedartists 0:54828b08e71d 38 //_serial.format(8, Serial::None, 1);
embeddedartists 0:54828b08e71d 39
embeddedartists 0:54828b08e71d 40 _serial.attach(this, &XBee::uartRxIrq, Serial::RxIrq);
embeddedartists 0:54828b08e71d 41
embeddedartists 0:54828b08e71d 42 rxqIn = 0;
embeddedartists 0:54828b08e71d 43 rxqOut = 0;
embeddedartists 0:54828b08e71d 44 _rfFrameTimeout = 0;
embeddedartists 0:54828b08e71d 45 _rfFrameTimer.reset();
embeddedartists 0:54828b08e71d 46
embeddedartists 0:54828b08e71d 47 _rfState = RfStateFrame;
embeddedartists 0:54828b08e71d 48 _rfPos = 0;
embeddedartists 0:54828b08e71d 49 _rfFrameLen = 0;
embeddedartists 0:54828b08e71d 50 _rfFrameId = 0;
embeddedartists 0:54828b08e71d 51
embeddedartists 0:54828b08e71d 52 _initialized = false;
embeddedartists 0:54828b08e71d 53 _type = Coordinator;
embeddedartists 0:54828b08e71d 54
embeddedartists 0:54828b08e71d 55 _addrHi = 0;
embeddedartists 0:54828b08e71d 56 _addrLo = 0;
embeddedartists 0:54828b08e71d 57 _rssi = 0;
embeddedartists 0:54828b08e71d 58 _frameId = 0;
embeddedartists 0:54828b08e71d 59 _txStatus = TxStatusOk;
embeddedartists 0:54828b08e71d 60 _recvData = NULL;
embeddedartists 0:54828b08e71d 61 _recvLen = 0;
embeddedartists 0:54828b08e71d 62
embeddedartists 0:54828b08e71d 63 // we enter sleep when sleep pin is high
embeddedartists 0:54828b08e71d 64 _sleep = 0;
embeddedartists 0:54828b08e71d 65 }
embeddedartists 0:54828b08e71d 66
embeddedartists 0:54828b08e71d 67 XBee::XBeeError XBee::init(XBeeType type, const char* panId) {
embeddedartists 0:54828b08e71d 68 XBeeError err = Ok;
embeddedartists 0:54828b08e71d 69 char idBuf[10];
embeddedartists 0:54828b08e71d 70
embeddedartists 0:54828b08e71d 71 resetModule();
embeddedartists 0:54828b08e71d 72
embeddedartists 0:54828b08e71d 73 _type = type;
embeddedartists 0:54828b08e71d 74
embeddedartists 0:54828b08e71d 75 do {
embeddedartists 0:54828b08e71d 76
embeddedartists 0:54828b08e71d 77 if (panId == NULL || strlen(panId) != 4) {
embeddedartists 0:54828b08e71d 78 err = ArgumentError;
embeddedartists 0:54828b08e71d 79 break;
embeddedartists 0:54828b08e71d 80 }
embeddedartists 0:54828b08e71d 81
embeddedartists 0:54828b08e71d 82 err = commandMode();
embeddedartists 0:54828b08e71d 83 if (err != Ok) {
embeddedartists 0:54828b08e71d 84 debug("XBee: +++ failed\n");
embeddedartists 0:54828b08e71d 85 break;
embeddedartists 0:54828b08e71d 86 }
embeddedartists 0:54828b08e71d 87
embeddedartists 0:54828b08e71d 88 // set the sleep mode to Hibernate
embeddedartists 0:54828b08e71d 89 err = atSet("ATSM1");
embeddedartists 0:54828b08e71d 90 if (err != Ok) {
embeddedartists 0:54828b08e71d 91 debug("Xbee: ATSM1 failed\r\n");
embeddedartists 0:54828b08e71d 92 break;
embeddedartists 0:54828b08e71d 93 }
embeddedartists 0:54828b08e71d 94
embeddedartists 0:54828b08e71d 95 // change PAN ID to EAEA
embeddedartists 0:54828b08e71d 96 sprintf(idBuf, "ATID%s", panId);
embeddedartists 0:54828b08e71d 97 err = atSet(idBuf);
embeddedartists 0:54828b08e71d 98 if (err != Ok) {
embeddedartists 0:54828b08e71d 99 debug("Xbee: ATID failed\r\n");
embeddedartists 0:54828b08e71d 100 break;
embeddedartists 0:54828b08e71d 101 }
embeddedartists 0:54828b08e71d 102
embeddedartists 0:54828b08e71d 103 // use 64-bit addressing
embeddedartists 0:54828b08e71d 104 err = atSet("ATMYFFFE");
embeddedartists 0:54828b08e71d 105 if (err != Ok) {
embeddedartists 0:54828b08e71d 106 debug("Xbee: ATMYFFFE failed\r\n");
embeddedartists 0:54828b08e71d 107 break;
embeddedartists 0:54828b08e71d 108 }
embeddedartists 0:54828b08e71d 109
embeddedartists 0:54828b08e71d 110 // Coordinator
embeddedartists 0:54828b08e71d 111 if (type == Coordinator) {
embeddedartists 0:54828b08e71d 112
embeddedartists 0:54828b08e71d 113 // - will not perform Active Scan to locate PAN ID
embeddedartists 0:54828b08e71d 114 // - will not perform Energy Scan to determine free channel
embeddedartists 0:54828b08e71d 115 // - allow End devices to associate with this coordinator
embeddedartists 0:54828b08e71d 116 err = atSet("ATA24");
embeddedartists 0:54828b08e71d 117 if (err != Ok) {
embeddedartists 0:54828b08e71d 118 debug("Xbee: ATA24 failed\r\n");
embeddedartists 0:54828b08e71d 119 break;
embeddedartists 0:54828b08e71d 120 }
embeddedartists 0:54828b08e71d 121
embeddedartists 0:54828b08e71d 122 // set this node as coordinator
embeddedartists 0:54828b08e71d 123 err = atSet("ATCE1");
embeddedartists 0:54828b08e71d 124 if (err != Ok) {
embeddedartists 0:54828b08e71d 125 debug("Xbee: ATCE1 failed\r\n");
embeddedartists 0:54828b08e71d 126 break;
embeddedartists 0:54828b08e71d 127 }
embeddedartists 0:54828b08e71d 128 }
embeddedartists 0:54828b08e71d 129 else {
embeddedartists 0:54828b08e71d 130 // - only associates with Coordinator on matching PAN ID
embeddedartists 0:54828b08e71d 131 // - only associates with Coordinator on matching channel
embeddedartists 0:54828b08e71d 132 // - device attempts association until success
embeddedartists 0:54828b08e71d 133 err = atSet("ATA14");
embeddedartists 0:54828b08e71d 134 if (err != Ok) {
embeddedartists 0:54828b08e71d 135 debug("Xbee: ATA14 failed\r\n");
embeddedartists 0:54828b08e71d 136 break;
embeddedartists 0:54828b08e71d 137 }
embeddedartists 0:54828b08e71d 138 }
embeddedartists 0:54828b08e71d 139
embeddedartists 0:54828b08e71d 140
embeddedartists 0:54828b08e71d 141 // change to API mode
embeddedartists 0:54828b08e71d 142 err = atSet("ATAP1");
embeddedartists 0:54828b08e71d 143 if (err != Ok) {
embeddedartists 0:54828b08e71d 144 debug("Xbee: ATAP1 failed\r\n");
embeddedartists 0:54828b08e71d 145 break;
embeddedartists 0:54828b08e71d 146 }
embeddedartists 0:54828b08e71d 147
embeddedartists 0:54828b08e71d 148 } while(0);
embeddedartists 0:54828b08e71d 149
embeddedartists 0:54828b08e71d 150
embeddedartists 0:54828b08e71d 151 return err;
embeddedartists 0:54828b08e71d 152 }
embeddedartists 0:54828b08e71d 153
embeddedartists 0:54828b08e71d 154 void XBee::process() {
embeddedartists 0:54828b08e71d 155 uint32_t len = 0;
embeddedartists 0:54828b08e71d 156 char data = 0;
embeddedartists 0:54828b08e71d 157
embeddedartists 0:54828b08e71d 158 if (_rfFrameTimeout > 0 && (int)_rfFrameTimeout < _rfFrameTimer.read_ms()) {
embeddedartists 0:54828b08e71d 159 _rfState = RfStateFrame;
embeddedartists 0:54828b08e71d 160 debug("Xbee: Frame timer expired\r\n");
embeddedartists 0:54828b08e71d 161 _rfFrameTimeout = 0;
embeddedartists 0:54828b08e71d 162 _rfFrameTimer.stop();
embeddedartists 0:54828b08e71d 163 }
embeddedartists 0:54828b08e71d 164
embeddedartists 0:54828b08e71d 165 if (!uartRxQIsEmpty()) {
embeddedartists 0:54828b08e71d 166
embeddedartists 0:54828b08e71d 167 len = uartReceive(&data, 1);
embeddedartists 0:54828b08e71d 168 if (len > 0) {
embeddedartists 0:54828b08e71d 169 processByte(data);
embeddedartists 0:54828b08e71d 170 }
embeddedartists 0:54828b08e71d 171
embeddedartists 0:54828b08e71d 172 }
embeddedartists 0:54828b08e71d 173 }
embeddedartists 0:54828b08e71d 174
embeddedartists 0:54828b08e71d 175 XBee::XBeeError XBee::getRemoteAddress(uint32_t* addrHi, uint32_t* addrLo) {
embeddedartists 0:54828b08e71d 176 if (!_initialized) {
embeddedartists 0:54828b08e71d 177 return NotInitializedError;
embeddedartists 0:54828b08e71d 178 }
embeddedartists 0:54828b08e71d 179
embeddedartists 0:54828b08e71d 180 if (addrHi == NULL || addrLo == NULL) {
embeddedartists 0:54828b08e71d 181 return ArgumentError;
embeddedartists 0:54828b08e71d 182 }
embeddedartists 0:54828b08e71d 183
embeddedartists 0:54828b08e71d 184 *addrHi = _addrHi;
embeddedartists 0:54828b08e71d 185 *addrLo = _addrLo;
embeddedartists 0:54828b08e71d 186
embeddedartists 0:54828b08e71d 187 return Ok;
embeddedartists 0:54828b08e71d 188 }
embeddedartists 0:54828b08e71d 189
embeddedartists 0:54828b08e71d 190 XBee::XBeeError XBee::getRssi(uint8_t* rssi ) {
embeddedartists 0:54828b08e71d 191 if (!_initialized) {
embeddedartists 0:54828b08e71d 192 return NotInitializedError;
embeddedartists 0:54828b08e71d 193 }
embeddedartists 0:54828b08e71d 194
embeddedartists 0:54828b08e71d 195 if (rssi == NULL) {
embeddedartists 0:54828b08e71d 196 return ArgumentError;
embeddedartists 0:54828b08e71d 197 }
embeddedartists 0:54828b08e71d 198
embeddedartists 0:54828b08e71d 199 *rssi = _rssi;
embeddedartists 0:54828b08e71d 200
embeddedartists 0:54828b08e71d 201 return Ok;
embeddedartists 0:54828b08e71d 202 }
embeddedartists 0:54828b08e71d 203
embeddedartists 0:54828b08e71d 204 XBee::XBeeError XBee::getTxStatus(uint8_t* frameId, XBeeTxStatus* status) {
embeddedartists 0:54828b08e71d 205 if (!_initialized) {
embeddedartists 0:54828b08e71d 206 return NotInitializedError;
embeddedartists 0:54828b08e71d 207 }
embeddedartists 0:54828b08e71d 208
embeddedartists 0:54828b08e71d 209 if (frameId == NULL || status == NULL) {
embeddedartists 0:54828b08e71d 210 return ArgumentError;
embeddedartists 0:54828b08e71d 211 }
embeddedartists 0:54828b08e71d 212
embeddedartists 0:54828b08e71d 213 *frameId = _frameId;
embeddedartists 0:54828b08e71d 214 *status = _txStatus;
embeddedartists 0:54828b08e71d 215
embeddedartists 0:54828b08e71d 216 return Ok;
embeddedartists 0:54828b08e71d 217 }
embeddedartists 0:54828b08e71d 218
embeddedartists 0:54828b08e71d 219 XBee::XBeeError XBee::getData(char** data, uint8_t* len) {
embeddedartists 0:54828b08e71d 220 if (!_initialized) {
embeddedartists 0:54828b08e71d 221 return NotInitializedError;
embeddedartists 0:54828b08e71d 222 }
embeddedartists 0:54828b08e71d 223
embeddedartists 0:54828b08e71d 224 if (data == NULL || len == NULL) {
embeddedartists 0:54828b08e71d 225 return ArgumentError;
embeddedartists 0:54828b08e71d 226 }
embeddedartists 0:54828b08e71d 227
embeddedartists 0:54828b08e71d 228 *data = _recvData;
embeddedartists 0:54828b08e71d 229 *len = _recvLen;
embeddedartists 0:54828b08e71d 230
embeddedartists 0:54828b08e71d 231 return Ok;
embeddedartists 0:54828b08e71d 232 }
embeddedartists 0:54828b08e71d 233
embeddedartists 0:54828b08e71d 234 XBee::XBeeError XBee::send(uint32_t addrHi, uint32_t addrLo, char* data,
embeddedartists 0:54828b08e71d 235 uint8_t len, uint8_t* frameId)
embeddedartists 0:54828b08e71d 236 {
embeddedartists 0:54828b08e71d 237 if (!_initialized) {
embeddedartists 0:54828b08e71d 238 return NotInitializedError;
embeddedartists 0:54828b08e71d 239 }
embeddedartists 0:54828b08e71d 240
embeddedartists 0:54828b08e71d 241 return apiTx64(addrHi, addrLo, data, len, frameId);
embeddedartists 0:54828b08e71d 242 }
embeddedartists 0:54828b08e71d 243
embeddedartists 0:54828b08e71d 244 XBee::XBeeError XBee::discoverNodes() {
embeddedartists 0:54828b08e71d 245 if (!_initialized) {
embeddedartists 0:54828b08e71d 246 return NotInitializedError;
embeddedartists 0:54828b08e71d 247 }
embeddedartists 0:54828b08e71d 248
embeddedartists 0:54828b08e71d 249 return apiAtCmd("ND", 0, false);
embeddedartists 0:54828b08e71d 250 }
embeddedartists 0:54828b08e71d 251
embeddedartists 0:54828b08e71d 252
embeddedartists 0:54828b08e71d 253 XBee::XBeeError XBee::enterSleep() {
embeddedartists 0:54828b08e71d 254 _sleep = 1;
embeddedartists 0:54828b08e71d 255
embeddedartists 0:54828b08e71d 256 return Ok;
embeddedartists 0:54828b08e71d 257 }
embeddedartists 0:54828b08e71d 258
embeddedartists 0:54828b08e71d 259 XBee::XBeeError XBee::exitSleep() {
embeddedartists 0:54828b08e71d 260 _sleep = 0;
embeddedartists 0:54828b08e71d 261
embeddedartists 0:54828b08e71d 262 return Ok;
embeddedartists 0:54828b08e71d 263 }
embeddedartists 0:54828b08e71d 264
embeddedartists 0:54828b08e71d 265
embeddedartists 0:54828b08e71d 266 void XBee::uartRxIrq() {
embeddedartists 0:54828b08e71d 267 while(_serial.readable()) {
embeddedartists 0:54828b08e71d 268 uartRxQPut(_serial.getc());
embeddedartists 0:54828b08e71d 269 }
embeddedartists 0:54828b08e71d 270 }
embeddedartists 0:54828b08e71d 271
embeddedartists 0:54828b08e71d 272 void XBee::uartRxQPut(uint8_t data)
embeddedartists 0:54828b08e71d 273 {
embeddedartists 0:54828b08e71d 274 // full
embeddedartists 0:54828b08e71d 275 if (rxqOut == (rxqIn + 1) % RX_BUF_SIZE) {
embeddedartists 0:54828b08e71d 276 return;
embeddedartists 0:54828b08e71d 277 }
embeddedartists 0:54828b08e71d 278
embeddedartists 0:54828b08e71d 279 rxq[rxqIn] = data;
embeddedartists 0:54828b08e71d 280 rxqIn = (rxqIn + 1) % RX_BUF_SIZE;
embeddedartists 0:54828b08e71d 281 }
embeddedartists 0:54828b08e71d 282
embeddedartists 0:54828b08e71d 283 uint8_t XBee::uartRxQGet()
embeddedartists 0:54828b08e71d 284 {
embeddedartists 0:54828b08e71d 285 uint8_t d = 0;
embeddedartists 0:54828b08e71d 286 // empty
embeddedartists 0:54828b08e71d 287 if (rxqIn == rxqOut) {
embeddedartists 0:54828b08e71d 288 return 0;
embeddedartists 0:54828b08e71d 289 }
embeddedartists 0:54828b08e71d 290
embeddedartists 0:54828b08e71d 291 d = rxq[rxqOut];
embeddedartists 0:54828b08e71d 292 rxqOut = (rxqOut + 1) % RX_BUF_SIZE;
embeddedartists 0:54828b08e71d 293
embeddedartists 0:54828b08e71d 294 return d;
embeddedartists 0:54828b08e71d 295 }
embeddedartists 0:54828b08e71d 296
embeddedartists 0:54828b08e71d 297 bool XBee::uartRxQIsEmpty()
embeddedartists 0:54828b08e71d 298 {
embeddedartists 0:54828b08e71d 299 return (rxqIn == rxqOut);
embeddedartists 0:54828b08e71d 300 }
embeddedartists 0:54828b08e71d 301
embeddedartists 0:54828b08e71d 302 uint32_t XBee::uartReceive(char *buf, uint32_t buflen)
embeddedartists 0:54828b08e71d 303 {
embeddedartists 0:54828b08e71d 304
embeddedartists 0:54828b08e71d 305 uint32_t pos = 0;
embeddedartists 0:54828b08e71d 306
embeddedartists 0:54828b08e71d 307 while(buflen > 0 && !uartRxQIsEmpty()) {
embeddedartists 0:54828b08e71d 308 buf[pos] = uartRxQGet();
embeddedartists 0:54828b08e71d 309 pos++;
embeddedartists 0:54828b08e71d 310 buflen--;
embeddedartists 0:54828b08e71d 311 }
embeddedartists 0:54828b08e71d 312
embeddedartists 0:54828b08e71d 313 return pos;
embeddedartists 0:54828b08e71d 314 }
embeddedartists 0:54828b08e71d 315
embeddedartists 0:54828b08e71d 316 int32_t XBee::uartReadLine(char* buf, uint32_t bufLen, uint32_t timeout)
embeddedartists 0:54828b08e71d 317 {
embeddedartists 0:54828b08e71d 318 uint32_t pos = 0;
embeddedartists 0:54828b08e71d 319 uint32_t len = 0;
embeddedartists 0:54828b08e71d 320 Timer tim;
embeddedartists 0:54828b08e71d 321
embeddedartists 0:54828b08e71d 322 tim.reset();
embeddedartists 0:54828b08e71d 323 tim.start();
embeddedartists 0:54828b08e71d 324
embeddedartists 0:54828b08e71d 325 while(pos < bufLen && tim.read_ms() < (int)timeout) {
embeddedartists 0:54828b08e71d 326
embeddedartists 0:54828b08e71d 327 len = uartReceive(&buf[pos], 1);
embeddedartists 0:54828b08e71d 328 if (len > 0 && buf[pos] == CR) {
embeddedartists 0:54828b08e71d 329 buf[pos] = '\0';
embeddedartists 0:54828b08e71d 330 break;
embeddedartists 0:54828b08e71d 331 }
embeddedartists 0:54828b08e71d 332
embeddedartists 0:54828b08e71d 333 pos += len;
embeddedartists 0:54828b08e71d 334 }
embeddedartists 0:54828b08e71d 335
embeddedartists 0:54828b08e71d 336 if (pos >= bufLen) {
embeddedartists 0:54828b08e71d 337 return BufTooSmallError;
embeddedartists 0:54828b08e71d 338 }
embeddedartists 0:54828b08e71d 339
embeddedartists 0:54828b08e71d 340 if (tim.read_ms() > (int)timeout) {
embeddedartists 0:54828b08e71d 341 return TimeOutError;
embeddedartists 0:54828b08e71d 342 }
embeddedartists 0:54828b08e71d 343
embeddedartists 0:54828b08e71d 344 return pos;
embeddedartists 0:54828b08e71d 345 }
embeddedartists 0:54828b08e71d 346
embeddedartists 0:54828b08e71d 347 void XBee::resetModule() {
embeddedartists 0:54828b08e71d 348 // reset pulse must be at least 200 ns. Using 1 ms.
embeddedartists 0:54828b08e71d 349 _reset = 0;
embeddedartists 0:54828b08e71d 350 wait_ms(1);
embeddedartists 0:54828b08e71d 351 _reset = 1;
embeddedartists 0:54828b08e71d 352
embeddedartists 0:54828b08e71d 353 // wait to make sure the module has started
embeddedartists 0:54828b08e71d 354 wait_ms(500);
embeddedartists 0:54828b08e71d 355 rxqIn = 0;
embeddedartists 0:54828b08e71d 356 rxqOut = 0;
embeddedartists 0:54828b08e71d 357 }
embeddedartists 0:54828b08e71d 358
embeddedartists 0:54828b08e71d 359 XBee::XBeeError XBee::commandMode() {
embeddedartists 0:54828b08e71d 360 XBeeError err = Ok;
embeddedartists 0:54828b08e71d 361 int32_t lineLen = 0;
embeddedartists 0:54828b08e71d 362 char ebuf[10];
embeddedartists 0:54828b08e71d 363
embeddedartists 0:54828b08e71d 364 _serial.printf("+++");
embeddedartists 0:54828b08e71d 365
embeddedartists 0:54828b08e71d 366 lineLen = uartReadLine(ebuf, 10, 1200);
embeddedartists 0:54828b08e71d 367
embeddedartists 0:54828b08e71d 368 do {
embeddedartists 0:54828b08e71d 369 if (lineLen < 0) {
embeddedartists 0:54828b08e71d 370 // error while reading
embeddedartists 0:54828b08e71d 371 err = ReadError;
embeddedartists 0:54828b08e71d 372 break;
embeddedartists 0:54828b08e71d 373 }
embeddedartists 0:54828b08e71d 374
embeddedartists 0:54828b08e71d 375 if (strcmp(RESP_OK, (char*)ebuf) != 0) {
embeddedartists 0:54828b08e71d 376 // didn't receive OK
embeddedartists 0:54828b08e71d 377 err = CmdError;
embeddedartists 0:54828b08e71d 378 break;
embeddedartists 0:54828b08e71d 379 }
embeddedartists 0:54828b08e71d 380 } while(0);
embeddedartists 0:54828b08e71d 381
embeddedartists 0:54828b08e71d 382 return err;
embeddedartists 0:54828b08e71d 383 }
embeddedartists 0:54828b08e71d 384
embeddedartists 0:54828b08e71d 385 XBee::XBeeError XBee::atGet(const char* atCmd, char* resp, uint32_t respLen)
embeddedartists 0:54828b08e71d 386 {
embeddedartists 0:54828b08e71d 387
embeddedartists 0:54828b08e71d 388 int32_t lineLen = 0;
embeddedartists 0:54828b08e71d 389 XBeeError err = Ok;
embeddedartists 0:54828b08e71d 390
embeddedartists 0:54828b08e71d 391 _serial.printf("%s%s", atCmd, XBEE_END_CMD);
embeddedartists 0:54828b08e71d 392
embeddedartists 0:54828b08e71d 393 do {
embeddedartists 0:54828b08e71d 394
embeddedartists 0:54828b08e71d 395 // a response is expected
embeddedartists 0:54828b08e71d 396 if (resp != NULL && respLen > 0) {
embeddedartists 0:54828b08e71d 397 lineLen = uartReadLine(resp, respLen, 1000);
embeddedartists 0:54828b08e71d 398
embeddedartists 0:54828b08e71d 399 if (lineLen < 0) {
embeddedartists 0:54828b08e71d 400 // error while reading
embeddedartists 0:54828b08e71d 401 err = ReadError;
embeddedartists 0:54828b08e71d 402 break;
embeddedartists 0:54828b08e71d 403 }
embeddedartists 0:54828b08e71d 404
embeddedartists 0:54828b08e71d 405 }
embeddedartists 0:54828b08e71d 406
embeddedartists 0:54828b08e71d 407 } while(0);
embeddedartists 0:54828b08e71d 408
embeddedartists 0:54828b08e71d 409 return err;
embeddedartists 0:54828b08e71d 410 }
embeddedartists 0:54828b08e71d 411
embeddedartists 0:54828b08e71d 412 XBee::XBeeError XBee::atSet(const char* atCmd)
embeddedartists 0:54828b08e71d 413 {
embeddedartists 0:54828b08e71d 414 char b[10];
embeddedartists 0:54828b08e71d 415 XBeeError err = Ok;
embeddedartists 0:54828b08e71d 416
embeddedartists 0:54828b08e71d 417 err = atGet(atCmd, b, 10);
embeddedartists 0:54828b08e71d 418 if (err == Ok) {
embeddedartists 0:54828b08e71d 419
embeddedartists 0:54828b08e71d 420 if (strcmp(RESP_OK, (char*)b) != 0) {
embeddedartists 0:54828b08e71d 421 // didn't receive OK
embeddedartists 0:54828b08e71d 422 err = CmdError;
embeddedartists 0:54828b08e71d 423 }
embeddedartists 0:54828b08e71d 424 }
embeddedartists 0:54828b08e71d 425
embeddedartists 0:54828b08e71d 426 return err;
embeddedartists 0:54828b08e71d 427 }
embeddedartists 0:54828b08e71d 428
embeddedartists 0:54828b08e71d 429 void XBee::processByte(char data)
embeddedartists 0:54828b08e71d 430 {
embeddedartists 0:54828b08e71d 431 switch(_rfState) {
embeddedartists 0:54828b08e71d 432 case RfStateFrame:
embeddedartists 0:54828b08e71d 433 if (data == XBEE_START_DEL) {
embeddedartists 0:54828b08e71d 434 _rfPos = 0;
embeddedartists 0:54828b08e71d 435 _rfFrameLen = 0;
embeddedartists 0:54828b08e71d 436 _rfState = RfStateLength;
embeddedartists 0:54828b08e71d 437
embeddedartists 0:54828b08e71d 438 // start timer to make sure an entire frame is received
embeddedartists 0:54828b08e71d 439 // within a specific time
embeddedartists 0:54828b08e71d 440 _rfFrameTimeout = XBEE_RECV_FRAME_TO;
embeddedartists 0:54828b08e71d 441 _rfFrameTimer.reset();
embeddedartists 0:54828b08e71d 442 _rfFrameTimer.start();
embeddedartists 0:54828b08e71d 443 }
embeddedartists 0:54828b08e71d 444
embeddedartists 0:54828b08e71d 445 break;
embeddedartists 0:54828b08e71d 446 case RfStateLength:
embeddedartists 0:54828b08e71d 447 _rfFrameLen |= (data << (8*(1-_rfPos)));
embeddedartists 0:54828b08e71d 448 _rfPos++;
embeddedartists 0:54828b08e71d 449 if (_rfPos == 2) {
embeddedartists 0:54828b08e71d 450 _rfPos = 0;
embeddedartists 0:54828b08e71d 451 _rfState = RfStateData;
embeddedartists 0:54828b08e71d 452
embeddedartists 0:54828b08e71d 453 if (_rfFrameLen > XBEE_BUF_SZ) {
embeddedartists 0:54828b08e71d 454 debug("Xbee: Frame len %d > max buffer len %d\r\n",
embeddedartists 0:54828b08e71d 455 (int)_rfFrameLen, (int)XBEE_BUF_SZ);
embeddedartists 0:54828b08e71d 456 _rfFrameLen = XBEE_BUF_SZ;
embeddedartists 0:54828b08e71d 457 }
embeddedartists 0:54828b08e71d 458
embeddedartists 0:54828b08e71d 459 }
embeddedartists 0:54828b08e71d 460 break;
embeddedartists 0:54828b08e71d 461 case RfStateData:
embeddedartists 0:54828b08e71d 462 _rfBuf[_rfPos++] = data;
embeddedartists 0:54828b08e71d 463 // read up until checksum (1 byte)
embeddedartists 0:54828b08e71d 464 if (_rfPos == _rfFrameLen+1) {
embeddedartists 0:54828b08e71d 465 _rfState = RfStateFrame;
embeddedartists 0:54828b08e71d 466
embeddedartists 0:54828b08e71d 467 // cancel timer
embeddedartists 0:54828b08e71d 468 _rfFrameTimeout = 0;
embeddedartists 0:54828b08e71d 469 _rfFrameTimer.stop();
embeddedartists 0:54828b08e71d 470
embeddedartists 0:54828b08e71d 471 processFrame(_rfBuf, _rfPos);
embeddedartists 0:54828b08e71d 472 }
embeddedartists 0:54828b08e71d 473 break;
embeddedartists 0:54828b08e71d 474
embeddedartists 0:54828b08e71d 475 }
embeddedartists 0:54828b08e71d 476 }
embeddedartists 0:54828b08e71d 477
embeddedartists 0:54828b08e71d 478 void XBee::processFrame(char* buf, uint32_t len)
embeddedartists 0:54828b08e71d 479 {
embeddedartists 0:54828b08e71d 480
embeddedartists 0:54828b08e71d 481 uint32_t addrLo = 0;
embeddedartists 0:54828b08e71d 482 uint32_t addrHi = 0;
embeddedartists 0:54828b08e71d 483 char* b = NULL;
embeddedartists 0:54828b08e71d 484 uint32_t bLen = 0;
embeddedartists 0:54828b08e71d 485
embeddedartists 0:54828b08e71d 486 if (len < 2) {
embeddedartists 0:54828b08e71d 487 debug("Xbee: Invalid frame length (%d)\r\n", (int)len);
embeddedartists 0:54828b08e71d 488 return;
embeddedartists 0:54828b08e71d 489 }
embeddedartists 0:54828b08e71d 490
embeddedartists 0:54828b08e71d 491 // verify checksum
embeddedartists 0:54828b08e71d 492 if (checksum(buf, len) != 0) {
embeddedartists 0:54828b08e71d 493 debug("Xbee: Invalid checksum\r\n");
embeddedartists 0:54828b08e71d 494 return;
embeddedartists 0:54828b08e71d 495 }
embeddedartists 0:54828b08e71d 496
embeddedartists 0:54828b08e71d 497 switch(buf[0]) {
embeddedartists 0:54828b08e71d 498 case XBEE_API_ID_AT_RESP:
embeddedartists 0:54828b08e71d 499 if (len < 5) {
embeddedartists 0:54828b08e71d 500 debug("Xbee: AT resp data too small: %d\r\n ", (int)len);
embeddedartists 0:54828b08e71d 501 return;
embeddedartists 0:54828b08e71d 502 }
embeddedartists 0:54828b08e71d 503
embeddedartists 0:54828b08e71d 504 // there is a value
embeddedartists 0:54828b08e71d 505 if (len > 6) {
embeddedartists 0:54828b08e71d 506 b = &buf[5];
embeddedartists 0:54828b08e71d 507 bLen = len-5-1;
embeddedartists 0:54828b08e71d 508 }
embeddedartists 0:54828b08e71d 509
embeddedartists 0:54828b08e71d 510 handleAtResponse(buf[1], &buf[2], buf[4], b, bLen);
embeddedartists 0:54828b08e71d 511 break;
embeddedartists 0:54828b08e71d 512 case XBEE_API_ID_TX_STAT:
embeddedartists 0:54828b08e71d 513 handleTxStatus(buf[1], buf[2]);
embeddedartists 0:54828b08e71d 514 break;
embeddedartists 0:54828b08e71d 515 case XBEE_API_ID_RX_64:
embeddedartists 0:54828b08e71d 516 if (len < 12) {
embeddedartists 0:54828b08e71d 517 debug("Xbee: RX data too small: %d\r\n ", (int)len);
embeddedartists 0:54828b08e71d 518 return;
embeddedartists 0:54828b08e71d 519 }
embeddedartists 0:54828b08e71d 520 addrHi = bufTo32bitInt(&buf[1]);
embeddedartists 0:54828b08e71d 521 addrLo = bufTo32bitInt(&buf[5]);
embeddedartists 0:54828b08e71d 522
embeddedartists 0:54828b08e71d 523 processData(addrHi, addrLo, buf[9], buf[10], &buf[11], len-11-1);
embeddedartists 0:54828b08e71d 524 break;
embeddedartists 0:54828b08e71d 525 case XBEE_API_ID_RX_16:
embeddedartists 0:54828b08e71d 526 debug("Xbee: RX 16 bit (unhandled)\r\n");
embeddedartists 0:54828b08e71d 527 break;
embeddedartists 0:54828b08e71d 528 case XBEE_API_ID_MOD_STAT:
embeddedartists 0:54828b08e71d 529 handleModemStatus(buf[1]);
embeddedartists 0:54828b08e71d 530 break;
embeddedartists 0:54828b08e71d 531 default:
embeddedartists 0:54828b08e71d 532 debug("Xbee: Unhandled API ID: %x\r\n ", buf[0]);
embeddedartists 0:54828b08e71d 533
embeddedartists 0:54828b08e71d 534 break;
embeddedartists 0:54828b08e71d 535 }
embeddedartists 0:54828b08e71d 536
embeddedartists 0:54828b08e71d 537 }
embeddedartists 0:54828b08e71d 538
embeddedartists 0:54828b08e71d 539 void XBee::handleAtResponse(uint8_t frameId, char* atBuf, uint8_t status,
embeddedartists 0:54828b08e71d 540 char* valueBuf, uint32_t valueLen)
embeddedartists 0:54828b08e71d 541 {
embeddedartists 0:54828b08e71d 542
embeddedartists 0:54828b08e71d 543 if (strncmp("ND", (char*)atBuf, 2) == 0) {
embeddedartists 0:54828b08e71d 544 handleDiscovery(status, valueBuf, valueLen);
embeddedartists 0:54828b08e71d 545 }
embeddedartists 0:54828b08e71d 546
embeddedartists 0:54828b08e71d 547 }
embeddedartists 0:54828b08e71d 548
embeddedartists 0:54828b08e71d 549 void XBee::handleDiscovery(uint8_t status, char* buf, uint32_t len)
embeddedartists 0:54828b08e71d 550 {
embeddedartists 0:54828b08e71d 551
embeddedartists 0:54828b08e71d 552 if (status == 0 && len >= 11) {
embeddedartists 0:54828b08e71d 553 _addrHi = bufTo32bitInt(&buf[2]);
embeddedartists 0:54828b08e71d 554 _addrLo = bufTo32bitInt(&buf[6]);
embeddedartists 0:54828b08e71d 555 _rssi = buf[10];
embeddedartists 0:54828b08e71d 556
embeddedartists 0:54828b08e71d 557 _callbacks[CbNodeFound].call();
embeddedartists 0:54828b08e71d 558
embeddedartists 0:54828b08e71d 559 }
embeddedartists 0:54828b08e71d 560 }
embeddedartists 0:54828b08e71d 561
embeddedartists 0:54828b08e71d 562 void XBee::handleTxStatus(uint8_t frameId, uint8_t status)
embeddedartists 0:54828b08e71d 563 {
embeddedartists 0:54828b08e71d 564 _frameId = frameId;
embeddedartists 0:54828b08e71d 565 switch(status) {
embeddedartists 0:54828b08e71d 566 case XBEE_TX_STAT_SUCCESS:
embeddedartists 0:54828b08e71d 567 _txStatus = TxStatusOk;
embeddedartists 0:54828b08e71d 568 break;
embeddedartists 0:54828b08e71d 569 case XBEE_TX_STAT_NOACK:
embeddedartists 0:54828b08e71d 570 _txStatus = TxStatusNoAck;
embeddedartists 0:54828b08e71d 571 break;
embeddedartists 0:54828b08e71d 572 case XBEE_TX_STAT_CCA_FAIL:
embeddedartists 0:54828b08e71d 573 _txStatus = TxStatusCCA;
embeddedartists 0:54828b08e71d 574 break;
embeddedartists 0:54828b08e71d 575 case XBEE_TX_STAT_PURGED:
embeddedartists 0:54828b08e71d 576 _txStatus = TxStatusPurged;
embeddedartists 0:54828b08e71d 577 break;
embeddedartists 0:54828b08e71d 578 }
embeddedartists 0:54828b08e71d 579
embeddedartists 0:54828b08e71d 580 _callbacks[CbTxStat].call();
embeddedartists 0:54828b08e71d 581
embeddedartists 0:54828b08e71d 582 }
embeddedartists 0:54828b08e71d 583
embeddedartists 0:54828b08e71d 584 void XBee::processData(uint32_t addrHi, uint32_t addrLo, uint8_t rssi,
embeddedartists 0:54828b08e71d 585 uint8_t opt, char* buf, uint32_t len)
embeddedartists 0:54828b08e71d 586 {
embeddedartists 0:54828b08e71d 587 _addrHi = addrHi;
embeddedartists 0:54828b08e71d 588 _addrLo = addrLo;
embeddedartists 0:54828b08e71d 589 _rssi = rssi;
embeddedartists 0:54828b08e71d 590 _recvData = buf;
embeddedartists 0:54828b08e71d 591 _recvLen = len;
embeddedartists 0:54828b08e71d 592
embeddedartists 0:54828b08e71d 593 _callbacks[CbDataAvailable].call();
embeddedartists 0:54828b08e71d 594 }
embeddedartists 0:54828b08e71d 595
embeddedartists 0:54828b08e71d 596 void XBee::handleModemStatus(uint8_t status) {
embeddedartists 0:54828b08e71d 597
embeddedartists 0:54828b08e71d 598 if (_type == Coordinator && status == XBEE_MOD_STAT_COORD_START) {
embeddedartists 0:54828b08e71d 599 _initialized = true;
embeddedartists 0:54828b08e71d 600 _callbacks[CbDeviceUp].call();
embeddedartists 0:54828b08e71d 601 }
embeddedartists 0:54828b08e71d 602 else if (_type == EndDevice && status == XBEE_MOD_STAT_ASSOC) {
embeddedartists 0:54828b08e71d 603 _initialized = 1;
embeddedartists 0:54828b08e71d 604 _callbacks[CbDeviceUp].call();
embeddedartists 0:54828b08e71d 605 }
embeddedartists 0:54828b08e71d 606 else if (_type == EndDevice && status == XBEE_MOD_STAT_DIASSOC) {
embeddedartists 0:54828b08e71d 607 _initialized = false;
embeddedartists 0:54828b08e71d 608 _callbacks[CbDeviceDown].call();
embeddedartists 0:54828b08e71d 609 }
embeddedartists 0:54828b08e71d 610
embeddedartists 0:54828b08e71d 611 }
embeddedartists 0:54828b08e71d 612
embeddedartists 0:54828b08e71d 613 char XBee::checksum(char* buf, uint32_t len)
embeddedartists 0:54828b08e71d 614 {
embeddedartists 0:54828b08e71d 615 int i = 0;
embeddedartists 0:54828b08e71d 616 char cs = 0;
embeddedartists 0:54828b08e71d 617
embeddedartists 0:54828b08e71d 618 for (i = 0; i < (int)len; i++) {
embeddedartists 0:54828b08e71d 619 cs += buf[i];
embeddedartists 0:54828b08e71d 620 }
embeddedartists 0:54828b08e71d 621
embeddedartists 0:54828b08e71d 622 return (0xFF - cs);
embeddedartists 0:54828b08e71d 623 }
embeddedartists 0:54828b08e71d 624
embeddedartists 0:54828b08e71d 625 uint32_t XBee::bufTo32bitInt(const char* buf)
embeddedartists 0:54828b08e71d 626 {
embeddedartists 0:54828b08e71d 627 uint32_t v = 0;
embeddedartists 0:54828b08e71d 628
embeddedartists 0:54828b08e71d 629 v |= (buf[0] << 24);
embeddedartists 0:54828b08e71d 630 v |= (buf[1] << 16);
embeddedartists 0:54828b08e71d 631 v |= (buf[2] << 8);
embeddedartists 0:54828b08e71d 632 v |= (buf[3]);
embeddedartists 0:54828b08e71d 633
embeddedartists 0:54828b08e71d 634 return v;
embeddedartists 0:54828b08e71d 635 }
embeddedartists 0:54828b08e71d 636
embeddedartists 0:54828b08e71d 637 void XBee::int32bitToBuf(uint32_t v, char* buf)
embeddedartists 0:54828b08e71d 638 {
embeddedartists 0:54828b08e71d 639
embeddedartists 0:54828b08e71d 640 buf[0] = ((v >> 24) & 0xff);
embeddedartists 0:54828b08e71d 641 buf[1] = ((v >> 16) & 0xff);
embeddedartists 0:54828b08e71d 642 buf[2] = ((v >> 8) & 0xff);
embeddedartists 0:54828b08e71d 643 buf[3] = ((v >> 0) & 0xff);
embeddedartists 0:54828b08e71d 644
embeddedartists 0:54828b08e71d 645 }
embeddedartists 0:54828b08e71d 646
embeddedartists 0:54828b08e71d 647
embeddedartists 0:54828b08e71d 648 XBee::XBeeError XBee::apiTx64(uint32_t addrHi, uint32_t addrLo, char* data,
embeddedartists 0:54828b08e71d 649 uint32_t len, uint8_t* frameId)
embeddedartists 0:54828b08e71d 650 {
embeddedartists 0:54828b08e71d 651 char buf[100];
embeddedartists 0:54828b08e71d 652
embeddedartists 0:54828b08e71d 653
embeddedartists 0:54828b08e71d 654 // limiting to 85 bytes data. Remaining 15 bytes belong to the
embeddedartists 0:54828b08e71d 655 // frame
embeddedartists 0:54828b08e71d 656 if (len > 85) {
embeddedartists 0:54828b08e71d 657 return ArgumentError;
embeddedartists 0:54828b08e71d 658 }
embeddedartists 0:54828b08e71d 659
embeddedartists 0:54828b08e71d 660 buf[0] = XBEE_START_DEL;
embeddedartists 0:54828b08e71d 661
embeddedartists 0:54828b08e71d 662 // length
embeddedartists 0:54828b08e71d 663 buf[1] = 0;
embeddedartists 0:54828b08e71d 664 buf[2] = 11+len;
embeddedartists 0:54828b08e71d 665
embeddedartists 0:54828b08e71d 666 // AP ID
embeddedartists 0:54828b08e71d 667 buf[3] = XBEE_API_ID_TX_64;
embeddedartists 0:54828b08e71d 668
embeddedartists 0:54828b08e71d 669 // frame ID
embeddedartists 0:54828b08e71d 670 buf[4] = getFrameId();
embeddedartists 0:54828b08e71d 671
embeddedartists 0:54828b08e71d 672
embeddedartists 0:54828b08e71d 673 // address
embeddedartists 0:54828b08e71d 674 int32bitToBuf(addrHi, &buf[5]);
embeddedartists 0:54828b08e71d 675 int32bitToBuf(addrLo, &buf[9]);
embeddedartists 0:54828b08e71d 676
embeddedartists 0:54828b08e71d 677 // options
embeddedartists 0:54828b08e71d 678 buf[13] = 0;
embeddedartists 0:54828b08e71d 679
embeddedartists 0:54828b08e71d 680 // data
embeddedartists 0:54828b08e71d 681 memcpy(&buf[14], data, len);
embeddedartists 0:54828b08e71d 682
embeddedartists 0:54828b08e71d 683 // checksum
embeddedartists 0:54828b08e71d 684 buf[14+len] = checksum(&buf[3], buf[2]);
embeddedartists 0:54828b08e71d 685
embeddedartists 0:54828b08e71d 686 if (frameId != NULL) {
embeddedartists 0:54828b08e71d 687 *frameId = buf[4];
embeddedartists 0:54828b08e71d 688 }
embeddedartists 0:54828b08e71d 689
embeddedartists 0:54828b08e71d 690
embeddedartists 0:54828b08e71d 691 for (int i = 0; i < (15+len); i++) {
embeddedartists 0:54828b08e71d 692 _serial.putc(buf[i]);
embeddedartists 0:54828b08e71d 693 }
embeddedartists 0:54828b08e71d 694
embeddedartists 0:54828b08e71d 695
embeddedartists 0:54828b08e71d 696 return Ok;
embeddedartists 0:54828b08e71d 697 }
embeddedartists 0:54828b08e71d 698
embeddedartists 0:54828b08e71d 699 XBee::XBeeError XBee::apiAtCmd(const char* atCmd, uint32_t param, bool useParameter)
embeddedartists 0:54828b08e71d 700 {
embeddedartists 0:54828b08e71d 701 char buf[12];
embeddedartists 0:54828b08e71d 702 int pos = 0;
embeddedartists 0:54828b08e71d 703
embeddedartists 0:54828b08e71d 704 buf[0] = XBEE_START_DEL;
embeddedartists 0:54828b08e71d 705
embeddedartists 0:54828b08e71d 706 // length
embeddedartists 0:54828b08e71d 707 buf[1] = 0;
embeddedartists 0:54828b08e71d 708 buf[2] = 4;
embeddedartists 0:54828b08e71d 709 if (useParameter) {
embeddedartists 0:54828b08e71d 710 buf[2] += 4;
embeddedartists 0:54828b08e71d 711 }
embeddedartists 0:54828b08e71d 712
embeddedartists 0:54828b08e71d 713 // AP ID
embeddedartists 0:54828b08e71d 714 buf[3] = XBEE_API_ID_AT_CMD;
embeddedartists 0:54828b08e71d 715
embeddedartists 0:54828b08e71d 716 // frame ID
embeddedartists 0:54828b08e71d 717 buf[4] = getFrameId();
embeddedartists 0:54828b08e71d 718
embeddedartists 0:54828b08e71d 719 // AT cmd
embeddedartists 0:54828b08e71d 720 buf[5] = atCmd[0];
embeddedartists 0:54828b08e71d 721 buf[6] = atCmd[1];
embeddedartists 0:54828b08e71d 722 pos = 7;
embeddedartists 0:54828b08e71d 723
embeddedartists 0:54828b08e71d 724 // AT parameter
embeddedartists 0:54828b08e71d 725 if (useParameter) {
embeddedartists 0:54828b08e71d 726 buf[pos++] = ((param >> 24) & 0xff);
embeddedartists 0:54828b08e71d 727 buf[pos++] = ((param >> 16) & 0xff);
embeddedartists 0:54828b08e71d 728 buf[pos++] = ((param >> 8) & 0xff);
embeddedartists 0:54828b08e71d 729 buf[pos++] = ((param >> 0) & 0xff);
embeddedartists 0:54828b08e71d 730 }
embeddedartists 0:54828b08e71d 731
embeddedartists 0:54828b08e71d 732 // checksum
embeddedartists 0:54828b08e71d 733 buf[pos] = checksum(&buf[3], pos-3);
embeddedartists 0:54828b08e71d 734 pos++;
embeddedartists 0:54828b08e71d 735
embeddedartists 0:54828b08e71d 736 for (int i = 0; i < pos; i++) {
embeddedartists 0:54828b08e71d 737 _serial.putc(buf[i]);
embeddedartists 0:54828b08e71d 738 }
embeddedartists 0:54828b08e71d 739
embeddedartists 0:54828b08e71d 740 return Ok;
embeddedartists 0:54828b08e71d 741 }
embeddedartists 0:54828b08e71d 742
embeddedartists 0:54828b08e71d 743 uint8_t XBee::getFrameId(void)
embeddedartists 0:54828b08e71d 744 {
embeddedartists 0:54828b08e71d 745 _rfFrameId++;
embeddedartists 0:54828b08e71d 746 if (_rfFrameId == 0) {
embeddedartists 0:54828b08e71d 747 _rfFrameId = 1;
embeddedartists 0:54828b08e71d 748 }
embeddedartists 0:54828b08e71d 749
embeddedartists 0:54828b08e71d 750 return _rfFrameId;
embeddedartists 0:54828b08e71d 751 }