Masahiko Yamazaki / HeptaXbee

For Hepta-Sat Lite

HeptaXbee.cpp@13:59679840fb53, 2021-08-17 (annotated)

Committer:
heptasat2021
Date:
Tue Aug 17 10:50:19 2021 +0000
Revision:
13:59679840fb53
Parent:
12:94abebd3d020 
For Hepta-Sat Lite

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hepta2ume 0:1e02be589d1f 1 #include "HeptaXbee.h"
hepta2ume 0:1e02be589d1f 2 #include "mbed.h"
hepta2ume 0:1e02be589d1f 3 #include <stdarg.h>
hepta2ume 0:1e02be589d1f 4
heptasat2021 13:59679840fb53 5 HeptaXbee::HeptaXbee(PinName tx, PinName rx, int brate) : xbee(tx,rx),comrate(brate)
hepta2ume 0:1e02be589d1f 6 {
hepta2ume 0:1e02be589d1f 7 rcmd = 0;
hepta2ume 0:1e02be589d1f 8 cmdflag = 0;
heptasat2021 13:59679840fb53 9 xbee.baud(comrate);
hepta2ume 0:1e02be589d1f 10 }
HEPTA 7:d07155a73b24 11 void HeptaXbee::baud(int rate)
HEPTA 7:d07155a73b24 12 {
HEPTA 7:d07155a73b24 13 xbee.baud(rate);
HEPTA 7:d07155a73b24 14 }
HEPTA 9:96ed36bbc9dd 15 void HeptaXbee::xbee_receive(int *xrcmd, int *xcmdflag)
umeume 4:ede5c519e238 16 {
hepta2ume 0:1e02be589d1f 17 xbee.attach(this,&HeptaXbee::commandget,Serial::RxIrq);
hepta2ume 0:1e02be589d1f 18 //xbee.printf("ssXbeedata= %d,%d",HeptaXbee::rcmd,HeptaXbee::cmdflag);
hepta2ume 0:1e02be589d1f 19 *xrcmd = HeptaXbee::rcmd;
hepta2ume 0:1e02be589d1f 20 *xcmdflag = HeptaXbee::cmdflag;
hepta2ume 0:1e02be589d1f 21 }
hepta2ume 0:1e02be589d1f 22
umeume 4:ede5c519e238 23 void HeptaXbee::initialize()
umeume 4:ede5c519e238 24 {
hepta2ume 0:1e02be589d1f 25 HeptaXbee::rcmd = 0;
hepta2ume 0:1e02be589d1f 26 HeptaXbee::cmdflag = 0;
hepta2ume 0:1e02be589d1f 27 }
hepta2ume 0:1e02be589d1f 28
umeume 4:ede5c519e238 29 void HeptaXbee::commandget()
umeume 4:ede5c519e238 30 {
hepta2ume 0:1e02be589d1f 31 HeptaXbee::rcmd=xbee.getc();
hepta2ume 0:1e02be589d1f 32 HeptaXbee::cmdflag = 1;
hepta2ume 0:1e02be589d1f 33 //xbee.printf("Xbeedata= %d,%d",rcmd,cmdflag);
hepta2ume 0:1e02be589d1f 34 }
hepta2ume 0:1e02be589d1f 35
HeptaSatTraining2019 12:94abebd3d020 36 //*gyro×3 = A,B,C *Accel×3 = D,E,F *magnetic×3 = G,H,I *latitude = J *longitude = K *altitude = L *battery = M *temperature = N
HEPTA 7:d07155a73b24 37 void HeptaXbee::xbee_transmit(char dataA[],char dataB[],char dataC[],char dataD[],char dataE[],
HEPTA 7:d07155a73b24 38 char dataF[],char dataG[],char dataH[],char dataI[],char dataJ[],
HEPTA 7:d07155a73b24 39 char dataK[],char dataL[],char dataM[],char dataN[])
hepta2ume 0:1e02be589d1f 40 {
HEPTA 7:d07155a73b24 41 char OutputData[255];
HEPTA 7:d07155a73b24 42 int output_num,numA,numB,numC,numD,numE,numF,numG,numH,numI,numJ,numK,numL,numM,numN;
HEPTA 10:9c8433d32d11 43 int sum = 0;
HEPTA 10:9c8433d32d11 44 int check;
HEPTA 7:d07155a73b24 45 numA = sizeof(dataA) / sizeof(dataA[0]);
HEPTA 7:d07155a73b24 46 numB = sizeof(dataB) / sizeof(dataB[0]);
HEPTA 7:d07155a73b24 47 numC = sizeof(dataC) / sizeof(dataC[0]);
HEPTA 7:d07155a73b24 48 numD = sizeof(dataD) / sizeof(dataD[0]);
HEPTA 7:d07155a73b24 49 numE = sizeof(dataE) / sizeof(dataE[0]);
HEPTA 7:d07155a73b24 50 numF = sizeof(dataF) / sizeof(dataF[0]);
HEPTA 7:d07155a73b24 51 numG = sizeof(dataG) / sizeof(dataG[0]);
HEPTA 7:d07155a73b24 52 numH = sizeof(dataH) / sizeof(dataH[0]);
HEPTA 8:8e925f198e21 53 numI = sizeof(dataI) / sizeof(dataI[0]);
HEPTA 7:d07155a73b24 54 numJ = sizeof(dataJ) / sizeof(dataJ[0])*2;
HEPTA 8:8e925f198e21 55 numK = sizeof(dataK) / sizeof(dataK[0])*2;
HEPTA 7:d07155a73b24 56 numL = sizeof(dataL) / sizeof(dataL[0]);
HEPTA 7:d07155a73b24 57 numM = sizeof(dataM) / sizeof(dataM[0]);
HEPTA 7:d07155a73b24 58 numN = sizeof(dataN) / sizeof(dataN[0]);
HEPTA 7:d07155a73b24 59 output_num=numA+numB+numC+numD+numE+numF+numG+numH+numI+numJ+numK+numL+numM+numN;
umeume 3:c3e667ee70f1 60 int N=0,i=0,ii;
HEPTA 7:d07155a73b24 61 for(i = 0; i <= numA-1; i++) {
HEPTA 7:d07155a73b24 62 OutputData[N+i] = dataA[i];
hepta2ume 0:1e02be589d1f 63 }
HEPTA 7:d07155a73b24 64 N=i;
HEPTA 7:d07155a73b24 65 for(i = 0; i <= numB-1; i++) {
HEPTA 7:d07155a73b24 66 OutputData[N+i] = dataB[i];
umeume 4:ede5c519e238 67 }
HEPTA 7:d07155a73b24 68 N=N+i;
HEPTA 7:d07155a73b24 69 for(i = 0; i <= numC-1; i++) {
HEPTA 7:d07155a73b24 70 OutputData[N+i] = dataC[i];
hepta2ume 0:1e02be589d1f 71 }
HEPTA 7:d07155a73b24 72 N=N+i;
HEPTA 7:d07155a73b24 73 for(i = 0; i <= numD-1; i++) {
HEPTA 7:d07155a73b24 74 OutputData[N+i] = dataD[i];
hepta2ume 0:1e02be589d1f 75 }
HEPTA 7:d07155a73b24 76 N=N+i;
HEPTA 7:d07155a73b24 77 for(i = 0; i <= numE-1; i++) {
HEPTA 7:d07155a73b24 78 OutputData[N+i] = dataE[i];
umeume 4:ede5c519e238 79 }
HEPTA 7:d07155a73b24 80 N=N+i;
HEPTA 7:d07155a73b24 81 for(i = 0; i <= numF-1; i++) {
HEPTA 7:d07155a73b24 82 OutputData[N+i] = dataF[i];
hepta2ume 0:1e02be589d1f 83 }
HEPTA 7:d07155a73b24 84 N=N+i;
HEPTA 7:d07155a73b24 85 for(i = 0; i <= numG-1; i++) {
HEPTA 7:d07155a73b24 86 OutputData[N+i] = dataG[i];
umeume 4:ede5c519e238 87 }
HEPTA 7:d07155a73b24 88 N=N+i;
HEPTA 7:d07155a73b24 89 for(i = 0; i <= numH-1; i++) {
HEPTA 7:d07155a73b24 90 OutputData[N+i] = dataH[i];
HEPTA 7:d07155a73b24 91 }
HEPTA 7:d07155a73b24 92 N=N+i;
HEPTA 7:d07155a73b24 93 for(i = 0; i <= numI-1; i++) {
HEPTA 7:d07155a73b24 94 OutputData[N+i] = dataI[i];
hepta2ume 0:1e02be589d1f 95 }
HEPTA 7:d07155a73b24 96 N=N+i;
HEPTA 7:d07155a73b24 97 for(i = 0; i <= numJ-1; i++) {
HEPTA 7:d07155a73b24 98 OutputData[N+i] = dataJ[i];
hepta2ume 0:1e02be589d1f 99 }
HEPTA 7:d07155a73b24 100 N=N+i;
HEPTA 7:d07155a73b24 101 for(i = 0; i <= numK-1; i++) {
HEPTA 7:d07155a73b24 102 OutputData[N+i] = dataK[i];
HEPTA 7:d07155a73b24 103 }
HEPTA 7:d07155a73b24 104 N=N+i;
HEPTA 7:d07155a73b24 105 for(i = 0; i <= numL-1; i++) {
HEPTA 7:d07155a73b24 106 OutputData[N+i] = dataL[i];
umeume 4:ede5c519e238 107 }
HEPTA 7:d07155a73b24 108 N=N+i;
HEPTA 7:d07155a73b24 109 for(i = 0; i <= numM-1; i++) {
HEPTA 7:d07155a73b24 110 OutputData[N+i] = dataM[i];
hepta2ume 0:1e02be589d1f 111 }
HEPTA 7:d07155a73b24 112 N=N+i;
HEPTA 7:d07155a73b24 113 for(i = 0; i <= numN-1; i++) {
HEPTA 7:d07155a73b24 114 OutputData[N+i] = dataN[i];
umeume 4:ede5c519e238 115 }
HEPTA 10:9c8433d32d11 116 //check sum
HEPTA 7:d07155a73b24 117 for(ii=0; ii<output_num; ii++) {
HEPTA 10:9c8433d32d11 118 sum = sum + OutputData[ii];
hepta2ume 1:c31e4a5db17c 119 }
HEPTA 10:9c8433d32d11 120 check = (~sum)&0xFF;
HEPTA 10:9c8433d32d11 121 char check_sum[2],flame[2];
HEPTA 10:9c8433d32d11 122 sprintf( check_sum, "%02X", check);
HEPTA 10:9c8433d32d11 123 sprintf( flame, "%02X", output_num);
HEPTA 10:9c8433d32d11 124 // transmit data
HEPTA 11:a5a0ab9949f3 125 //for(int i = 0;i<2;i++){
HeptaSatTraining2019 12:94abebd3d020 126 // xbee.putc(flame[i]);//frame length
HeptaSatTraining2019 12:94abebd3d020 127 // }
HEPTA 10:9c8433d32d11 128 for(ii=0; ii<output_num; ii++) {
HEPTA 10:9c8433d32d11 129 xbee.putc(OutputData[ii]);//data
HEPTA 10:9c8433d32d11 130 }
HeptaSatTraining2019 12:94abebd3d020 131 for(int i = 0; i<2; i++) {
HEPTA 10:9c8433d32d11 132 xbee.putc(check_sum[i]);
HeptaSatTraining2019 12:94abebd3d020 133 }
HEPTA 10:9c8433d32d11 134 xbee.putc(0x0a);//endcode
umeume 4:ede5c519e238 135 }
umeume 4:ede5c519e238 136 void HeptaXbee::puts( char *s )
umeume 4:ede5c519e238 137 {
umeume 4:ede5c519e238 138 while ( char c = *s++ )
umeume 4:ede5c519e238 139 xbee.putc( c );
umeume 4:ede5c519e238 140 }
HeptaSatTraining2019 12:94abebd3d020 141 void HeptaXbee::scanf(char *format, ... )
HeptaSatTraining2019 12:94abebd3d020 142 {
HeptaSatTraining2019 12:94abebd3d020 143 xbee.scanf(format);
HeptaSatTraining2019 12:94abebd3d020 144 }
umeume 4:ede5c519e238 145 void HeptaXbee::printf( char *format, ... )
umeume 4:ede5c519e238 146 {
umeume 4:ede5c519e238 147 char s[ 100 ];
umeume 4:ede5c519e238 148 va_list args;
umeume 4:ede5c519e238 149
umeume 4:ede5c519e238 150 va_start( args, format );
umeume 4:ede5c519e238 151 vsnprintf( s, 100, format, args );
umeume 4:ede5c519e238 152 va_end( args );
umeume 4:ede5c519e238 153
umeume 4:ede5c519e238 154 xbee.puts( s );
umeume 4:ede5c519e238 155 }
umeume 4:ede5c519e238 156 char HeptaXbee::getc()
umeume 4:ede5c519e238 157 {
umeume 4:ede5c519e238 158 char character;
umeume 4:ede5c519e238 159 character = xbee.getc();
umeume 4:ede5c519e238 160 return character;
umeume 4:ede5c519e238 161 }
umeume 4:ede5c519e238 162
HEPTA 7:d07155a73b24 163 void HeptaXbee::putc(char data)
umeume 4:ede5c519e238 164 {
HEPTA 7:d07155a73b24 165 xbee.putc(data);
umeume 4:ede5c519e238 166 }