Masahiko Yamazaki / HeptaXbee

For Hepta-Sat Lite

HeptaXbee.cpp@10:9c8433d32d11, 2018-08-21 (annotated)

Committer:
HEPTA
Date:
Tue Aug 21 05:35:44 2018 +0000
Revision:
10:9c8433d32d11
Parent:
9:96ed36bbc9dd
Child:
11:a5a0ab9949f3
protocol

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