Diff: XBee.cpp

Revision:

1:e3b2027e685c

Parent:

0:c4ca662ef73e

Child:

2:6efb3541af61

--- a/XBee.cpp	Mon Nov 22 10:51:06 2010 +0000
+++ b/XBee.cpp	Mon Jan 10 16:32:18 2011 +0000
@@ -1,1362 +1,1363 @@
-/**
- * XBee-mbed library
- * Modified for mbed, 2010 Suga.
- *
- *
- * Copyright (c) 2009 Andrew Rapp. All rights reserved.
- *
- * This file is part of XBee-Arduino.
- *
- * XBee-Arduino is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * XBee-Arduino is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with XBee-Arduino.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "mbed.h"
-#include "XBee.h"
-
-XBeeResponse::XBeeResponse() {
-
-}
-
-uint8_t XBeeResponse::getApiId() {
-    return _apiId;
-}
-
-void XBeeResponse::setApiId(uint8_t apiId) {
-    _apiId = apiId;
-}
-
-uint8_t XBeeResponse::getMsbLength() {
-    return _msbLength;
-}
-
-void XBeeResponse::setMsbLength(uint8_t msbLength) {
-    _msbLength = msbLength;
-}
-
-uint8_t XBeeResponse::getLsbLength() {
-    return _lsbLength;
-}
-
-void XBeeResponse::setLsbLength(uint8_t lsbLength) {
-    _lsbLength = lsbLength;
-}
-
-uint8_t XBeeResponse::getChecksum() {
-    return _checksum;
-}
-
-void XBeeResponse::setChecksum(uint8_t checksum) {
-    _checksum = checksum;
-}
-
-uint8_t XBeeResponse::getFrameDataLength() {
-    return _frameLength;
-}
-
-void XBeeResponse::setFrameLength(uint8_t frameLength) {
-    _frameLength = frameLength;
-}
-
-bool XBeeResponse::isAvailable() {
-    return _complete;
-}
-
-void XBeeResponse::setAvailable(bool complete) {
-    _complete = complete;
-}
-
-bool XBeeResponse::isError() {
-    return _errorCode > 0;
-}
-
-uint8_t XBeeResponse::getErrorCode() {
-    return _errorCode;
-}
-
-void XBeeResponse::setErrorCode(uint8_t errorCode) {
-    _errorCode = errorCode;
-}
-
-// copy common fields from xbee response to target response
-void XBeeResponse::setCommon(XBeeResponse &target) {
-    target.setApiId(getApiId());
-    target.setAvailable(isAvailable());
-    target.setChecksum(getChecksum());
-    target.setErrorCode(getErrorCode());
-    target.setFrameLength(getFrameDataLength());
-    target.setMsbLength(getMsbLength());
-    target.setLsbLength(getLsbLength());
-}
-
-#ifdef SERIES_2
-
-ZBTxStatusResponse::ZBTxStatusResponse() : FrameIdResponse() {
-
-}
-
-uint16_t ZBTxStatusResponse::getRemoteAddress() {
-    return  (getFrameData()[1] << 8) + getFrameData()[2];
-}
-
-uint8_t ZBTxStatusResponse::getTxRetryCount() {
-    return getFrameData()[3];
-}
-
-uint8_t ZBTxStatusResponse::getDeliveryStatus() {
-    return getFrameData()[4];
-}
-
-uint8_t ZBTxStatusResponse::getDiscoveryStatus() {
-    return getFrameData()[5];
-}
-
-bool ZBTxStatusResponse::isSuccess() {
-    return getDeliveryStatus() == SUCCESS;
-}
-
-void XBeeResponse::getZBTxStatusResponse(XBeeResponse &zbXBeeResponse) {
-
-    // way off?
-    ZBTxStatusResponse* zb = static_cast<ZBTxStatusResponse*>(&zbXBeeResponse);
-    // pass pointer array to subclass
-    zb->setFrameData(getFrameData());
-    setCommon(zbXBeeResponse);
-}
-
-ZBRxResponse::ZBRxResponse(): RxDataResponse() {
-    _remoteAddress64 = XBeeAddress64();
-}
-
-uint16_t ZBRxResponse::getRemoteAddress16() {
-    return     (getFrameData()[8] << 8) + getFrameData()[9];
-}
-
-uint8_t ZBRxResponse::getOption() {
-    return getFrameData()[10];
-}
-
-// markers to read data from packet array.  this is the index, so the 12th item in the array
-uint8_t ZBRxResponse::getDataOffset() {
-    return 11;
-}
-
-uint8_t ZBRxResponse::getDataLength() {
-    return getPacketLength() - getDataOffset() - 1;
-}
-
-XBeeAddress64& ZBRxResponse::getRemoteAddress64() {
-    return _remoteAddress64;
-}
-
-void XBeeResponse::getZBRxResponse(XBeeResponse &rxResponse) {
-
-    ZBRxResponse* zb = static_cast<ZBRxResponse*>(&rxResponse);
-
-    //TODO verify response api id matches this api for this response
-
-    // pass pointer array to subclass
-    zb->setFrameData(getFrameData());
-    setCommon(rxResponse);
-
-    zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
-    zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
-}
-
-
-ZBRxIoSampleResponse::ZBRxIoSampleResponse() : ZBRxResponse() {
-
-}
-
-// 64 + 16 addresses, sample size, option = 12 (index 11), so this starts at 12
-uint8_t ZBRxIoSampleResponse::getDigitalMaskMsb() {
-    return getFrameData()[12] & 0x1c;
-}
-
-uint8_t ZBRxIoSampleResponse::getDigitalMaskLsb() {
-    return getFrameData()[13];
-}
-
-uint8_t ZBRxIoSampleResponse::getAnalogMask() {
-    return getFrameData()[14] & 0x8f;
-}
-
-bool ZBRxIoSampleResponse::containsAnalog() {
-    return getAnalogMask() > 0;
-}
-
-bool ZBRxIoSampleResponse::containsDigital() {
-    return getDigitalMaskMsb() > 0 || getDigitalMaskLsb() > 0;
-}
-
-bool ZBRxIoSampleResponse::isAnalogEnabled(uint8_t pin) {
-    return ((getAnalogMask() >> pin) & 1) == 1;
-}
-
-bool ZBRxIoSampleResponse::isDigitalEnabled(uint8_t pin) {
-    if (pin <= 7) {
-        // added extra parens to calm avr compiler
-        return ((getDigitalMaskLsb() >> pin) & 1) == 1;
-    } else {
-        return ((getDigitalMaskMsb() >> (pin - 8)) & 1) == 1;
-    }
-}
-
-uint16_t ZBRxIoSampleResponse::getAnalog(uint8_t pin) {
-    // analog starts 13 bytes after sample size, if no dio enabled
-    uint8_t start = 15;
-
-    if (containsDigital()) {
-        // make room for digital i/o
-        start+=2;
-    }
-
-//    std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;
-
-    // start depends on how many pins before this pin are enabled
-    for (int i = 0; i < pin; i++) {
-        if (isAnalogEnabled(pin)) {
-            start+=2;
-        }
-    }
-
-//    std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;
-
-//    std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " <<  static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) <<  " and " <<  + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;
-
-    return (uint16_t)((getFrameData()[start] << 8) + getFrameData()[start + 1]);
-}
-
-bool ZBRxIoSampleResponse::isDigitalOn(uint8_t pin) {
-    if (pin <= 7) {
-        // D0-7
-        // DIO LSB is index 5
-        return ((getFrameData()[16] >> pin) & 1) == 1;
-    } else {
-        // D10-12
-        // DIO MSB is index 4
-        return ((getFrameData()[15] >> (pin - 8)) & 1) == 1;
-    }
-}
-
-void XBeeResponse::getZBRxIoSampleResponse(XBeeResponse &response) {
-    ZBRxIoSampleResponse* zb = static_cast<ZBRxIoSampleResponse*>(&response);
-
-
-    // pass pointer array to subclass
-    zb->setFrameData(getFrameData());
-    setCommon(response);
-
-    zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
-    zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
-}
-
-#endif
-
-#ifdef SERIES_1
-
-RxResponse::RxResponse() : RxDataResponse() {
-
-}
-
-uint16_t Rx16Response::getRemoteAddress16() {
-    return (getFrameData()[0] << 8) + getFrameData()[1];
-}
-
-XBeeAddress64& Rx64Response::getRemoteAddress64() {
-    return _remoteAddress;
-}
-
-Rx64Response::Rx64Response() : RxResponse() {
-    _remoteAddress = XBeeAddress64();
-}
-
-Rx16Response::Rx16Response() : RxResponse() {
-
-}
-
-RxIoSampleBaseResponse::RxIoSampleBaseResponse() : RxResponse() {
-
-}
-
-uint8_t RxIoSampleBaseResponse::getSampleOffset() {
-    // sample starts 2 bytes after rssi
-    return getRssiOffset() + 2;
-}
-
-
-uint8_t RxIoSampleBaseResponse::getSampleSize() {
-    return getFrameData()[getSampleOffset()];
-}
-
-bool RxIoSampleBaseResponse::containsAnalog() {
-    return (getFrameData()[getSampleOffset() + 1] & 0x7e) > 0;
-}
-
-bool RxIoSampleBaseResponse::containsDigital() {
-    return (getFrameData()[getSampleOffset() + 1] & 0x1) > 0 || getFrameData()[getSampleOffset() + 2] > 0;
-}
-
-//uint16_t RxIoSampleBaseResponse::getAnalog0(uint8_t sample) {
-//    return getAnalog(0, sample);
-//}
-
-bool RxIoSampleBaseResponse::isAnalogEnabled(uint8_t pin) {
-    return (((getFrameData()[getSampleOffset() + 1] >> (pin + 1)) & 1) == 1);
-}
-
-bool RxIoSampleBaseResponse::isDigitalEnabled(uint8_t pin) {
-    if (pin < 8) {
-        return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
-    } else {
-        return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
-    }
-}
-
-uint16_t RxIoSampleBaseResponse::getAnalog(uint8_t pin, uint8_t sample) {
-
-    // analog starts 3 bytes after sample size, if no dio enabled
-    uint8_t start = 3;
-
-    if (containsDigital()) {
-        // make room for digital i/o sample (2 bytes per sample)
-        start+=2*(sample + 1);
-    }
-
-    uint8_t spacing = 0;
-
-    // spacing between samples depends on how many are enabled. add one for each analog that's enabled
-    for (int i = 0; i <= 5; i++) {
-        if (isAnalogEnabled(i)) {
-            // each analog is two bytes
-            spacing+=2;
-        }
-    }
-
-//    std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;
-
-    // start depends on how many pins before this pin are enabled
-    for (int i = 0; i < pin; i++) {
-        if (isAnalogEnabled(pin)) {
-            start+=2;
-        }
-    }
-
-    start+= sample * spacing;
-
-//    std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;
-
-//    std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " <<  static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) <<  " and " <<  + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;
-
-    return (uint16_t)((getFrameData()[getSampleOffset() + start] << 8) + getFrameData()[getSampleOffset() + start + 1]);
-}
-
-bool RxIoSampleBaseResponse::isDigitalOn(uint8_t pin, uint8_t sample) {
-    if (pin < 8) {
-        return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
-    } else {
-        return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
-    }
-}
-
-
-//bool RxIoSampleBaseResponse::isDigital0On(uint8_t sample) {
-//    return isDigitalOn(0, sample);
-//}
-
-Rx16IoSampleResponse::Rx16IoSampleResponse() : RxIoSampleBaseResponse() {
-
-}
-
-uint16_t Rx16IoSampleResponse::getRemoteAddress16() {
-    return (uint16_t)((getFrameData()[0] << 8) + getFrameData()[1]);
-}
-
-uint8_t Rx16IoSampleResponse::getRssiOffset() {
-    return 2;
-}
-
-void XBeeResponse::getRx16IoSampleResponse(XBeeResponse &response) {
-    Rx16IoSampleResponse* rx = static_cast<Rx16IoSampleResponse*>(&response);
-
-    rx->setFrameData(getFrameData());
-    setCommon(response);
-}
-
-
-Rx64IoSampleResponse::Rx64IoSampleResponse() : RxIoSampleBaseResponse() {
-    _remoteAddress = XBeeAddress64();
-}
-
-XBeeAddress64& Rx64IoSampleResponse::getRemoteAddress64() {
-    return _remoteAddress;
-}
-
-uint8_t Rx64IoSampleResponse::getRssiOffset() {
-    return 8;
-}
-
-void XBeeResponse::getRx64IoSampleResponse(XBeeResponse &response) {
-    Rx64IoSampleResponse* rx = static_cast<Rx64IoSampleResponse*>(&response);
-
-    rx->setFrameData(getFrameData());
-    setCommon(response);
-
-    rx->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
-    rx->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
-}
-
-TxStatusResponse::TxStatusResponse() : FrameIdResponse() {
-
-}
-
-uint8_t TxStatusResponse::getStatus() {
-    return getFrameData()[1];
-}
-
-bool TxStatusResponse::isSuccess() {
-    return getStatus() == SUCCESS;
-}
-
-void XBeeResponse::getTxStatusResponse(XBeeResponse &txResponse) {
-
-    TxStatusResponse* txStatus = static_cast<TxStatusResponse*>(&txResponse);
-
-    // pass pointer array to subclass
-    txStatus->setFrameData(getFrameData());
-    setCommon(txResponse);
-}
-
-uint8_t RxResponse::getRssi() {
-    return getFrameData()[getRssiOffset()];
-}
-
-uint8_t RxResponse::getOption() {
-    return getFrameData()[getRssiOffset() + 1];
-}
-
-bool RxResponse::isAddressBroadcast() {
-    return (getOption() & 2) == 2;
-}
-
-bool RxResponse::isPanBroadcast() {
-    return (getOption() & 4) == 4;
-}
-
-uint8_t RxResponse::getDataLength() {
-    return getPacketLength() - getDataOffset() - 1;
-}
-
-uint8_t RxResponse::getDataOffset() {
-    return getRssiOffset() + 2;
-}
-
-uint8_t Rx16Response::getRssiOffset() {
-    return RX_16_RSSI_OFFSET;
-}
-
-void XBeeResponse::getRx16Response(XBeeResponse &rx16Response) {
-
-    Rx16Response* rx16 = static_cast<Rx16Response*>(&rx16Response);
-
-    // pass pointer array to subclass
-    rx16->setFrameData(getFrameData());
-    setCommon(rx16Response);
-
-//    rx16->getRemoteAddress16().setAddress((getFrameData()[0] << 8) + getFrameData()[1]);
-}
-
-uint8_t Rx64Response::getRssiOffset() {
-    return RX_64_RSSI_OFFSET;
-}
-
-void XBeeResponse::getRx64Response(XBeeResponse &rx64Response) {
-
-    Rx64Response* rx64 = static_cast<Rx64Response*>(&rx64Response);
-
-    // pass pointer array to subclass
-    rx64->setFrameData(getFrameData());
-    setCommon(rx64Response);
-
-    rx64->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
-    rx64->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
-}
-
-#endif
-
-RemoteAtCommandResponse::RemoteAtCommandResponse() : AtCommandResponse() {
-
-}
-
-uint8_t* RemoteAtCommandResponse::getCommand() {
-    return getFrameData() + 11;
-}
-
-uint8_t RemoteAtCommandResponse::getStatus() {
-    return getFrameData()[13];
-}
-
-bool RemoteAtCommandResponse::isOk() {
-    // weird c++ behavior.  w/o this method, it calls AtCommandResponse::isOk(), which calls the AtCommandResponse::getStatus, not this.getStatus!!!
-    return getStatus() == AT_OK;
-}
-
-uint8_t RemoteAtCommandResponse::getValueLength() {
-    return getFrameDataLength() - 14;
-}
-
-uint8_t* RemoteAtCommandResponse::getValue() {
-    if (getValueLength() > 0) {
-        // value is only included for query commands.  set commands does not return a value
-        return getFrameData() + 14;
-    }
-
-    return NULL;
-}
-
-uint16_t RemoteAtCommandResponse::getRemoteAddress16() {
-    return uint16_t((getFrameData()[9] << 8) + getFrameData()[10]);
-}
-
-XBeeAddress64& RemoteAtCommandResponse::getRemoteAddress64() {
-    return _remoteAddress64;
-}
-
-void XBeeResponse::getRemoteAtCommandResponse(XBeeResponse &response) {
-
-    // TODO no real need to cast.  change arg to match expected class
-    RemoteAtCommandResponse* at = static_cast<RemoteAtCommandResponse*>(&response);
-
-    // pass pointer array to subclass
-    at->setFrameData(getFrameData());
-    setCommon(response);
-
-    at->getRemoteAddress64().setMsb((uint32_t(getFrameData()[1]) << 24) + (uint32_t(getFrameData()[2]) << 16) + (uint16_t(getFrameData()[3]) << 8) + getFrameData()[4]);
-    at->getRemoteAddress64().setLsb((uint32_t(getFrameData()[5]) << 24) + (uint32_t(getFrameData()[6]) << 16) + (uint16_t(getFrameData()[7]) << 8) + (getFrameData()[8]));
-
-}
-
-RxDataResponse::RxDataResponse() : XBeeResponse() {
-
-}
-
-uint8_t RxDataResponse::getData(int index) {
-    return getFrameData()[getDataOffset() + index];
-}
-
-uint8_t* RxDataResponse::getData() {
-    return getFrameData() + getDataOffset();
-}
-
-FrameIdResponse::FrameIdResponse() {
-
-}
-
-uint8_t FrameIdResponse::getFrameId() {
-    return getFrameData()[0];
-}
-
-
-ModemStatusResponse::ModemStatusResponse() {
-
-}
-
-uint8_t ModemStatusResponse::getStatus() {
-    return getFrameData()[0];
-}
-
-void XBeeResponse::getModemStatusResponse(XBeeResponse &modemStatusResponse) {
-
-    ModemStatusResponse* modem = static_cast<ModemStatusResponse*>(&modemStatusResponse);
-
-    // pass pointer array to subclass
-    modem->setFrameData(getFrameData());
-    setCommon(modemStatusResponse);
-
-}
-
-AtCommandResponse::AtCommandResponse() {
-
-}
-
-uint8_t* AtCommandResponse::getCommand() {
-    return getFrameData() + 1;
-}
-
-uint8_t AtCommandResponse::getStatus() {
-    return getFrameData()[3];
-}
-
-uint8_t AtCommandResponse::getValueLength() {
-    return getFrameDataLength() - 4;
-}
-
-uint8_t* AtCommandResponse::getValue() {
-    if (getValueLength() > 0) {
-        // value is only included for query commands.  set commands does not return a value
-        return getFrameData() + 4;
-    }
-
-    return NULL;
-}
-
-bool AtCommandResponse::isOk() {
-    return getStatus() == AT_OK;
-}
-
-void XBeeResponse::getAtCommandResponse(XBeeResponse &atCommandResponse) {
-
-    AtCommandResponse* at = static_cast<AtCommandResponse*>(&atCommandResponse);
-
-    // pass pointer array to subclass
-    at->setFrameData(getFrameData());
-    setCommon(atCommandResponse);
-}
-
-uint16_t XBeeResponse::getPacketLength() {
-    return ((_msbLength << 8) & 0xff) + (_lsbLength & 0xff);
-}
-
-uint8_t* XBeeResponse::getFrameData() {
-    return _frameDataPtr;
-}
-
-void XBeeResponse::setFrameData(uint8_t* frameDataPtr) {
-    _frameDataPtr = frameDataPtr;
-}
-
-void XBeeResponse::init() {
-    _complete = false;
-    _errorCode = NO_ERROR;
-    _checksum = 0;
-}
-
-void XBeeResponse::reset() {
-    init();
-    _apiId = 0;
-    _msbLength = 0;
-    _lsbLength = 0;
-    _checksum = 0;
-    _frameLength = 0;
-
-    for (int i = 0; i < MAX_FRAME_DATA_SIZE; i++) {
-        getFrameData()[i] = 0;
-    }
-}
-
-void XBee::resetResponse() {
-    _pos = 0;
-    _escape = false;
-    _response.reset();
-}
-
-XBee::XBee(PinName p_tx, PinName p_rx): _xbee(p_tx, p_rx), _response(XBeeResponse()) {
-    _pos = 0;
-    _escape = false;
-    _checksumTotal = 0;
-    _nextFrameId = 0;
-
-    _response.init();
-    _response.setFrameData(_responseFrameData);
-}
-
-uint8_t XBee::getNextFrameId() {
-
-    _nextFrameId++;
-
-    if (_nextFrameId == 0) {
-        // can't send 0 because that disables status response
-        _nextFrameId = 1;
-    }
-
-    return _nextFrameId;
-}
-
-void XBee::begin(long baud) {
-    _xbee.baud(baud);
-}
-
-/*
-void XBee::setSerial(HardwareSerial serial) {
-    Serial = serial;
-}
-*/
-
-XBeeResponse& XBee::getResponse() {
-    return _response;
-}
-
-// TODO how to convert response to proper subclass?
-void XBee::getResponse(XBeeResponse &response) {
-
-    response.setMsbLength(_response.getMsbLength());
-    response.setLsbLength(_response.getLsbLength());
-    response.setApiId(_response.getApiId());
-    response.setFrameLength(_response.getFrameDataLength());
-
-    response.setFrameData(_response.getFrameData());
-}
-
-void XBee::readPacketUntilAvailable() {
-    while (!(getResponse().isAvailable() || getResponse().isError())) {
-        // read some more
-        readPacket();
-    }
-}
-
-bool XBee::readPacket(int timeout) {
-    Timer t;
-
-    if (timeout < 0) {
-        return false;
-    }
-
-/*
-    unsigned long start = millis();
-
-    while (int((millis() - start)) < timeout) {
-*/
-    t.start();
-    while (t.read_ms() < timeout) {
-         readPacket();
-
-         if (getResponse().isAvailable()) {
-             t.stop();
-             return true;
-         } else if (getResponse().isError()) {
-             t.stop();
-             return false;
-         }
-    }
-
-    // timed out
-    t.stop();
-    return false;
-}
-
-void XBee::readPacket() {
-    // reset previous response
-    if (_response.isAvailable() || _response.isError()) {
-        // discard previous packet and start over
-        resetResponse();
-    }
-
-    while (_xbee.readable()) {
-
-        b = _xbee.getc();
-
-        if (_pos > 0 && b == START_BYTE && ATAP == 2) {
-            // new packet start before previous packeted completed -- discard previous packet and start over
-            _response.setErrorCode(UNEXPECTED_START_BYTE);
-            return;
-        }
-
-        if (_pos > 0 && b == ESCAPE) {
-            if (_xbee.readable()) {
-                b = _xbee.getc();
-                b = 0x20 ^ b;
-            } else {
-                // escape byte.  next byte will be
-                _escape = true;
-                continue;
-            }
-        }
-
-        if (_escape == true) {
-            b = 0x20 ^ b;
-            _escape = false;
-        }
-
-        // checksum includes all bytes starting with api id
-        if (_pos >= API_ID_INDEX) {
-            _checksumTotal+= b;
-        }
-
-        switch(_pos) {
-            case 0:
-                if (b == START_BYTE) {
-                    _pos++;
-                }
-
-                break;
-            case 1:
-                // length msb
-                _response.setMsbLength(b);
-                _pos++;
-
-                break;
-            case 2:
-                // length lsb
-                _response.setLsbLength(b);
-                _pos++;
-
-                break;
-            case 3:
-                _response.setApiId(b);
-                _pos++;
-
-                break;
-            default:
-                // starts at fifth byte
-
-                if (_pos > MAX_FRAME_DATA_SIZE) {
-                    // exceed max size.  should never occur
-                    _response.setErrorCode(PACKET_EXCEEDS_BYTE_ARRAY_LENGTH);
-                    return;
-                }
-
-                // check if we're at the end of the packet
-                // packet length does not include start, length, or checksum bytes, so add 3
-                if (_pos == (_response.getPacketLength() + 3)) {
-                    // verify checksum
-
-                    //std::cout << "read checksum " << static_cast<unsigned int>(b) << " at pos " << static_cast<unsigned int>(_pos) << std::endl;
-
-                    if ((_checksumTotal & 0xff) == 0xff) {
-                        _response.setChecksum(b);
-                        _response.setAvailable(true);
-
-                        _response.setErrorCode(NO_ERROR);
-                    } else {
-                        // checksum failed
-                        _response.setErrorCode(CHECKSUM_FAILURE);
-                    }
-
-                    // minus 4 because we start after start,msb,lsb,api and up to but not including checksum
-                    // e.g. if frame was one byte, _pos=4 would be the byte, pos=5 is the checksum, where end stop reading
-                    _response.setFrameLength(_pos - 4);
-
-                    // reset state vars
-                    _pos = 0;
-
-                    _checksumTotal = 0;
-
-                    return;
-                } else {
-                    // add to packet array, starting with the fourth byte of the apiFrame
-                    _response.getFrameData()[_pos - 4] = b;
-                    _pos++;
-                }
-        }
-    }
-}
-
-// it's peanut butter jelly time!!
-
-XBeeRequest::XBeeRequest(uint8_t apiId, uint8_t frameId) {
-    _apiId = apiId;
-    _frameId = frameId;
-}
-
-void XBeeRequest::setFrameId(uint8_t frameId) {
-    _frameId = frameId;
-}
-
-uint8_t XBeeRequest::getFrameId() {
-    return _frameId;
-}
-
-uint8_t XBeeRequest::getApiId() {
-    return _apiId;
-}
-
-void XBeeRequest::setApiId(uint8_t apiId) {
-    _apiId = apiId;
-}
-
-//void XBeeRequest::reset() {
-//    _frameId = DEFAULT_FRAME_ID;
-//}
-
-//uint8_t XBeeRequest::getPayloadOffset() {
-//    return _payloadOffset;
-//}
-//
-//uint8_t XBeeRequest::setPayloadOffset(uint8_t payloadOffset) {
-//    _payloadOffset = payloadOffset;
-//}
-
-
-PayloadRequest::PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength) : XBeeRequest(apiId, frameId) {
-    _payloadPtr = payload;
-    _payloadLength = payloadLength;
-}
-
-uint8_t* PayloadRequest::getPayload() {
-    return _payloadPtr;
-}
-
-void PayloadRequest::setPayload(uint8_t* payload) {
-    _payloadPtr = payload;
-}
-
-uint8_t PayloadRequest::getPayloadLength() {
-    return _payloadLength;
-}
-
-void PayloadRequest::setPayloadLength(uint8_t payloadLength) {
-    _payloadLength = payloadLength;
-}
-
-
-XBeeAddress::XBeeAddress() {
-
-}
-
-XBeeAddress64::XBeeAddress64() : XBeeAddress() {
-
-}
-
-XBeeAddress64::XBeeAddress64(uint32_t msb, uint32_t lsb) : XBeeAddress() {
-    _msb = msb;
-    _lsb = lsb;
-}
-
-uint32_t XBeeAddress64::getMsb() {
-    return _msb;
-}
-
-void XBeeAddress64::setMsb(uint32_t msb) {
-    _msb = msb;
-}
-
-uint32_t XBeeAddress64::getLsb() {
-    return _lsb;
-}
-
-void XBeeAddress64::setLsb(uint32_t lsb) {
-    _lsb = lsb;
-}
-
-
-#ifdef SERIES_2
-
-ZBTxRequest::ZBTxRequest() : PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {
-
-}
-
-ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId): PayloadRequest(ZB_TX_REQUEST, frameId, data, dataLength) {
-    _addr64 = addr64;
-    _addr16 = addr16;
-    _broadcastRadius = broadcastRadius;
-    _option = option;
-}
-
-ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength): PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
-    _addr64 = addr64;
-    _addr16 = ZB_BROADCAST_ADDRESS;
-    _broadcastRadius = ZB_BROADCAST_RADIUS_MAX_HOPS;
-    _option = ZB_TX_UNICAST;
-}
-
-uint8_t ZBTxRequest::getFrameData(uint8_t pos) {
-    if (pos == 0) {
-        return (_addr64.getMsb() >> 24) & 0xff;
-    } else if (pos == 1) {
-        return (_addr64.getMsb() >> 16) & 0xff;
-    } else if (pos == 2) {
-        return (_addr64.getMsb() >> 8) & 0xff;
-    } else if (pos == 3) {
-        return _addr64.getMsb() & 0xff;
-    } else if (pos == 4) {
-        return (_addr64.getLsb() >> 24) & 0xff;
-    } else if (pos == 5) {
-        return  (_addr64.getLsb() >> 16) & 0xff;
-    } else if (pos == 6) {
-        return (_addr64.getLsb() >> 8) & 0xff;
-    } else if (pos == 7) {
-        return _addr64.getLsb() & 0xff;
-    } else if (pos == 8) {
-        return (_addr16 >> 8) & 0xff;
-    } else if (pos == 9) {
-        return _addr16 & 0xff;
-    } else if (pos == 10) {
-        return _broadcastRadius;
-    } else if (pos == 11) {
-        return _option;
-    } else {
-        return getPayload()[pos - ZB_TX_API_LENGTH];
-    }
-}
-
-uint8_t ZBTxRequest::getFrameDataLength() {
-    return ZB_TX_API_LENGTH + getPayloadLength();
-}
-
-XBeeAddress64& ZBTxRequest::getAddress64() {
-    return _addr64;
-}
-
-uint16_t ZBTxRequest::getAddress16() {
-    return _addr16;
-}
-
-uint8_t ZBTxRequest::getBroadcastRadius() {
-    return _broadcastRadius;
-}
-
-uint8_t ZBTxRequest::getOption() {
-    return _option;
-}
-
-void ZBTxRequest::setAddress64(XBeeAddress64& addr64) {
-    _addr64 = addr64;
-}
-
-void ZBTxRequest::setAddress16(uint16_t addr16) {
-    _addr16 = addr16;
-}
-
-void ZBTxRequest::setBroadcastRadius(uint8_t broadcastRadius) {
-    _broadcastRadius = broadcastRadius;
-}
-
-void ZBTxRequest::setOption(uint8_t option) {
-    _option = option;
-}
-
-#endif
-
-#ifdef SERIES_1
-
-Tx16Request::Tx16Request() : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {
-
-}
-
-Tx16Request::Tx16Request(uint16_t addr16, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId) : PayloadRequest(TX_16_REQUEST, frameId, data, dataLength) {
-    _addr16 = addr16;
-    _option = option;
-}
-
-Tx16Request::Tx16Request(uint16_t addr16, uint8_t *data, uint8_t dataLength) : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
-    _addr16 = addr16;
-    _option = ACK_OPTION;
-}
-
-uint8_t Tx16Request::getFrameData(uint8_t pos) {
-
-    if (pos == 0) {
-        return (_addr16 >> 8) & 0xff;
-    } else if (pos == 1) {
-        return _addr16 & 0xff;
-    } else if (pos == 2) {
-        return _option;
-    } else {
-        return getPayload()[pos - TX_16_API_LENGTH];
-    }
-}
-
-uint8_t Tx16Request::getFrameDataLength() {
-    return TX_16_API_LENGTH + getPayloadLength();
-}
-
-uint16_t Tx16Request::getAddress16() {
-    return _addr16;
-}
-
-void Tx16Request::setAddress16(uint16_t addr16) {
-    _addr16 = addr16;
-}
-
-uint8_t Tx16Request::getOption() {
-    return _option;
-}
-
-void Tx16Request::setOption(uint8_t option) {
-    _option = option;
-}
-
-Tx64Request::Tx64Request() : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {
-
-}
-
-Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId) : PayloadRequest(TX_64_REQUEST, frameId, data, dataLength) {
-    _addr64 = addr64;
-    _option = option;
-}
-
-Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength) : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
-    _addr64 = addr64;
-    _option = ACK_OPTION;
-}
-
-uint8_t Tx64Request::getFrameData(uint8_t pos) {
-
-    if (pos == 0) {
-        return (_addr64.getMsb() >> 24) & 0xff;
-    } else if (pos == 1) {
-        return (_addr64.getMsb() >> 16) & 0xff;
-    } else if (pos == 2) {
-        return (_addr64.getMsb() >> 8) & 0xff;
-    } else if (pos == 3) {
-        return _addr64.getMsb() & 0xff;
-    } else if (pos == 4) {
-        return (_addr64.getLsb() >> 24) & 0xff;
-    } else if (pos == 5) {
-        return (_addr64.getLsb() >> 16) & 0xff;
-    } else if (pos == 6) {
-        return(_addr64.getLsb() >> 8) & 0xff;
-    } else if (pos == 7) {
-        return _addr64.getLsb() & 0xff;
-    } else if (pos == 8) {
-        return _option;
-    } else {
-        return getPayload()[pos - TX_64_API_LENGTH];
-    }
-}
-
-uint8_t Tx64Request::getFrameDataLength() {
-    return TX_64_API_LENGTH + getPayloadLength();
-}
-
-XBeeAddress64& Tx64Request::getAddress64() {
-    return _addr64;
-}
-
-void Tx64Request::setAddress64(XBeeAddress64& addr64) {
-    _addr64 = addr64;
-}
-
-uint8_t Tx64Request::getOption() {
-    return _option;
-}
-
-void Tx64Request::setOption(uint8_t option) {
-    _option = option;
-}
-
-#endif
-
-AtCommandRequest::AtCommandRequest() : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
-    _command = NULL;
-    clearCommandValue();
-}
-
-AtCommandRequest::AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
-    _command = command;
-    _commandValue = commandValue;
-    _commandValueLength = commandValueLength;
-}
-
-AtCommandRequest::AtCommandRequest(uint8_t *command) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
-    _command = command;
-    clearCommandValue();
-}
-
-uint8_t* AtCommandRequest::getCommand() {
-    return _command;
-}
-
-uint8_t* AtCommandRequest::getCommandValue() {
-    return _commandValue;
-}
-
-uint8_t AtCommandRequest::getCommandValueLength() {
-    return _commandValueLength;
-}
-
-void AtCommandRequest::setCommand(uint8_t* command) {
-    _command = command;
-}
-
-void AtCommandRequest::setCommandValue(uint8_t* value) {
-    _commandValue = value;
-}
-
-void AtCommandRequest::setCommandValueLength(uint8_t length) {
-    _commandValueLength = length;
-}
-
-uint8_t AtCommandRequest::getFrameData(uint8_t pos) {
-
-    if (pos == 0) {
-        return _command[0];
-    } else if (pos == 1) {
-        return _command[1];
-    } else {
-        return _commandValue[pos - AT_COMMAND_API_LENGTH];
-    }
-}
-
-void AtCommandRequest::clearCommandValue() {
-    _commandValue = NULL;
-    _commandValueLength = 0;
-}
-
-//void AtCommandRequest::reset() {
-//     XBeeRequest::reset();
-//}
-
-uint8_t AtCommandRequest::getFrameDataLength() {
-    // command is 2 byte + length of value
-    return AT_COMMAND_API_LENGTH + _commandValueLength;
-}
-
-XBeeAddress64 RemoteAtCommandRequest::broadcastAddress64 = XBeeAddress64(0x0, BROADCAST_ADDRESS);
-
-RemoteAtCommandRequest::RemoteAtCommandRequest() : AtCommandRequest(NULL, NULL, 0) {
-    _remoteAddress16 = 0;
-    _applyChanges = false;
-    setApiId(REMOTE_AT_REQUEST);
-}
-
-RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) {
-    _remoteAddress64 = broadcastAddress64;
-    _remoteAddress16 = remoteAddress16;
-    _applyChanges = true;
-    setApiId(REMOTE_AT_REQUEST);
-}
-
-RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command) : AtCommandRequest(command, NULL, 0) {
-    _remoteAddress64 = broadcastAddress64;
-    _remoteAddress16 = remoteAddress16;
-    _applyChanges = false;
-    setApiId(REMOTE_AT_REQUEST);
-}
-
-RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) {
-    _remoteAddress64 = remoteAddress64;
-    // don't worry.. works for series 1 too!
-    _remoteAddress16 = ZB_BROADCAST_ADDRESS;
-    _applyChanges = true;
-    setApiId(REMOTE_AT_REQUEST);
-}
-
-RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command) : AtCommandRequest(command, NULL, 0) {
-    _remoteAddress64 = remoteAddress64;
-    _remoteAddress16 = ZB_BROADCAST_ADDRESS;
-    _applyChanges = false;
-    setApiId(REMOTE_AT_REQUEST);
-}
-
-uint16_t RemoteAtCommandRequest::getRemoteAddress16() {
-    return _remoteAddress16;
-}
-
-void RemoteAtCommandRequest::setRemoteAddress16(uint16_t remoteAddress16) {
-    _remoteAddress16 = remoteAddress16;
-}
-
-XBeeAddress64& RemoteAtCommandRequest::getRemoteAddress64() {
-    return _remoteAddress64;
-}
-
-void RemoteAtCommandRequest::setRemoteAddress64(XBeeAddress64 &remoteAddress64) {
-    _remoteAddress64 = remoteAddress64;
-}
-
-bool RemoteAtCommandRequest::getApplyChanges() {
-    return _applyChanges;
-}
-
-void RemoteAtCommandRequest::setApplyChanges(bool applyChanges) {
-    _applyChanges = applyChanges;
-}
-
-
-uint8_t RemoteAtCommandRequest::getFrameData(uint8_t pos) {
-    if (pos == 0) {
-        return (_remoteAddress64.getMsb() >> 24) & 0xff;
-    } else if (pos == 1) {
-        return (_remoteAddress64.getMsb() >> 16) & 0xff;
-    } else if (pos == 2) {
-        return (_remoteAddress64.getMsb() >> 8) & 0xff;
-    } else if (pos == 3) {
-        return _remoteAddress64.getMsb() & 0xff;
-    } else if (pos == 4) {
-        return (_remoteAddress64.getLsb() >> 24) & 0xff;
-    } else if (pos == 5) {
-        return (_remoteAddress64.getLsb() >> 16) & 0xff;
-    } else if (pos == 6) {
-        return(_remoteAddress64.getLsb() >> 8) & 0xff;
-    } else if (pos == 7) {
-        return _remoteAddress64.getLsb() & 0xff;
-    } else if (pos == 8) {
-        return (_remoteAddress16 >> 8) & 0xff;
-    } else if (pos == 9) {
-        return _remoteAddress16 & 0xff;
-    } else if (pos == 10) {
-        return _applyChanges ? 2: 0;
-    } else if (pos == 11) {
-        return getCommand()[0];
-    } else if (pos == 12) {
-        return getCommand()[1];
-    } else {
-        return getCommandValue()[pos - REMOTE_AT_COMMAND_API_LENGTH];
-    }
-}
-
-uint8_t RemoteAtCommandRequest::getFrameDataLength() {
-    return REMOTE_AT_COMMAND_API_LENGTH + getCommandValueLength();
-}
-
-
-// TODO
-//GenericRequest::GenericRequest(uint8_t* frame, uint8_t len, uint8_t apiId): XBeeRequest(apiId, *(frame), len) {
-//    _frame = frame;
-//}
-
-void XBee::send(XBeeRequest &request) {
-    // the new new deal
-
-    sendByte(START_BYTE, false);
-
-    // send length
-    uint8_t msbLen = ((request.getFrameDataLength() + 2) >> 8) & 0xff;
-    uint8_t lsbLen = (request.getFrameDataLength() + 2) & 0xff;
-
-    sendByte(msbLen, true);
-    sendByte(lsbLen, true);
-
-    // api id
-    sendByte(request.getApiId(), true);
-    sendByte(request.getFrameId(), true);
-
-    uint8_t checksum = 0;
-
-    // compute checksum, start at api id
-    checksum+= request.getApiId();
-    checksum+= request.getFrameId();
-
-    //std::cout << "frame length is " << static_cast<unsigned int>(request.getFrameDataLength()) << std::endl;
-
-    for (int i = 0; i < request.getFrameDataLength(); i++) {
-//        std::cout << "sending byte [" << static_cast<unsigned int>(i) << "] " << std::endl;
-        sendByte(request.getFrameData(i), true);
-        checksum+= request.getFrameData(i);
-    }
-
-    // perform 2s complement
-    checksum = 0xff - checksum;
-
-//    std::cout << "checksum is " << static_cast<unsigned int>(checksum) << std::endl;
-
-    // send checksum
-    sendByte(checksum, true);
-/*
-    // send packet
-    Serial.flush();
-*/
-}
-
-void XBee::sendByte(uint8_t b, bool escape) {
-
-    if (escape && (b == START_BYTE || b == ESCAPE || b == XON || b == XOFF)) {
-//        std::cout << "escaping byte [" << toHexString(b) << "] " << std::endl;
-        _xbee.putc(ESCAPE);
-        _xbee.putc(b ^ 0x20);
-    } else {
-        _xbee.putc(b);
-    }
-}
-
+/**
+ * XBee-mbed library
+ * Modified for mbed, 2011 Suga.
+ *
+ *
+ * Copyright (c) 2009 Andrew Rapp. All rights reserved.
+ *
+ * This file is part of XBee-Arduino.
+ *
+ * XBee-Arduino is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * XBee-Arduino is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with XBee-Arduino.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "mbed.h"
+#include "XBee.h"
+
+XBeeResponse::XBeeResponse() {
+
+}
+
+uint8_t XBeeResponse::getApiId() {
+    return _apiId;
+}
+
+void XBeeResponse::setApiId(uint8_t apiId) {
+    _apiId = apiId;
+}
+
+uint8_t XBeeResponse::getMsbLength() {
+    return _msbLength;
+}
+
+void XBeeResponse::setMsbLength(uint8_t msbLength) {
+    _msbLength = msbLength;
+}
+
+uint8_t XBeeResponse::getLsbLength() {
+    return _lsbLength;
+}
+
+void XBeeResponse::setLsbLength(uint8_t lsbLength) {
+    _lsbLength = lsbLength;
+}
+
+uint8_t XBeeResponse::getChecksum() {
+    return _checksum;
+}
+
+void XBeeResponse::setChecksum(uint8_t checksum) {
+    _checksum = checksum;
+}
+
+uint8_t XBeeResponse::getFrameDataLength() {
+    return _frameLength;
+}
+
+void XBeeResponse::setFrameLength(uint8_t frameLength) {
+    _frameLength = frameLength;
+}
+
+bool XBeeResponse::isAvailable() {
+    return _complete;
+}
+
+void XBeeResponse::setAvailable(bool complete) {
+    _complete = complete;
+}
+
+bool XBeeResponse::isError() {
+    return _errorCode > 0;
+}
+
+uint8_t XBeeResponse::getErrorCode() {
+    return _errorCode;
+}
+
+void XBeeResponse::setErrorCode(uint8_t errorCode) {
+    _errorCode = errorCode;
+}
+
+// copy common fields from xbee response to target response
+void XBeeResponse::setCommon(XBeeResponse &target) {
+    target.setApiId(getApiId());
+    target.setAvailable(isAvailable());
+    target.setChecksum(getChecksum());
+    target.setErrorCode(getErrorCode());
+    target.setFrameLength(getFrameDataLength());
+    target.setMsbLength(getMsbLength());
+    target.setLsbLength(getLsbLength());
+}
+
+#ifdef SERIES_2
+
+ZBTxStatusResponse::ZBTxStatusResponse() : FrameIdResponse() {
+
+}
+
+uint16_t ZBTxStatusResponse::getRemoteAddress() {
+    return  (getFrameData()[1] << 8) + getFrameData()[2];
+}
+
+uint8_t ZBTxStatusResponse::getTxRetryCount() {
+    return getFrameData()[3];
+}
+
+uint8_t ZBTxStatusResponse::getDeliveryStatus() {
+    return getFrameData()[4];
+}
+
+uint8_t ZBTxStatusResponse::getDiscoveryStatus() {
+    return getFrameData()[5];
+}
+
+bool ZBTxStatusResponse::isSuccess() {
+    return getDeliveryStatus() == SUCCESS;
+}
+
+void XBeeResponse::getZBTxStatusResponse(XBeeResponse &zbXBeeResponse) {
+
+    // way off?
+    ZBTxStatusResponse* zb = static_cast<ZBTxStatusResponse*>(&zbXBeeResponse);
+    // pass pointer array to subclass
+    zb->setFrameData(getFrameData());
+    setCommon(zbXBeeResponse);
+}
+
+ZBRxResponse::ZBRxResponse(): RxDataResponse() {
+    _remoteAddress64 = XBeeAddress64();
+}
+
+uint16_t ZBRxResponse::getRemoteAddress16() {
+    return     (getFrameData()[8] << 8) + getFrameData()[9];
+}
+
+uint8_t ZBRxResponse::getOption() {
+    return getFrameData()[10];
+}
+
+// markers to read data from packet array.  this is the index, so the 12th item in the array
+uint8_t ZBRxResponse::getDataOffset() {
+    return 11;
+}
+
+uint8_t ZBRxResponse::getDataLength() {
+    return getPacketLength() - getDataOffset() - 1;
+}
+
+XBeeAddress64& ZBRxResponse::getRemoteAddress64() {
+    return _remoteAddress64;
+}
+
+void XBeeResponse::getZBRxResponse(XBeeResponse &rxResponse) {
+
+    ZBRxResponse* zb = static_cast<ZBRxResponse*>(&rxResponse);
+
+    //TODO verify response api id matches this api for this response
+
+    // pass pointer array to subclass
+    zb->setFrameData(getFrameData());
+    setCommon(rxResponse);
+
+    zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
+    zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
+}
+
+
+ZBRxIoSampleResponse::ZBRxIoSampleResponse() : ZBRxResponse() {
+
+}
+
+// 64 + 16 addresses, sample size, option = 12 (index 11), so this starts at 12
+uint8_t ZBRxIoSampleResponse::getDigitalMaskMsb() {
+    return getFrameData()[12] & 0x1c;
+}
+
+uint8_t ZBRxIoSampleResponse::getDigitalMaskLsb() {
+    return getFrameData()[13];
+}
+
+uint8_t ZBRxIoSampleResponse::getAnalogMask() {
+    return getFrameData()[14] & 0x8f;
+}
+
+bool ZBRxIoSampleResponse::containsAnalog() {
+    return getAnalogMask() > 0;
+}
+
+bool ZBRxIoSampleResponse::containsDigital() {
+    return getDigitalMaskMsb() > 0 || getDigitalMaskLsb() > 0;
+}
+
+bool ZBRxIoSampleResponse::isAnalogEnabled(uint8_t pin) {
+    return ((getAnalogMask() >> pin) & 1) == 1;
+}
+
+bool ZBRxIoSampleResponse::isDigitalEnabled(uint8_t pin) {
+    if (pin <= 7) {
+        // added extra parens to calm avr compiler
+        return ((getDigitalMaskLsb() >> pin) & 1) == 1;
+    } else {
+        return ((getDigitalMaskMsb() >> (pin - 8)) & 1) == 1;
+    }
+}
+
+uint16_t ZBRxIoSampleResponse::getAnalog(uint8_t pin) {
+    // analog starts 13 bytes after sample size, if no dio enabled
+    uint8_t start = 15;
+
+    if (containsDigital()) {
+        // make room for digital i/o
+        start+=2;
+    }
+
+//    std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;
+
+    // start depends on how many pins before this pin are enabled
+    for (int i = 0; i < pin; i++) {
+//        if (isAnalogEnabled(pin)) {
+        if (isAnalogEnabled(i)) {
+            start+=2;
+        }
+    }
+
+//    std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;
+
+//    std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " <<  static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) <<  " and " <<  + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;
+
+    return (uint16_t)((getFrameData()[start] << 8) + getFrameData()[start + 1]);
+}
+
+bool ZBRxIoSampleResponse::isDigitalOn(uint8_t pin) {
+    if (pin <= 7) {
+        // D0-7
+        // DIO LSB is index 5
+        return ((getFrameData()[16] >> pin) & 1) == 1;
+    } else {
+        // D10-12
+        // DIO MSB is index 4
+        return ((getFrameData()[15] >> (pin - 8)) & 1) == 1;
+    }
+}
+
+void XBeeResponse::getZBRxIoSampleResponse(XBeeResponse &response) {
+    ZBRxIoSampleResponse* zb = static_cast<ZBRxIoSampleResponse*>(&response);
+
+
+    // pass pointer array to subclass
+    zb->setFrameData(getFrameData());
+    setCommon(response);
+
+    zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
+    zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
+}
+
+#endif
+
+#ifdef SERIES_1
+
+RxResponse::RxResponse() : RxDataResponse() {
+
+}
+
+uint16_t Rx16Response::getRemoteAddress16() {
+    return (getFrameData()[0] << 8) + getFrameData()[1];
+}
+
+XBeeAddress64& Rx64Response::getRemoteAddress64() {
+    return _remoteAddress;
+}
+
+Rx64Response::Rx64Response() : RxResponse() {
+    _remoteAddress = XBeeAddress64();
+}
+
+Rx16Response::Rx16Response() : RxResponse() {
+
+}
+
+RxIoSampleBaseResponse::RxIoSampleBaseResponse() : RxResponse() {
+
+}
+
+uint8_t RxIoSampleBaseResponse::getSampleOffset() {
+    // sample starts 2 bytes after rssi
+    return getRssiOffset() + 2;
+}
+
+
+uint8_t RxIoSampleBaseResponse::getSampleSize() {
+    return getFrameData()[getSampleOffset()];
+}
+
+bool RxIoSampleBaseResponse::containsAnalog() {
+    return (getFrameData()[getSampleOffset() + 1] & 0x7e) > 0;
+}
+
+bool RxIoSampleBaseResponse::containsDigital() {
+    return (getFrameData()[getSampleOffset() + 1] & 0x1) > 0 || getFrameData()[getSampleOffset() + 2] > 0;
+}
+
+//uint16_t RxIoSampleBaseResponse::getAnalog0(uint8_t sample) {
+//    return getAnalog(0, sample);
+//}
+
+bool RxIoSampleBaseResponse::isAnalogEnabled(uint8_t pin) {
+    return (((getFrameData()[getSampleOffset() + 1] >> (pin + 1)) & 1) == 1);
+}
+
+bool RxIoSampleBaseResponse::isDigitalEnabled(uint8_t pin) {
+    if (pin < 8) {
+        return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
+    } else {
+        return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
+    }
+}
+
+uint16_t RxIoSampleBaseResponse::getAnalog(uint8_t pin, uint8_t sample) {
+
+    // analog starts 3 bytes after sample size, if no dio enabled
+    uint8_t start = 3;
+
+    if (containsDigital()) {
+        // make room for digital i/o sample (2 bytes per sample)
+        start+=2*(sample + 1);
+    }
+
+    uint8_t spacing = 0;
+
+    // spacing between samples depends on how many are enabled. add one for each analog that's enabled
+    for (int i = 0; i <= 5; i++) {
+        if (isAnalogEnabled(i)) {
+            // each analog is two bytes
+            spacing+=2;
+        }
+    }
+
+//    std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;
+
+    // start depends on how many pins before this pin are enabled
+    for (int i = 0; i < pin; i++) {
+        if (isAnalogEnabled(pin)) {
+            start+=2;
+        }
+    }
+
+    start+= sample * spacing;
+
+//    std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;
+
+//    std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " <<  static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) <<  " and " <<  + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;
+
+    return (uint16_t)((getFrameData()[getSampleOffset() + start] << 8) + getFrameData()[getSampleOffset() + start + 1]);
+}
+
+bool RxIoSampleBaseResponse::isDigitalOn(uint8_t pin, uint8_t sample) {
+    if (pin < 8) {
+        return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
+    } else {
+        return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
+    }
+}
+
+
+//bool RxIoSampleBaseResponse::isDigital0On(uint8_t sample) {
+//    return isDigitalOn(0, sample);
+//}
+
+Rx16IoSampleResponse::Rx16IoSampleResponse() : RxIoSampleBaseResponse() {
+
+}
+
+uint16_t Rx16IoSampleResponse::getRemoteAddress16() {
+    return (uint16_t)((getFrameData()[0] << 8) + getFrameData()[1]);
+}
+
+uint8_t Rx16IoSampleResponse::getRssiOffset() {
+    return 2;
+}
+
+void XBeeResponse::getRx16IoSampleResponse(XBeeResponse &response) {
+    Rx16IoSampleResponse* rx = static_cast<Rx16IoSampleResponse*>(&response);
+
+    rx->setFrameData(getFrameData());
+    setCommon(response);
+}
+
+
+Rx64IoSampleResponse::Rx64IoSampleResponse() : RxIoSampleBaseResponse() {
+    _remoteAddress = XBeeAddress64();
+}
+
+XBeeAddress64& Rx64IoSampleResponse::getRemoteAddress64() {
+    return _remoteAddress;
+}
+
+uint8_t Rx64IoSampleResponse::getRssiOffset() {
+    return 8;
+}
+
+void XBeeResponse::getRx64IoSampleResponse(XBeeResponse &response) {
+    Rx64IoSampleResponse* rx = static_cast<Rx64IoSampleResponse*>(&response);
+
+    rx->setFrameData(getFrameData());
+    setCommon(response);
+
+    rx->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
+    rx->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
+}
+
+TxStatusResponse::TxStatusResponse() : FrameIdResponse() {
+
+}
+
+uint8_t TxStatusResponse::getStatus() {
+    return getFrameData()[1];
+}
+
+bool TxStatusResponse::isSuccess() {
+    return getStatus() == SUCCESS;
+}
+
+void XBeeResponse::getTxStatusResponse(XBeeResponse &txResponse) {
+
+    TxStatusResponse* txStatus = static_cast<TxStatusResponse*>(&txResponse);
+
+    // pass pointer array to subclass
+    txStatus->setFrameData(getFrameData());
+    setCommon(txResponse);
+}
+
+uint8_t RxResponse::getRssi() {
+    return getFrameData()[getRssiOffset()];
+}
+
+uint8_t RxResponse::getOption() {
+    return getFrameData()[getRssiOffset() + 1];
+}
+
+bool RxResponse::isAddressBroadcast() {
+    return (getOption() & 2) == 2;
+}
+
+bool RxResponse::isPanBroadcast() {
+    return (getOption() & 4) == 4;
+}
+
+uint8_t RxResponse::getDataLength() {
+    return getPacketLength() - getDataOffset() - 1;
+}
+
+uint8_t RxResponse::getDataOffset() {
+    return getRssiOffset() + 2;
+}
+
+uint8_t Rx16Response::getRssiOffset() {
+    return RX_16_RSSI_OFFSET;
+}
+
+void XBeeResponse::getRx16Response(XBeeResponse &rx16Response) {
+
+    Rx16Response* rx16 = static_cast<Rx16Response*>(&rx16Response);
+
+    // pass pointer array to subclass
+    rx16->setFrameData(getFrameData());
+    setCommon(rx16Response);
+
+//    rx16->getRemoteAddress16().setAddress((getFrameData()[0] << 8) + getFrameData()[1]);
+}
+
+uint8_t Rx64Response::getRssiOffset() {
+    return RX_64_RSSI_OFFSET;
+}
+
+void XBeeResponse::getRx64Response(XBeeResponse &rx64Response) {
+
+    Rx64Response* rx64 = static_cast<Rx64Response*>(&rx64Response);
+
+    // pass pointer array to subclass
+    rx64->setFrameData(getFrameData());
+    setCommon(rx64Response);
+
+    rx64->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
+    rx64->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
+}
+
+#endif
+
+RemoteAtCommandResponse::RemoteAtCommandResponse() : AtCommandResponse() {
+
+}
+
+uint8_t* RemoteAtCommandResponse::getCommand() {
+    return getFrameData() + 11;
+}
+
+uint8_t RemoteAtCommandResponse::getStatus() {
+    return getFrameData()[13];
+}
+
+bool RemoteAtCommandResponse::isOk() {
+    // weird c++ behavior.  w/o this method, it calls AtCommandResponse::isOk(), which calls the AtCommandResponse::getStatus, not this.getStatus!!!
+    return getStatus() == AT_OK;
+}
+
+uint8_t RemoteAtCommandResponse::getValueLength() {
+    return getFrameDataLength() - 14;
+}
+
+uint8_t* RemoteAtCommandResponse::getValue() {
+    if (getValueLength() > 0) {
+        // value is only included for query commands.  set commands does not return a value
+        return getFrameData() + 14;
+    }
+
+    return NULL;
+}
+
+uint16_t RemoteAtCommandResponse::getRemoteAddress16() {
+    return uint16_t((getFrameData()[9] << 8) + getFrameData()[10]);
+}
+
+XBeeAddress64& RemoteAtCommandResponse::getRemoteAddress64() {
+    return _remoteAddress64;
+}
+
+void XBeeResponse::getRemoteAtCommandResponse(XBeeResponse &response) {
+
+    // TODO no real need to cast.  change arg to match expected class
+    RemoteAtCommandResponse* at = static_cast<RemoteAtCommandResponse*>(&response);
+
+    // pass pointer array to subclass
+    at->setFrameData(getFrameData());
+    setCommon(response);
+
+    at->getRemoteAddress64().setMsb((uint32_t(getFrameData()[1]) << 24) + (uint32_t(getFrameData()[2]) << 16) + (uint16_t(getFrameData()[3]) << 8) + getFrameData()[4]);
+    at->getRemoteAddress64().setLsb((uint32_t(getFrameData()[5]) << 24) + (uint32_t(getFrameData()[6]) << 16) + (uint16_t(getFrameData()[7]) << 8) + (getFrameData()[8]));
+
+}
+
+RxDataResponse::RxDataResponse() : XBeeResponse() {
+
+}
+
+uint8_t RxDataResponse::getData(int index) {
+    return getFrameData()[getDataOffset() + index];
+}
+
+uint8_t* RxDataResponse::getData() {
+    return getFrameData() + getDataOffset();
+}
+
+FrameIdResponse::FrameIdResponse() {
+
+}
+
+uint8_t FrameIdResponse::getFrameId() {
+    return getFrameData()[0];
+}
+
+
+ModemStatusResponse::ModemStatusResponse() {
+
+}
+
+uint8_t ModemStatusResponse::getStatus() {
+    return getFrameData()[0];
+}
+
+void XBeeResponse::getModemStatusResponse(XBeeResponse &modemStatusResponse) {
+
+    ModemStatusResponse* modem = static_cast<ModemStatusResponse*>(&modemStatusResponse);
+
+    // pass pointer array to subclass
+    modem->setFrameData(getFrameData());
+    setCommon(modemStatusResponse);
+
+}
+
+AtCommandResponse::AtCommandResponse() {
+
+}
+
+uint8_t* AtCommandResponse::getCommand() {
+    return getFrameData() + 1;
+}
+
+uint8_t AtCommandResponse::getStatus() {
+    return getFrameData()[3];
+}
+
+uint8_t AtCommandResponse::getValueLength() {
+    return getFrameDataLength() - 4;
+}
+
+uint8_t* AtCommandResponse::getValue() {
+    if (getValueLength() > 0) {
+        // value is only included for query commands.  set commands does not return a value
+        return getFrameData() + 4;
+    }
+
+    return NULL;
+}
+
+bool AtCommandResponse::isOk() {
+    return getStatus() == AT_OK;
+}
+
+void XBeeResponse::getAtCommandResponse(XBeeResponse &atCommandResponse) {
+
+    AtCommandResponse* at = static_cast<AtCommandResponse*>(&atCommandResponse);
+
+    // pass pointer array to subclass
+    at->setFrameData(getFrameData());
+    setCommon(atCommandResponse);
+}
+
+uint16_t XBeeResponse::getPacketLength() {
+    return ((_msbLength << 8) & 0xff) + (_lsbLength & 0xff);
+}
+
+uint8_t* XBeeResponse::getFrameData() {
+    return _frameDataPtr;
+}
+
+void XBeeResponse::setFrameData(uint8_t* frameDataPtr) {
+    _frameDataPtr = frameDataPtr;
+}
+
+void XBeeResponse::init() {
+    _complete = false;
+    _errorCode = NO_ERROR;
+    _checksum = 0;
+}
+
+void XBeeResponse::reset() {
+    init();
+    _apiId = 0;
+    _msbLength = 0;
+    _lsbLength = 0;
+    _checksum = 0;
+    _frameLength = 0;
+
+    for (int i = 0; i < MAX_FRAME_DATA_SIZE; i++) {
+        getFrameData()[i] = 0;
+    }
+}
+
+void XBee::resetResponse() {
+    _pos = 0;
+    _escape = false;
+    _response.reset();
+}
+
+XBee::XBee(PinName p_tx, PinName p_rx): _xbee(p_tx, p_rx), _response(XBeeResponse()) {
+    _pos = 0;
+    _escape = false;
+    _checksumTotal = 0;
+    _nextFrameId = 0;
+
+    _response.init();
+    _response.setFrameData(_responseFrameData);
+}
+
+uint8_t XBee::getNextFrameId() {
+
+    _nextFrameId++;
+
+    if (_nextFrameId == 0) {
+        // can't send 0 because that disables status response
+        _nextFrameId = 1;
+    }
+
+    return _nextFrameId;
+}
+
+void XBee::begin(long baud) {
+    _xbee.baud(baud);
+}
+
+/*
+void XBee::setSerial(HardwareSerial serial) {
+    Serial = serial;
+}
+*/
+
+XBeeResponse& XBee::getResponse() {
+    return _response;
+}
+
+// TODO how to convert response to proper subclass?
+void XBee::getResponse(XBeeResponse &response) {
+
+    response.setMsbLength(_response.getMsbLength());
+    response.setLsbLength(_response.getLsbLength());
+    response.setApiId(_response.getApiId());
+    response.setFrameLength(_response.getFrameDataLength());
+
+    response.setFrameData(_response.getFrameData());
+}
+
+void XBee::readPacketUntilAvailable() {
+    while (!(getResponse().isAvailable() || getResponse().isError())) {
+        // read some more
+        readPacket();
+    }
+}
+
+bool XBee::readPacket(int timeout) {
+    Timer t;
+
+    if (timeout < 0) {
+        return false;
+    }
+
+/*
+    unsigned long start = millis();
+
+    while (int((millis() - start)) < timeout) {
+*/
+    t.start();
+    while (t.read_ms() < timeout) {
+         readPacket();
+
+         if (getResponse().isAvailable()) {
+             t.stop();
+             return true;
+         } else if (getResponse().isError()) {
+             t.stop();
+             return false;
+         }
+    }
+
+    // timed out
+    t.stop();
+    return false;
+}
+
+void XBee::readPacket() {
+    // reset previous response
+    if (_response.isAvailable() || _response.isError()) {
+        // discard previous packet and start over
+        resetResponse();
+    }
+
+    while (_xbee.readable()) {
+
+        b = _xbee.getc();
+
+        if (_pos > 0 && b == START_BYTE && ATAP == 2) {
+            // new packet start before previous packeted completed -- discard previous packet and start over
+            _response.setErrorCode(UNEXPECTED_START_BYTE);
+            return;
+        }
+
+        if (_pos > 0 && b == ESCAPE) {
+            if (_xbee.readable()) {
+                b = _xbee.getc();
+                b = 0x20 ^ b;
+            } else {
+                // escape byte.  next byte will be
+                _escape = true;
+                continue;
+            }
+        }
+
+        if (_escape == true) {
+            b = 0x20 ^ b;
+            _escape = false;
+        }
+
+        // checksum includes all bytes starting with api id
+        if (_pos >= API_ID_INDEX) {
+            _checksumTotal+= b;
+        }
+
+        switch(_pos) {
+            case 0:
+                if (b == START_BYTE) {
+                    _pos++;
+                }
+
+                break;
+            case 1:
+                // length msb
+                _response.setMsbLength(b);
+                _pos++;
+
+                break;
+            case 2:
+                // length lsb
+                _response.setLsbLength(b);
+                _pos++;
+
+                break;
+            case 3:
+                _response.setApiId(b);
+                _pos++;
+
+                break;
+            default:
+                // starts at fifth byte
+
+                if (_pos > MAX_FRAME_DATA_SIZE) {
+                    // exceed max size.  should never occur
+                    _response.setErrorCode(PACKET_EXCEEDS_BYTE_ARRAY_LENGTH);
+                    return;
+                }
+
+                // check if we're at the end of the packet
+                // packet length does not include start, length, or checksum bytes, so add 3
+                if (_pos == (_response.getPacketLength() + 3)) {
+                    // verify checksum
+
+                    //std::cout << "read checksum " << static_cast<unsigned int>(b) << " at pos " << static_cast<unsigned int>(_pos) << std::endl;
+
+                    if ((_checksumTotal & 0xff) == 0xff) {
+                        _response.setChecksum(b);
+                        _response.setAvailable(true);
+
+                        _response.setErrorCode(NO_ERROR);
+                    } else {
+                        // checksum failed
+                        _response.setErrorCode(CHECKSUM_FAILURE);
+                    }
+
+                    // minus 4 because we start after start,msb,lsb,api and up to but not including checksum
+                    // e.g. if frame was one byte, _pos=4 would be the byte, pos=5 is the checksum, where end stop reading
+                    _response.setFrameLength(_pos - 4);
+
+                    // reset state vars
+                    _pos = 0;
+
+                    _checksumTotal = 0;
+
+                    return;
+                } else {
+                    // add to packet array, starting with the fourth byte of the apiFrame
+                    _response.getFrameData()[_pos - 4] = b;
+                    _pos++;
+                }
+        }
+    }
+}
+
+// it's peanut butter jelly time!!
+
+XBeeRequest::XBeeRequest(uint8_t apiId, uint8_t frameId) {
+    _apiId = apiId;
+    _frameId = frameId;
+}
+
+void XBeeRequest::setFrameId(uint8_t frameId) {
+    _frameId = frameId;
+}
+
+uint8_t XBeeRequest::getFrameId() {
+    return _frameId;
+}
+
+uint8_t XBeeRequest::getApiId() {
+    return _apiId;
+}
+
+void XBeeRequest::setApiId(uint8_t apiId) {
+    _apiId = apiId;
+}
+
+//void XBeeRequest::reset() {
+//    _frameId = DEFAULT_FRAME_ID;
+//}
+
+//uint8_t XBeeRequest::getPayloadOffset() {
+//    return _payloadOffset;
+//}
+//
+//uint8_t XBeeRequest::setPayloadOffset(uint8_t payloadOffset) {
+//    _payloadOffset = payloadOffset;
+//}
+
+
+PayloadRequest::PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength) : XBeeRequest(apiId, frameId) {
+    _payloadPtr = payload;
+    _payloadLength = payloadLength;
+}
+
+uint8_t* PayloadRequest::getPayload() {
+    return _payloadPtr;
+}
+
+void PayloadRequest::setPayload(uint8_t* payload) {
+    _payloadPtr = payload;
+}
+
+uint8_t PayloadRequest::getPayloadLength() {
+    return _payloadLength;
+}
+
+void PayloadRequest::setPayloadLength(uint8_t payloadLength) {
+    _payloadLength = payloadLength;
+}
+
+
+XBeeAddress::XBeeAddress() {
+
+}
+
+XBeeAddress64::XBeeAddress64() : XBeeAddress() {
+
+}
+
+XBeeAddress64::XBeeAddress64(uint32_t msb, uint32_t lsb) : XBeeAddress() {
+    _msb = msb;
+    _lsb = lsb;
+}
+
+uint32_t XBeeAddress64::getMsb() {
+    return _msb;
+}
+
+void XBeeAddress64::setMsb(uint32_t msb) {
+    _msb = msb;
+}
+
+uint32_t XBeeAddress64::getLsb() {
+    return _lsb;
+}
+
+void XBeeAddress64::setLsb(uint32_t lsb) {
+    _lsb = lsb;
+}
+
+
+#ifdef SERIES_2
+
+ZBTxRequest::ZBTxRequest() : PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {
+
+}
+
+ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId): PayloadRequest(ZB_TX_REQUEST, frameId, data, dataLength) {
+    _addr64 = addr64;
+    _addr16 = addr16;
+    _broadcastRadius = broadcastRadius;
+    _option = option;
+}
+
+ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength): PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
+    _addr64 = addr64;
+    _addr16 = ZB_BROADCAST_ADDRESS;
+    _broadcastRadius = ZB_BROADCAST_RADIUS_MAX_HOPS;
+    _option = ZB_TX_UNICAST;
+}
+
+uint8_t ZBTxRequest::getFrameData(uint8_t pos) {
+    if (pos == 0) {
+        return (_addr64.getMsb() >> 24) & 0xff;
+    } else if (pos == 1) {
+        return (_addr64.getMsb() >> 16) & 0xff;
+    } else if (pos == 2) {
+        return (_addr64.getMsb() >> 8) & 0xff;
+    } else if (pos == 3) {
+        return _addr64.getMsb() & 0xff;
+    } else if (pos == 4) {
+        return (_addr64.getLsb() >> 24) & 0xff;
+    } else if (pos == 5) {
+        return  (_addr64.getLsb() >> 16) & 0xff;
+    } else if (pos == 6) {
+        return (_addr64.getLsb() >> 8) & 0xff;
+    } else if (pos == 7) {
+        return _addr64.getLsb() & 0xff;
+    } else if (pos == 8) {
+        return (_addr16 >> 8) & 0xff;
+    } else if (pos == 9) {
+        return _addr16 & 0xff;
+    } else if (pos == 10) {
+        return _broadcastRadius;
+    } else if (pos == 11) {
+        return _option;
+    } else {
+        return getPayload()[pos - ZB_TX_API_LENGTH];
+    }
+}
+
+uint8_t ZBTxRequest::getFrameDataLength() {
+    return ZB_TX_API_LENGTH + getPayloadLength();
+}
+
+XBeeAddress64& ZBTxRequest::getAddress64() {
+    return _addr64;
+}
+
+uint16_t ZBTxRequest::getAddress16() {
+    return _addr16;
+}
+
+uint8_t ZBTxRequest::getBroadcastRadius() {
+    return _broadcastRadius;
+}
+
+uint8_t ZBTxRequest::getOption() {
+    return _option;
+}
+
+void ZBTxRequest::setAddress64(XBeeAddress64& addr64) {
+    _addr64 = addr64;
+}
+
+void ZBTxRequest::setAddress16(uint16_t addr16) {
+    _addr16 = addr16;
+}
+
+void ZBTxRequest::setBroadcastRadius(uint8_t broadcastRadius) {
+    _broadcastRadius = broadcastRadius;
+}
+
+void ZBTxRequest::setOption(uint8_t option) {
+    _option = option;
+}
+
+#endif
+
+#ifdef SERIES_1
+
+Tx16Request::Tx16Request() : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {
+
+}
+
+Tx16Request::Tx16Request(uint16_t addr16, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId) : PayloadRequest(TX_16_REQUEST, frameId, data, dataLength) {
+    _addr16 = addr16;
+    _option = option;
+}
+
+Tx16Request::Tx16Request(uint16_t addr16, uint8_t *data, uint8_t dataLength) : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
+    _addr16 = addr16;
+    _option = ACK_OPTION;
+}
+
+uint8_t Tx16Request::getFrameData(uint8_t pos) {
+
+    if (pos == 0) {
+        return (_addr16 >> 8) & 0xff;
+    } else if (pos == 1) {
+        return _addr16 & 0xff;
+    } else if (pos == 2) {
+        return _option;
+    } else {
+        return getPayload()[pos - TX_16_API_LENGTH];
+    }
+}
+
+uint8_t Tx16Request::getFrameDataLength() {
+    return TX_16_API_LENGTH + getPayloadLength();
+}
+
+uint16_t Tx16Request::getAddress16() {
+    return _addr16;
+}
+
+void Tx16Request::setAddress16(uint16_t addr16) {
+    _addr16 = addr16;
+}
+
+uint8_t Tx16Request::getOption() {
+    return _option;
+}
+
+void Tx16Request::setOption(uint8_t option) {
+    _option = option;
+}
+
+Tx64Request::Tx64Request() : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {
+
+}
+
+Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId) : PayloadRequest(TX_64_REQUEST, frameId, data, dataLength) {
+    _addr64 = addr64;
+    _option = option;
+}
+
+Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength) : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
+    _addr64 = addr64;
+    _option = ACK_OPTION;
+}
+
+uint8_t Tx64Request::getFrameData(uint8_t pos) {
+
+    if (pos == 0) {
+        return (_addr64.getMsb() >> 24) & 0xff;
+    } else if (pos == 1) {
+        return (_addr64.getMsb() >> 16) & 0xff;
+    } else if (pos == 2) {
+        return (_addr64.getMsb() >> 8) & 0xff;
+    } else if (pos == 3) {
+        return _addr64.getMsb() & 0xff;
+    } else if (pos == 4) {
+        return (_addr64.getLsb() >> 24) & 0xff;
+    } else if (pos == 5) {
+        return (_addr64.getLsb() >> 16) & 0xff;
+    } else if (pos == 6) {
+        return(_addr64.getLsb() >> 8) & 0xff;
+    } else if (pos == 7) {
+        return _addr64.getLsb() & 0xff;
+    } else if (pos == 8) {
+        return _option;
+    } else {
+        return getPayload()[pos - TX_64_API_LENGTH];
+    }
+}
+
+uint8_t Tx64Request::getFrameDataLength() {
+    return TX_64_API_LENGTH + getPayloadLength();
+}
+
+XBeeAddress64& Tx64Request::getAddress64() {
+    return _addr64;
+}
+
+void Tx64Request::setAddress64(XBeeAddress64& addr64) {
+    _addr64 = addr64;
+}
+
+uint8_t Tx64Request::getOption() {
+    return _option;
+}
+
+void Tx64Request::setOption(uint8_t option) {
+    _option = option;
+}
+
+#endif
+
+AtCommandRequest::AtCommandRequest() : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
+    _command = NULL;
+    clearCommandValue();
+}
+
+AtCommandRequest::AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
+    _command = command;
+    _commandValue = commandValue;
+    _commandValueLength = commandValueLength;
+}
+
+AtCommandRequest::AtCommandRequest(uint8_t *command) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
+    _command = command;
+    clearCommandValue();
+}
+
+uint8_t* AtCommandRequest::getCommand() {
+    return _command;
+}
+
+uint8_t* AtCommandRequest::getCommandValue() {
+    return _commandValue;
+}
+
+uint8_t AtCommandRequest::getCommandValueLength() {
+    return _commandValueLength;
+}
+
+void AtCommandRequest::setCommand(uint8_t* command) {
+    _command = command;
+}
+
+void AtCommandRequest::setCommandValue(uint8_t* value) {
+    _commandValue = value;
+}
+
+void AtCommandRequest::setCommandValueLength(uint8_t length) {
+    _commandValueLength = length;
+}
+
+uint8_t AtCommandRequest::getFrameData(uint8_t pos) {
+
+    if (pos == 0) {
+        return _command[0];
+    } else if (pos == 1) {
+        return _command[1];
+    } else {
+        return _commandValue[pos - AT_COMMAND_API_LENGTH];
+    }
+}
+
+void AtCommandRequest::clearCommandValue() {
+    _commandValue = NULL;
+    _commandValueLength = 0;
+}
+
+//void AtCommandRequest::reset() {
+//     XBeeRequest::reset();
+//}
+
+uint8_t AtCommandRequest::getFrameDataLength() {
+    // command is 2 byte + length of value
+    return AT_COMMAND_API_LENGTH + _commandValueLength;
+}
+
+XBeeAddress64 RemoteAtCommandRequest::broadcastAddress64 = XBeeAddress64(0x0, BROADCAST_ADDRESS);
+
+RemoteAtCommandRequest::RemoteAtCommandRequest() : AtCommandRequest(NULL, NULL, 0) {
+    _remoteAddress16 = 0;
+    _applyChanges = false;
+    setApiId(REMOTE_AT_REQUEST);
+}
+
+RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) {
+    _remoteAddress64 = broadcastAddress64;
+    _remoteAddress16 = remoteAddress16;
+    _applyChanges = true;
+    setApiId(REMOTE_AT_REQUEST);
+}
+
+RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command) : AtCommandRequest(command, NULL, 0) {
+    _remoteAddress64 = broadcastAddress64;
+    _remoteAddress16 = remoteAddress16;
+    _applyChanges = false;
+    setApiId(REMOTE_AT_REQUEST);
+}
+
+RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) {
+    _remoteAddress64 = remoteAddress64;
+    // don't worry.. works for series 1 too!
+    _remoteAddress16 = ZB_BROADCAST_ADDRESS;
+    _applyChanges = true;
+    setApiId(REMOTE_AT_REQUEST);
+}
+
+RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command) : AtCommandRequest(command, NULL, 0) {
+    _remoteAddress64 = remoteAddress64;
+    _remoteAddress16 = ZB_BROADCAST_ADDRESS;
+    _applyChanges = false;
+    setApiId(REMOTE_AT_REQUEST);
+}
+
+uint16_t RemoteAtCommandRequest::getRemoteAddress16() {
+    return _remoteAddress16;
+}
+
+void RemoteAtCommandRequest::setRemoteAddress16(uint16_t remoteAddress16) {
+    _remoteAddress16 = remoteAddress16;
+}
+
+XBeeAddress64& RemoteAtCommandRequest::getRemoteAddress64() {
+    return _remoteAddress64;
+}
+
+void RemoteAtCommandRequest::setRemoteAddress64(XBeeAddress64 &remoteAddress64) {
+    _remoteAddress64 = remoteAddress64;
+}
+
+bool RemoteAtCommandRequest::getApplyChanges() {
+    return _applyChanges;
+}
+
+void RemoteAtCommandRequest::setApplyChanges(bool applyChanges) {
+    _applyChanges = applyChanges;
+}
+
+
+uint8_t RemoteAtCommandRequest::getFrameData(uint8_t pos) {
+    if (pos == 0) {
+        return (_remoteAddress64.getMsb() >> 24) & 0xff;
+    } else if (pos == 1) {
+        return (_remoteAddress64.getMsb() >> 16) & 0xff;
+    } else if (pos == 2) {
+        return (_remoteAddress64.getMsb() >> 8) & 0xff;
+    } else if (pos == 3) {
+        return _remoteAddress64.getMsb() & 0xff;
+    } else if (pos == 4) {
+        return (_remoteAddress64.getLsb() >> 24) & 0xff;
+    } else if (pos == 5) {
+        return (_remoteAddress64.getLsb() >> 16) & 0xff;
+    } else if (pos == 6) {
+        return(_remoteAddress64.getLsb() >> 8) & 0xff;
+    } else if (pos == 7) {
+        return _remoteAddress64.getLsb() & 0xff;
+    } else if (pos == 8) {
+        return (_remoteAddress16 >> 8) & 0xff;
+    } else if (pos == 9) {
+        return _remoteAddress16 & 0xff;
+    } else if (pos == 10) {
+        return _applyChanges ? 2: 0;
+    } else if (pos == 11) {
+        return getCommand()[0];
+    } else if (pos == 12) {
+        return getCommand()[1];
+    } else {
+        return getCommandValue()[pos - REMOTE_AT_COMMAND_API_LENGTH];
+    }
+}
+
+uint8_t RemoteAtCommandRequest::getFrameDataLength() {
+    return REMOTE_AT_COMMAND_API_LENGTH + getCommandValueLength();
+}
+
+
+// TODO
+//GenericRequest::GenericRequest(uint8_t* frame, uint8_t len, uint8_t apiId): XBeeRequest(apiId, *(frame), len) {
+//    _frame = frame;
+//}
+
+void XBee::send(XBeeRequest &request) {
+    // the new new deal
+
+    sendByte(START_BYTE, false);
+
+    // send length
+    uint8_t msbLen = ((request.getFrameDataLength() + 2) >> 8) & 0xff;
+    uint8_t lsbLen = (request.getFrameDataLength() + 2) & 0xff;
+
+    sendByte(msbLen, true);
+    sendByte(lsbLen, true);
+
+    // api id
+    sendByte(request.getApiId(), true);
+    sendByte(request.getFrameId(), true);
+
+    uint8_t checksum = 0;
+
+    // compute checksum, start at api id
+    checksum+= request.getApiId();
+    checksum+= request.getFrameId();
+
+    //std::cout << "frame length is " << static_cast<unsigned int>(request.getFrameDataLength()) << std::endl;
+
+    for (int i = 0; i < request.getFrameDataLength(); i++) {
+//        std::cout << "sending byte [" << static_cast<unsigned int>(i) << "] " << std::endl;
+        sendByte(request.getFrameData(i), true);
+        checksum+= request.getFrameData(i);
+    }
+
+    // perform 2s complement
+    checksum = 0xff - checksum;
+
+//    std::cout << "checksum is " << static_cast<unsigned int>(checksum) << std::endl;
+
+    // send checksum
+    sendByte(checksum, true);
+/*
+    // send packet
+    Serial.flush();
+*/
+}
+
+void XBee::sendByte(uint8_t b, bool escape) {
+
+    if (escape && (b == START_BYTE || b == ESCAPE || b == XON || b == XOFF)) {
+//        std::cout << "escaping byte [" << toHexString(b) << "] " << std::endl;
+        _xbee.putc(ESCAPE);
+        _xbee.putc(b ^ 0x20);
+    } else {
+        _xbee.putc(b);
+    }
+}
+