Diff: XBee.h

Revision:

0:c4ca662ef73e

Child:

1:e3b2027e685c

diff -r 000000000000 -r c4ca662ef73e XBee.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee.h	Mon Nov 22 10:51:06 2010 +0000
@@ -0,0 +1,955 @@
+/**
+ * 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/>.
+ */
+
+#ifndef XBee_h
+#define XBee_h
+
+#include "mbed.h"
+#include <inttypes.h>
+
+#define SERIES_1
+#define SERIES_2
+
+// set to ATAP value of XBee. AP=2 is recommended
+#define ATAP 2
+
+#define START_BYTE 0x7e
+#define ESCAPE 0x7d
+#define XON 0x11
+#define XOFF 0x13
+
+// This value determines the size of the byte array for receiving RX packets
+// Most users won't be dealing with packets this large so you can adjust this
+// value to reduce memory consumption. But, remember that
+// if a RX packet exceeds this size, it cannot be parsed!
+
+// This value is determined by the largest packet size (100 byte payload + 64-bit address + option byte and rssi byte) of a series 1 radio
+#define MAX_FRAME_DATA_SIZE 110
+
+#define BROADCAST_ADDRESS 0xffff
+#define ZB_BROADCAST_ADDRESS 0xfffe
+
+// the non-variable length of the frame data (not including frame id or api id or variable data size (e.g. payload, at command set value)
+#define ZB_TX_API_LENGTH 12
+#define TX_16_API_LENGTH 3
+#define TX_64_API_LENGTH 9
+#define AT_COMMAND_API_LENGTH 2
+#define REMOTE_AT_COMMAND_API_LENGTH 13
+// start/length(2)/api/frameid/checksum bytes
+#define PACKET_OVERHEAD_LENGTH 6
+// api is always the third byte in packet
+#define API_ID_INDEX 3
+
+// frame position of rssi byte
+#define RX_16_RSSI_OFFSET 2
+#define RX_64_RSSI_OFFSET 8
+
+#define DEFAULT_FRAME_ID 1
+#define NO_RESPONSE_FRAME_ID 0
+
+// TODO put in tx16 class
+#define ACK_OPTION 0
+#define DISABLE_ACK_OPTION 1
+#define BROADCAST_OPTION 4
+
+// RX options
+#define ZB_PACKET_ACKNOWLEDGED 0x01
+#define ZB_BROADCAST_PACKET 0x02
+
+// not everything is implemented!
+/**
+ * Api Id constants
+ */
+#define TX_64_REQUEST 0x0
+#define TX_16_REQUEST 0x1
+#define AT_COMMAND_REQUEST 0x08
+#define AT_COMMAND_QUEUE_REQUEST 0x09
+#define REMOTE_AT_REQUEST 0x17
+#define ZB_TX_REQUEST 0x10
+#define ZB_EXPLICIT_TX_REQUEST 0x11
+#define RX_64_RESPONSE 0x80
+#define RX_16_RESPONSE 0x81
+#define RX_64_IO_RESPONSE 0x82
+#define RX_16_IO_RESPONSE 0x83
+#define AT_RESPONSE 0x88
+#define TX_STATUS_RESPONSE 0x89
+#define MODEM_STATUS_RESPONSE 0x8a
+#define ZB_RX_RESPONSE 0x90
+#define ZB_EXPLICIT_RX_RESPONSE 0x91
+#define ZB_TX_STATUS_RESPONSE 0x8b
+#define ZB_IO_SAMPLE_RESPONSE 0x92
+#define ZB_IO_NODE_IDENTIFIER_RESPONSE 0x95
+#define AT_COMMAND_RESPONSE 0x88
+#define REMOTE_AT_COMMAND_RESPONSE 0x97
+
+
+/**
+ * TX STATUS constants
+ */
+#define    SUCCESS 0x0
+#define CCA_FAILURE 0x2
+#define INVALID_DESTINATION_ENDPOINT_SUCCESS 0x15
+#define    NETWORK_ACK_FAILURE 0x21
+#define NOT_JOINED_TO_NETWORK 0x22
+#define    SELF_ADDRESSED 0x23
+#define ADDRESS_NOT_FOUND 0x24
+#define ROUTE_NOT_FOUND 0x25
+#define PAYLOAD_TOO_LARGE 0x74
+
+// modem status
+#define HARDWARE_RESET 0
+#define WATCHDOG_TIMER_RESET 1
+#define ASSOCIATED 2
+#define DISASSOCIATED 3
+#define SYNCHRONIZATION_LOST 4
+#define COORDINATOR_REALIGNMENT 5
+#define COORDINATOR_STARTED 6
+
+#define ZB_BROADCAST_RADIUS_MAX_HOPS 0
+
+#define ZB_TX_UNICAST 0
+#define ZB_TX_BROADCAST 8
+
+#define AT_OK 0
+#define AT_ERROR  1
+#define AT_INVALID_COMMAND 2
+#define AT_INVALID_PARAMETER 3
+#define AT_NO_RESPONSE 4
+
+#define NO_ERROR 0
+#define CHECKSUM_FAILURE 1
+#define PACKET_EXCEEDS_BYTE_ARRAY_LENGTH 2
+#define UNEXPECTED_START_BYTE 3
+
+/**
+ * The super class of all XBee responses (RX packets)
+ * Users should never attempt to create an instance of this class; instead
+ * create an instance of a subclass
+ * It is recommend to reuse subclasses to conserve memory
+ */
+class XBeeResponse {
+public:
+    //static const int MODEM_STATUS = 0x8a;
+    /**
+     * Default constructor
+     */
+    XBeeResponse();
+    /**
+     * Returns Api Id of the response
+     */
+    uint8_t getApiId();
+    void setApiId(uint8_t apiId);
+    /**
+     * Returns the MSB length of the packet
+     */
+    uint8_t getMsbLength();
+    void setMsbLength(uint8_t msbLength);
+    /**
+     * Returns the LSB length of the packet
+     */
+    uint8_t getLsbLength();
+    void setLsbLength(uint8_t lsbLength);
+    /**
+     * Returns the packet checksum
+     */
+    uint8_t getChecksum();
+    void setChecksum(uint8_t checksum);
+    /**
+     * Returns the length of the frame data: all bytes after the api id, and prior to the checksum
+     * Note up to release 0.1.2, this was incorrectly including the checksum in the length.
+     */
+    uint8_t getFrameDataLength();
+    void setFrameData(uint8_t* frameDataPtr);
+    /**
+     * Returns the buffer that contains the response.
+     * Starts with byte that follows API ID and includes all bytes prior to the checksum
+     * Length is specified by getFrameDataLength()
+     * Note: Unlike Digi's definition of the frame data, this does not start with the API ID..
+     * The reason for this is all responses include an API ID, whereas my frame data
+     * includes only the API specific data.
+     */
+    uint8_t* getFrameData();
+
+    void setFrameLength(uint8_t frameLength);
+    // to support future 65535 byte packets I guess
+    /**
+     * Returns the length of the packet
+     */
+    uint16_t getPacketLength();
+    /**
+     * Resets the response to default values
+     */
+    void reset();
+    /**
+     * Initializes the response
+     */
+    void init();
+#ifdef SERIES_2
+    /**
+     * Call with instance of ZBTxStatusResponse class only if getApiId() == ZB_TX_STATUS_RESPONSE
+     * to populate response
+     */
+    void getZBTxStatusResponse(XBeeResponse &response);
+    /**
+     * Call with instance of ZBRxResponse class only if getApiId() == ZB_RX_RESPONSE
+     * to populate response
+     */
+    void getZBRxResponse(XBeeResponse &response);
+    /**
+     * Call with instance of ZBRxIoSampleResponse class only if getApiId() == ZB_IO_SAMPLE_RESPONSE
+     * to populate response
+     */
+    void getZBRxIoSampleResponse(XBeeResponse &response);
+#endif
+#ifdef SERIES_1
+    /**
+     * Call with instance of TxStatusResponse only if getApiId() == TX_STATUS_RESPONSE
+     */
+    void getTxStatusResponse(XBeeResponse &response);
+    /**
+     * Call with instance of Rx16Response only if getApiId() == RX_16_RESPONSE
+     */
+    void getRx16Response(XBeeResponse &response);
+    /**
+     * Call with instance of Rx64Response only if getApiId() == RX_64_RESPONSE
+     */
+    void getRx64Response(XBeeResponse &response);
+    /**
+     * Call with instance of Rx16IoSampleResponse only if getApiId() == RX_16_IO_RESPONSE
+     */
+    void getRx16IoSampleResponse(XBeeResponse &response);
+    /**
+     * Call with instance of Rx64IoSampleResponse only if getApiId() == RX_64_IO_RESPONSE
+     */
+    void getRx64IoSampleResponse(XBeeResponse &response);
+#endif
+    /**
+     * Call with instance of AtCommandResponse only if getApiId() == AT_COMMAND_RESPONSE
+     */
+    void getAtCommandResponse(XBeeResponse &responses);
+    /**
+     * Call with instance of RemoteAtCommandResponse only if getApiId() == REMOTE_AT_COMMAND_RESPONSE
+     */
+    void getRemoteAtCommandResponse(XBeeResponse &response);
+    /**
+     * Call with instance of ModemStatusResponse only if getApiId() == MODEM_STATUS_RESPONSE
+     */
+    void getModemStatusResponse(XBeeResponse &response);
+    /**
+     * Returns true if the response has been successfully parsed and is complete and ready for use
+     */
+    bool isAvailable();
+    void setAvailable(bool complete);
+    /**
+     * Returns true if the response contains errors
+     */
+    bool isError();
+    /**
+     * Returns an error code, or zero, if successful.
+     * Error codes include: CHECKSUM_FAILURE, PACKET_EXCEEDS_BYTE_ARRAY_LENGTH, UNEXPECTED_START_BYTE
+     */
+    uint8_t getErrorCode();
+    void setErrorCode(uint8_t errorCode);
+protected:
+    // pointer to frameData
+    uint8_t* _frameDataPtr;
+private:
+    void setCommon(XBeeResponse &target);
+    uint8_t _apiId;
+    uint8_t _msbLength;
+    uint8_t _lsbLength;
+    uint8_t _checksum;
+    uint8_t _frameLength;
+    bool _complete;
+    uint8_t _errorCode;
+};
+
+class XBeeAddress {
+public:
+    XBeeAddress();
+};
+
+/**
+ * Represents a 64-bit XBee Address
+ */
+class XBeeAddress64 : public XBeeAddress {
+public:
+    XBeeAddress64(uint32_t msb, uint32_t lsb);
+    XBeeAddress64();
+    uint32_t getMsb();
+    uint32_t getLsb();
+    void setMsb(uint32_t msb);
+    void setLsb(uint32_t lsb);
+private:
+    uint32_t _msb;
+    uint32_t _lsb;
+};
+
+//class XBeeAddress16 : public XBeeAddress {
+//public:
+//    XBeeAddress16(uint16_t addr);
+//    XBeeAddress16();
+//    uint16_t getAddress();
+//    void setAddress(uint16_t addr);
+//private:
+//    uint16_t _addr;
+//};
+
+/**
+ * This class is extended by all Responses that include a frame id
+ */
+class FrameIdResponse : public XBeeResponse {
+public:
+    FrameIdResponse();
+    uint8_t getFrameId();
+private:
+    uint8_t _frameId;
+};
+
+/**
+ * Common functionality for both Series 1 and 2 data RX data packets
+ */
+class RxDataResponse : public XBeeResponse {
+public:
+    RxDataResponse();
+    /**
+     * Returns the specified index of the payload.  The index may be 0 to getDataLength() - 1
+     * This method is deprecated; use uint8_t* getData()
+     */
+    uint8_t getData(int index);
+    /**
+     * Returns the payload array.  This may be accessed from index 0 to getDataLength() - 1
+     */
+    uint8_t* getData();
+    /**
+     * Returns the length of the payload
+     */
+    virtual uint8_t getDataLength() = 0;
+    /**
+     * Returns the position in the frame data where the data begins
+     */
+    virtual uint8_t getDataOffset() = 0;
+};
+
+// getResponse to return the proper subclass:
+// we maintain a pointer to each type of response, when a response is parsed, it is allocated only if NULL
+// can we allocate an object in a function?
+
+#ifdef SERIES_2
+/**
+ * Represents a Series 2 TX status packet
+ */
+class ZBTxStatusResponse : public FrameIdResponse {
+    public:
+        ZBTxStatusResponse();
+        uint16_t getRemoteAddress();
+        uint8_t getTxRetryCount();
+        uint8_t getDeliveryStatus();
+        uint8_t getDiscoveryStatus();
+        bool isSuccess();
+};
+
+/**
+ * Represents a Series 2 RX packet
+ */
+class ZBRxResponse : public RxDataResponse {
+public:
+    ZBRxResponse();
+    XBeeAddress64& getRemoteAddress64();
+    uint16_t getRemoteAddress16();
+    uint8_t getOption();
+    virtual uint8_t getDataLength();
+    // frame position where data starts
+    virtual uint8_t getDataOffset();
+private:
+    XBeeAddress64 _remoteAddress64;
+};
+
+/**
+ * Represents a Series 2 RX I/O Sample packet
+ */
+class ZBRxIoSampleResponse : public ZBRxResponse {
+public:
+    ZBRxIoSampleResponse();
+    bool containsAnalog();
+    bool containsDigital();
+    /**
+     * Returns true if the pin is enabled
+     */
+    bool isAnalogEnabled(uint8_t pin);
+    /**
+     * Returns true if the pin is enabled
+     */
+    bool isDigitalEnabled(uint8_t pin);
+    /**
+     * Returns the 10-bit analog reading of the specified pin.
+     * Valid pins include ADC:xxx.
+     */
+    uint16_t getAnalog(uint8_t pin);
+    /**
+     * Returns true if the specified pin is high/on.
+     * Valid pins include DIO:xxx.
+     */
+    bool isDigitalOn(uint8_t pin);
+    uint8_t getDigitalMaskMsb();
+    uint8_t getDigitalMaskLsb();
+    uint8_t getAnalogMask();
+};
+
+#endif
+
+#ifdef SERIES_1
+/**
+ * Represents a Series 1 TX Status packet
+ */
+class TxStatusResponse : public FrameIdResponse {
+    public:
+        TxStatusResponse();
+        uint8_t getStatus();
+        bool isSuccess();
+};
+
+/**
+ * Represents a Series 1 RX packet
+ */
+class RxResponse : public RxDataResponse {
+public:
+    RxResponse();
+    // remember rssi is negative but this is unsigned byte so it's up to you to convert
+    uint8_t getRssi();
+    uint8_t getOption();
+    bool isAddressBroadcast();
+    bool isPanBroadcast();
+    virtual uint8_t getDataLength();
+    virtual uint8_t getDataOffset();
+    virtual uint8_t getRssiOffset() = 0;
+};
+
+/**
+ * Represents a Series 1 16-bit address RX packet
+ */
+class Rx16Response : public RxResponse {
+public:
+    Rx16Response();
+    virtual uint8_t getRssiOffset();
+    uint16_t getRemoteAddress16();
+protected:
+    uint16_t _remoteAddress;
+};
+
+/**
+ * Represents a Series 1 64-bit address RX packet
+ */
+class Rx64Response : public RxResponse {
+public:
+    Rx64Response();
+    virtual uint8_t getRssiOffset();
+    XBeeAddress64& getRemoteAddress64();
+private:
+    XBeeAddress64 _remoteAddress;
+};
+
+/**
+ * Represents a Series 1 RX I/O Sample packet
+ */
+class RxIoSampleBaseResponse : public RxResponse {
+    public:
+        RxIoSampleBaseResponse();
+        /**
+         * Returns the number of samples in this packet
+         */
+        uint8_t getSampleSize();
+        bool containsAnalog();
+        bool containsDigital();
+        /**
+         * Returns true if the specified analog pin is enabled
+         */
+        bool isAnalogEnabled(uint8_t pin);
+        /**
+         * Returns true if the specified digital pin is enabled
+         */
+        bool isDigitalEnabled(uint8_t pin);
+        /**
+         * Returns the 10-bit analog reading of the specified pin.
+         * Valid pins include ADC:0-5.  Sample index starts at 0
+         */
+        uint16_t getAnalog(uint8_t pin, uint8_t sample);
+        /**
+         * Returns true if the specified pin is high/on.
+         * Valid pins include DIO:0-8.  Sample index starts at 0
+         */
+        bool isDigitalOn(uint8_t pin, uint8_t sample);
+        uint8_t getSampleOffset();
+    private:
+};
+
+class Rx16IoSampleResponse : public RxIoSampleBaseResponse {
+public:
+    Rx16IoSampleResponse();
+    uint16_t getRemoteAddress16();
+    virtual uint8_t getRssiOffset();
+
+};
+
+class Rx64IoSampleResponse : public RxIoSampleBaseResponse {
+public:
+    Rx64IoSampleResponse();
+    XBeeAddress64& getRemoteAddress64();
+    virtual uint8_t getRssiOffset();
+private:
+    XBeeAddress64 _remoteAddress;
+};
+
+#endif
+
+/**
+ * Represents a Modem Status RX packet
+ */
+class ModemStatusResponse : public XBeeResponse {
+public:
+    ModemStatusResponse();
+    uint8_t getStatus();
+};
+
+/**
+ * Represents an AT Command RX packet
+ */
+class AtCommandResponse : public FrameIdResponse {
+    public:
+        AtCommandResponse();
+        /**
+         * Returns an array containing the two character command
+         */
+        uint8_t* getCommand();
+        /**
+         * Returns the command status code.
+         * Zero represents a successful command
+         */
+        uint8_t getStatus();
+        /**
+         * Returns an array containing the command value.
+         * This is only applicable to query commands.
+         */
+        uint8_t* getValue();
+        /**
+         * Returns the length of the command value array.
+         */
+        uint8_t getValueLength();
+        /**
+         * Returns true if status equals AT_OK
+         */
+        bool isOk();
+};
+
+/**
+ * Represents a Remote AT Command RX packet
+ */
+class RemoteAtCommandResponse : public AtCommandResponse {
+    public:
+        RemoteAtCommandResponse();
+        /**
+         * Returns an array containing the two character command
+         */
+        uint8_t* getCommand();
+        /**
+         * Returns the command status code.
+         * Zero represents a successful command
+         */
+        uint8_t getStatus();
+        /**
+         * Returns an array containing the command value.
+         * This is only applicable to query commands.
+         */
+        uint8_t* getValue();
+        /**
+         * Returns the length of the command value array.
+         */
+        uint8_t getValueLength();
+        /**
+         * Returns the 16-bit address of the remote radio
+         */
+        uint16_t getRemoteAddress16();
+        /**
+         * Returns the 64-bit address of the remote radio
+         */
+        XBeeAddress64& getRemoteAddress64();
+        /**
+         * Returns true if command was successful
+         */
+        bool isOk();
+    private:
+        XBeeAddress64 _remoteAddress64;
+};
+
+
+/**
+ * Super class of all XBee requests (TX packets)
+ * Users should never create an instance of this class; instead use an subclass of this class
+ * It is recommended to reuse Subclasses of the class to conserve memory
+ * <p/>
+ * This class allocates a buffer to
+ */
+class XBeeRequest {
+public:
+    /**
+     * Constructor
+     * TODO make protected
+     */
+    XBeeRequest(uint8_t apiId, uint8_t frameId);
+    /**
+     * Sets the frame id.  Must be between 1 and 255 inclusive to get a TX status response.
+     */
+    void setFrameId(uint8_t frameId);
+    /**
+     * Returns the frame id
+     */
+    uint8_t getFrameId();
+    /**
+     * Returns the API id
+     */
+    uint8_t getApiId();
+    // setting = 0 makes this a pure virtual function, meaning the subclass must implement, like abstract in java
+    /**
+     * Starting after the frame id (pos = 0) and up to but not including the checksum
+     * Note: Unlike Digi's definition of the frame data, this does not start with the API ID.
+     * The reason for this is the API ID and Frame ID are common to all requests, whereas my definition of
+     * frame data is only the API specific data.
+     */
+    virtual uint8_t getFrameData(uint8_t pos) = 0;
+    /**
+     * Returns the size of the api frame (not including frame id or api id or checksum).
+     */
+    virtual uint8_t getFrameDataLength() = 0;
+    //void reset();
+protected:
+    void setApiId(uint8_t apiId);
+private:
+    uint8_t _apiId;
+    uint8_t _frameId;
+};
+
+// TODO add reset/clear method since responses are often reused
+/**
+ * Primary interface for communicating with an XBee Radio.
+ * This class provides methods for sending and receiving packets with an XBee radio via the serial port.
+ * The XBee radio must be configured in API (packet) mode (AP=2)
+ * in order to use this software.
+ * <p/>
+ * Since this code is designed to run on a microcontroller, with only one thread, you are responsible for reading the
+ * data off the serial buffer in a timely manner.  This involves a call to a variant of readPacket(...).
+ * If your serial port is receiving data faster than you are reading, you can expect to lose packets.
+ * Arduino only has a 128 byte serial buffer so it can easily overflow if two or more packets arrive
+ * without a call to readPacket(...)
+ * <p/>
+ * In order to conserve resources, this class only supports storing one response packet in memory at a time.
+ * This means that you must fully consume the packet prior to calling readPacket(...), because calling
+ * readPacket(...) overwrites the previous response.
+ * <p/>
+ * This class creates an array of size MAX_FRAME_DATA_SIZE for storing the response packet.  You may want
+ * to adjust this value to conserve memory.
+ *
+ * \author Andrew Rapp
+ */
+class XBee : public Base {
+public:
+    XBee(PinName p_tx, PinName p_rx);
+    // for eclipse dev only
+//    void setSerial(HardwareSerial serial);
+    /**
+     * Reads all available serial bytes until a packet is parsed, an error occurs, or the buffer is empty.
+     * You may call <i>xbee</i>.getResponse().isAvailable() after calling this method to determine if
+     * a packet is ready, or <i>xbee</i>.getResponse().isError() to determine if
+     * a error occurred.
+     * <p/>
+     * This method should always return quickly since it does not wait for serial data to arrive.
+     * You will want to use this method if you are doing other timely stuff in your loop, where
+     * a delay would cause problems.
+     * NOTE: calling this method resets the current response, so make sure you first consume the
+     * current response
+     */
+    void readPacket();
+    /**
+     * Waits a maximum of <i>timeout</i> milliseconds for a response packet before timing out; returns true if packet is read.
+     * Returns false if timeout or error occurs.
+     */
+    bool readPacket(int timeout);
+    /**
+     * Reads until a packet is received or an error occurs.
+     * Caution: use this carefully since if you don't get a response, your Arduino code will hang on this
+     * call forever!! often it's better to use a timeout: readPacket(int)
+     */
+    void readPacketUntilAvailable();
+    /**
+     * Starts the serial connection at the supplied baud rate
+     */
+    void begin(long baud);
+    void getResponse(XBeeResponse &response);
+    /**
+     * Returns a reference to the current response
+     * Note: once readPacket is called again this response will be overwritten!
+     */
+    XBeeResponse& getResponse();
+    /**
+     * Sends a XBeeRequest (TX packet) out the serial port
+     */
+    void send(XBeeRequest &request);
+    //uint8_t sendAndWaitForResponse(XBeeRequest &request, int timeout);
+    /**
+     * Returns a sequential frame id between 1 and 255
+     */
+    uint8_t getNextFrameId();
+private:
+    Serial _xbee;
+    void sendByte(uint8_t b, bool escape);
+    void resetResponse();
+    XBeeResponse _response;
+    bool _escape;
+    // current packet position for response.  just a state variable for packet parsing and has no relevance for the response otherwise
+    uint8_t _pos;
+    // last byte read
+    uint8_t b;
+    uint8_t _checksumTotal;
+    uint8_t _nextFrameId;
+    // buffer for incoming RX packets.  holds only the api specific frame data, starting after the api id byte and prior to checksum
+    uint8_t _responseFrameData[MAX_FRAME_DATA_SIZE];
+};
+
+/**
+ * All TX packets that support payloads extend this class
+ */
+class PayloadRequest : public XBeeRequest {
+public:
+    PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength);
+    /**
+     * Returns the payload of the packet, if not null
+     */
+    uint8_t* getPayload();
+    /**
+     * Sets the payload array
+     */
+    void setPayload(uint8_t* payloadPtr);
+    /**
+     * Returns the length of the payload array, as specified by the user.
+     */
+    uint8_t getPayloadLength();
+    /**
+     * Sets the length of the payload to include in the request.  For example if the payload array
+     * is 50 bytes and you only want the first 10 to be included in the packet, set the length to 10.
+     * Length must be <= to the array length.
+     */
+    void setPayloadLength(uint8_t payloadLength);
+private:
+    uint8_t* _payloadPtr;
+    uint8_t _payloadLength;
+};
+
+#ifdef SERIES_1
+
+/**
+ * Represents a Series 1 TX packet that corresponds to Api Id: TX_16_REQUEST
+ * <p/>
+ * Be careful not to send a data array larger than the max packet size of your radio.
+ * This class does not perform any validation of packet size and there will be no indication
+ * if the packet is too large, other than you will not get a TX Status response.
+ * The datasheet says 100 bytes is the maximum, although that could change in future firmware.
+ */
+class Tx16Request : public PayloadRequest {
+public:
+    Tx16Request(uint16_t addr16, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId);
+    /**
+     * Creates a Unicast Tx16Request with the ACK option and DEFAULT_FRAME_ID
+     */
+    Tx16Request(uint16_t addr16, uint8_t *payload, uint8_t payloadLength);
+    /**
+     * Creates a default instance of this class.  At a minimum you must specify
+     * a payload, payload length and a destination address before sending this request.
+     */
+    Tx16Request();
+    uint16_t getAddress16();
+    void setAddress16(uint16_t addr16);
+    uint8_t getOption();
+    void setOption(uint8_t option);
+    virtual uint8_t getFrameData(uint8_t pos);
+    virtual uint8_t getFrameDataLength();
+protected:
+private:
+    uint16_t _addr16;
+    uint8_t _option;
+};
+
+/**
+ * Represents a Series 1 TX packet that corresponds to Api Id: TX_64_REQUEST
+ *
+ * Be careful not to send a data array larger than the max packet size of your radio.
+ * This class does not perform any validation of packet size and there will be no indication
+ * if the packet is too large, other than you will not get a TX Status response.
+ * The datasheet says 100 bytes is the maximum, although that could change in future firmware.
+ */
+class Tx64Request : public PayloadRequest {
+public:
+    Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId);
+    /**
+     * Creates a unicast Tx64Request with the ACK option and DEFAULT_FRAME_ID
+     */
+    Tx64Request(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength);
+    /**
+     * Creates a default instance of this class.  At a minimum you must specify
+     * a payload, payload length and a destination address before sending this request.
+     */
+    Tx64Request();
+    XBeeAddress64& getAddress64();
+    void setAddress64(XBeeAddress64& addr64);
+    // TODO move option to superclass
+    uint8_t getOption();
+    void setOption(uint8_t option);
+    virtual uint8_t getFrameData(uint8_t pos);
+    virtual uint8_t getFrameDataLength();
+private:
+    XBeeAddress64 _addr64;
+    uint8_t _option;
+};
+
+#endif
+
+
+#ifdef SERIES_2
+
+/**
+ * Represents a Series 2 TX packet that corresponds to Api Id: ZB_TX_REQUEST
+ *
+ * Be careful not to send a data array larger than the max packet size of your radio.
+ * This class does not perform any validation of packet size and there will be no indication
+ * if the packet is too large, other than you will not get a TX Status response.
+ * The datasheet says 72 bytes is the maximum for ZNet firmware and ZB Pro firmware provides
+ * the ATNP command to get the max supported payload size.  This command is useful since the
+ * maximum payload size varies according to certain settings, such as encryption.
+ * ZB Pro firmware provides a PAYLOAD_TOO_LARGE that is returned if payload size
+ * exceeds the maximum.
+ */
+class ZBTxRequest : public PayloadRequest {
+public:
+    /**
+     * Creates a unicast ZBTxRequest with the ACK option and DEFAULT_FRAME_ID
+     */
+    ZBTxRequest(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength);
+    ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId);
+    /**
+     * Creates a default instance of this class.  At a minimum you must specify
+     * a payload, payload length and a destination address before sending this request.
+     */
+    ZBTxRequest();
+    XBeeAddress64& getAddress64();
+    uint16_t getAddress16();
+    uint8_t getBroadcastRadius();
+    uint8_t getOption();
+    void setAddress64(XBeeAddress64& addr64);
+    void setAddress16(uint16_t addr16);
+    void setBroadcastRadius(uint8_t broadcastRadius);
+    void setOption(uint8_t option);
+protected:
+    // declare virtual functions
+    virtual uint8_t getFrameData(uint8_t pos);
+    virtual uint8_t getFrameDataLength();
+private:
+    XBeeAddress64 _addr64;
+    uint16_t _addr16;
+    uint8_t _broadcastRadius;
+    uint8_t _option;
+};
+
+#endif
+
+/**
+ * Represents an AT Command TX packet
+ * The command is used to configure the serially connected XBee radio
+ */
+class AtCommandRequest : public XBeeRequest {
+public:
+    AtCommandRequest();
+    AtCommandRequest(uint8_t *command);
+    AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength);
+    virtual uint8_t getFrameData(uint8_t pos);
+    virtual uint8_t getFrameDataLength();
+    uint8_t* getCommand();
+    void setCommand(uint8_t* command);
+    uint8_t* getCommandValue();
+    void setCommandValue(uint8_t* command);
+    uint8_t getCommandValueLength();
+    void setCommandValueLength(uint8_t length);
+    /**
+     * Clears the optional commandValue and commandValueLength so that a query may be sent
+     */
+    void clearCommandValue();
+    //void reset();
+private:
+    uint8_t *_command;
+    uint8_t *_commandValue;
+    uint8_t _commandValueLength;
+};
+
+/**
+ * Represents an Remote AT Command TX packet
+ * The command is used to configure a remote XBee radio
+ */
+class RemoteAtCommandRequest : public AtCommandRequest {
+public:
+    RemoteAtCommandRequest();
+    /**
+     * Creates a RemoteAtCommandRequest with 16-bit address to set a command.
+     * 64-bit address defaults to broadcast and applyChanges is true.
+     */
+    RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength);
+    /**
+     * Creates a RemoteAtCommandRequest with 16-bit address to query a command.
+     * 64-bit address defaults to broadcast and applyChanges is true.
+     */
+    RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command);
+    /**
+     * Creates a RemoteAtCommandRequest with 64-bit address to set a command.
+     * 16-bit address defaults to broadcast and applyChanges is true.
+     */
+    RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength);
+    /**
+     * Creates a RemoteAtCommandRequest with 16-bit address to query a command.
+     * 16-bit address defaults to broadcast and applyChanges is true.
+     */
+    RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command);
+    uint16_t getRemoteAddress16();
+    void setRemoteAddress16(uint16_t remoteAddress16);
+    XBeeAddress64& getRemoteAddress64();
+    void setRemoteAddress64(XBeeAddress64 &remoteAddress64);
+    bool getApplyChanges();
+    void setApplyChanges(bool applyChanges);
+    virtual uint8_t getFrameData(uint8_t pos);
+    virtual uint8_t getFrameDataLength();
+    static XBeeAddress64 broadcastAddress64;
+//    static uint16_t broadcast16Address;
+private:
+    XBeeAddress64 _remoteAddress64;
+    uint16_t _remoteAddress16;
+    bool _applyChanges;
+};
+
+
+
+#endif //XBee_h