Matthieu WENZEL
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XBee
by 
Suga koubou
Diff: XBee.h
- Revision:
- 1:e3b2027e685c
- Parent:
- 0:c4ca662ef73e
- Child:
- 3:8573b122fa84
diff -r c4ca662ef73e -r e3b2027e685c XBee.h
--- a/XBee.h Mon Nov 22 10:51:06 2010 +0000
+++ b/XBee.h Mon Jan 10 16:32:18 2011 +0000
@@ -1,955 +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
+/**
+ * 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/>.
+ */
+
+#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:
+ 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:
+ 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];
+ Serial _xbee;
+};
+
+/**
+ * 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