Renan Alves
Xbee
Diff: XBEE.cpp
- Revision:
- 0:fbed291691a6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/XBEE.cpp Sun Oct 14 02:01:07 2018 +0000
@@ -0,0 +1,448 @@
+#include "XBEE.h"
+#include <stdlib.h>
+
+/* Class constructor */
+XBEE::XBEE(Serial* serial, int baud):xbee(serial)
+{
+ xbee->baud(baud);
+ /* Enable the reception of bytes on the serial interface by providing a cb */
+ xbee->attach(callback(this, &XBEE::recvAttach), Serial::RxIrq);
+}
+
+/* Class destructor */
+XBEE::~XBEE()
+{
+ if (xbee != NULL) {
+ delete xbee;
+ }
+}
+
+/* Chamada por Interrupcao, RX */
+void XBEE::recvAttach (void)
+{
+ if (int_ctrl == 1)
+ while(xbee->readable()) {
+ buf_rx[count_rx%sizeof(buf_rx)] = xbee->getc();
+ //buf_rx.push(xbee->getc());
+ count_rx++;
+ }
+}
+
+/* Initialize the Device XBEE */
+void XBEE::init(void)
+{
+ // memset(&NI,0,sizeof(NI));
+ ID = 0;
+ MY = 0;
+ SH = 0;
+ SL = 0;
+ PL = 0;
+ BD = 0;
+ AO = 0;
+ DB = 0;
+ TP = 0;
+
+ wait(0.5);
+
+ memset(&buf_rx,0,sizeof(buf_rx));
+
+ create_CMD("NI",0); // Pan ID da rede
+ sendBuffer();
+ wait(0.5);
+
+ recv_NI();
+ read_cfg("ID", ID);
+ read_cfg("SH", SH);
+ read_cfg("SL", SL);
+ read_cfg("PL", PL);
+ read_cfg("BD", BD);
+ read_cfg("AO", AO);
+ read_cfg("DB", DB);
+ read_cfg("TP", TP);
+
+ count_rx = 0;
+ memset(&buf_rx,0,sizeof(buf_rx));
+}
+
+/* Send message to the destination */
+int XBEE::send_msg(char * str, int dest)
+{
+ int n = strlen(str);
+ if(n > 92) {
+ return -1;
+ }
+ create_TX(str,dest);
+ sendBuffer();
+ wait(0.2);
+ return 0;
+}
+
+/* Sets a configuration value into the module device */
+int XBEE::set_cfg(char * cmd, int value)
+{
+ int n = strlen(cmd);
+ if(n != 2) {
+ return -1;
+ }
+ create_CMD(cmd,hex2dec(value));
+ sendBuffer();
+ wait(0.2);
+
+ create_CMD("WR",0);
+ sendBuffer();
+ wait(0.2);
+
+ create_CMD("AC",0);
+ sendBuffer();
+ wait(0.2);
+ return 0;
+}
+
+/* Receives a message, writes in str */
+int XBEE::recv_msg(char * buf, int tam)
+{
+ pkt_tx *p;
+ int i;
+ int ptam = 0;
+ int j = 0;
+
+ memset(buf,0,tam);
+
+ for(i = 0; i < count_rx; i++) {
+ if(buf_rx[i] == 0x7E) {
+
+ p = (pkt_tx *) &buf_rx[i];
+
+ if(p->frame_type == 0x90) {
+ ptam = p->length - 0x0C;
+ if(tam < ptam + j) {
+ return -1;
+ }
+ // posicao aonde comeca a msg em um pacote de Receive
+ memcpy(&buf[j], ((char *)(&p->broadcast_radius)), ptam);
+ j += ptam;
+ }
+ }
+ }
+ return j;
+}
+
+/* Updates the command value, call a request from device configurations */
+int XBEE::read_cfg(char * cmd, int & var)
+{
+ int n = strlen(cmd);
+ if(n != 2) {
+ return -1;
+ }
+ count_rx = 0;
+ memset(&buf_rx,0,sizeof(buf_rx));
+
+ create_CMD(cmd,0); // Pan ID da rede
+ sendBuffer();
+ wait(0.5);
+ recv_CMD(var);
+ return 0;
+}
+
+/* Clear all the Receive buffer */
+void XBEE::clear_buf(void)
+{
+ count_rx = 0;
+ memset(buf_rx,0,sizeof(buf_rx));
+}
+
+/* Cria pacote de mensagem */
+int XBEE::create_TX(char * str, int dest)
+{
+ int i = 0;
+ int n = strlen(str);
+
+ pkt_tx *p = (pkt_tx *) buf_tx; // ponteiro para buffer global
+
+ uint8_t count = 0;
+
+ if(n > 92) {
+ // Error: data nao pode exceder 92 bytes
+ return -1;
+ }
+
+ count_tx = 0;
+ memset(&buf_tx,0,sizeof(buf_tx));
+
+ p->start_delimiter = 0x7E;
+ p->length = 0x0E + n; // pacote vazio + dados
+ p->frame_type = 0x10; // transmit request
+ p->frame_id = 1;
+
+ if(dest == XBEE_COORD) {
+ p->dest_addr64[6] = 0x00; //SL_H
+ p->dest_addr64[7] = 0x00; //SL_L
+ } else if(dest == XBEE_BROAD) {
+ p->dest_addr64[6] = 0xFF; //SL_H
+ p->dest_addr64[7] = 0xFF; //SL_L
+ } else {
+ p->dest_addr64[0] = 0x00;
+ p->dest_addr64[1] = 0x13;
+ p->dest_addr64[2] = 0xA2;
+ p->dest_addr64[3] = 0x00;
+
+ p->dest_addr64[4] = (dest >> 24);
+ p->dest_addr64[5] = (dest & 0x00FF0000) >> 16;
+ p->dest_addr64[6] = (dest & 0x0000FF00) >> 8;
+ p->dest_addr64[7] = (dest & 0x000000FF);
+ }
+ p->dest_addr16[0] = 0xFF; //MY_H
+ p->dest_addr16[1] = 0xFF; //MY_L
+
+ memcpy(&p->rf_data, str, n);
+
+ // Calcula Checksum
+
+ // comeca 3 pra frente, tenq passar 3 adiante no final
+ // para ler o mesmo tamanho de pacote
+ for(i = 3; i < p->length + 3; i++) {
+ count += buf_tx[i];
+ //printf("\n%d\n", count);
+ }
+ count = 0xFF - count;
+
+ p->rf_data[n] = count;
+
+ //p->length tem o tamanho soh do frame,
+ //pacote total eh o starter + length alto + length baixo + checksum
+ count_tx = p->length + 4;
+ return count_tx;
+}
+
+/* Cria pacote de comando */
+int XBEE::create_CMD(char * cmd, int val)
+{
+ pkt_cmd *p = (pkt_cmd *) buf_tx; // ponteiro para buffer global
+ char str[4]; // string do val
+ int size_cmd = strlen(cmd);
+ //int value = dec2hex(val);
+ int value = val;
+ int n = 0; // tamanho em bytes do parametro do comando
+ int i;
+ uint8_t count = 0;
+
+ if(size_cmd != 2) {
+ // Error: comando deve conter 2 chars
+ return -1;
+ }
+
+ if(val != 0) {
+ if( (value >> 24) & 0xFF ) {
+ str[0] = (value >> 24) & 0xFF;
+ str[1] = (value >> 16) & 0xFF;
+ str[2] = (value >> 8) & 0xFF;
+ str[3] = value & 0xFF;
+ n = 4;
+ } else if( (value >> 16) & 0xFF ) {
+ str[0] = (value >> 16) & 0xFF;
+ str[1] = (value >> 8) & 0xFF;
+ str[2] = value & 0xFF;
+ n = 3;
+ } else if( (value >> 8) & 0xFF ) {
+ str[0] = (value >> 8) & 0xFF;
+ str[1] = value & 0xFF;
+ n = 2;
+ } else {
+ str[0] = value & 0xFF;
+ n = 1;
+ }
+ }
+
+ count_tx = 0;
+ memset(&buf_tx,0,sizeof(buf_tx));
+
+ p->start_delimiter = 0x7E;
+ p->length = 0x04 + n; // pacote vazio + dados
+ p->frame_type = 0x09; // AT Command Queue
+ p->frame_id = 1;
+
+ p->command[0] = cmd[0];
+ p->command[1] = cmd[1];
+
+ if(val != 0) {
+ memcpy(&p->rf_data, str, n);
+ }
+
+ // Calcula Checksum
+
+ // comeca 3 pra frente, tenq passar 3 adiante no final
+ // para ler o mesmo tamanho de pacote
+ for(i = 3; i < p->length + 3; i++) {
+ count += buf_tx[i];
+ //printf("\n%d\n", count);
+ }
+ count = 0xFF - count;
+
+ p->rf_data[n] = count;
+
+ //p->length tem o tamanho soh do frame,
+ //pacote total eh o starter + length alto + length baixo + checksum
+ count_tx = p->length + 4;
+ return count_tx;
+}
+
+/* Envia pacote do buffer_tx */
+void XBEE::sendBuffer(void)
+{
+ if(xbee->writeable()) {
+ for(int i = 0; i < count_tx; i++) {
+ xbee->putc(buf_tx[i]);
+ }
+ //pode zerar pacote aqui
+ }
+}
+
+/* Printa todo o buffer de Receive, e limpa */
+/*
+void XBEE::printBuffer(void)
+{
+ char flag_msg = 0;
+ int size = sizeof(buf_rx);
+ if(count_rx < size) {
+ size = count_rx;
+ }
+ for(int i = 0; i < size; i++) {
+ printf("%c", buf_rx[i]);
+ flag_msg++;
+ }
+ if (flag_msg) {
+ printf("\n");
+ }
+
+ //Limpa buffer
+ count_rx = 0;
+ memset(&buf_rx,0,sizeof(buf_rx));
+}
+*/
+
+/* Receive and update NI variable */
+void XBEE::recv_NI(void)
+{
+ pkt_cmd *p;
+ int i;
+ for(i = 0; i < count_rx; i++) {
+ if(buf_rx[i] == 0x7E) {
+ p = (pkt_cmd *) &buf_rx[i];
+ }
+ }
+ if(p->frame_type == 0x88) {
+ memcpy(NI, ((char *)(&p->rf_data))+2, 16);
+ // remove o checksum do nome
+ for(i = 15; i >= 0; i--) {
+ if(NI[i] != 0) {
+ NI[i] = '\0';
+ break;
+ }
+ }
+ }
+}
+
+/* Receive and update CMD variable */
+void XBEE::recv_CMD(int &cmd)
+{
+ char data[16];
+ pkt_cmd *p;
+ int i;
+ int j = -1;
+
+ for(i = 0; i < count_rx; i++) {
+ if(buf_rx[i] == 0x7E) {
+ p = (pkt_cmd *) &buf_rx[i];
+ }
+ }
+ if(p->frame_type == 0x88) {
+ memcpy(data, &p->rf_data, 16);
+ for(i = 15; i > -1; i--) {
+ if(data[i] != 0 || j != -1) {
+ // pular o checksum
+ if(j==-1) {
+ j++;
+ } else {
+ //ID = (int)(dec2hex((data[i] << 8)) + dec2hex(data[i+1]));
+ cmd += data[i] << 8*j;
+ j++;
+ }
+ }
+ }
+ }
+}
+
+/* Verify Packet Checksum return 0 if msg OK, just work with Transmit Package*/
+/*
+char XBEE::validPackage(uint8_t * buf, int tam)
+{
+ int i = 0;
+ uint8_t count = 0;
+
+ if(buf[0] != 0x7E) return 1;
+ if(buf[1] != 0) return 2;
+ if(buf[2] != tam-4) return 3;
+
+ for(i = 3; i < tam; i++) {
+ count += buf[i];
+ }
+ if(count != 0xFF) return 4;
+
+ return 0; // OK
+}
+*/
+
+/* Convert Dec to Hex, OBS: just for Hex number without Letter */
+int XBEE::dec2hex(int nbr)
+{
+ char hexa[8];
+ int temp;
+ int result = 0;
+ int i = 0;
+ char hasLetter = 0;
+
+ while(nbr != 0)
+ {
+ temp = nbr % 16;
+ hexa[i] = temp;
+ nbr = nbr / 16;
+ i++;
+ if(temp > 9) {
+ hasLetter++;
+ }
+ }
+ // concat number
+ for(i=i-1; i > -1; i--) {
+ result += hexa[i] * pow(10.0,(double)i);
+ }
+
+ return result;
+}
+
+/* Convert Hex to Dec */
+int XBEE::hex2dec(int nbr)
+{
+ char deci[8];
+ int result = 0;
+ int i = 0;
+ int temp;
+ char hasLetter = 0;
+
+ while(nbr != 0) {
+ temp = nbr % 10;
+ deci[i] = temp;
+ nbr = nbr / 10;
+ i++;
+ if(temp > 9) {
+ hasLetter++;
+ }
+ }
+ // concat number
+ for(i=i-1; i > -1; i--) {
+ result += (deci[i] * pow(16.0,(double)i) );
+ }
+ return result;
+}
+void XBEE::int_mng(int value){
+ int_ctrl = value;
+}