Diff: main.cpp

Revision:

0:cff20bebf3e4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu May 19 13:16:54 2016 +0000
@@ -0,0 +1,85 @@
+#include "robot_logic.h"
+
+#include <cstdint>
+#include "mbed.h"
+#include "XBeeLib.h"
+#if defined(ENABLE_LOGGING)
+#include "DigiLoggerMbedSerial.h"
+using namespace DigiLog;
+#endif
+
+using namespace XBeeLib;
+
+DigitalOut led1(LED1);
+
+Serial *log_serial;
+
+Timeout stopper;
+
+/** Callback function, invoked at packet reception */
+static void receive_cb(const RemoteXBeeZB& remote, bool broadcast, const uint8_t *const data, uint16_t len)
+{
+    const uint64_t remote_addr64 = remote.get_addr64();
+
+    log_serial->printf("\r\nGot a %s RX packet [%08x:%08x|%04x], len %d\r\nData: ", broadcast ? "BROADCAST" : "UNICAST", UINT64_HI32(remote_addr64), UINT64_LO32(remote_addr64), remote.get_addr16(), len);
+
+    for (int i = 0; i < len; i++)
+        log_serial->printf("%02x ", data[i]);
+
+    log_serial->printf("\r\n");
+    
+    switch(data[0]){
+        case 0x10: // speed + turnradius
+            
+            int speed = int32_t((int8_t) data[1]);
+            int turnspeed = int32_t((int8_t) data[2]);
+            drive(speed);
+            turn(turnspeed);
+            stopper.attach(&stop, 0.1);
+            break;
+    }
+}
+
+
+int speed;
+ 
+void init()
+{
+
+}
+ 
+void loop()
+{    
+    log_serial = new Serial(DEBUG_TX, DEBUG_RX);
+    log_serial->baud(9600);
+    log_serial->printf("Sample application to demo how to receive unicast and broadcast data with the XBeeZB\r\n\r\n");
+    log_serial->printf(XB_LIB_BANNER);
+
+#if defined(ENABLE_LOGGING)
+    new DigiLoggerMbedSerial(log_serial, LogLevelInfo);
+#endif
+
+    XBeeZB xbee = XBeeZB(RADIO_TX, RADIO_RX, RADIO_RESET, NC, NC, 9600);
+
+    /* Register callbacks */
+    xbee.register_receive_cb(&receive_cb);
+
+    RadioStatus const radioStatus = xbee.init();
+    MBED_ASSERT(radioStatus == Success);
+
+    /* Wait until the device has joined the network */
+    log_serial->printf("Waiting for device to join the network: ");
+    while (!xbee.is_joined()) {
+        wait_ms(1000);
+        log_serial->printf(".");
+    }
+    log_serial->printf("OK\r\n");
+    led1 = 1;
+
+    while (true) {
+        xbee.process_rx_frames();
+    }
+
+    delete(log_serial);
+
+}
\ No newline at end of file