Library for XBee API targeted toward functions with specific use in conjunction with the Pololu 3pi Robot. Work in Progress
XBee_Robot.h@4:af08c7749f9d, 2016-01-05 (annotated)
- Committer:
- sleighton
- Date:
- Tue Jan 05 14:27:40 2016 +0000
- Revision:
- 4:af08c7749f9d
- Parent:
- 3:cf539cfd3d59
- Child:
- 5:190b9e1a3cc1
network node class added
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| sleighton | 2:5040ec01dba1 | 1 | #include "mbed.h" |
| sleighton | 2:5040ec01dba1 | 2 | #include <vector> |
| sleighton | 3:cf539cfd3d59 | 3 | #include <list> |
| sleighton | 3:cf539cfd3d59 | 4 | #include <algorithm> |
| sleighton | 2:5040ec01dba1 | 5 | |
| sleighton | 4:af08c7749f9d | 6 | class NetworkNode{ |
| sleighton | 4:af08c7749f9d | 7 | private: |
| sleighton | 4:af08c7749f9d | 8 | std::vector<uint8_t> addr; //network address vector |
| sleighton | 4:af08c7749f9d | 9 | int nodeNum; //index |
| sleighton | 4:af08c7749f9d | 10 | public: |
| sleighton | 4:af08c7749f9d | 11 | NetworkNode(std::vector<uint8_t> & addrIn, int indexIn); |
| sleighton | 4:af08c7749f9d | 12 | //constructor |
| sleighton | 4:af08c7749f9d | 13 | |
| sleighton | 4:af08c7749f9d | 14 | std::vector<uint8_t> getAddr(); |
| sleighton | 4:af08c7749f9d | 15 | //returns address |
| sleighton | 4:af08c7749f9d | 16 | |
| sleighton | 4:af08c7749f9d | 17 | int getIndex(); |
| sleighton | 4:af08c7749f9d | 18 | //returns index |
| sleighton | 4:af08c7749f9d | 19 | |
| sleighton | 4:af08c7749f9d | 20 | void setAddr(std::vector<uint8_t> & addrIn); |
| sleighton | 4:af08c7749f9d | 21 | //sets address |
| sleighton | 4:af08c7749f9d | 22 | |
| sleighton | 4:af08c7749f9d | 23 | void setIndex(int indexIn); |
| sleighton | 4:af08c7749f9d | 24 | //sets index |
| sleighton | 4:af08c7749f9d | 25 | }; |
| sleighton | 4:af08c7749f9d | 26 | |
| sleighton | 2:5040ec01dba1 | 27 | class XBee_Robot { |
| sleighton | 2:5040ec01dba1 | 28 | private: |
| sleighton | 2:5040ec01dba1 | 29 | |
| sleighton | 4:af08c7749f9d | 30 | std::vector< NetworkNode > node_list; //list of network nodes |
| sleighton | 2:5040ec01dba1 | 31 | |
| sleighton | 2:5040ec01dba1 | 32 | Serial dataLink; //declare global serial |
| sleighton | 2:5040ec01dba1 | 33 | |
| sleighton | 2:5040ec01dba1 | 34 | public: |
| sleighton | 2:5040ec01dba1 | 35 | |
| sleighton | 2:5040ec01dba1 | 36 | XBee_Robot(PinName _txIn, PinName _rxIn); |
| sleighton | 2:5040ec01dba1 | 37 | //constructor for XBee |
| sleighton | 2:5040ec01dba1 | 38 | |
| sleighton | 2:5040ec01dba1 | 39 | void setRxInterrupt(); |
| sleighton | 2:5040ec01dba1 | 40 | //enables interrupt for receive pin |
| sleighton | 2:5040ec01dba1 | 41 | |
| sleighton | 2:5040ec01dba1 | 42 | void Rx_interrupt(); |
| sleighton | 2:5040ec01dba1 | 43 | //ISR for receive pin |
| sleighton | 2:5040ec01dba1 | 44 | |
| sleighton | 2:5040ec01dba1 | 45 | void transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength); |
| sleighton | 2:5040ec01dba1 | 46 | //assembles and sends transmission requests |
| sleighton | 2:5040ec01dba1 | 47 | |
| sleighton | 2:5040ec01dba1 | 48 | uint8_t calculateChecksum(std::vector<uint8_t> & packet); |
| sleighton | 2:5040ec01dba1 | 49 | //calculates checksum for assembled packets |
| sleighton | 3:cf539cfd3d59 | 50 | |
| sleighton | 3:cf539cfd3d59 | 51 | void RxPacketControl(std::vector<uint8_t> & packet); |
| sleighton | 3:cf539cfd3d59 | 52 | //seperates packets depending on API command |
| sleighton | 3:cf539cfd3d59 | 53 | |
| sleighton | 3:cf539cfd3d59 | 54 | void checkSourceAddr(std::vector<uint8_t> & addr); |
| sleighton | 3:cf539cfd3d59 | 55 | //checks source address of received packet against list of known addresses and adds new addresses |
| sleighton | 4:af08c7749f9d | 56 | }; |