Sam Leighton / XBee_Robot

Library for XBee API targeted toward functions with specific use in conjunction with the Pololu 3pi Robot. Work in Progress

XBee_Robot.cpp@6:fb0316cafaa6, 2016-01-06 (annotated)

Committer:
sleighton
Date:
Wed Jan 06 17:37:09 2016 +0000
Revision:
6:fb0316cafaa6
Parent:
4:af08c7749f9d
Child:
7:c3acafdb70c0
Log of address now uses 16 bit network address, includes AT request function and constructor now calls AT request to log it's own network address

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sleighton 2:5040ec01dba1 1 #include "XBee_Robot.h"
sleighton 2:5040ec01dba1 2 #include <vector>
sleighton 3:cf539cfd3d59 3 #include <algorithm>
sleighton 3:cf539cfd3d59 4 #include <list>
sleighton 2:5040ec01dba1 5
sleighton 4:af08c7749f9d 6 //NETWORK CLASS METHODS
sleighton 4:af08c7749f9d 7 NetworkNode::NetworkNode(std::vector<uint8_t> & addrIn, int indexIn){
sleighton 4:af08c7749f9d 8 addr = addrIn;
sleighton 4:af08c7749f9d 9 nodeNum = indexIn;
sleighton 4:af08c7749f9d 10 }
sleighton 4:af08c7749f9d 11
sleighton 4:af08c7749f9d 12 std::vector<uint8_t> NetworkNode::getAddr(){ //returns address of node
sleighton 4:af08c7749f9d 13 return addr;
sleighton 2:5040ec01dba1 14 }
sleighton 2:5040ec01dba1 15
sleighton 4:af08c7749f9d 16 int NetworkNode::getIndex(){ //returns index of node
sleighton 4:af08c7749f9d 17 return nodeNum;
sleighton 4:af08c7749f9d 18 }
sleighton 4:af08c7749f9d 19
sleighton 4:af08c7749f9d 20 void NetworkNode::setIndex(int indexIn){ //sets index of node
sleighton 4:af08c7749f9d 21 nodeNum = indexIn;
sleighton 4:af08c7749f9d 22 }
sleighton 4:af08c7749f9d 23
sleighton 4:af08c7749f9d 24 void NetworkNode::setAddr(std::vector<uint8_t> & addrIn){ //sets address of node
sleighton 4:af08c7749f9d 25 addr = addrIn;
sleighton 4:af08c7749f9d 26 }
sleighton 4:af08c7749f9d 27
sleighton 6:fb0316cafaa6 28 /**************************************************************************************************/
sleighton 6:fb0316cafaa6 29
sleighton 4:af08c7749f9d 30 //XBEE ROBOT CLASS METHODS
sleighton 6:fb0316cafaa6 31 XBee_Robot::XBee_Robot(PinName _txIn, PinName _rxIn): dataLink(_txIn,_rxIn){
sleighton 6:fb0316cafaa6 32 ATQuery(0x4D,0x59); //create AT query with AT command MY to query own 16 bit network address
sleighton 6:fb0316cafaa6 33 }
sleighton 4:af08c7749f9d 34
sleighton 2:5040ec01dba1 35 void XBee_Robot::setRxInterrupt()
sleighton 2:5040ec01dba1 36 {
sleighton 2:5040ec01dba1 37 dataLink.attach(this,&XBee_Robot::Rx_interrupt, Serial::RxIrq);
sleighton 2:5040ec01dba1 38 }
sleighton 2:5040ec01dba1 39
sleighton 2:5040ec01dba1 40 void XBee_Robot::Rx_interrupt()
sleighton 2:5040ec01dba1 41 {
sleighton 3:cf539cfd3d59 42 std::vector<uint8_t> Rx_buffer;
sleighton 2:5040ec01dba1 43 while(dataLink.readable()){
sleighton 3:cf539cfd3d59 44 Rx_buffer.push_back(dataLink.getc());//add each incoming byte to buffer
sleighton 6:fb0316cafaa6 45 wait(0.00107); //wait for long enough so the next digit is recognised in the same stream (updated from 0.0011 to accomodate for 2 bytes of data)
sleighton 2:5040ec01dba1 46 }
sleighton 3:cf539cfd3d59 47
sleighton 3:cf539cfd3d59 48 //Check valid packet delimeter and checksum
sleighton 3:cf539cfd3d59 49 if((Rx_buffer[0] == 0x7E) && (Rx_buffer[Rx_buffer.size()] == calculateChecksum(Rx_buffer)))
sleighton 3:cf539cfd3d59 50 RxPacketControl(Rx_buffer); //call packet control function
sleighton 2:5040ec01dba1 51 }
sleighton 2:5040ec01dba1 52
sleighton 2:5040ec01dba1 53 void XBee_Robot::transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength)
sleighton 2:5040ec01dba1 54 {
sleighton 2:5040ec01dba1 55 //calculate checksum
sleighton 2:5040ec01dba1 56 uint16_t length = 0x0E + dataLength; //calculate length of packet (14 + data length)
sleighton 2:5040ec01dba1 57 uint8_t lengthu = length >>8; //upper 8 bits
sleighton 2:5040ec01dba1 58 uint8_t lengthl = length & 0xFF; //lower 8 bits
sleighton 2:5040ec01dba1 59
sleighton 2:5040ec01dba1 60
sleighton 2:5040ec01dba1 61 std::vector<uint8_t> transmitRequestPacket; //create new vector packet
sleighton 2:5040ec01dba1 62 //populate packet
sleighton 2:5040ec01dba1 63 transmitRequestPacket.push_back(0x7E); //start delimeter
sleighton 2:5040ec01dba1 64 transmitRequestPacket.push_back(lengthu); //upper byte of length
sleighton 2:5040ec01dba1 65 transmitRequestPacket.push_back(lengthl); //lower byte of length
sleighton 2:5040ec01dba1 66 transmitRequestPacket.push_back(0x10); //API ID (transmit request)
sleighton 2:5040ec01dba1 67 transmitRequestPacket.push_back(0x01); //channel ID
sleighton 2:5040ec01dba1 68 transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress64, BitAddress64+8); //64 bit destination address
sleighton 2:5040ec01dba1 69 transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress16, BitAddress16+2); //16 bit network address
sleighton 2:5040ec01dba1 70 transmitRequestPacket.push_back(broadcastRadius); //broadcast radius (0 = max hops)
sleighton 2:5040ec01dba1 71 transmitRequestPacket.push_back(options); //additional options for packet
sleighton 2:5040ec01dba1 72 transmitRequestPacket.insert(transmitRequestPacket.end(), data, data+dataLength); //data
sleighton 2:5040ec01dba1 73 uint8_t checksum = calculateChecksum(transmitRequestPacket);
sleighton 2:5040ec01dba1 74 transmitRequestPacket.push_back(checksum); //calculate and add checksum
sleighton 2:5040ec01dba1 75
sleighton 2:5040ec01dba1 76 for (int i = 0; i < transmitRequestPacket.size(); i++){
sleighton 2:5040ec01dba1 77 dataLink.printf("%c",transmitRequestPacket[i]); //send packet
sleighton 2:5040ec01dba1 78 printf("%c",transmitRequestPacket[i]);
sleighton 2:5040ec01dba1 79 }
sleighton 2:5040ec01dba1 80 }
sleighton 2:5040ec01dba1 81
sleighton 6:fb0316cafaa6 82 void XBee_Robot::ATQuery(uint8_t ATu, uint8_t ATl)
sleighton 6:fb0316cafaa6 83 {
sleighton 6:fb0316cafaa6 84 //calculate checksum
sleighton 6:fb0316cafaa6 85 uint8_t lengthu = 0; //upper 8 bits of length
sleighton 6:fb0316cafaa6 86 uint8_t lengthl = 0x04; //lower 8 bits of length
sleighton 6:fb0316cafaa6 87
sleighton 6:fb0316cafaa6 88
sleighton 6:fb0316cafaa6 89 std::vector<uint8_t> ATRequestPacket; //create new vector packet
sleighton 6:fb0316cafaa6 90 //populate packet
sleighton 6:fb0316cafaa6 91 ATRequestPacket.push_back(0x7E); //start delimeter
sleighton 6:fb0316cafaa6 92 ATRequestPacket.push_back(lengthu); //upper byte of length
sleighton 6:fb0316cafaa6 93 ATRequestPacket.push_back(lengthl); //lower byte of length
sleighton 6:fb0316cafaa6 94 ATRequestPacket.push_back(0x08); //API ID (AT request)
sleighton 6:fb0316cafaa6 95 ATRequestPacket.push_back(0x52); //channel ID
sleighton 6:fb0316cafaa6 96 ATRequestPacket.push_back(ATu); //AT command (upper byte)
sleighton 6:fb0316cafaa6 97 ATRequestPacket.push_back(ATl); //AT command (lower byte)
sleighton 6:fb0316cafaa6 98 uint8_t checksum = calculateChecksum(ATRequestPacket);
sleighton 6:fb0316cafaa6 99 ATRequestPacket.push_back(checksum); //calculate and add checksum
sleighton 6:fb0316cafaa6 100
sleighton 6:fb0316cafaa6 101 for (int i = 0; i < ATRequestPacket.size(); i++){
sleighton 6:fb0316cafaa6 102 dataLink.printf("%c",ATRequestPacket[i]); //send packet
sleighton 6:fb0316cafaa6 103 }
sleighton 6:fb0316cafaa6 104 }
sleighton 6:fb0316cafaa6 105
sleighton 2:5040ec01dba1 106 uint8_t XBee_Robot::calculateChecksum(std::vector<uint8_t> & packet)
sleighton 2:5040ec01dba1 107 {
sleighton 2:5040ec01dba1 108 uint8_t checksum = 0xFF; //start with FF as last byte of sum is subtracted from FF
sleighton 2:5040ec01dba1 109 for (int i = 3; i < packet.size(); i++)
sleighton 2:5040ec01dba1 110 checksum -= packet[i];
sleighton 2:5040ec01dba1 111 return checksum;
sleighton 2:5040ec01dba1 112
sleighton 3:cf539cfd3d59 113 }
sleighton 3:cf539cfd3d59 114
sleighton 3:cf539cfd3d59 115 void XBee_Robot::RxPacketControl(std::vector<uint8_t> & packet)
sleighton 6:fb0316cafaa6 116 {
sleighton 3:cf539cfd3d59 117 uint8_t command = packet[3]; //take API address
sleighton 3:cf539cfd3d59 118 switch (command) { //index for different commands
sleighton 3:cf539cfd3d59 119 case 0x90:{ //Receive packet command
sleighton 3:cf539cfd3d59 120
sleighton 6:fb0316cafaa6 121 std::vector<uint8_t> source_addr16; //create new vector to store source address
sleighton 6:fb0316cafaa6 122 source_addr16.insert(source_addr16.end(), packet.begin() + 13, packet.begin() + 15); //insert source address part of packet into new vector
sleighton 6:fb0316cafaa6 123 checkSourceAddr(source_addr16);
sleighton 3:cf539cfd3d59 124
sleighton 3:cf539cfd3d59 125 std::vector<uint8_t> data; //create new vector to store data
sleighton 3:cf539cfd3d59 126 data.insert(data.end(), packet.begin() + 15, packet.end() -1); //insert data part of packet into new vector
sleighton 3:cf539cfd3d59 127 for(int i = 0; i<data.size();i++){
sleighton 3:cf539cfd3d59 128 printf("Data: %d\n",(int)data[i]); //display data from packet
sleighton 3:cf539cfd3d59 129 }
sleighton 3:cf539cfd3d59 130
sleighton 3:cf539cfd3d59 131 break;
sleighton 3:cf539cfd3d59 132 }
sleighton 6:fb0316cafaa6 133 case 0x88:{ //AT response packet command
sleighton 6:fb0316cafaa6 134 if(packet[7] == 0x00){ //if packet command status is ok
sleighton 6:fb0316cafaa6 135 std::vector<uint8_t> data; //create new vector to store data
sleighton 6:fb0316cafaa6 136 data.insert(data.end(), packet.begin() + 8, packet.end() -1); //insert data part of packet into new vector
sleighton 6:fb0316cafaa6 137 if((packet[5] == 0x4D) & (packet[6] == 0x59)){ //if AT command is MY
sleighton 6:fb0316cafaa6 138 checkSourceAddr(data);
sleighton 6:fb0316cafaa6 139 }
sleighton 6:fb0316cafaa6 140 }
sleighton 6:fb0316cafaa6 141 break;
sleighton 6:fb0316cafaa6 142 }
sleighton 3:cf539cfd3d59 143 default:
sleighton 3:cf539cfd3d59 144 printf("Received API address not recognised: %c",command);
sleighton 3:cf539cfd3d59 145 }
sleighton 3:cf539cfd3d59 146 }
sleighton 3:cf539cfd3d59 147
sleighton 3:cf539cfd3d59 148 void XBee_Robot::checkSourceAddr(std::vector<uint8_t> & addr)
sleighton 3:cf539cfd3d59 149 {
sleighton 4:af08c7749f9d 150 bool exists = false;
sleighton 4:af08c7749f9d 151 for (int i = 0; i<node_list.size();i++){ //search each entry in node_list for matching address
sleighton 4:af08c7749f9d 152 if(node_list[i].getAddr() == addr){
sleighton 4:af08c7749f9d 153 exists = true;
sleighton 4:af08c7749f9d 154 printf("Recognised node %d\n",node_list[i].getIndex()); //print node number
sleighton 4:af08c7749f9d 155 }
sleighton 4:af08c7749f9d 156 }
sleighton 4:af08c7749f9d 157 if (exists == false){ //add new address to list if no match found
sleighton 4:af08c7749f9d 158 NetworkNode newNode(addr,node_list.size());//create new node
sleighton 4:af08c7749f9d 159 node_list.push_back(newNode); //add new node to list
sleighton 6:fb0316cafaa6 160 printf("New address added: Node %d\n",(int)node_list.size()-1);
sleighton 3:cf539cfd3d59 161 }
sleighton 3:cf539cfd3d59 162
sleighton 4:af08c7749f9d 163 }
sleighton 4:af08c7749f9d 164