Diff: XBee_Robot.cpp

Revision:

2:5040ec01dba1

Child:

3:cf539cfd3d59

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/XBee_Robot.cpp	Mon Jan 04 19:56:44 2016 +0000
@@ -0,0 +1,58 @@
+#include "XBee_Robot.h"
+#include <vector>
+
+XBee_Robot::XBee_Robot(PinName _txIn, PinName _rxIn): dataLink(_txIn,_rxIn)
+{
+    _tx = _txIn; //redundant
+    _rx = _rxIn;
+}
+
+void XBee_Robot::setRxInterrupt()
+{
+    dataLink.attach(this,&XBee_Robot::Rx_interrupt, Serial::RxIrq);
+}
+
+void XBee_Robot::Rx_interrupt()
+{
+    while(dataLink.readable()){
+        printf("%c",dataLink.getc());
+    }
+}
+
+void XBee_Robot::transmitRequest(uint8_t *BitAddress64, uint8_t *BitAddress16, uint8_t broadcastRadius, uint8_t options, uint8_t *data,size_t dataLength)
+{
+    //calculate checksum
+    uint16_t length = 0x0E + dataLength; //calculate length of packet (14 + data length)
+    uint8_t lengthu = length >>8; //upper 8 bits
+    uint8_t lengthl = length & 0xFF; //lower 8 bits
+    
+    
+    std::vector<uint8_t> transmitRequestPacket; //create new vector packet
+    //populate packet 
+    transmitRequestPacket.push_back(0x7E); //start delimeter
+    transmitRequestPacket.push_back(lengthu); //upper byte of length
+    transmitRequestPacket.push_back(lengthl); //lower byte of length
+    transmitRequestPacket.push_back(0x10); //API ID (transmit request)
+    transmitRequestPacket.push_back(0x01); //channel ID
+    transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress64, BitAddress64+8); //64 bit destination address
+    transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress16, BitAddress16+2); //16 bit network address
+    transmitRequestPacket.push_back(broadcastRadius); //broadcast radius (0 = max hops)
+    transmitRequestPacket.push_back(options); //additional options for packet
+    transmitRequestPacket.insert(transmitRequestPacket.end(), data, data+dataLength); //data
+    uint8_t checksum = calculateChecksum(transmitRequestPacket);
+    transmitRequestPacket.push_back(checksum); //calculate and add checksum  
+          
+    for (int i = 0; i < transmitRequestPacket.size(); i++){
+        dataLink.printf("%c",transmitRequestPacket[i]); //send packet
+        printf("%c",transmitRequestPacket[i]);
+    }
+}
+
+uint8_t XBee_Robot::calculateChecksum(std::vector<uint8_t> & packet)
+{
+    uint8_t checksum = 0xFF; //start with FF as last byte of sum is subtracted from FF
+    for (int i = 3; i < packet.size(); i++)
+        checksum -= packet[i];
+    return checksum;
+    
+}
\ No newline at end of file