Sam Leighton / XBee_Robot

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XBee_Robot.cpp@2:5040ec01dba1, 2016-01-04 (annotated)

Committer:
sleighton
Date:
Mon Jan 04 19:56:44 2016 +0000
Revision:
2:5040ec01dba1
Child:
3:cf539cfd3d59
Working with serial interrupt

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 2:5040ec01dba1 3
sleighton 2:5040ec01dba1 4 XBee_Robot::XBee_Robot(PinName _txIn, PinName _rxIn): dataLink(_txIn,_rxIn)
sleighton 2:5040ec01dba1 5 {
sleighton 2:5040ec01dba1 6 _tx = _txIn; //redundant
sleighton 2:5040ec01dba1 7 _rx = _rxIn;
sleighton 2:5040ec01dba1 8 }
sleighton 2:5040ec01dba1 9
sleighton 2:5040ec01dba1 10 void XBee_Robot::setRxInterrupt()
sleighton 2:5040ec01dba1 11 {
sleighton 2:5040ec01dba1 12 dataLink.attach(this,&XBee_Robot::Rx_interrupt, Serial::RxIrq);
sleighton 2:5040ec01dba1 13 }
sleighton 2:5040ec01dba1 14
sleighton 2:5040ec01dba1 15 void XBee_Robot::Rx_interrupt()
sleighton 2:5040ec01dba1 16 {
sleighton 2:5040ec01dba1 17 while(dataLink.readable()){
sleighton 2:5040ec01dba1 18 printf("%c",dataLink.getc());
sleighton 2:5040ec01dba1 19 }
sleighton 2:5040ec01dba1 20 }
sleighton 2:5040ec01dba1 21
sleighton 2:5040ec01dba1 22 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 23 {
sleighton 2:5040ec01dba1 24 //calculate checksum
sleighton 2:5040ec01dba1 25 uint16_t length = 0x0E + dataLength; //calculate length of packet (14 + data length)
sleighton 2:5040ec01dba1 26 uint8_t lengthu = length >>8; //upper 8 bits
sleighton 2:5040ec01dba1 27 uint8_t lengthl = length & 0xFF; //lower 8 bits
sleighton 2:5040ec01dba1 28
sleighton 2:5040ec01dba1 29
sleighton 2:5040ec01dba1 30 std::vector<uint8_t> transmitRequestPacket; //create new vector packet
sleighton 2:5040ec01dba1 31 //populate packet
sleighton 2:5040ec01dba1 32 transmitRequestPacket.push_back(0x7E); //start delimeter
sleighton 2:5040ec01dba1 33 transmitRequestPacket.push_back(lengthu); //upper byte of length
sleighton 2:5040ec01dba1 34 transmitRequestPacket.push_back(lengthl); //lower byte of length
sleighton 2:5040ec01dba1 35 transmitRequestPacket.push_back(0x10); //API ID (transmit request)
sleighton 2:5040ec01dba1 36 transmitRequestPacket.push_back(0x01); //channel ID
sleighton 2:5040ec01dba1 37 transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress64, BitAddress64+8); //64 bit destination address
sleighton 2:5040ec01dba1 38 transmitRequestPacket.insert(transmitRequestPacket.end(), BitAddress16, BitAddress16+2); //16 bit network address
sleighton 2:5040ec01dba1 39 transmitRequestPacket.push_back(broadcastRadius); //broadcast radius (0 = max hops)
sleighton 2:5040ec01dba1 40 transmitRequestPacket.push_back(options); //additional options for packet
sleighton 2:5040ec01dba1 41 transmitRequestPacket.insert(transmitRequestPacket.end(), data, data+dataLength); //data
sleighton 2:5040ec01dba1 42 uint8_t checksum = calculateChecksum(transmitRequestPacket);
sleighton 2:5040ec01dba1 43 transmitRequestPacket.push_back(checksum); //calculate and add checksum
sleighton 2:5040ec01dba1 44
sleighton 2:5040ec01dba1 45 for (int i = 0; i < transmitRequestPacket.size(); i++){
sleighton 2:5040ec01dba1 46 dataLink.printf("%c",transmitRequestPacket[i]); //send packet
sleighton 2:5040ec01dba1 47 printf("%c",transmitRequestPacket[i]);
sleighton 2:5040ec01dba1 48 }
sleighton 2:5040ec01dba1 49 }
sleighton 2:5040ec01dba1 50
sleighton 2:5040ec01dba1 51 uint8_t XBee_Robot::calculateChecksum(std::vector<uint8_t> & packet)
sleighton 2:5040ec01dba1 52 {
sleighton 2:5040ec01dba1 53 uint8_t checksum = 0xFF; //start with FF as last byte of sum is subtracted from FF
sleighton 2:5040ec01dba1 54 for (int i = 3; i < packet.size(); i++)
sleighton 2:5040ec01dba1 55 checksum -= packet[i];
sleighton 2:5040ec01dba1 56 return checksum;
sleighton 2:5040ec01dba1 57
sleighton 2:5040ec01dba1 58 }