Hiroshi Yamaguchi / Documentation

test

XBee.h@9:48a9f99e2cfd, 2011-11-16 (annotated)

Committer:
yamaguch
Date:
Wed Nov 16 02:54:56 2011 +0000
Revision:
9:48a9f99e2cfd
Child:
10:56b31a94f98e
0.6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yamaguch 9:48a9f99e2cfd 1 /*
yamaguch 9:48a9f99e2cfd 2 Copyright (c) 2011, Senio Networks, Inc.
yamaguch 9:48a9f99e2cfd 3
yamaguch 9:48a9f99e2cfd 4 Permission is hereby granted, free of charge, to any person obtaining a copy
yamaguch 9:48a9f99e2cfd 5 of this software and associated documentation files (the "Software"), to deal
yamaguch 9:48a9f99e2cfd 6 in the Software without restriction, including without limitation the rights
yamaguch 9:48a9f99e2cfd 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
yamaguch 9:48a9f99e2cfd 8 copies of the Software, and to permit persons to whom the Software is
yamaguch 9:48a9f99e2cfd 9 furnished to do so, subject to the following conditions:
yamaguch 9:48a9f99e2cfd 10
yamaguch 9:48a9f99e2cfd 11 The above copyright notice and this permission notice shall be included in
yamaguch 9:48a9f99e2cfd 12 all copies or substantial portions of the Software.
yamaguch 9:48a9f99e2cfd 13
yamaguch 9:48a9f99e2cfd 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
yamaguch 9:48a9f99e2cfd 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
yamaguch 9:48a9f99e2cfd 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
yamaguch 9:48a9f99e2cfd 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
yamaguch 9:48a9f99e2cfd 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
yamaguch 9:48a9f99e2cfd 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
yamaguch 9:48a9f99e2cfd 20 THE SOFTWARE.
yamaguch 9:48a9f99e2cfd 21 */
yamaguch 9:48a9f99e2cfd 22
yamaguch 9:48a9f99e2cfd 23 #ifndef XBEE_H
yamaguch 9:48a9f99e2cfd 24 #define XBEE_H
yamaguch 9:48a9f99e2cfd 25
yamaguch 9:48a9f99e2cfd 26 #include "mbed.h"
yamaguch 9:48a9f99e2cfd 27 #include "IOSample.h"
yamaguch 9:48a9f99e2cfd 28
yamaguch 9:48a9f99e2cfd 29 const int BUFSIZE = 512;
yamaguch 9:48a9f99e2cfd 30 const char ESCAPE = 0x7D;
yamaguch 9:48a9f99e2cfd 31 const char PREAMBLE = 0x7E;
yamaguch 9:48a9f99e2cfd 32
yamaguch 9:48a9f99e2cfd 33 /**
yamaguch 9:48a9f99e2cfd 34 * class for XBee module API mode interface
yamaguch 9:48a9f99e2cfd 35 */
yamaguch 9:48a9f99e2cfd 36 class XBee : public Serial {
yamaguch 9:48a9f99e2cfd 37 public:
yamaguch 9:48a9f99e2cfd 38 /***/
yamaguch 9:48a9f99e2cfd 39 enum FrameType {
yamaguch 9:48a9f99e2cfd 40 None = 0,
yamaguch 9:48a9f99e2cfd 41 ATCommandResponse,
yamaguch 9:48a9f99e2cfd 42 ModemStatus,
yamaguch 9:48a9f99e2cfd 43 ZigBeeTransmitStatus,
yamaguch 9:48a9f99e2cfd 44 ZigBeeReceivePacket,
yamaguch 9:48a9f99e2cfd 45 ZigBeeExplicitRxIndicator,
yamaguch 9:48a9f99e2cfd 46 ZigBeeIODataSampleRxIndicator,
yamaguch 9:48a9f99e2cfd 47 XBeeSensorReadIndicator,
yamaguch 9:48a9f99e2cfd 48 NodeIdentificationIndicator,
yamaguch 9:48a9f99e2cfd 49 RemoteCommandResponse,
yamaguch 9:48a9f99e2cfd 50 Other
yamaguch 9:48a9f99e2cfd 51 };
yamaguch 9:48a9f99e2cfd 52 /***/
yamaguch 9:48a9f99e2cfd 53 enum ValueType {
yamaguch 9:48a9f99e2cfd 54 FrameID,
yamaguch 9:48a9f99e2cfd 55 ATCommand,
yamaguch 9:48a9f99e2cfd 56 Status,
yamaguch 9:48a9f99e2cfd 57 CommandData,
yamaguch 9:48a9f99e2cfd 58 Address16,
yamaguch 9:48a9f99e2cfd 59 Address64,
yamaguch 9:48a9f99e2cfd 60 RetryCount,
yamaguch 9:48a9f99e2cfd 61 DeliveryStatus,
yamaguch 9:48a9f99e2cfd 62 DiscoveryStatus,
yamaguch 9:48a9f99e2cfd 63 ReceiveOptions,
yamaguch 9:48a9f99e2cfd 64 ReceivedData,
yamaguch 9:48a9f99e2cfd 65 RawData
yamaguch 9:48a9f99e2cfd 66 };
yamaguch 9:48a9f99e2cfd 67
yamaguch 9:48a9f99e2cfd 68 /**
yamaguch 9:48a9f99e2cfd 69 * creates an XBee interface object.
yamaguch 9:48a9f99e2cfd 70 *
yamaguch 9:48a9f99e2cfd 71 * @param ser Serial object through which XBee module is connected to mbed
yamaguch 9:48a9f99e2cfd 72 * @param apiMode API mode either 1 or 2 (use escape; default)
yamaguch 9:48a9f99e2cfd 73 * @param debug display debugging (I/O state) information through LEDs
yamaguch 9:48a9f99e2cfd 74 */
yamaguch 9:48a9f99e2cfd 75 XBee(Serial& ser, int apiMode = 2, bool debug = false);
yamaguch 9:48a9f99e2cfd 76
yamaguch 9:48a9f99e2cfd 77 /**
yamaguch 9:48a9f99e2cfd 78 * creates an XBee interface object.
yamaguch 9:48a9f99e2cfd 79 *
yamaguch 9:48a9f99e2cfd 80 * @param ser Serial object through which XBee module is connected to mbed
yamaguch 9:48a9f99e2cfd 81 * @param mon alternate Serial object for monitoring (use serial ports other than USBTX/USBRX)
yamaguch 9:48a9f99e2cfd 82 * @param apiMode API mode either 1 or 2 (use escape; default)
yamaguch 9:48a9f99e2cfd 83 * @param debug display debugging (I/O state) information through LEDs
yamaguch 9:48a9f99e2cfd 84 */
yamaguch 9:48a9f99e2cfd 85 XBee(Serial& ser, Serial& mon, int apiMode = 2, bool debug = false);
yamaguch 9:48a9f99e2cfd 86
yamaguch 9:48a9f99e2cfd 87 /**
yamaguch 9:48a9f99e2cfd 88 * initializes XBee module.
yamaguch 9:48a9f99e2cfd 89 *
yamaguch 9:48a9f99e2cfd 90 * issues VR command to test XBee modem connection
yamaguch 9:48a9f99e2cfd 91 *
yamaguch 9:48a9f99e2cfd 92 * @returns true if initialization succeeded, false otherwise
yamaguch 9:48a9f99e2cfd 93 */
yamaguch 9:48a9f99e2cfd 94 bool init(float timeout = 15.0);
yamaguch 9:48a9f99e2cfd 95
yamaguch 9:48a9f99e2cfd 96 /**
yamaguch 9:48a9f99e2cfd 97 * sets destination addresses.
yamaguch 9:48a9f99e2cfd 98 *
yamaguch 9:48a9f99e2cfd 99 * @param address64 64-bit destination address in unsigned long long
yamaguch 9:48a9f99e2cfd 100 * @param address16 16-bit destination address in unsigned short
yamaguch 9:48a9f99e2cfd 101 */
yamaguch 9:48a9f99e2cfd 102 void setDestination(unsigned long long address64, unsigned short address16 = 0xFFFE);
yamaguch 9:48a9f99e2cfd 103
yamaguch 9:48a9f99e2cfd 104 /**
yamaguch 9:48a9f99e2cfd 105 * sets destination addresses.
yamaguch 9:48a9f99e2cfd 106 *
yamaguch 9:48a9f99e2cfd 107 * @param address64 64-bit destination address in bytes (big endian)
yamaguch 9:48a9f99e2cfd 108 * @param address16 16-bit destination address in bytes
yamaguch 9:48a9f99e2cfd 109 */
yamaguch 9:48a9f99e2cfd 110 void setDestination(char address64[], char address16[]);
yamaguch 9:48a9f99e2cfd 111
yamaguch 9:48a9f99e2cfd 112 /**
yamaguch 9:48a9f99e2cfd 113 * sets 64-bit destination address.
yamaguch 9:48a9f99e2cfd 114 *
yamaguch 9:48a9f99e2cfd 115 * this function is used when 16-bit address is unknown
yamaguch 9:48a9f99e2cfd 116 * @param address64 64-bit destination address in bytes (big endian)
yamaguch 9:48a9f99e2cfd 117 */
yamaguch 9:48a9f99e2cfd 118 void setDestination(char address64[]);
yamaguch 9:48a9f99e2cfd 119
yamaguch 9:48a9f99e2cfd 120 /**
yamaguch 9:48a9f99e2cfd 121 * sends an AT command.
yamaguch 9:48a9f99e2cfd 122 *
yamaguch 9:48a9f99e2cfd 123 * @param command AT command char string
yamaguch 9:48a9f99e2cfd 124 * @param param parameter to the AT command (pointer to byte array)
yamaguch 9:48a9f99e2cfd 125 * @param param_length parameter length in bytes
yamaguch 9:48a9f99e2cfd 126 * @param queue true if command paramter is to be queued
yamaguch 9:48a9f99e2cfd 127 */
yamaguch 9:48a9f99e2cfd 128 void sendCommand(char* command, char* param = 0, int param_length = 0, bool queue = false);
yamaguch 9:48a9f99e2cfd 129
yamaguch 9:48a9f99e2cfd 130 /**
yamaguch 9:48a9f99e2cfd 131 * sends a remote AT command.
yamaguch 9:48a9f99e2cfd 132 *
yamaguch 9:48a9f99e2cfd 133 * sends an AT command to the XBee(s) at the destination address
yamaguch 9:48a9f99e2cfd 134 *
yamaguch 9:48a9f99e2cfd 135 * @param command AT command char string
yamaguch 9:48a9f99e2cfd 136 * @param param parameter to the AT command (pointer to byte array)
yamaguch 9:48a9f99e2cfd 137 * @param param_length parameter length in bytes
yamaguch 9:48a9f99e2cfd 138 * @param options remote command options
yamaguch 9:48a9f99e2cfd 139 */
yamaguch 9:48a9f99e2cfd 140 void sendRemoteCommand(char* command, char* param = 0, int param_length = 0, char options = 0x02);
yamaguch 9:48a9f99e2cfd 141
yamaguch 9:48a9f99e2cfd 142
yamaguch 9:48a9f99e2cfd 143 /**
yamaguch 9:48a9f99e2cfd 144 * executes an AT command then gets its result.
yamaguch 9:48a9f99e2cfd 145 *
yamaguch 9:48a9f99e2cfd 146 * @param command AT command char string
yamaguch 9:48a9f99e2cfd 147 * @param param parameter to the AT command (pointer to byte array)
yamaguch 9:48a9f99e2cfd 148 * @param param_length parameter length in bytes
yamaguch 9:48a9f99e2cfd 149 *
yamaguch 9:48a9f99e2cfd 150 * @returns pointer to the command result, if the result is a number (char, short, long, long long),
yamaguch 9:48a9f99e2cfd 151 * the address to the number will be returned; otherwise the address to the byte array
yamaguch 9:48a9f99e2cfd 152 * containing the command response will be returned.
yamaguch 9:48a9f99e2cfd 153 */
yamaguch 9:48a9f99e2cfd 154 void *executeCommand(char *command, char* param = 0, int laram_length = 0);
yamaguch 9:48a9f99e2cfd 155
yamaguch 9:48a9f99e2cfd 156 /**
yamaguch 9:48a9f99e2cfd 157 * sends data to the XBee(s) at the destination address.
yamaguch 9:48a9f99e2cfd 158 *
yamaguch 9:48a9f99e2cfd 159 * @param data address to the data (byte array)
yamaguch 9:48a9f99e2cfd 160 * @param length data length in bytes
yamaguch 9:48a9f99e2cfd 161 */
yamaguch 9:48a9f99e2cfd 162 void send(char *data, int length);
yamaguch 9:48a9f99e2cfd 163
yamaguch 9:48a9f99e2cfd 164 /**
yamaguch 9:48a9f99e2cfd 165 * sends data and confirm the transmit status.
yamaguch 9:48a9f99e2cfd 166 *
yamaguch 9:48a9f99e2cfd 167 * @param data address to the data (byte array)
yamaguch 9:48a9f99e2cfd 168 * @param length data length in bytes
yamaguch 9:48a9f99e2cfd 169 *
yamaguch 9:48a9f99e2cfd 170 * @returns true if sent successfully, false otherwise (either timeout or send error occurred)
yamaguch 9:48a9f99e2cfd 171 */
yamaguch 9:48a9f99e2cfd 172 bool sendConfirm(char *data, int length);
yamaguch 9:48a9f99e2cfd 173
yamaguch 9:48a9f99e2cfd 174 /**
yamaguch 9:48a9f99e2cfd 175 * sends data to the destination using printf format.
yamaguch 9:48a9f99e2cfd 176 *
yamaguch 9:48a9f99e2cfd 177 * @param format printf format string, followed by corresponding arguments
yamaguch 9:48a9f99e2cfd 178 *
yamaguch 9:48a9f99e2cfd 179 * @returns the number of charancters sent, or negative if error occurred
yamaguch 9:48a9f99e2cfd 180 */
yamaguch 9:48a9f99e2cfd 181 int printf(const char *format, ...);
yamaguch 9:48a9f99e2cfd 182
yamaguch 9:48a9f99e2cfd 183 /**
yamaguch 9:48a9f99e2cfd 184 * receives data frame from the XBee module.
yamaguch 9:48a9f99e2cfd 185 *
yamaguch 9:48a9f99e2cfd 186 * @param timeout seconds bofer time out
yamaguch 9:48a9f99e2cfd 187 *
yamaguch 9:48a9f99e2cfd 188 * @returns FrameType of the received frame data
yamaguch 9:48a9f99e2cfd 189 */
yamaguch 9:48a9f99e2cfd 190 FrameType receive(float timeout = 3.0);
yamaguch 9:48a9f99e2cfd 191
yamaguch 9:48a9f99e2cfd 192 /**
yamaguch 9:48a9f99e2cfd 193 * scan received data according to the specified format.
yamaguch 9:48a9f99e2cfd 194 *
yamaguch 9:48a9f99e2cfd 195 * @param type ValueType of the data to be scanned
yamaguch 9:48a9f99e2cfd 196 * @param value pointer to the byte array to store the scanned value
yamaguch 9:48a9f99e2cfd 197 * @param maxlength max size of the value in bytes
yamaguch 9:48a9f99e2cfd 198 * @param length pointer to an int to receive the actual data length
yamaguch 9:48a9f99e2cfd 199 *
yamaguch 9:48a9f99e2cfd 200 * @param true if scan succeeded, false otherwise
yamaguch 9:48a9f99e2cfd 201 */
yamaguch 9:48a9f99e2cfd 202 bool scan(ValueType type, char *value, int maxlength = 1, int *length = 0);
yamaguch 9:48a9f99e2cfd 203
yamaguch 9:48a9f99e2cfd 204 /**
yamaguch 9:48a9f99e2cfd 205 * gets the XBee firmware version.
yamaguch 9:48a9f99e2cfd 206 *
yamaguch 9:48a9f99e2cfd 207 * @returns XBee firmwre version in int (unsigned short value)
yamaguch 9:48a9f99e2cfd 208 */
yamaguch 9:48a9f99e2cfd 209 int getFirmwareVersion();
yamaguch 9:48a9f99e2cfd 210
yamaguch 9:48a9f99e2cfd 211 /**
yamaguch 9:48a9f99e2cfd 212 * gets the current frame ID.
yamaguch 9:48a9f99e2cfd 213 *
yamaguch 9:48a9f99e2cfd 214 * @returns frame ID number being used in the next send request
yamaguch 9:48a9f99e2cfd 215 */
yamaguch 9:48a9f99e2cfd 216 char getFrameID();
yamaguch 9:48a9f99e2cfd 217
yamaguch 9:48a9f99e2cfd 218 /**
yamaguch 9:48a9f99e2cfd 219 * sets to run in debug mode.
yamaguch 9:48a9f99e2cfd 220 *
yamaguch 9:48a9f99e2cfd 221 * @param debug true to display debugging information
yamaguch 9:48a9f99e2cfd 222 */
yamaguch 9:48a9f99e2cfd 223 void setDebug(bool debug);
yamaguch 9:48a9f99e2cfd 224
yamaguch 9:48a9f99e2cfd 225 /**
yamaguch 9:48a9f99e2cfd 226 * displays received data in dump format.
yamaguch 9:48a9f99e2cfd 227 */
yamaguch 9:48a9f99e2cfd 228 void dump();
yamaguch 9:48a9f99e2cfd 229
yamaguch 9:48a9f99e2cfd 230 /**
yamaguch 9:48a9f99e2cfd 231 * displays the internal data fields and receive buffer in dump format.
yamaguch 9:48a9f99e2cfd 232 */
yamaguch 9:48a9f99e2cfd 233 void dumpAll();
yamaguch 9:48a9f99e2cfd 234
yamaguch 9:48a9f99e2cfd 235 /**
yamaguch 9:48a9f99e2cfd 236 * operator overloading for testing XBee modem connection status.
yamaguch 9:48a9f99e2cfd 237 *
yamaguch 9:48a9f99e2cfd 238 * @returns false if XBee modem connection has an error
yamaguch 9:48a9f99e2cfd 239 */
yamaguch 9:48a9f99e2cfd 240 operator bool();
yamaguch 9:48a9f99e2cfd 241
yamaguch 9:48a9f99e2cfd 242 private:
yamaguch 9:48a9f99e2cfd 243 Serial mon;
yamaguch 9:48a9f99e2cfd 244 BusOut leds;
yamaguch 9:48a9f99e2cfd 245 int apiMode;
yamaguch 9:48a9f99e2cfd 246 volatile enum {UNKNOWN, LENGTH1, LENGTH2, DATA, SUMCHECK} state;
yamaguch 9:48a9f99e2cfd 247 volatile int cur, in, out, received, free;
yamaguch 9:48a9f99e2cfd 248 char frame_id;
yamaguch 9:48a9f99e2cfd 249 char destination64[8];
yamaguch 9:48a9f99e2cfd 250 char destination16[2];
yamaguch 9:48a9f99e2cfd 251 char buf[BUFSIZE];
yamaguch 9:48a9f99e2cfd 252 bool debug;
yamaguch 9:48a9f99e2cfd 253
yamaguch 9:48a9f99e2cfd 254 void send(char c);
yamaguch 9:48a9f99e2cfd 255 void send2(char c);
yamaguch 9:48a9f99e2cfd 256 void sendFrame(char* frame, int length);
yamaguch 9:48a9f99e2cfd 257 int createTxRequest(char frame_id, char* data, int data_length, char* buf, int buf_size);
yamaguch 9:48a9f99e2cfd 258 int createAtRequest(char frame_id, char* command, char* param, int param_length, bool queue, char* buf, int buf_size);
yamaguch 9:48a9f99e2cfd 259 int createRemoteAtRequest(char frame_id, char* command, char* param, int param_length, char options, char* buf, int buf_size);
yamaguch 9:48a9f99e2cfd 260 int seekFor(FrameType type, float timeout);
yamaguch 9:48a9f99e2cfd 261 FrameType getFrameType(char c);
yamaguch 9:48a9f99e2cfd 262 bool scan(int i, ValueType type, char *value, int maxlength = 1, int *length = 0);
yamaguch 9:48a9f99e2cfd 263 void flush();
yamaguch 9:48a9f99e2cfd 264 void rxInterruptHandler();
yamaguch 9:48a9f99e2cfd 265 void rxInterruptHandler2();
yamaguch 9:48a9f99e2cfd 266
yamaguch 9:48a9f99e2cfd 267 void dump(char* data, int length);
yamaguch 9:48a9f99e2cfd 268 void dumpIOSample(char *data, int length);
yamaguch 9:48a9f99e2cfd 269 void copy(char *toBuf, int fromIndex, int length);
yamaguch 9:48a9f99e2cfd 270 };
yamaguch 9:48a9f99e2cfd 271
yamaguch 9:48a9f99e2cfd 272 #endif