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test

XBee.h@10:56b31a94f98e, 2011-11-16 (annotated)

Committer:: yamaguch
Date:: Wed Nov 16 02:56:53 2011 +0000
Revision:: 10:56b31a94f98e
Parent:: 9:48a9f99e2cfd
Child:: 11:88f50cc32d7e

Who changed what in which revision?

User	Revision	Line number	New 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	10:56b31a94f98e	38	/**
yamaguch	10:56b31a94f98e	39	* FrameType
yamaguch	10:56b31a94f98e	40	*/
yamaguch	9:48a9f99e2cfd	41	enum FrameType {
yamaguch	9:48a9f99e2cfd	42	None = 0,
yamaguch	10:56b31a94f98e	43	/***/
yamaguch	9:48a9f99e2cfd	44	ATCommandResponse,
yamaguch	10:56b31a94f98e	45
yamaguch	10:56b31a94f98e	46	/***/
yamaguch	9:48a9f99e2cfd	47	ModemStatus,
yamaguch	10:56b31a94f98e	48
yamaguch	10:56b31a94f98e	49	/***/
yamaguch	9:48a9f99e2cfd	50	ZigBeeTransmitStatus,
yamaguch	10:56b31a94f98e	51
yamaguch	10:56b31a94f98e	52	/***/
yamaguch	9:48a9f99e2cfd	53	ZigBeeReceivePacket,
yamaguch	10:56b31a94f98e	54
yamaguch	10:56b31a94f98e	55	/***/
yamaguch	9:48a9f99e2cfd	56	ZigBeeExplicitRxIndicator,
yamaguch	10:56b31a94f98e	57
yamaguch	10:56b31a94f98e	58	/***/
yamaguch	9:48a9f99e2cfd	59	ZigBeeIODataSampleRxIndicator,
yamaguch	10:56b31a94f98e	60
yamaguch	10:56b31a94f98e	61	/***/
yamaguch	9:48a9f99e2cfd	62	XBeeSensorReadIndicator,
yamaguch	10:56b31a94f98e	63
yamaguch	10:56b31a94f98e	64	/***/
yamaguch	9:48a9f99e2cfd	65	NodeIdentificationIndicator,
yamaguch	10:56b31a94f98e	66
yamaguch	10:56b31a94f98e	67	/***/
yamaguch	9:48a9f99e2cfd	68	RemoteCommandResponse,
yamaguch	10:56b31a94f98e	69
yamaguch	10:56b31a94f98e	70	/***/
yamaguch	9:48a9f99e2cfd	71	Other
yamaguch	9:48a9f99e2cfd	72	};
yamaguch	10:56b31a94f98e	73	/**
yamaguch	10:56b31a94f98e	74	* ValueType
yamaguch	10:56b31a94f98e	75	*/
yamaguch	9:48a9f99e2cfd	76	enum ValueType {
yamaguch	9:48a9f99e2cfd	77	FrameID,
yamaguch	9:48a9f99e2cfd	78	ATCommand,
yamaguch	9:48a9f99e2cfd	79	Status,
yamaguch	9:48a9f99e2cfd	80	CommandData,
yamaguch	9:48a9f99e2cfd	81	Address16,
yamaguch	9:48a9f99e2cfd	82	Address64,
yamaguch	9:48a9f99e2cfd	83	RetryCount,
yamaguch	9:48a9f99e2cfd	84	DeliveryStatus,
yamaguch	9:48a9f99e2cfd	85	DiscoveryStatus,
yamaguch	9:48a9f99e2cfd	86	ReceiveOptions,
yamaguch	9:48a9f99e2cfd	87	ReceivedData,
yamaguch	9:48a9f99e2cfd	88	RawData
yamaguch	9:48a9f99e2cfd	89	};
yamaguch	9:48a9f99e2cfd	90
yamaguch	9:48a9f99e2cfd	91	/**
yamaguch	9:48a9f99e2cfd	92	* creates an XBee interface object.
yamaguch	9:48a9f99e2cfd	93	*
yamaguch	9:48a9f99e2cfd	94	* @param ser Serial object through which XBee module is connected to mbed
yamaguch	9:48a9f99e2cfd	95	* @param apiMode API mode either 1 or 2 (use escape; default)
yamaguch	9:48a9f99e2cfd	96	* @param debug display debugging (I/O state) information through LEDs
yamaguch	9:48a9f99e2cfd	97	*/
yamaguch	9:48a9f99e2cfd	98	XBee(Serial& ser, int apiMode = 2, bool debug = false);
yamaguch	9:48a9f99e2cfd	99
yamaguch	9:48a9f99e2cfd	100	/**
yamaguch	9:48a9f99e2cfd	101	* creates an XBee interface object.
yamaguch	9:48a9f99e2cfd	102	*
yamaguch	9:48a9f99e2cfd	103	* @param ser Serial object through which XBee module is connected to mbed
yamaguch	9:48a9f99e2cfd	104	* @param mon alternate Serial object for monitoring (use serial ports other than USBTX/USBRX)
yamaguch	9:48a9f99e2cfd	105	* @param apiMode API mode either 1 or 2 (use escape; default)
yamaguch	9:48a9f99e2cfd	106	* @param debug display debugging (I/O state) information through LEDs
yamaguch	9:48a9f99e2cfd	107	*/
yamaguch	9:48a9f99e2cfd	108	XBee(Serial& ser, Serial& mon, int apiMode = 2, bool debug = false);
yamaguch	9:48a9f99e2cfd	109
yamaguch	9:48a9f99e2cfd	110	/**
yamaguch	9:48a9f99e2cfd	111	* initializes XBee module.
yamaguch	9:48a9f99e2cfd	112	*
yamaguch	9:48a9f99e2cfd	113	* issues VR command to test XBee modem connection
yamaguch	9:48a9f99e2cfd	114	*
yamaguch	9:48a9f99e2cfd	115	* @returns true if initialization succeeded, false otherwise
yamaguch	9:48a9f99e2cfd	116	*/
yamaguch	9:48a9f99e2cfd	117	bool init(float timeout = 15.0);
yamaguch	9:48a9f99e2cfd	118
yamaguch	9:48a9f99e2cfd	119	/**
yamaguch	9:48a9f99e2cfd	120	* sets destination addresses.
yamaguch	9:48a9f99e2cfd	121	*
yamaguch	9:48a9f99e2cfd	122	* @param address64 64-bit destination address in unsigned long long
yamaguch	9:48a9f99e2cfd	123	* @param address16 16-bit destination address in unsigned short
yamaguch	9:48a9f99e2cfd	124	*/
yamaguch	9:48a9f99e2cfd	125	void setDestination(unsigned long long address64, unsigned short address16 = 0xFFFE);
yamaguch	9:48a9f99e2cfd	126
yamaguch	9:48a9f99e2cfd	127	/**
yamaguch	9:48a9f99e2cfd	128	* sets destination addresses.
yamaguch	9:48a9f99e2cfd	129	*
yamaguch	9:48a9f99e2cfd	130	* @param address64 64-bit destination address in bytes (big endian)
yamaguch	9:48a9f99e2cfd	131	* @param address16 16-bit destination address in bytes
yamaguch	9:48a9f99e2cfd	132	*/
yamaguch	9:48a9f99e2cfd	133	void setDestination(char address64[], char address16[]);
yamaguch	9:48a9f99e2cfd	134
yamaguch	9:48a9f99e2cfd	135	/**
yamaguch	9:48a9f99e2cfd	136	* sets 64-bit destination address.
yamaguch	9:48a9f99e2cfd	137	*
yamaguch	9:48a9f99e2cfd	138	* this function is used when 16-bit address is unknown
yamaguch	9:48a9f99e2cfd	139	* @param address64 64-bit destination address in bytes (big endian)
yamaguch	9:48a9f99e2cfd	140	*/
yamaguch	9:48a9f99e2cfd	141	void setDestination(char address64[]);
yamaguch	9:48a9f99e2cfd	142
yamaguch	9:48a9f99e2cfd	143	/**
yamaguch	9:48a9f99e2cfd	144	* sends an AT command.
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	* @param queue true if command paramter is to be queued
yamaguch	9:48a9f99e2cfd	150	*/
yamaguch	9:48a9f99e2cfd	151	void sendCommand(char* command, char* param = 0, int param_length = 0, bool queue = false);
yamaguch	9:48a9f99e2cfd	152
yamaguch	9:48a9f99e2cfd	153	/**
yamaguch	9:48a9f99e2cfd	154	* sends a remote AT command.
yamaguch	9:48a9f99e2cfd	155	*
yamaguch	9:48a9f99e2cfd	156	* sends an AT command to the XBee(s) at the destination address
yamaguch	9:48a9f99e2cfd	157	*
yamaguch	9:48a9f99e2cfd	158	* @param command AT command char string
yamaguch	9:48a9f99e2cfd	159	* @param param parameter to the AT command (pointer to byte array)
yamaguch	9:48a9f99e2cfd	160	* @param param_length parameter length in bytes
yamaguch	9:48a9f99e2cfd	161	* @param options remote command options
yamaguch	9:48a9f99e2cfd	162	*/
yamaguch	9:48a9f99e2cfd	163	void sendRemoteCommand(char* command, char* param = 0, int param_length = 0, char options = 0x02);
yamaguch	9:48a9f99e2cfd	164
yamaguch	9:48a9f99e2cfd	165
yamaguch	9:48a9f99e2cfd	166	/**
yamaguch	9:48a9f99e2cfd	167	* executes an AT command then gets its result.
yamaguch	9:48a9f99e2cfd	168	*
yamaguch	9:48a9f99e2cfd	169	* @param command AT command char string
yamaguch	9:48a9f99e2cfd	170	* @param param parameter to the AT command (pointer to byte array)
yamaguch	9:48a9f99e2cfd	171	* @param param_length parameter length in bytes
yamaguch	9:48a9f99e2cfd	172	*
yamaguch	9:48a9f99e2cfd	173	* @returns pointer to the command result, if the result is a number (char, short, long, long long),
yamaguch	9:48a9f99e2cfd	174	* the address to the number will be returned; otherwise the address to the byte array
yamaguch	9:48a9f99e2cfd	175	* containing the command response will be returned.
yamaguch	9:48a9f99e2cfd	176	*/
yamaguch	9:48a9f99e2cfd	177	void executeCommand(char command, char* param = 0, int laram_length = 0);
yamaguch	9:48a9f99e2cfd	178
yamaguch	9:48a9f99e2cfd	179	/**
yamaguch	9:48a9f99e2cfd	180	* sends data to the XBee(s) at the destination address.
yamaguch	9:48a9f99e2cfd	181	*
yamaguch	9:48a9f99e2cfd	182	* @param data address to the data (byte array)
yamaguch	9:48a9f99e2cfd	183	* @param length data length in bytes
yamaguch	9:48a9f99e2cfd	184	*/
yamaguch	9:48a9f99e2cfd	185	void send(char *data, int length);
yamaguch	9:48a9f99e2cfd	186
yamaguch	9:48a9f99e2cfd	187	/**
yamaguch	9:48a9f99e2cfd	188	* sends data and confirm the transmit status.
yamaguch	9:48a9f99e2cfd	189	*
yamaguch	9:48a9f99e2cfd	190	* @param data address to the data (byte array)
yamaguch	9:48a9f99e2cfd	191	* @param length data length in bytes
yamaguch	9:48a9f99e2cfd	192	*
yamaguch	9:48a9f99e2cfd	193	* @returns true if sent successfully, false otherwise (either timeout or send error occurred)
yamaguch	9:48a9f99e2cfd	194	*/
yamaguch	9:48a9f99e2cfd	195	bool sendConfirm(char *data, int length);
yamaguch	9:48a9f99e2cfd	196
yamaguch	9:48a9f99e2cfd	197	/**
yamaguch	9:48a9f99e2cfd	198	* sends data to the destination using printf format.
yamaguch	9:48a9f99e2cfd	199	*
yamaguch	9:48a9f99e2cfd	200	* @param format printf format string, followed by corresponding arguments
yamaguch	9:48a9f99e2cfd	201	*
yamaguch	9:48a9f99e2cfd	202	* @returns the number of charancters sent, or negative if error occurred
yamaguch	9:48a9f99e2cfd	203	*/
yamaguch	9:48a9f99e2cfd	204	int printf(const char *format, ...);
yamaguch	9:48a9f99e2cfd	205
yamaguch	9:48a9f99e2cfd	206	/**
yamaguch	9:48a9f99e2cfd	207	* receives data frame from the XBee module.
yamaguch	9:48a9f99e2cfd	208	*
yamaguch	9:48a9f99e2cfd	209	* @param timeout seconds bofer time out
yamaguch	9:48a9f99e2cfd	210	*
yamaguch	9:48a9f99e2cfd	211	* @returns FrameType of the received frame data
yamaguch	9:48a9f99e2cfd	212	*/
yamaguch	9:48a9f99e2cfd	213	FrameType receive(float timeout = 3.0);
yamaguch	9:48a9f99e2cfd	214
yamaguch	9:48a9f99e2cfd	215	/**
yamaguch	9:48a9f99e2cfd	216	* scan received data according to the specified format.
yamaguch	9:48a9f99e2cfd	217	*
yamaguch	9:48a9f99e2cfd	218	* @param type ValueType of the data to be scanned
yamaguch	9:48a9f99e2cfd	219	* @param value pointer to the byte array to store the scanned value
yamaguch	9:48a9f99e2cfd	220	* @param maxlength max size of the value in bytes
yamaguch	9:48a9f99e2cfd	221	* @param length pointer to an int to receive the actual data length
yamaguch	9:48a9f99e2cfd	222	*
yamaguch	9:48a9f99e2cfd	223	* @param true if scan succeeded, false otherwise
yamaguch	9:48a9f99e2cfd	224	*/
yamaguch	9:48a9f99e2cfd	225	bool scan(ValueType type, char value, int maxlength = 1, int length = 0);
yamaguch	9:48a9f99e2cfd	226
yamaguch	9:48a9f99e2cfd	227	/**
yamaguch	9:48a9f99e2cfd	228	* gets the XBee firmware version.
yamaguch	9:48a9f99e2cfd	229	*
yamaguch	9:48a9f99e2cfd	230	* @returns XBee firmwre version in int (unsigned short value)
yamaguch	9:48a9f99e2cfd	231	*/
yamaguch	9:48a9f99e2cfd	232	int getFirmwareVersion();
yamaguch	9:48a9f99e2cfd	233
yamaguch	9:48a9f99e2cfd	234	/**
yamaguch	9:48a9f99e2cfd	235	* gets the current frame ID.
yamaguch	9:48a9f99e2cfd	236	*
yamaguch	9:48a9f99e2cfd	237	* @returns frame ID number being used in the next send request
yamaguch	9:48a9f99e2cfd	238	*/
yamaguch	9:48a9f99e2cfd	239	char getFrameID();
yamaguch	9:48a9f99e2cfd	240
yamaguch	9:48a9f99e2cfd	241	/**
yamaguch	9:48a9f99e2cfd	242	* sets to run in debug mode.
yamaguch	9:48a9f99e2cfd	243	*
yamaguch	9:48a9f99e2cfd	244	* @param debug true to display debugging information
yamaguch	9:48a9f99e2cfd	245	*/
yamaguch	9:48a9f99e2cfd	246	void setDebug(bool debug);
yamaguch	9:48a9f99e2cfd	247
yamaguch	9:48a9f99e2cfd	248	/**
yamaguch	9:48a9f99e2cfd	249	* displays received data in dump format.
yamaguch	9:48a9f99e2cfd	250	*/
yamaguch	9:48a9f99e2cfd	251	void dump();
yamaguch	9:48a9f99e2cfd	252
yamaguch	9:48a9f99e2cfd	253	/**
yamaguch	9:48a9f99e2cfd	254	* displays the internal data fields and receive buffer in dump format.
yamaguch	9:48a9f99e2cfd	255	*/
yamaguch	9:48a9f99e2cfd	256	void dumpAll();
yamaguch	9:48a9f99e2cfd	257
yamaguch	9:48a9f99e2cfd	258	/**
yamaguch	9:48a9f99e2cfd	259	* operator overloading for testing XBee modem connection status.
yamaguch	9:48a9f99e2cfd	260	*
yamaguch	9:48a9f99e2cfd	261	* @returns false if XBee modem connection has an error
yamaguch	9:48a9f99e2cfd	262	*/
yamaguch	9:48a9f99e2cfd	263	operator bool();
yamaguch	9:48a9f99e2cfd	264
yamaguch	9:48a9f99e2cfd	265	private:
yamaguch	9:48a9f99e2cfd	266	Serial mon;
yamaguch	9:48a9f99e2cfd	267	BusOut leds;
yamaguch	9:48a9f99e2cfd	268	int apiMode;
yamaguch	9:48a9f99e2cfd	269	volatile enum {UNKNOWN, LENGTH1, LENGTH2, DATA, SUMCHECK} state;
yamaguch	9:48a9f99e2cfd	270	volatile int cur, in, out, received, free;
yamaguch	9:48a9f99e2cfd	271	char frame_id;
yamaguch	9:48a9f99e2cfd	272	char destination64[8];
yamaguch	9:48a9f99e2cfd	273	char destination16[2];
yamaguch	9:48a9f99e2cfd	274	char buf[BUFSIZE];
yamaguch	9:48a9f99e2cfd	275	bool debug;
yamaguch	9:48a9f99e2cfd	276
yamaguch	9:48a9f99e2cfd	277	void send(char c);
yamaguch	9:48a9f99e2cfd	278	void send2(char c);
yamaguch	9:48a9f99e2cfd	279	void sendFrame(char* frame, int length);
yamaguch	9:48a9f99e2cfd	280	int createTxRequest(char frame_id, char* data, int data_length, char* buf, int buf_size);
yamaguch	9:48a9f99e2cfd	281	int createAtRequest(char frame_id, char* command, char* param, int param_length, bool queue, char* buf, int buf_size);
yamaguch	9:48a9f99e2cfd	282	int createRemoteAtRequest(char frame_id, char* command, char* param, int param_length, char options, char* buf, int buf_size);
yamaguch	9:48a9f99e2cfd	283	int seekFor(FrameType type, float timeout);
yamaguch	9:48a9f99e2cfd	284	FrameType getFrameType(char c);
yamaguch	9:48a9f99e2cfd	285	bool scan(int i, ValueType type, char value, int maxlength = 1, int length = 0);
yamaguch	9:48a9f99e2cfd	286	void flush();
yamaguch	9:48a9f99e2cfd	287	void rxInterruptHandler();
yamaguch	9:48a9f99e2cfd	288	void rxInterruptHandler2();
yamaguch	9:48a9f99e2cfd	289
yamaguch	9:48a9f99e2cfd	290	void dump(char* data, int length);
yamaguch	9:48a9f99e2cfd	291	void dumpIOSample(char *data, int length);
yamaguch	9:48a9f99e2cfd	292	void copy(char *toBuf, int fromIndex, int length);
yamaguch	9:48a9f99e2cfd	293	};
yamaguch	9:48a9f99e2cfd	294
yamaguch	9:48a9f99e2cfd	295	#endif

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Type:	Library
Created:	16 Nov 2011
Imports:	3
Forks:	0
Commits:	20
Dependents:	0
Dependencies:	0
Followers:	1

XBee.h@10:56b31a94f98e, 2011-11-16 (annotated)

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