XBee API mode library
Send.cpp@16:cdfcb63b2c4b, 2013-03-20 (annotated)
- Committer:
- yamaguch
- Date:
- Wed Mar 20 00:28:27 2013 +0000
- Revision:
- 16:cdfcb63b2c4b
- Parent:
- 10:3da24a020e67
- Child:
- 17:2f728fd13bc0
non rtos version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yamaguch | 0:0232a97b3883 | 1 | /* |
yamaguch | 8:776b8dc51932 | 2 | Copyright (c) 2013, Senio Networks, Inc. |
yamaguch | 0:0232a97b3883 | 3 | |
yamaguch | 0:0232a97b3883 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
yamaguch | 0:0232a97b3883 | 5 | of this software and associated documentation files (the "Software"), to deal |
yamaguch | 0:0232a97b3883 | 6 | in the Software without restriction, including without limitation the rights |
yamaguch | 0:0232a97b3883 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
yamaguch | 0:0232a97b3883 | 8 | copies of the Software, and to permit persons to whom the Software is |
yamaguch | 0:0232a97b3883 | 9 | furnished to do so, subject to the following conditions: |
yamaguch | 0:0232a97b3883 | 10 | |
yamaguch | 0:0232a97b3883 | 11 | The above copyright notice and this permission notice shall be included in |
yamaguch | 0:0232a97b3883 | 12 | all copies or substantial portions of the Software. |
yamaguch | 0:0232a97b3883 | 13 | |
yamaguch | 0:0232a97b3883 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
yamaguch | 0:0232a97b3883 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
yamaguch | 0:0232a97b3883 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
yamaguch | 0:0232a97b3883 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
yamaguch | 0:0232a97b3883 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
yamaguch | 0:0232a97b3883 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
yamaguch | 0:0232a97b3883 | 20 | THE SOFTWARE. |
yamaguch | 0:0232a97b3883 | 21 | */ |
yamaguch | 0:0232a97b3883 | 22 | |
yamaguch | 0:0232a97b3883 | 23 | #include "XBee.h" |
yamaguch | 0:0232a97b3883 | 24 | #include <stdarg.h> |
yamaguch | 0:0232a97b3883 | 25 | |
yamaguch | 16:cdfcb63b2c4b | 26 | #define LOCK() NVIC_DisableIRQ(UARTx_IRQn[_serial.index]) |
yamaguch | 16:cdfcb63b2c4b | 27 | #define UNLOCK() NVIC_EnableIRQ(UARTx_IRQn[_serial.index]) |
yamaguch | 16:cdfcb63b2c4b | 28 | const IRQn_Type UARTx_IRQn[] = {UART0_IRQn, UART1_IRQn, UART2_IRQn, UART3_IRQn}; |
yamaguch | 16:cdfcb63b2c4b | 29 | |
yamaguch | 0:0232a97b3883 | 30 | void XBee::sendCommand(const char *command, int8_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 31 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 32 | } |
yamaguch | 0:0232a97b3883 | 33 | |
yamaguch | 0:0232a97b3883 | 34 | void XBee::sendCommand(const char *command, int16_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 35 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 36 | } |
yamaguch | 0:0232a97b3883 | 37 | |
yamaguch | 0:0232a97b3883 | 38 | void XBee::sendCommand(const char *command, int32_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 39 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 40 | } |
yamaguch | 0:0232a97b3883 | 41 | |
yamaguch | 0:0232a97b3883 | 42 | void XBee::sendCommand(const char *command, int64_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 43 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 44 | } |
yamaguch | 0:0232a97b3883 | 45 | |
yamaguch | 0:0232a97b3883 | 46 | void XBee::sendCommand(const char *command, uint8_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 47 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 48 | } |
yamaguch | 0:0232a97b3883 | 49 | |
yamaguch | 0:0232a97b3883 | 50 | void XBee::sendCommand(const char *command, uint16_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 51 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 52 | } |
yamaguch | 0:0232a97b3883 | 53 | |
yamaguch | 0:0232a97b3883 | 54 | void XBee::sendCommand(const char *command, uint32_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 55 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 56 | } |
yamaguch | 0:0232a97b3883 | 57 | |
yamaguch | 0:0232a97b3883 | 58 | void XBee::sendCommand(const char *command, uint64_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 59 | uint8_t param_buf[8] = { |
yamaguch | 0:0232a97b3883 | 60 | (uint8_t) (param >> 56), (uint8_t) (param >> 48), |
yamaguch | 0:0232a97b3883 | 61 | (uint8_t) (param >> 40), (uint8_t) (param >> 32), |
yamaguch | 0:0232a97b3883 | 62 | (uint8_t) (param >> 24), (uint8_t) (param >> 16), |
yamaguch | 0:0232a97b3883 | 63 | (uint8_t) (param >> 8), (uint8_t) param |
yamaguch | 0:0232a97b3883 | 64 | }; |
yamaguch | 0:0232a97b3883 | 65 | |
yamaguch | 0:0232a97b3883 | 66 | int n = 0; |
yamaguch | 0:0232a97b3883 | 67 | while (n < 7 && param_buf[n] == 0) n++; |
yamaguch | 0:0232a97b3883 | 68 | |
yamaguch | 0:0232a97b3883 | 69 | sendCommand(command, param_buf + n, 8 - n, queue); |
yamaguch | 0:0232a97b3883 | 70 | } |
yamaguch | 0:0232a97b3883 | 71 | |
yamaguch | 0:0232a97b3883 | 72 | void XBee::sendCommand(const char *command, const char *param, bool queue) { |
yamaguch | 0:0232a97b3883 | 73 | sendCommand(command, (uint8_t *) param, strlen(param), queue); |
yamaguch | 0:0232a97b3883 | 74 | } |
yamaguch | 0:0232a97b3883 | 75 | |
yamaguch | 0:0232a97b3883 | 76 | void XBee::sendCommand(const char *command, const uint8_t *param, int param_length, bool queue) { |
yamaguch | 0:0232a97b3883 | 77 | char buf[param_length + 4]; |
yamaguch | 0:0232a97b3883 | 78 | |
yamaguch | 0:0232a97b3883 | 79 | createAtRequest(frame_id, command, param, param_length, queue, buf, sizeof(buf)); |
yamaguch | 0:0232a97b3883 | 80 | sendFrame(buf, param_length + 4); |
yamaguch | 0:0232a97b3883 | 81 | frame_id = frame_id % 255 + 1; |
yamaguch | 0:0232a97b3883 | 82 | } |
yamaguch | 0:0232a97b3883 | 83 | |
yamaguch | 0:0232a97b3883 | 84 | void XBee::sendRemoteCommand(const char *command, int8_t param) { |
yamaguch | 0:0232a97b3883 | 85 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 86 | } |
yamaguch | 0:0232a97b3883 | 87 | |
yamaguch | 0:0232a97b3883 | 88 | void XBee::sendRemoteCommand(const char *command, int16_t param) { |
yamaguch | 0:0232a97b3883 | 89 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 90 | } |
yamaguch | 0:0232a97b3883 | 91 | |
yamaguch | 0:0232a97b3883 | 92 | void XBee::sendRemoteCommand(const char *command, int32_t param) { |
yamaguch | 0:0232a97b3883 | 93 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 94 | } |
yamaguch | 0:0232a97b3883 | 95 | |
yamaguch | 0:0232a97b3883 | 96 | void XBee::sendRemoteCommand(const char *command, int64_t param) { |
yamaguch | 0:0232a97b3883 | 97 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 98 | } |
yamaguch | 0:0232a97b3883 | 99 | |
yamaguch | 0:0232a97b3883 | 100 | void XBee::sendRemoteCommand(const char *command, uint8_t param) { |
yamaguch | 0:0232a97b3883 | 101 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 102 | } |
yamaguch | 0:0232a97b3883 | 103 | |
yamaguch | 0:0232a97b3883 | 104 | void XBee::sendRemoteCommand(const char *command, uint16_t param) { |
yamaguch | 0:0232a97b3883 | 105 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 106 | } |
yamaguch | 0:0232a97b3883 | 107 | |
yamaguch | 0:0232a97b3883 | 108 | void XBee::sendRemoteCommand(const char *command, uint32_t param) { |
yamaguch | 0:0232a97b3883 | 109 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 110 | } |
yamaguch | 0:0232a97b3883 | 111 | |
yamaguch | 0:0232a97b3883 | 112 | void XBee::sendRemoteCommand(const char *command, uint64_t param) { |
yamaguch | 0:0232a97b3883 | 113 | uint8_t param_buf[8] = { |
yamaguch | 0:0232a97b3883 | 114 | (uint8_t) (param >> 56), (uint8_t) (param >> 48), |
yamaguch | 0:0232a97b3883 | 115 | (uint8_t) (param >> 40), (uint8_t) (param >> 32), |
yamaguch | 0:0232a97b3883 | 116 | (uint8_t) (param >> 24), (uint8_t) (param >> 16), |
yamaguch | 0:0232a97b3883 | 117 | (uint8_t) (param >> 8), (uint8_t) param |
yamaguch | 0:0232a97b3883 | 118 | }; |
yamaguch | 0:0232a97b3883 | 119 | |
yamaguch | 0:0232a97b3883 | 120 | int n = 0; |
yamaguch | 0:0232a97b3883 | 121 | while (n < 7 && param_buf[n] == 0) n++; |
yamaguch | 0:0232a97b3883 | 122 | |
yamaguch | 0:0232a97b3883 | 123 | sendRemoteCommand(command, param_buf + n, 8 - n); |
yamaguch | 0:0232a97b3883 | 124 | } |
yamaguch | 0:0232a97b3883 | 125 | |
yamaguch | 0:0232a97b3883 | 126 | void XBee::sendRemoteCommand(const char *command, const char *param) { |
yamaguch | 0:0232a97b3883 | 127 | sendRemoteCommand(command, (uint8_t *) param, strlen(param)); |
yamaguch | 0:0232a97b3883 | 128 | } |
yamaguch | 0:0232a97b3883 | 129 | |
yamaguch | 0:0232a97b3883 | 130 | void XBee::sendRemoteCommand(const char *command, const uint8_t *param, int param_length, char options) { |
yamaguch | 0:0232a97b3883 | 131 | char buf[param_length + 15]; |
yamaguch | 0:0232a97b3883 | 132 | |
yamaguch | 0:0232a97b3883 | 133 | createRemoteAtRequest(frame_id, command, param, param_length, options, buf, sizeof(buf)); |
yamaguch | 0:0232a97b3883 | 134 | sendFrame(buf, param_length + 15); |
yamaguch | 0:0232a97b3883 | 135 | frame_id = frame_id % 255 + 1; |
yamaguch | 0:0232a97b3883 | 136 | } |
yamaguch | 0:0232a97b3883 | 137 | |
yamaguch | 10:3da24a020e67 | 138 | bool XBee::send(const char *data, int length) { |
yamaguch | 10:3da24a020e67 | 139 | return send(data, length, sendConfirmation); |
yamaguch | 10:3da24a020e67 | 140 | } |
yamaguch | 10:3da24a020e67 | 141 | |
yamaguch | 10:3da24a020e67 | 142 | bool XBee::send(const char *data, int length, float timeout) { |
yamaguch | 0:0232a97b3883 | 143 | if (length == 0) |
yamaguch | 0:0232a97b3883 | 144 | length = strlen(data); |
yamaguch | 0:0232a97b3883 | 145 | |
yamaguch | 0:0232a97b3883 | 146 | char buf[length + 14]; |
yamaguch | 0:0232a97b3883 | 147 | |
yamaguch | 0:0232a97b3883 | 148 | createTxRequest(frame_id, data, length, buf, sizeof(buf)); |
yamaguch | 0:0232a97b3883 | 149 | sendFrame(buf, length + 14); |
yamaguch | 3:8453df14bd30 | 150 | |
yamaguch | 16:cdfcb63b2c4b | 151 | bool ret = true; |
yamaguch | 10:3da24a020e67 | 152 | if (timeout > 0) { |
yamaguch | 10:3da24a020e67 | 153 | int index = seekFor(ZigBeeTransmitStatus, frame_id, timeout); |
yamaguch | 0:0232a97b3883 | 154 | if (index != -1) { |
yamaguch | 0:0232a97b3883 | 155 | char delivery; |
yamaguch | 0:0232a97b3883 | 156 | scan(index, DeliveryStatus, &delivery); |
yamaguch | 16:cdfcb63b2c4b | 157 | this->buf[INDEX(index + 2)] = None; |
yamaguch | 16:cdfcb63b2c4b | 158 | //::printf("index = %02X, out = %02X, in = %02X\n", index, out, in); |
yamaguch | 16:cdfcb63b2c4b | 159 | if (index == out) { |
yamaguch | 16:cdfcb63b2c4b | 160 | LOCK(); |
yamaguch | 16:cdfcb63b2c4b | 161 | int size = SIZE(this->buf, out); |
yamaguch | 16:cdfcb63b2c4b | 162 | out = INDEX(out + 2 + size); |
yamaguch | 16:cdfcb63b2c4b | 163 | free += (2 + size); |
yamaguch | 16:cdfcb63b2c4b | 164 | UNLOCK(); |
yamaguch | 16:cdfcb63b2c4b | 165 | } |
yamaguch | 16:cdfcb63b2c4b | 166 | ret = (delivery == 0); |
yamaguch | 10:3da24a020e67 | 167 | } else |
yamaguch | 16:cdfcb63b2c4b | 168 | ret = false; |
yamaguch | 0:0232a97b3883 | 169 | } |
yamaguch | 16:cdfcb63b2c4b | 170 | |
yamaguch | 16:cdfcb63b2c4b | 171 | frame_id = frame_id % 255 + 1; |
yamaguch | 16:cdfcb63b2c4b | 172 | return ret; |
yamaguch | 0:0232a97b3883 | 173 | } |
yamaguch | 0:0232a97b3883 | 174 | |
yamaguch | 10:3da24a020e67 | 175 | void XBee::setSendConfirmation(float sendConfirmation) { |
yamaguch | 10:3da24a020e67 | 176 | this->sendConfirmation = sendConfirmation; |
yamaguch | 0:0232a97b3883 | 177 | } |
yamaguch | 0:0232a97b3883 | 178 | |
yamaguch | 0:0232a97b3883 | 179 | int XBee::printf(const char *format, ...) { |
yamaguch | 0:0232a97b3883 | 180 | va_list argv; |
yamaguch | 0:0232a97b3883 | 181 | va_start(argv, format); |
yamaguch | 0:0232a97b3883 | 182 | char buf[256]; |
yamaguch | 0:0232a97b3883 | 183 | int length = vsnprintf(buf, sizeof buf, format, argv); |
yamaguch | 10:3da24a020e67 | 184 | return length > 0 && send(buf, length) ? length : -1; |
yamaguch | 0:0232a97b3883 | 185 | } |
yamaguch | 0:0232a97b3883 | 186 | |
yamaguch | 0:0232a97b3883 | 187 | void XBee::send(char c) { |
yamaguch | 10:3da24a020e67 | 188 | while (!writeable()) wait(0.001); |
yamaguch | 0:0232a97b3883 | 189 | putc(c); |
yamaguch | 0:0232a97b3883 | 190 | } |
yamaguch | 0:0232a97b3883 | 191 | |
yamaguch | 0:0232a97b3883 | 192 | void XBee::send2(char c) { |
yamaguch | 0:0232a97b3883 | 193 | switch (c) { |
yamaguch | 0:0232a97b3883 | 194 | case 0x7E: |
yamaguch | 0:0232a97b3883 | 195 | case 0x7D: |
yamaguch | 0:0232a97b3883 | 196 | case 0x11: |
yamaguch | 0:0232a97b3883 | 197 | case 0x13: |
yamaguch | 0:0232a97b3883 | 198 | send(ESCAPE); |
yamaguch | 0:0232a97b3883 | 199 | send(c ^ 0x20); |
yamaguch | 0:0232a97b3883 | 200 | break; |
yamaguch | 0:0232a97b3883 | 201 | default: |
yamaguch | 0:0232a97b3883 | 202 | send(c); |
yamaguch | 0:0232a97b3883 | 203 | } |
yamaguch | 0:0232a97b3883 | 204 | } |
yamaguch | 0:0232a97b3883 | 205 | |
yamaguch | 0:0232a97b3883 | 206 | void XBee::sendFrame(const char *frame, int length) { |
yamaguch | 0:0232a97b3883 | 207 | char checksum = 255; |
yamaguch | 0:0232a97b3883 | 208 | |
yamaguch | 0:0232a97b3883 | 209 | send(PREAMBLE); |
yamaguch | 0:0232a97b3883 | 210 | |
yamaguch | 0:0232a97b3883 | 211 | if (apiMode == 2) { |
yamaguch | 0:0232a97b3883 | 212 | send2((length >> 8) & 255); |
yamaguch | 0:0232a97b3883 | 213 | send2(length & 255); |
yamaguch | 0:0232a97b3883 | 214 | for (int i = 0; i < length; i++) { |
yamaguch | 0:0232a97b3883 | 215 | send2(frame[i]); |
yamaguch | 0:0232a97b3883 | 216 | checksum -= frame[i]; |
yamaguch | 0:0232a97b3883 | 217 | } |
yamaguch | 0:0232a97b3883 | 218 | send2(checksum); |
yamaguch | 0:0232a97b3883 | 219 | } else { |
yamaguch | 0:0232a97b3883 | 220 | send((length >> 8) & 255); |
yamaguch | 0:0232a97b3883 | 221 | send(length & 255); |
yamaguch | 0:0232a97b3883 | 222 | for (int i = 0; i < length; i++) { |
yamaguch | 0:0232a97b3883 | 223 | send(frame[i]); |
yamaguch | 0:0232a97b3883 | 224 | checksum -= frame[i]; |
yamaguch | 0:0232a97b3883 | 225 | } |
yamaguch | 0:0232a97b3883 | 226 | send(checksum); |
yamaguch | 0:0232a97b3883 | 227 | } |
yamaguch | 0:0232a97b3883 | 228 | } |
yamaguch | 0:0232a97b3883 | 229 | |
yamaguch | 0:0232a97b3883 | 230 | int XBee::createTxRequest(char frame_id, const char *data, int data_length, char *buf, int buf_size) { |
yamaguch | 0:0232a97b3883 | 231 | if (data_length + 14 > buf_size) return -1; |
yamaguch | 0:0232a97b3883 | 232 | |
yamaguch | 0:0232a97b3883 | 233 | buf[0] = 0x10; // frame type |
yamaguch | 0:0232a97b3883 | 234 | buf[1] = frame_id; |
yamaguch | 0:0232a97b3883 | 235 | for (int i = 0; i < 8; i++) buf[i + 2] = destination64[i]; |
yamaguch | 0:0232a97b3883 | 236 | buf[10] = destination16[0]; // 16 bit dest address |
yamaguch | 0:0232a97b3883 | 237 | buf[11] = destination16[1]; // 16 bit dest address |
yamaguch | 0:0232a97b3883 | 238 | buf[12] = 0; |
yamaguch | 0:0232a97b3883 | 239 | buf[13] = 0; |
yamaguch | 0:0232a97b3883 | 240 | for (int i = 0; i < data_length; i++) buf[i + 14] = data[i]; |
yamaguch | 0:0232a97b3883 | 241 | |
yamaguch | 0:0232a97b3883 | 242 | return data_length + 14; |
yamaguch | 0:0232a97b3883 | 243 | } |
yamaguch | 0:0232a97b3883 | 244 | |
yamaguch | 0:0232a97b3883 | 245 | int XBee::createAtRequest(char frame_id, const char *command, const uint8_t *param, int param_length, bool queue, char *buf, int buf_size) { |
yamaguch | 0:0232a97b3883 | 246 | if (param_length + 4 > buf_size) return -1; |
yamaguch | 0:0232a97b3883 | 247 | |
yamaguch | 0:0232a97b3883 | 248 | buf[0] = queue ? 0x09 : 0x08; // frame type |
yamaguch | 0:0232a97b3883 | 249 | buf[1] = frame_id; |
yamaguch | 0:0232a97b3883 | 250 | buf[2] = command[0]; |
yamaguch | 0:0232a97b3883 | 251 | buf[3] = command[1]; |
yamaguch | 0:0232a97b3883 | 252 | for (int i = 0; i < param_length; i++) buf[i + 4] = param[i]; |
yamaguch | 0:0232a97b3883 | 253 | |
yamaguch | 0:0232a97b3883 | 254 | return param_length + 4; |
yamaguch | 0:0232a97b3883 | 255 | } |
yamaguch | 0:0232a97b3883 | 256 | |
yamaguch | 0:0232a97b3883 | 257 | int XBee::createRemoteAtRequest(char frame_id, const char *command, const uint8_t *param, int param_length, char options, char *buf, int buf_size) { |
yamaguch | 0:0232a97b3883 | 258 | if (param_length + 4 > buf_size) return -1; |
yamaguch | 0:0232a97b3883 | 259 | |
yamaguch | 0:0232a97b3883 | 260 | buf[0] = 0x17; // frame type |
yamaguch | 0:0232a97b3883 | 261 | buf[1] = frame_id; |
yamaguch | 0:0232a97b3883 | 262 | memcpy(buf + 2, destination64, 8); |
yamaguch | 0:0232a97b3883 | 263 | buf[10] = destination16[0]; |
yamaguch | 0:0232a97b3883 | 264 | buf[11] = destination16[1]; |
yamaguch | 0:0232a97b3883 | 265 | buf[12] = options; |
yamaguch | 0:0232a97b3883 | 266 | buf[13] = command[0]; |
yamaguch | 0:0232a97b3883 | 267 | buf[14] = command[1]; |
yamaguch | 0:0232a97b3883 | 268 | for (int i = 0; i < param_length; i++) buf[i + 15] = param[i]; |
yamaguch | 0:0232a97b3883 | 269 | |
yamaguch | 0:0232a97b3883 | 270 | return param_length + 15; |
yamaguch | 0:0232a97b3883 | 271 | } |