XBee API mode library
Send.cpp@10:3da24a020e67, 2013-03-13 (annotated)
- Committer:
- yamaguch
- Date:
- Wed Mar 13 19:09:55 2013 +0000
- Revision:
- 10:3da24a020e67
- Parent:
- 8:776b8dc51932
- Child:
- 16:cdfcb63b2c4b
changed to use AbstractThread;; added setSendConfirmation;; changed send
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 | 0:0232a97b3883 | 26 | void XBee::sendCommand(const char *command, int8_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 27 | sendCommand(command, (uint64_t) param, queue); |
yamaguch | 0:0232a97b3883 | 28 | } |
yamaguch | 0:0232a97b3883 | 29 | |
yamaguch | 0:0232a97b3883 | 30 | void XBee::sendCommand(const char *command, int16_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, int32_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, int64_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, uint8_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, uint16_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, uint32_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, uint64_t param, bool queue) { |
yamaguch | 0:0232a97b3883 | 55 | uint8_t param_buf[8] = { |
yamaguch | 0:0232a97b3883 | 56 | (uint8_t) (param >> 56), (uint8_t) (param >> 48), |
yamaguch | 0:0232a97b3883 | 57 | (uint8_t) (param >> 40), (uint8_t) (param >> 32), |
yamaguch | 0:0232a97b3883 | 58 | (uint8_t) (param >> 24), (uint8_t) (param >> 16), |
yamaguch | 0:0232a97b3883 | 59 | (uint8_t) (param >> 8), (uint8_t) param |
yamaguch | 0:0232a97b3883 | 60 | }; |
yamaguch | 0:0232a97b3883 | 61 | |
yamaguch | 0:0232a97b3883 | 62 | int n = 0; |
yamaguch | 0:0232a97b3883 | 63 | while (n < 7 && param_buf[n] == 0) n++; |
yamaguch | 0:0232a97b3883 | 64 | |
yamaguch | 0:0232a97b3883 | 65 | sendCommand(command, param_buf + n, 8 - n, queue); |
yamaguch | 0:0232a97b3883 | 66 | } |
yamaguch | 0:0232a97b3883 | 67 | |
yamaguch | 0:0232a97b3883 | 68 | void XBee::sendCommand(const char *command, const char *param, bool queue) { |
yamaguch | 0:0232a97b3883 | 69 | sendCommand(command, (uint8_t *) param, strlen(param), queue); |
yamaguch | 0:0232a97b3883 | 70 | } |
yamaguch | 0:0232a97b3883 | 71 | |
yamaguch | 0:0232a97b3883 | 72 | void XBee::sendCommand(const char *command, const uint8_t *param, int param_length, bool queue) { |
yamaguch | 0:0232a97b3883 | 73 | char buf[param_length + 4]; |
yamaguch | 0:0232a97b3883 | 74 | |
yamaguch | 0:0232a97b3883 | 75 | createAtRequest(frame_id, command, param, param_length, queue, buf, sizeof(buf)); |
yamaguch | 0:0232a97b3883 | 76 | sendFrame(buf, param_length + 4); |
yamaguch | 0:0232a97b3883 | 77 | frame_id = frame_id % 255 + 1; |
yamaguch | 0:0232a97b3883 | 78 | } |
yamaguch | 0:0232a97b3883 | 79 | |
yamaguch | 0:0232a97b3883 | 80 | void XBee::sendRemoteCommand(const char *command, int8_t param) { |
yamaguch | 0:0232a97b3883 | 81 | sendRemoteCommand(command, (uint64_t) param); |
yamaguch | 0:0232a97b3883 | 82 | } |
yamaguch | 0:0232a97b3883 | 83 | |
yamaguch | 0:0232a97b3883 | 84 | void XBee::sendRemoteCommand(const char *command, int16_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, int32_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, int64_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, uint8_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, uint16_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, uint32_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, uint64_t param) { |
yamaguch | 0:0232a97b3883 | 109 | uint8_t param_buf[8] = { |
yamaguch | 0:0232a97b3883 | 110 | (uint8_t) (param >> 56), (uint8_t) (param >> 48), |
yamaguch | 0:0232a97b3883 | 111 | (uint8_t) (param >> 40), (uint8_t) (param >> 32), |
yamaguch | 0:0232a97b3883 | 112 | (uint8_t) (param >> 24), (uint8_t) (param >> 16), |
yamaguch | 0:0232a97b3883 | 113 | (uint8_t) (param >> 8), (uint8_t) param |
yamaguch | 0:0232a97b3883 | 114 | }; |
yamaguch | 0:0232a97b3883 | 115 | |
yamaguch | 0:0232a97b3883 | 116 | int n = 0; |
yamaguch | 0:0232a97b3883 | 117 | while (n < 7 && param_buf[n] == 0) n++; |
yamaguch | 0:0232a97b3883 | 118 | |
yamaguch | 0:0232a97b3883 | 119 | sendRemoteCommand(command, param_buf + n, 8 - n); |
yamaguch | 0:0232a97b3883 | 120 | } |
yamaguch | 0:0232a97b3883 | 121 | |
yamaguch | 0:0232a97b3883 | 122 | void XBee::sendRemoteCommand(const char *command, const char *param) { |
yamaguch | 0:0232a97b3883 | 123 | sendRemoteCommand(command, (uint8_t *) param, strlen(param)); |
yamaguch | 0:0232a97b3883 | 124 | } |
yamaguch | 0:0232a97b3883 | 125 | |
yamaguch | 0:0232a97b3883 | 126 | void XBee::sendRemoteCommand(const char *command, const uint8_t *param, int param_length, char options) { |
yamaguch | 0:0232a97b3883 | 127 | char buf[param_length + 15]; |
yamaguch | 0:0232a97b3883 | 128 | |
yamaguch | 0:0232a97b3883 | 129 | createRemoteAtRequest(frame_id, command, param, param_length, options, buf, sizeof(buf)); |
yamaguch | 0:0232a97b3883 | 130 | sendFrame(buf, param_length + 15); |
yamaguch | 0:0232a97b3883 | 131 | frame_id = frame_id % 255 + 1; |
yamaguch | 0:0232a97b3883 | 132 | } |
yamaguch | 0:0232a97b3883 | 133 | |
yamaguch | 10:3da24a020e67 | 134 | bool XBee::send(const char *data, int length) { |
yamaguch | 10:3da24a020e67 | 135 | return send(data, length, sendConfirmation); |
yamaguch | 10:3da24a020e67 | 136 | } |
yamaguch | 10:3da24a020e67 | 137 | |
yamaguch | 10:3da24a020e67 | 138 | bool XBee::send(const char *data, int length, float timeout) { |
yamaguch | 0:0232a97b3883 | 139 | if (length == 0) |
yamaguch | 0:0232a97b3883 | 140 | length = strlen(data); |
yamaguch | 0:0232a97b3883 | 141 | |
yamaguch | 0:0232a97b3883 | 142 | char buf[length + 14]; |
yamaguch | 0:0232a97b3883 | 143 | |
yamaguch | 0:0232a97b3883 | 144 | createTxRequest(frame_id, data, length, buf, sizeof(buf)); |
yamaguch | 0:0232a97b3883 | 145 | sendFrame(buf, length + 14); |
yamaguch | 10:3da24a020e67 | 146 | frame_id = frame_id % 255 + 1; |
yamaguch | 3:8453df14bd30 | 147 | |
yamaguch | 10:3da24a020e67 | 148 | if (timeout > 0) { |
yamaguch | 10:3da24a020e67 | 149 | int index = seekFor(ZigBeeTransmitStatus, frame_id, timeout); |
yamaguch | 0:0232a97b3883 | 150 | if (index != -1) { |
yamaguch | 0:0232a97b3883 | 151 | char delivery; |
yamaguch | 0:0232a97b3883 | 152 | scan(index, DeliveryStatus, &delivery); |
yamaguch | 0:0232a97b3883 | 153 | buf[INDEX(index + 2)] = 0x00; |
yamaguch | 0:0232a97b3883 | 154 | return delivery == 0; |
yamaguch | 10:3da24a020e67 | 155 | } else |
yamaguch | 10:3da24a020e67 | 156 | return false; |
yamaguch | 0:0232a97b3883 | 157 | } |
yamaguch | 10:3da24a020e67 | 158 | return true; |
yamaguch | 0:0232a97b3883 | 159 | } |
yamaguch | 0:0232a97b3883 | 160 | |
yamaguch | 10:3da24a020e67 | 161 | void XBee::setSendConfirmation(float sendConfirmation) { |
yamaguch | 10:3da24a020e67 | 162 | this->sendConfirmation = sendConfirmation; |
yamaguch | 0:0232a97b3883 | 163 | } |
yamaguch | 0:0232a97b3883 | 164 | |
yamaguch | 0:0232a97b3883 | 165 | int XBee::printf(const char *format, ...) { |
yamaguch | 0:0232a97b3883 | 166 | va_list argv; |
yamaguch | 0:0232a97b3883 | 167 | va_start(argv, format); |
yamaguch | 0:0232a97b3883 | 168 | char buf[256]; |
yamaguch | 0:0232a97b3883 | 169 | int length = vsnprintf(buf, sizeof buf, format, argv); |
yamaguch | 10:3da24a020e67 | 170 | return length > 0 && send(buf, length) ? length : -1; |
yamaguch | 0:0232a97b3883 | 171 | } |
yamaguch | 0:0232a97b3883 | 172 | |
yamaguch | 0:0232a97b3883 | 173 | void XBee::send(char c) { |
yamaguch | 10:3da24a020e67 | 174 | while (!writeable()) wait(0.001); |
yamaguch | 0:0232a97b3883 | 175 | putc(c); |
yamaguch | 0:0232a97b3883 | 176 | } |
yamaguch | 0:0232a97b3883 | 177 | |
yamaguch | 0:0232a97b3883 | 178 | void XBee::send2(char c) { |
yamaguch | 0:0232a97b3883 | 179 | switch (c) { |
yamaguch | 0:0232a97b3883 | 180 | case 0x7E: |
yamaguch | 0:0232a97b3883 | 181 | case 0x7D: |
yamaguch | 0:0232a97b3883 | 182 | case 0x11: |
yamaguch | 0:0232a97b3883 | 183 | case 0x13: |
yamaguch | 0:0232a97b3883 | 184 | send(ESCAPE); |
yamaguch | 0:0232a97b3883 | 185 | send(c ^ 0x20); |
yamaguch | 0:0232a97b3883 | 186 | break; |
yamaguch | 0:0232a97b3883 | 187 | default: |
yamaguch | 0:0232a97b3883 | 188 | send(c); |
yamaguch | 0:0232a97b3883 | 189 | } |
yamaguch | 0:0232a97b3883 | 190 | } |
yamaguch | 0:0232a97b3883 | 191 | |
yamaguch | 0:0232a97b3883 | 192 | void XBee::sendFrame(const char *frame, int length) { |
yamaguch | 0:0232a97b3883 | 193 | char checksum = 255; |
yamaguch | 0:0232a97b3883 | 194 | if (debug) leds = leds | 8; //**LEDS=1xxx |
yamaguch | 0:0232a97b3883 | 195 | |
yamaguch | 0:0232a97b3883 | 196 | send(PREAMBLE); |
yamaguch | 0:0232a97b3883 | 197 | |
yamaguch | 0:0232a97b3883 | 198 | if (apiMode == 2) { |
yamaguch | 0:0232a97b3883 | 199 | send2((length >> 8) & 255); |
yamaguch | 0:0232a97b3883 | 200 | send2(length & 255); |
yamaguch | 0:0232a97b3883 | 201 | for (int i = 0; i < length; i++) { |
yamaguch | 0:0232a97b3883 | 202 | send2(frame[i]); |
yamaguch | 0:0232a97b3883 | 203 | checksum -= frame[i]; |
yamaguch | 0:0232a97b3883 | 204 | } |
yamaguch | 0:0232a97b3883 | 205 | send2(checksum); |
yamaguch | 0:0232a97b3883 | 206 | } else { |
yamaguch | 0:0232a97b3883 | 207 | send((length >> 8) & 255); |
yamaguch | 0:0232a97b3883 | 208 | send(length & 255); |
yamaguch | 0:0232a97b3883 | 209 | for (int i = 0; i < length; i++) { |
yamaguch | 0:0232a97b3883 | 210 | send(frame[i]); |
yamaguch | 0:0232a97b3883 | 211 | checksum -= frame[i]; |
yamaguch | 0:0232a97b3883 | 212 | } |
yamaguch | 0:0232a97b3883 | 213 | send(checksum); |
yamaguch | 0:0232a97b3883 | 214 | } |
yamaguch | 0:0232a97b3883 | 215 | if (debug) leds = leds & 7; //**LEDS=0xxx |
yamaguch | 0:0232a97b3883 | 216 | } |
yamaguch | 0:0232a97b3883 | 217 | |
yamaguch | 0:0232a97b3883 | 218 | int XBee::createTxRequest(char frame_id, const char *data, int data_length, char *buf, int buf_size) { |
yamaguch | 0:0232a97b3883 | 219 | if (data_length + 14 > buf_size) return -1; |
yamaguch | 0:0232a97b3883 | 220 | |
yamaguch | 0:0232a97b3883 | 221 | buf[0] = 0x10; // frame type |
yamaguch | 0:0232a97b3883 | 222 | buf[1] = frame_id; |
yamaguch | 0:0232a97b3883 | 223 | for (int i = 0; i < 8; i++) buf[i + 2] = destination64[i]; |
yamaguch | 0:0232a97b3883 | 224 | buf[10] = destination16[0]; // 16 bit dest address |
yamaguch | 0:0232a97b3883 | 225 | buf[11] = destination16[1]; // 16 bit dest address |
yamaguch | 0:0232a97b3883 | 226 | buf[12] = 0; |
yamaguch | 0:0232a97b3883 | 227 | buf[13] = 0; |
yamaguch | 0:0232a97b3883 | 228 | for (int i = 0; i < data_length; i++) buf[i + 14] = data[i]; |
yamaguch | 0:0232a97b3883 | 229 | |
yamaguch | 0:0232a97b3883 | 230 | return data_length + 14; |
yamaguch | 0:0232a97b3883 | 231 | } |
yamaguch | 0:0232a97b3883 | 232 | |
yamaguch | 0:0232a97b3883 | 233 | 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 | 234 | if (param_length + 4 > buf_size) return -1; |
yamaguch | 0:0232a97b3883 | 235 | |
yamaguch | 0:0232a97b3883 | 236 | buf[0] = queue ? 0x09 : 0x08; // frame type |
yamaguch | 0:0232a97b3883 | 237 | buf[1] = frame_id; |
yamaguch | 0:0232a97b3883 | 238 | buf[2] = command[0]; |
yamaguch | 0:0232a97b3883 | 239 | buf[3] = command[1]; |
yamaguch | 0:0232a97b3883 | 240 | for (int i = 0; i < param_length; i++) buf[i + 4] = param[i]; |
yamaguch | 0:0232a97b3883 | 241 | |
yamaguch | 0:0232a97b3883 | 242 | return param_length + 4; |
yamaguch | 0:0232a97b3883 | 243 | } |
yamaguch | 0:0232a97b3883 | 244 | |
yamaguch | 0:0232a97b3883 | 245 | 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 | 246 | if (param_length + 4 > buf_size) return -1; |
yamaguch | 0:0232a97b3883 | 247 | |
yamaguch | 0:0232a97b3883 | 248 | buf[0] = 0x17; // frame type |
yamaguch | 0:0232a97b3883 | 249 | buf[1] = frame_id; |
yamaguch | 0:0232a97b3883 | 250 | memcpy(buf + 2, destination64, 8); |
yamaguch | 0:0232a97b3883 | 251 | buf[10] = destination16[0]; |
yamaguch | 0:0232a97b3883 | 252 | buf[11] = destination16[1]; |
yamaguch | 0:0232a97b3883 | 253 | buf[12] = options; |
yamaguch | 0:0232a97b3883 | 254 | buf[13] = command[0]; |
yamaguch | 0:0232a97b3883 | 255 | buf[14] = command[1]; |
yamaguch | 0:0232a97b3883 | 256 | for (int i = 0; i < param_length; i++) buf[i + 15] = param[i]; |
yamaguch | 0:0232a97b3883 | 257 | |
yamaguch | 0:0232a97b3883 | 258 | return param_length + 15; |
yamaguch | 0:0232a97b3883 | 259 | } |