Updated XBee core files

src/TypeDef.h

@@ -52,6 +52,8 @@
 #define ERR_RESPONSE_MALFORMED_AT       0x03
 #define ERR_RESPONSE_MALFORMED          0x04
 
+// XBee error codes
+#define ERR_CMD_MODE_FAILED             0x02
 
 enum Slot {SlotA, SlotB};
 

src/XBee.cpp

@@ -1,14 +1,288 @@
 #include "XBee.h"
 
+XBeeApiFrame::XBeeApiFrame(uint8_t apiId, uint8_t frameId) {
+  _apiId = apiId;
+  _frameId = frameId;
+}
+
 XBee::XBee(Module* module) {
   _mod = module;
 }
 
-void XBee::begin(long speed) {
+uint8_t XBee::begin(long speed) {
+  pinMode(A4, OUTPUT);
+  pinMode(A5, OUTPUT);
+  pinMode(3, OUTPUT);
+  digitalWrite(A4, LOW);
+  digitalWrite(A5, LOW);
+  digitalWrite(3, HIGH);
+  
+  _mod->AtLineFeed = "\r";
+  
   _mod->baudrate = speed;
   _mod->init(USE_UART, INT_NONE);
+  _mod->ATemptyBuffer();
+  
+  #ifdef DEBUG
+    Serial.println("Entering command mode ...");
+  #endif
+  if(!enterCmdMode()) {
+    return(ERR_CMD_MODE_FAILED);
+  }
+  
+  #ifdef DEBUG
+    Serial.println("Sending test command ...");
+  #endif
+  if(!_mod->ATsendCommand("AT")) {
+    return(ERR_AT_FAILED);
+  }
+  
+  #ifdef DEBUG
+    Serial.println("Exiting command mode ...");
+  #endif
+  if(!_mod->ATsendCommand("ATCN")) {
+    return(ERR_AT_FAILED);
+  }
+  
+  delay(1000);
+
+  return(ERR_NONE);
 }
 
-uint8_t XBee::send(uint32_t destinationAddressHigh, uint32_t destinationAddressLow, const char* data) {
+uint8_t XBee::setDestinationAddress(const char destinationAddressHigh[], const char destinationAddressLow[]) {
+  #ifdef DEBUG
+    Serial.println("Entering command mode ...");
+  #endif
+  if(!enterCmdMode()) {
+    return(ERR_CMD_MODE_FAILED);
+  }
   
+  #ifdef DEBUG
+    Serial.println("Setting PAN ID to 1 ...");
+  #endif
+  if(!_mod->ATsendCommand("ATID1")) {
+    return(ERR_AT_FAILED);
+  }
+  
+  #ifdef DEBUG
+    Serial.println("Setting address (high) ...");
+  #endif
+  String addressHigh = "ATDH";
+  addressHigh += destinationAddressHigh;
+  if(!_mod->ATsendCommand(addressHigh)) {
+    return(ERR_AT_FAILED);
+  }
+  
+  #ifdef DEBUG
+    Serial.println("Setting address (low) ...");
+  #endif
+  String addressLow = "ATDL";
+  addressLow += destinationAddressLow;
+  if(!_mod->ATsendCommand(addressLow)) {
+    return(ERR_AT_FAILED);
+  }
+  
+  #ifdef DEBUG
+    Serial.println("Exiting command mode ...");
+  #endif
+  if(!_mod->ATsendCommand("ATCN")) {
+    return(ERR_AT_FAILED);
+  }
+  
+  return(ERR_NONE);
 }
+
+size_t XBee::println(const char str[]) {
+  return(_mod->ModuleSerial->println(str));
+}
+
+size_t XBee::write(uint8_t b) {
+  return(_mod->ModuleSerial->write(b));
+}
+
+int XBee::available() {
+  return(_mod->ModuleSerial->available());
+}
+
+int XBee::read() {
+  return(_mod->ModuleSerial->read());
+}
+
+/*uint8_t XBee::transmit(Packet& pack) {
+  
+  #ifdef DEBUG
+    Serial.println("Writing packet data ...");
+  #endif
+  for(uint8_t i = 0; i < pack.length - 16; i++) {
+    #ifdef DEBUG
+      Serial.println(pack.data[i]);
+    #endif
+    _mod->ModuleSerial->write(pack.data[i]);
+  }
+  _mod->ModuleSerial->write('\n');
+  
+  return(ERR_NONE);
+}
+
+uint8_t XBee::receive(Packet& pack) {
+  #ifdef DEBUG
+    Serial.println("Entering command mode ...");
+  #endif
+  if(!enterCmdMode()) {
+    return(ERR_CMD_MODE_FAILED);
+  }
+  
+  return(ERR_NONE);
+}*/
+
+bool XBee::enterCmdMode() {
+  for(uint8_t i = 0; i < 10; i++) {
+    //guard time silence
+    delay(1000);
+    
+    //command sequence
+    _mod->ModuleSerial->write('+');
+    _mod->ModuleSerial->write('+');
+    _mod->ModuleSerial->write('+');
+    
+    //guard time silence
+    delay(1000);
+    
+    if(_mod->ATgetResponse()) {
+      return(true);
+    } else {
+      #ifdef DEBUG
+        Serial.print("Unable to enter command mode! (");
+        Serial.print(i + 1);
+        Serial.println(" of 10 tries)");
+      #endif
+      
+      _mod->ATsendCommand("ATCN");
+      
+      if(i == 9) {
+        #ifdef DEBUG
+          Serial.println("Terminated, check your wiring.");
+        #endif
+        return(false);
+      }
+    }
+  }
+}
+
+/*uint8_t XBee::transmit(uint32_t destinationAddressHigh, uint32_t destinationAddressLow, const char* data, uint8_t length) {
+  //build the API frame
+  uint8_t frameLength = length + 12;
+  uint8_t * frameData = new uint8_t[frameLength];
+  
+  //set the destination address
+  frameData[0] = (destinationAddressHigh >> 24) & 0xFF;
+  frameData[1] = (destinationAddressHigh >> 16) & 0xFF;
+  frameData[2] = (destinationAddressHigh >> 8) & 0xFF;
+  frameData[3] = destinationAddressHigh & 0xFF;
+  
+  frameData[4] = (destinationAddressLow >> 24) & 0xFF;
+  frameData[5] = (destinationAddressLow >> 16) & 0xFF;
+  frameData[6] = (destinationAddressLow >> 8) & 0xFF;
+  frameData[7] = destinationAddressLow & 0xFF;
+  
+  //set the destination network address
+  frameData[8] = 0xFF;
+  frameData[9] = 0xFE;
+  
+  //set broadcast radius (number of allowed hops, 0 - maximum)
+  frameData[10] = 0x00;
+  
+  //set the options
+  frameData[11] = 0x00;
+  
+  //copy payload data
+  for(uint8_t i = 0; i < length; i++) {
+    frameData[12 + i] = (uint8_t)data[i];
+  }
+  
+  //send the frame to XBee
+  sendApiFrame(XBEE_API_FRAME_ZIGBEE_TRANSMIT_REQUEST, frameData, frameLength);
+  
+  //deallocate memory
+  delete frameData;
+  
+  //wait for status frame
+  readApiFrame(1000);
+}*/
+
+/*void XBee::sendApiFrame(uint8_t apiId, uint8_t* data, uint16_t length) {
+  //send frame start delimiter
+  _mod->ModuleSerial->write(XBEE_API_START);
+  
+  //send frame length (API ID, frame ID and data length)
+  write(((length + 2) >> 8) & 0xFF);
+  write((length + 2) & 0xFF);
+  
+  //send API ID
+  write(apiId);
+  
+  //send default frame ID (value 0x00 would disable some feedback)
+  write(XBEE_API_DEFAULT_FRAME_ID);
+  
+  //checksum is calculated from API ID, frame ID and data
+  uint8_t checksum = apiId;
+  checksum += XBEE_API_DEFAULT_FRAME_ID;
+  
+  //send the data and calculate checksum
+  for(uint16_t i = 0; i < length; i++) {
+    write(data[i]);
+    checksum += data[i];
+  }
+  
+  //send the checksum
+  checksum = 0xFF - checksum;
+  write(checksum);
+}*/
+
+/*uint8_t XBee::readApiFrame(uint16_t timeout) {
+  //start the timer
+  unsigned long start = millis();
+  
+  Serial.println("reading");
+  
+  
+  //array to store frame length, type and ID
+  uint8_t header[4];
+  while(millis() - start < timeout) {
+    Serial.println(_mod->ModuleSerial->available());
+    //check buffer for new data
+    while(_mod->ModuleSerial->available()) {
+      uint8_t b = _mod->ModuleSerial->read();
+      
+      Serial.write(b);
+      Serial.print('\t');
+      Serial.println(b, HEX);
+      
+      if(b == XBEE_API_START) {
+        //received the start character
+        n = 0;
+      } else {
+        n++;
+      }
+      
+      //check escaped characters
+      if(b == XBEE_API_ESCAPE) {
+        //wait for the next byte
+        while(!_mod->ModuleSerial->available());
+        
+        //resolve the escaped character
+        b =_mod->ModuleSerial->read();
+        b = 0x20 ^ b;
+      }
+    }
+  }
+}*/
+
+/*void XBee::write(uint8_t b) {
+  if((b == XBEE_API_START) || (b == XBEE_API_ESCAPE) || (b == XBEE_API_XON) || (b == XBEE_API_XOFF)) {
+    _mod->ModuleSerial->write(XBEE_API_ESCAPE);
+    _mod->ModuleSerial->write(b ^ 0x20);
+  } else {
+    _mod->ModuleSerial->write(b);
+  }
+}*/

src/XBee.h

@@ -3,15 +3,71 @@
 
 #include "Module.h"
 #include "TypeDef.h"
+#include "Packet.h"
+
+/*//API reserved characters
+#define XBEE_API_START                                0x7E
+#define XBEE_API_ESCAPE                               0x7D
+#define XBEE_API_XON                                  0x11
+#define XBEE_API_XOFF                                 0x13
+
+//API frame IDs
+#define XBEE_API_FRAME_AT_COMMAND                     0x08
+#define XBEE_API_FRAME_AT_COMMAND_PARAMETER           0x09
+#define XBEE_API_FRAME_ZIGBEE_TRANSMIT_REQUEST        0x10
+#define XBEE_API_FRAME_ZIGBEE_ADDRESS_EXPLICIT        0x11
+#define XBEE_API_FRAME_REMOTE_COMMAND                 0x17
+#define XBEE_API_FRAME_CREATE_SOURCE_ROUTE            0x21
+#define XBEE_API_FRAME_AT_COMMAND_RESPONSE            0x88
+#define XBEE_API_FRAME_MODEM_STATUS                   0x8A
+#define XBEE_API_FRAME_ZIGBEE_TRANSMIT_STATUS         0x8B
+#define XBEE_API_FRAME_ZIGBEE_RECEIVE_PACKET          0x90
+#define XBEE_API_FRAME_ZIGBEE_EXPLICIT_RX             0x91
+#define XBEE_API_FRAME_ZIGBEE_IO_DATA_SAMPLE_RX       0x92
+#define XBEE_API_FRAME_SENSOR_READ                    0x94
+#define XBEE_API_FRAME_NODE_ID                        0x95
+#define XBEE_API_FRAME_REMOTE_COMMAND_RESPONSE        0x97
+#define XBEE_API_FRAME_EXTENDED_MODEM_STATUS          0x98
+#define XBEE_API_FRAME_OTA_FW_UPDATE_STATUS           0xA0
+#define XBEE_API_FRAME_ROUTE_RECORD                   0xA1
+#define XBEE_API_FRAME_MANY_TO_ONE_ROUTE_REQUEST      0xA3
+
+#define XBEE_API_DEFAULT_FRAME_ID                     0x01*/
+
+class XBeeApiFrame {
+  public:
+    XBeeApiFrame(uint8_t apiId, uint8_t frameId);
+    
+    uint8_t getApiId();
+    uint8_t getFrameId();
+    
+  private:
+    uint16_t _length;
+    uint8_t _apiId;
+    uint8_t _frameId;
+    uint8_t* _data;
+};
 
 class XBee {
   public:
     XBee(Module* module);
     
-    void begin(long speed);
+    uint8_t begin(long speed);
-    uint8_t send(uint32_t destinationAddressHigh, uint32_t destinationAddressLow, const char* data);
+    //uint8_t transmit(uint32_t destinationAddressHigh, uint32_t destinationAddressLow, const char* data, uint8_t length);
+    uint8_t setDestinationAddress(const char destinationAddressHigh[], const char destinationAddressLow[]);
+    /*uint8_t transmit(Packet& pack);
+    uint8_t receive(Packet& pack);*/
+    size_t println(const char str[]);
+    size_t write(uint8_t b);
+    int available();
+    int read();
+    
   private:
     Module* _mod;
+    bool enterCmdMode();
+    //void sendApiFrame(uint8_t id, uint8_t* data, uint16_t length);
+    //uint8_t readApiFrame(uint16_t timeout);
+    //void write(uint8_t b);
 };
 
 #endif