From 7d4a3b6e5785709fe654f878b6165d2b69d999b6 Mon Sep 17 00:00:00 2001 From: xdrm-brackets Date: Sun, 2 Dec 2018 21:42:34 +0100 Subject: [PATCH] add libraries --- .../LiquidCrystal_I2C/LiquidCrystal_I2C.cpp | 257 +++ .../LiquidCrystal_I2C/LiquidCrystal_I2C.h | 165 ++ libraries/LiquidCrystal_I2C/README.md | 9 + .../BlinkingCursor/BlinkingCursor.ino | 32 + .../examples/CustomChars/CustomChars.ino | 65 + .../examples/HelloWorld/HelloWorld.ino | 20 + .../examples/SerialDisplay/SerialDisplay.ino | 34 + libraries/LiquidCrystal_I2C/keywords.txt | 46 + libraries/XBee/COPYING | 674 +++++++ libraries/XBee/XBee.cpp | 1566 +++++++++++++++++ libraries/XBee/XBee.h | 1078 ++++++++++++ .../XBee/examples/AtCommand/AtCommand.pde | 135 ++ .../RemoteAtCommand/RemoteAtCommand.pde | 143 ++ .../Series1_IoSamples/Series1_IoSamples.pde | 112 ++ .../XBee/examples/Series1_Rx/Series1_Rx.pde | 101 ++ .../XBee/examples/Series1_Tx/Series1_Tx.pde | 116 ++ .../Series2_IoSamples/Series2_IoSamples.pde | 115 ++ .../XBee/examples/Series2_Rx/Series2_Rx.pde | 108 ++ .../Series2_Rx_Nss/Series2_Rx_Nss.pde | 99 ++ .../examples/Series2_Sleep/Series2_Sleep.pde | 167 ++ .../XBee/examples/Series2_Tx/Series2_Tx.pde | 102 ++ 21 files changed, 5144 insertions(+) create mode 100755 libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.cpp create mode 100755 libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.h create mode 100755 libraries/LiquidCrystal_I2C/README.md create mode 100755 libraries/LiquidCrystal_I2C/examples/BlinkingCursor/BlinkingCursor.ino create mode 100755 libraries/LiquidCrystal_I2C/examples/CustomChars/CustomChars.ino create mode 100755 libraries/LiquidCrystal_I2C/examples/HelloWorld/HelloWorld.ino create mode 100755 libraries/LiquidCrystal_I2C/examples/SerialDisplay/SerialDisplay.ino create mode 100755 libraries/LiquidCrystal_I2C/keywords.txt create mode 100755 libraries/XBee/COPYING create mode 100755 libraries/XBee/XBee.cpp create mode 100755 libraries/XBee/XBee.h create mode 100755 libraries/XBee/examples/AtCommand/AtCommand.pde create mode 100755 libraries/XBee/examples/RemoteAtCommand/RemoteAtCommand.pde create mode 100755 libraries/XBee/examples/Series1_IoSamples/Series1_IoSamples.pde create mode 100755 libraries/XBee/examples/Series1_Rx/Series1_Rx.pde create mode 100755 libraries/XBee/examples/Series1_Tx/Series1_Tx.pde create mode 100755 libraries/XBee/examples/Series2_IoSamples/Series2_IoSamples.pde create mode 100755 libraries/XBee/examples/Series2_Rx/Series2_Rx.pde create mode 100755 libraries/XBee/examples/Series2_Rx_Nss/Series2_Rx_Nss.pde create mode 100755 libraries/XBee/examples/Series2_Sleep/Series2_Sleep.pde create mode 100755 libraries/XBee/examples/Series2_Tx/Series2_Tx.pde diff --git a/libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.cpp b/libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.cpp new file mode 100755 index 0000000..5619654 --- /dev/null +++ b/libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.cpp @@ -0,0 +1,257 @@ +#include "LiquidCrystal_I2C.h" +#include +#include +#include + +// When the display powers up, it is configured as follows: +// +// 1. Display clear +// 2. Function set: +// DL = 1; 8-bit interface data +// N = 0; 1-line display +// F = 0; 5x8 dot character font +// 3. Display on/off control: +// D = 0; Display off +// C = 0; Cursor off +// B = 0; Blinking off +// 4. Entry mode set: +// I/D = 1; Increment by 1 +// S = 0; No shift +// +// Note, however, that resetting the Arduino doesn't reset the LCD, so we +// can't assume that its in that state when a sketch starts (and the +// LiquidCrystal constructor is called). + +LiquidCrystal_I2C::LiquidCrystal_I2C(uint8_t lcd_addr, uint8_t lcd_cols, uint8_t lcd_rows, uint8_t charsize) +{ + _addr = lcd_addr; + _cols = lcd_cols; + _rows = lcd_rows; + _charsize = charsize; + _backlightval = LCD_BACKLIGHT; +} + +void LiquidCrystal_I2C::begin() { + Wire.begin(); + _displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS; + + if (_rows > 1) { + _displayfunction |= LCD_2LINE; + } + + // for some 1 line displays you can select a 10 pixel high font + if ((_charsize != 0) && (_rows == 1)) { + _displayfunction |= LCD_5x10DOTS; + } + + // SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION! + // according to datasheet, we need at least 40ms after power rises above 2.7V + // before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50 + delay(50); + + // Now we pull both RS and R/W low to begin commands + expanderWrite(_backlightval); // reset expanderand turn backlight off (Bit 8 =1) + delay(1000); + + //put the LCD into 4 bit mode + // this is according to the hitachi HD44780 datasheet + // figure 24, pg 46 + + // we start in 8bit mode, try to set 4 bit mode + write4bits(0x03 << 4); + delayMicroseconds(4500); // wait min 4.1ms + + // second try + write4bits(0x03 << 4); + delayMicroseconds(4500); // wait min 4.1ms + + // third go! + write4bits(0x03 << 4); + delayMicroseconds(150); + + // finally, set to 4-bit interface + write4bits(0x02 << 4); + + // set # lines, font size, etc. + command(LCD_FUNCTIONSET | _displayfunction); + + // turn the display on with no cursor or blinking default + _displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF; + display(); + + // clear it off + clear(); + + // Initialize to default text direction (for roman languages) + _displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT; + + // set the entry mode + command(LCD_ENTRYMODESET | _displaymode); + + home(); +} + +/********** high level commands, for the user! */ +void LiquidCrystal_I2C::clear(){ + command(LCD_CLEARDISPLAY);// clear display, set cursor position to zero + delayMicroseconds(2000); // this command takes a long time! +} + +void LiquidCrystal_I2C::home(){ + command(LCD_RETURNHOME); // set cursor position to zero + delayMicroseconds(2000); // this command takes a long time! +} + +void LiquidCrystal_I2C::setCursor(uint8_t col, uint8_t row){ + int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 }; + if (row > _rows) { + row = _rows-1; // we count rows starting w/0 + } + command(LCD_SETDDRAMADDR | (col + row_offsets[row])); +} + +// Turn the display on/off (quickly) +void LiquidCrystal_I2C::noDisplay() { + _displaycontrol &= ~LCD_DISPLAYON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal_I2C::display() { + _displaycontrol |= LCD_DISPLAYON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// Turns the underline cursor on/off +void LiquidCrystal_I2C::noCursor() { + _displaycontrol &= ~LCD_CURSORON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal_I2C::cursor() { + _displaycontrol |= LCD_CURSORON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// Turn on and off the blinking cursor +void LiquidCrystal_I2C::noBlink() { + _displaycontrol &= ~LCD_BLINKON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} +void LiquidCrystal_I2C::blink() { + _displaycontrol |= LCD_BLINKON; + command(LCD_DISPLAYCONTROL | _displaycontrol); +} + +// These commands scroll the display without changing the RAM +void LiquidCrystal_I2C::scrollDisplayLeft(void) { + command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT); +} +void LiquidCrystal_I2C::scrollDisplayRight(void) { + command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT); +} + +// This is for text that flows Left to Right +void LiquidCrystal_I2C::leftToRight(void) { + _displaymode |= LCD_ENTRYLEFT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This is for text that flows Right to Left +void LiquidCrystal_I2C::rightToLeft(void) { + _displaymode &= ~LCD_ENTRYLEFT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This will 'right justify' text from the cursor +void LiquidCrystal_I2C::autoscroll(void) { + _displaymode |= LCD_ENTRYSHIFTINCREMENT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// This will 'left justify' text from the cursor +void LiquidCrystal_I2C::noAutoscroll(void) { + _displaymode &= ~LCD_ENTRYSHIFTINCREMENT; + command(LCD_ENTRYMODESET | _displaymode); +} + +// Allows us to fill the first 8 CGRAM locations +// with custom characters +void LiquidCrystal_I2C::createChar(uint8_t location, uint8_t charmap[]) { + location &= 0x7; // we only have 8 locations 0-7 + command(LCD_SETCGRAMADDR | (location << 3)); + for (int i=0; i<8; i++) { + write(charmap[i]); + } +} + +// Turn the (optional) backlight off/on +void LiquidCrystal_I2C::noBacklight(void) { + _backlightval=LCD_NOBACKLIGHT; + expanderWrite(0); +} + +void LiquidCrystal_I2C::backlight(void) { + _backlightval=LCD_BACKLIGHT; + expanderWrite(0); +} +bool LiquidCrystal_I2C::getBacklight() { + return _backlightval == LCD_BACKLIGHT; +} + + +/*********** mid level commands, for sending data/cmds */ + +inline void LiquidCrystal_I2C::command(uint8_t value) { + send(value, 0); +} + +inline size_t LiquidCrystal_I2C::write(uint8_t value) { + send(value, Rs); + return 1; +} + + +/************ low level data pushing commands **********/ + +// write either command or data +void LiquidCrystal_I2C::send(uint8_t value, uint8_t mode) { + uint8_t highnib=value&0xf0; + uint8_t lownib=(value<<4)&0xf0; + write4bits((highnib)|mode); + write4bits((lownib)|mode); +} + +void LiquidCrystal_I2C::write4bits(uint8_t value) { + expanderWrite(value); + pulseEnable(value); +} + +void LiquidCrystal_I2C::expanderWrite(uint8_t _data){ + Wire.beginTransmission(_addr); + Wire.write((int)(_data) | _backlightval); + Wire.endTransmission(); +} + +void LiquidCrystal_I2C::pulseEnable(uint8_t _data){ + expanderWrite(_data | En); // En high + delayMicroseconds(1); // enable pulse must be >450ns + + expanderWrite(_data & ~En); // En low + delayMicroseconds(50); // commands need > 37us to settle +} + +void LiquidCrystal_I2C::load_custom_character(uint8_t char_num, uint8_t *rows){ + createChar(char_num, rows); +} + +void LiquidCrystal_I2C::setBacklight(uint8_t new_val){ + if (new_val) { + backlight(); // turn backlight on + } else { + noBacklight(); // turn backlight off + } +} + +void LiquidCrystal_I2C::printstr(const char c[]){ + //This function is not identical to the function used for "real" I2C displays + //it's here so the user sketch doesn't have to be changed + print(c); +} diff --git a/libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.h b/libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.h new file mode 100755 index 0000000..20a0d8c --- /dev/null +++ b/libraries/LiquidCrystal_I2C/LiquidCrystal_I2C.h @@ -0,0 +1,165 @@ +#ifndef FDB_LIQUID_CRYSTAL_I2C_H +#define FDB_LIQUID_CRYSTAL_I2C_H + +#include +#include + +// commands +#define LCD_CLEARDISPLAY 0x01 +#define LCD_RETURNHOME 0x02 +#define LCD_ENTRYMODESET 0x04 +#define LCD_DISPLAYCONTROL 0x08 +#define LCD_CURSORSHIFT 0x10 +#define LCD_FUNCTIONSET 0x20 +#define LCD_SETCGRAMADDR 0x40 +#define LCD_SETDDRAMADDR 0x80 + +// flags for display entry mode +#define LCD_ENTRYRIGHT 0x00 +#define LCD_ENTRYLEFT 0x02 +#define LCD_ENTRYSHIFTINCREMENT 0x01 +#define LCD_ENTRYSHIFTDECREMENT 0x00 + +// flags for display on/off control +#define LCD_DISPLAYON 0x04 +#define LCD_DISPLAYOFF 0x00 +#define LCD_CURSORON 0x02 +#define LCD_CURSOROFF 0x00 +#define LCD_BLINKON 0x01 +#define LCD_BLINKOFF 0x00 + +// flags for display/cursor shift +#define LCD_DISPLAYMOVE 0x08 +#define LCD_CURSORMOVE 0x00 +#define LCD_MOVERIGHT 0x04 +#define LCD_MOVELEFT 0x00 + +// flags for function set +#define LCD_8BITMODE 0x10 +#define LCD_4BITMODE 0x00 +#define LCD_2LINE 0x08 +#define LCD_1LINE 0x00 +#define LCD_5x10DOTS 0x04 +#define LCD_5x8DOTS 0x00 + +// flags for backlight control +#define LCD_BACKLIGHT 0x08 +#define LCD_NOBACKLIGHT 0x00 + +#define En B00000100 // Enable bit +#define Rw B00000010 // Read/Write bit +#define Rs B00000001 // Register select bit + +/** + * This is the driver for the Liquid Crystal LCD displays that use the I2C bus. + * + * After creating an instance of this class, first call begin() before anything else. + * The backlight is on by default, since that is the most likely operating mode in + * most cases. + */ +class LiquidCrystal_I2C : public Print { +public: + /** + * Constructor + * + * @param lcd_addr I2C slave address of the LCD display. Most likely printed on the + * LCD circuit board, or look in the supplied LCD documentation. + * @param lcd_cols Number of columns your LCD display has. + * @param lcd_rows Number of rows your LCD display has. + * @param charsize The size in dots that the display has, use LCD_5x10DOTS or LCD_5x8DOTS. + */ + LiquidCrystal_I2C(uint8_t lcd_addr, uint8_t lcd_cols, uint8_t lcd_rows, uint8_t charsize = LCD_5x8DOTS); + + /** + * Set the LCD display in the correct begin state, must be called before anything else is done. + */ + void begin(); + + /** + * Remove all the characters currently shown. Next print/write operation will start + * from the first position on LCD display. + */ + void clear(); + + /** + * Next print/write operation will will start from the first position on the LCD display. + */ + void home(); + + /** + * Do not show any characters on the LCD display. Backlight state will remain unchanged. + * Also all characters written on the display will return, when the display in enabled again. + */ + void noDisplay(); + + /** + * Show the characters on the LCD display, this is the normal behaviour. This method should + * only be used after noDisplay() has been used. + */ + void display(); + + /** + * Do not blink the cursor indicator. + */ + void noBlink(); + + /** + * Start blinking the cursor indicator. + */ + void blink(); + + /** + * Do not show a cursor indicator. + */ + void noCursor(); + + /** + * Show a cursor indicator, cursor can blink on not blink. Use the + * methods blink() and noBlink() for changing cursor blink. + */ + void cursor(); + + void scrollDisplayLeft(); + void scrollDisplayRight(); + void printLeft(); + void printRight(); + void leftToRight(); + void rightToLeft(); + void shiftIncrement(); + void shiftDecrement(); + void noBacklight(); + void backlight(); + bool getBacklight(); + void autoscroll(); + void noAutoscroll(); + void createChar(uint8_t, uint8_t[]); + void setCursor(uint8_t, uint8_t); + virtual size_t write(uint8_t); + void command(uint8_t); + + inline void blink_on() { blink(); } + inline void blink_off() { noBlink(); } + inline void cursor_on() { cursor(); } + inline void cursor_off() { noCursor(); } + +// Compatibility API function aliases + void setBacklight(uint8_t new_val); // alias for backlight() and nobacklight() + void load_custom_character(uint8_t char_num, uint8_t *rows); // alias for createChar() + void printstr(const char[]); + +private: + void send(uint8_t, uint8_t); + void write4bits(uint8_t); + void expanderWrite(uint8_t); + void pulseEnable(uint8_t); + uint8_t _addr; + uint8_t _displayfunction; + uint8_t _displaycontrol; + uint8_t _displaymode; + uint8_t _cols; + uint8_t _rows; + uint8_t _charsize; + uint8_t _backlightval; +}; + +#endif // FDB_LIQUID_CRYSTAL_I2C_H diff --git a/libraries/LiquidCrystal_I2C/README.md b/libraries/LiquidCrystal_I2C/README.md new file mode 100755 index 0000000..9b84222 --- /dev/null +++ b/libraries/LiquidCrystal_I2C/README.md @@ -0,0 +1,9 @@ +# Installation # +Create a new folder called "LiquidCrystal_I2C" under the folder named "libraries" in your Arduino sketchbook folder. +Create the folder "libraries" in case it does not exist yet. Place all the files in the "LiquidCrystal_I2C" folder. + +# Usage # +To use the library in your own sketch, select it from *Sketch > Import Library*. + +------------------------------------------------------------------------------------------------------------------- +This library is based on work done by DFROBOT (www.dfrobot.com). \ No newline at end of file diff --git a/libraries/LiquidCrystal_I2C/examples/BlinkingCursor/BlinkingCursor.ino b/libraries/LiquidCrystal_I2C/examples/BlinkingCursor/BlinkingCursor.ino new file mode 100755 index 0000000..addc18d --- /dev/null +++ b/libraries/LiquidCrystal_I2C/examples/BlinkingCursor/BlinkingCursor.ino @@ -0,0 +1,32 @@ +#include +#include + +// Set the LCD address to 0x27 for a 16 chars and 2 line display +LiquidCrystal_I2C lcd(0x27, 16, 2); + +void setup() +{ + // initialize the LCD + lcd.begin(); +} + +void loop() +{ + bool blinking = true; + lcd.cursor(); + + while (1) { + if (blinking) { + lcd.clear(); + lcd.print("No cursor blink"); + lcd.noBlink(); + blinking = false; + } else { + lcd.clear(); + lcd.print("Cursor blink"); + lcd.blink(); + blinking = true; + } + delay(4000); + } +} diff --git a/libraries/LiquidCrystal_I2C/examples/CustomChars/CustomChars.ino b/libraries/LiquidCrystal_I2C/examples/CustomChars/CustomChars.ino new file mode 100755 index 0000000..c006e63 --- /dev/null +++ b/libraries/LiquidCrystal_I2C/examples/CustomChars/CustomChars.ino @@ -0,0 +1,65 @@ +#include +#include + +uint8_t bell[8] = {0x4, 0xe, 0xe, 0xe, 0x1f, 0x0, 0x4}; +uint8_t note[8] = {0x2, 0x3, 0x2, 0xe, 0x1e, 0xc, 0x0}; +uint8_t clock[8] = {0x0, 0xe, 0x15, 0x17, 0x11, 0xe, 0x0}; +uint8_t heart[8] = {0x0, 0xa, 0x1f, 0x1f, 0xe, 0x4, 0x0}; +uint8_t duck[8] = {0x0, 0xc, 0x1d, 0xf, 0xf, 0x6, 0x0}; +uint8_t check[8] = {0x0, 0x1 ,0x3, 0x16, 0x1c, 0x8, 0x0}; +uint8_t cross[8] = {0x0, 0x1b, 0xe, 0x4, 0xe, 0x1b, 0x0}; +uint8_t retarrow[8] = { 0x1, 0x1, 0x5, 0x9, 0x1f, 0x8, 0x4}; + +// Set the LCD address to 0x27 for a 16 chars and 2 line display +LiquidCrystal_I2C lcd(0x27, 16, 2); + +void setup() +{ + lcd.begin(); + lcd.backlight(); + + lcd.createChar(0, bell); + lcd.createChar(1, note); + lcd.createChar(2, clock); + lcd.createChar(3, heart); + lcd.createChar(4, duck); + lcd.createChar(5, check); + lcd.createChar(6, cross); + lcd.createChar(7, retarrow); + lcd.home(); + + lcd.print("Hello world..."); + lcd.setCursor(0, 1); + lcd.print(" i "); + lcd.write(3); + lcd.print(" arduinos!"); + delay(5000); + displayKeyCodes(); +} + +// display all keycodes +void displayKeyCodes(void) { + uint8_t i = 0; + + while (1) { + lcd.clear(); + lcd.print("Codes 0x"); + lcd.print(i, HEX); + lcd.print("-0x"); + lcd.print(i + 16, HEX); + lcd.setCursor(0, 1); + + for (int j = 0; j < 16; j++) { + lcd.write(i + j); + } + i += 16; + + delay(4000); + } +} + +void loop() +{ + // Do nothing here... +} + diff --git a/libraries/LiquidCrystal_I2C/examples/HelloWorld/HelloWorld.ino b/libraries/LiquidCrystal_I2C/examples/HelloWorld/HelloWorld.ino new file mode 100755 index 0000000..fdb9ee6 --- /dev/null +++ b/libraries/LiquidCrystal_I2C/examples/HelloWorld/HelloWorld.ino @@ -0,0 +1,20 @@ +#include +#include + +// Set the LCD address to 0x27 for a 16 chars and 2 line display +LiquidCrystal_I2C lcd(0x27, 16, 2); + +void setup() +{ + // initialize the LCD + lcd.begin(); + + // Turn on the blacklight and print a message. + lcd.backlight(); + lcd.print("Hello, world!"); +} + +void loop() +{ + // Do nothing here... +} diff --git a/libraries/LiquidCrystal_I2C/examples/SerialDisplay/SerialDisplay.ino b/libraries/LiquidCrystal_I2C/examples/SerialDisplay/SerialDisplay.ino new file mode 100755 index 0000000..a384c98 --- /dev/null +++ b/libraries/LiquidCrystal_I2C/examples/SerialDisplay/SerialDisplay.ino @@ -0,0 +1,34 @@ +/** + * Displays text sent over the serial port (e.g. from the Serial Monitor) on + * an attached LCD. + */ +#include +#include + +// Set the LCD address to 0x27 for a 16 chars and 2 line display +LiquidCrystal_I2C lcd(0x27, 16, 2); + +void setup() +{ + lcd.begin(); + lcd.backlight(); + + // Initialize the serial port at a speed of 9600 baud + Serial.begin(9600); +} + +void loop() +{ + // If characters arrived over the serial port... + if (Serial.available()) { + // Wait a bit for the entire message to arrive + delay(100); + // Clear the screen + lcd.clear(); + + // Write all characters received with the serial port to the LCD. + while (Serial.available() > 0) { + lcd.write(Serial.read()); + } + } +} diff --git a/libraries/LiquidCrystal_I2C/keywords.txt b/libraries/LiquidCrystal_I2C/keywords.txt new file mode 100755 index 0000000..8c450a9 --- /dev/null +++ b/libraries/LiquidCrystal_I2C/keywords.txt @@ -0,0 +1,46 @@ +########################################### +# Syntax Coloring Map For LiquidCrystal_I2C +########################################### + +########################################### +# Datatypes (KEYWORD1) +########################################### + +LiquidCrystal_I2C KEYWORD1 + +########################################### +# Methods and Functions (KEYWORD2) +########################################### +init KEYWORD2 +begin KEYWORD2 +clear KEYWORD2 +home KEYWORD2 +noDisplay KEYWORD2 +display KEYWORD2 +noBlink KEYWORD2 +blink KEYWORD2 +noCursor KEYWORD2 +cursor KEYWORD2 +scrollDisplayLeft KEYWORD2 +scrollDisplayRight KEYWORD2 +leftToRight KEYWORD2 +rightToLeft KEYWORD2 +shiftIncrement KEYWORD2 +shiftDecrement KEYWORD2 +noBacklight KEYWORD2 +backlight KEYWORD2 +autoscroll KEYWORD2 +noAutoscroll KEYWORD2 +createChar KEYWORD2 +setCursor KEYWORD2 +print KEYWORD2 +blink_on KEYWORD2 +blink_off KEYWORD2 +cursor_on KEYWORD2 +cursor_off KEYWORD2 +setBacklight KEYWORD2 +load_custom_character KEYWORD2 +printstr KEYWORD2 +########################################### +# Constants (LITERAL1) +########################################### diff --git a/libraries/XBee/COPYING b/libraries/XBee/COPYING new file mode 100755 index 0000000..94a9ed0 --- /dev/null +++ b/libraries/XBee/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. Our General Public Licenses are designed to make sure that you +have the freedom to distribute copies of free software (and charge for +them if you wish), that you receive source code or can get it if you +want it, that you can change the software or use pieces of it in new +free programs, and that you know you can do these things. + + To protect your rights, we need to prevent others from denying you +these rights or asking you to surrender the rights. Therefore, you have +certain responsibilities if you distribute copies of the software, or if +you modify it: responsibilities to respect the freedom of others. + + For example, if you distribute copies of such a program, whether +gratis or for a fee, you must pass on to the recipients the same +freedoms that you received. You must make sure that they, too, receive +or can get the source code. And you must show them these terms so they +know their rights. + + Developers that use the GNU GPL protect your rights with two steps: +(1) assert copyright on the software, and (2) offer you this License +giving you legal permission to copy, distribute and/or modify it. + + For the developers' and authors' protection, the GPL clearly explains +that there is no warranty for this free software. For both users' and +authors' sake, the GPL requires that modified versions be marked as +changed, so that their problems will not be attributed erroneously to +authors of previous versions. + + Some devices are designed to deny users access to install or run +modified versions of the software inside them, although the manufacturer +can do so. This is fundamentally incompatible with the aim of +protecting users' freedom to change the software. The systematic +pattern of such abuse occurs in the area of products for individuals to +use, which is precisely where it is most unacceptable. Therefore, we +have designed this version of the GPL to prohibit the practice for those +products. If such problems arise substantially in other domains, we +stand ready to extend this provision to those domains in future versions +of the GPL, as needed to protect the freedom of users. + + Finally, every program is threatened constantly by software patents. +States should not allow patents to restrict development and use of +software on general-purpose computers, but in those that do, we wish to +avoid the special danger that patents applied to a free program could +make it effectively proprietary. To prevent this, the GPL assures that +patents cannot be used to render the program non-free. + + The precise terms and conditions for copying, distribution and +modification follow. + + TERMS AND CONDITIONS + + 0. Definitions. + + "This License" refers to version 3 of the GNU General Public License. + + "Copyright" also means copyright-like laws that apply to other kinds of +works, such as semiconductor masks. + + "The Program" refers to any copyrightable work licensed under this +License. Each licensee is addressed as "you". "Licensees" and +"recipients" may be individuals or organizations. + + To "modify" a work means to copy from or adapt all or part of the work +in a fashion requiring copyright permission, other than the making of an +exact copy. The resulting work is called a "modified version" of the +earlier work or a work "based on" the earlier work. + + A "covered work" means either the unmodified Program or a work based +on the Program. + + To "propagate" a work means to do anything with it that, without +permission, would make you directly or secondarily liable for +infringement under applicable copyright law, except executing it on a +computer or modifying a private copy. Propagation includes copying, +distribution (with or without modification), making available to the +public, and in some countries other activities as well. + + To "convey" a work means any kind of propagation that enables other +parties to make or receive copies. Mere interaction with a user through +a computer network, with no transfer of a copy, is not conveying. + + An interactive user interface displays "Appropriate Legal Notices" +to the extent that it includes a convenient and prominently visible +feature that (1) displays an appropriate copyright notice, and (2) +tells the user that there is no warranty for the work (except to the +extent that warranties are provided), that licensees may convey the +work under this License, and how to view a copy of this License. If +the interface presents a list of user commands or options, such as a +menu, a prominent item in the list meets this criterion. + + 1. Source Code. + + The "source code" for a work means the preferred form of the work +for making modifications to it. "Object code" means any non-source +form of a work. + + A "Standard Interface" means an interface that either is an official +standard defined by a recognized standards body, or, in the case of +interfaces specified for a particular programming language, one that +is widely used among developers working in that language. + + The "System Libraries" of an executable work include anything, other +than the work as a whole, that (a) is included in the normal form of +packaging a Major Component, but which is not part of that Major +Component, and (b) serves only to enable use of the work with that +Major Component, or to implement a Standard Interface for which an +implementation is available to the public in source code form. A +"Major Component", in this context, means a major essential component +(kernel, window system, and so on) of the specific operating system +(if any) on which the executable work runs, or a compiler used to +produce the work, or an object code interpreter used to run it. + + The "Corresponding Source" for a work in object code form means all +the source code needed to generate, install, and (for an executable +work) run the object code and to modify the work, including scripts to +control those activities. However, it does not include the work's +System Libraries, or general-purpose tools or generally available free +programs which are used unmodified in performing those activities but +which are not part of the work. For example, Corresponding Source +includes interface definition files associated with source files for +the work, and the source code for shared libraries and dynamically +linked subprograms that the work is specifically designed to require, +such as by intimate data communication or control flow between those +subprograms and other parts of the work. + + The Corresponding Source need not include anything that users +can regenerate automatically from other parts of the Corresponding +Source. + + The Corresponding Source for a work in source code form is that +same work. + + 2. Basic Permissions. + + All rights granted under this License are granted for the term of +copyright on the Program, and are irrevocable provided the stated +conditions are met. This License explicitly affirms your unlimited +permission to run the unmodified Program. The output from running a +covered work is covered by this License only if the output, given its +content, constitutes a covered work. This License acknowledges your +rights of fair use or other equivalent, as provided by copyright law. + + You may make, run and propagate covered works that you do not +convey, without conditions so long as your license otherwise remains +in force. You may convey covered works to others for the sole purpose +of having them make modifications exclusively for you, or provide you +with facilities for running those works, provided that you comply with +the terms of this License in conveying all material for which you do +not control copyright. Those thus making or running the covered works +for you must do so exclusively on your behalf, under your direction +and control, on terms that prohibit them from making any copies of +your copyrighted material outside their relationship with you. + + Conveying under any other circumstances is permitted solely under +the conditions stated below. Sublicensing is not allowed; section 10 +makes it unnecessary. + + 3. Protecting Users' Legal Rights From Anti-Circumvention Law. + + No covered work shall be deemed part of an effective technological +measure under any applicable law fulfilling obligations under article +11 of the WIPO copyright treaty adopted on 20 December 1996, or +similar laws prohibiting or restricting circumvention of such +measures. + + When you convey a covered work, you waive any legal power to forbid +circumvention of technological measures to the extent such circumvention +is effected by exercising rights under this License with respect to +the covered work, and you disclaim any intention to limit operation or +modification of the work as a means of enforcing, against the work's +users, your or third parties' legal rights to forbid circumvention of +technological measures. + + 4. Conveying Verbatim Copies. + + You may convey verbatim copies of the Program's source code as you +receive it, in any medium, provided that you conspicuously and +appropriately publish on each copy an appropriate copyright notice; +keep intact all notices stating that this License and any +non-permissive terms added in accord with section 7 apply to the code; +keep intact all notices of the absence of any warranty; and give all +recipients a copy of this License along with the Program. + + You may charge any price or no price for each copy that you convey, +and you may offer support or warranty protection for a fee. + + 5. Conveying Modified Source Versions. + + You may convey a work based on the Program, or the modifications to +produce it from the Program, in the form of source code under the +terms of section 4, provided that you also meet all of these conditions: + + a) The work must carry prominent notices stating that you modified + it, and giving a relevant date. + + b) The work must carry prominent notices stating that it is + released under this License and any conditions added under section + 7. This requirement modifies the requirement in section 4 to + "keep intact all notices". + + c) You must license the entire work, as a whole, under this + License to anyone who comes into possession of a copy. This + License will therefore apply, along with any applicable section 7 + additional terms, to the whole of the work, and all its parts, + regardless of how they are packaged. This License gives no + permission to license the work in any other way, but it does not + invalidate such permission if you have separately received it. + + d) If the work has interactive user interfaces, each must display + Appropriate Legal Notices; however, if the Program has interactive + interfaces that do not display Appropriate Legal Notices, your + work need not make them do so. + + A compilation of a covered work with other separate and independent +works, which are not by their nature extensions of the covered work, +and which are not combined with it such as to form a larger program, +in or on a volume of a storage or distribution medium, is called an +"aggregate" if the compilation and its resulting copyright are not +used to limit the access or legal rights of the compilation's users +beyond what the individual works permit. Inclusion of a covered work +in an aggregate does not cause this License to apply to the other +parts of the aggregate. + + 6. Conveying Non-Source Forms. + + You may convey a covered work in object code form under the terms +of sections 4 and 5, provided that you also convey the +machine-readable Corresponding Source under the terms of this License, +in one of these ways: + + a) Convey the object code in, or embodied in, a physical product + (including a physical distribution medium), accompanied by the + Corresponding Source fixed on a durable physical medium + customarily used for software interchange. + + b) Convey the object code in, or embodied in, a physical product + (including a physical distribution medium), accompanied by a + written offer, valid for at least three years and valid for as + long as you offer spare parts or customer support for that product + model, to give anyone who possesses the object code either (1) a + copy of the Corresponding Source for all the software in the + product that is covered by this License, on a durable physical + medium customarily used for software interchange, for a price no + more than your reasonable cost of physically performing this + conveying of source, or (2) access to copy the + Corresponding Source from a network server at no charge. + + c) Convey individual copies of the object code with a copy of the + written offer to provide the Corresponding Source. This + alternative is allowed only occasionally and noncommercially, and + only if you received the object code with such an offer, in accord + with subsection 6b. + + d) Convey the object code by offering access from a designated + place (gratis or for a charge), and offer equivalent access to the + Corresponding Source in the same way through the same place at no + further charge. You need not require recipients to copy the + Corresponding Source along with the object code. If the place to + copy the object code is a network server, the Corresponding Source + may be on a different server (operated by you or a third party) + that supports equivalent copying facilities, provided you maintain + clear directions next to the object code saying where to find the + Corresponding Source. Regardless of what server hosts the + Corresponding Source, you remain obligated to ensure that it is + available for as long as needed to satisfy these requirements. + + e) Convey the object code using peer-to-peer transmission, provided + you inform other peers where the object code and Corresponding + Source of the work are being offered to the general public at no + charge under subsection 6d. + + A separable portion of the object code, whose source code is excluded +from the Corresponding Source as a System Library, need not be +included in conveying the object code work. + + A "User Product" is either (1) a "consumer product", which means any +tangible personal property which is normally used for personal, family, +or household purposes, or (2) anything designed or sold for incorporation +into a dwelling. In determining whether a product is a consumer product, +doubtful cases shall be resolved in favor of coverage. For a particular +product received by a particular user, "normally used" refers to a +typical or common use of that class of product, regardless of the status +of the particular user or of the way in which the particular user +actually uses, or expects or is expected to use, the product. A product +is a consumer product regardless of whether the product has substantial +commercial, industrial or non-consumer uses, unless such uses represent +the only significant mode of use of the product. + + "Installation Information" for a User Product means any methods, +procedures, authorization keys, or other information required to install +and execute modified versions of a covered work in that User Product from +a modified version of its Corresponding Source. The information must +suffice to ensure that the continued functioning of the modified object +code is in no case prevented or interfered with solely because +modification has been made. + + If you convey an object code work under this section in, or with, or +specifically for use in, a User Product, and the conveying occurs as +part of a transaction in which the right of possession and use of the +User Product is transferred to the recipient in perpetuity or for a +fixed term (regardless of how the transaction is characterized), the +Corresponding Source conveyed under this section must be accompanied +by the Installation Information. But this requirement does not apply +if neither you nor any third party retains the ability to install +modified object code on the User Product (for example, the work has +been installed in ROM). + + The requirement to provide Installation Information does not include a +requirement to continue to provide support service, warranty, or updates +for a work that has been modified or installed by the recipient, or for +the User Product in which it has been modified or installed. Access to a +network may be denied when the modification itself materially and +adversely affects the operation of the network or violates the rules and +protocols for communication across the network. + + Corresponding Source conveyed, and Installation Information provided, +in accord with this section must be in a format that is publicly +documented (and with an implementation available to the public in +source code form), and must require no special password or key for +unpacking, reading or copying. + + 7. Additional Terms. + + "Additional permissions" are terms that supplement the terms of this +License by making exceptions from one or more of its conditions. +Additional permissions that are applicable to the entire Program shall +be treated as though they were included in this License, to the extent +that they are valid under applicable law. If additional permissions +apply only to part of the Program, that part may be used separately +under those permissions, but the entire Program remains governed by +this License without regard to the additional permissions. + + When you convey a copy of a covered work, you may at your option +remove any additional permissions from that copy, or from any part of +it. (Additional permissions may be written to require their own +removal in certain cases when you modify the work.) You may place +additional permissions on material, added by you to a covered work, +for which you have or can give appropriate copyright permission. + + Notwithstanding any other provision of this License, for material you +add to a covered work, you may (if authorized by the copyright holders of +that material) supplement the terms of this License with terms: + + a) Disclaiming warranty or limiting liability differently from the + terms of sections 15 and 16 of this License; or + + b) Requiring preservation of specified reasonable legal notices or + author attributions in that material or in the Appropriate Legal + Notices displayed by works containing it; or + + c) Prohibiting misrepresentation of the origin of that material, or + requiring that modified versions of such material be marked in + reasonable ways as different from the original version; or + + d) Limiting the use for publicity purposes of names of licensors or + authors of the material; or + + e) Declining to grant rights under trademark law for use of some + trade names, trademarks, or service marks; or + + f) Requiring indemnification of licensors and authors of that + material by anyone who conveys the material (or modified versions of + it) with contractual assumptions of liability to the recipient, for + any liability that these contractual assumptions directly impose on + those licensors and authors. + + All other non-permissive additional terms are considered "further +restrictions" within the meaning of section 10. If the Program as you +received it, or any part of it, contains a notice stating that it is +governed by this License along with a term that is a further +restriction, you may remove that term. If a license document contains +a further restriction but permits relicensing or conveying under this +License, you may add to a covered work material governed by the terms +of that license document, provided that the further restriction does +not survive such relicensing or conveying. + + If you add terms to a covered work in accord with this section, you +must place, in the relevant source files, a statement of the +additional terms that apply to those files, or a notice indicating +where to find the applicable terms. + + Additional terms, permissive or non-permissive, may be stated in the +form of a separately written license, or stated as exceptions; +the above requirements apply either way. + + 8. Termination. + + You may not propagate or modify a covered work except as expressly +provided under this License. Any attempt otherwise to propagate or +modify it is void, and will automatically terminate your rights under +this License (including any patent licenses granted under the third +paragraph of section 11). + + However, if you cease all violation of this License, then your +license from a particular copyright holder is reinstated (a) +provisionally, unless and until the copyright holder explicitly and +finally terminates your license, and (b) permanently, if the copyright +holder fails to notify you of the violation by some reasonable means +prior to 60 days after the cessation. + + Moreover, your license from a particular copyright holder is +reinstated permanently if the copyright holder notifies you of the +violation by some reasonable means, this is the first time you have +received notice of violation of this License (for any work) from that +copyright holder, and you cure the violation prior to 30 days after +your receipt of the notice. + + Termination of your rights under this section does not terminate the +licenses of parties who have received copies or rights from you under +this License. If your rights have been terminated and not permanently +reinstated, you do not qualify to receive new licenses for the same +material under section 10. + + 9. Acceptance Not Required for Having Copies. + + You are not required to accept this License in order to receive or +run a copy of the Program. Ancillary propagation of a covered work +occurring solely as a consequence of using peer-to-peer transmission +to receive a copy likewise does not require acceptance. However, +nothing other than this License grants you permission to propagate or +modify any covered work. These actions infringe copyright if you do +not accept this License. Therefore, by modifying or propagating a +covered work, you indicate your acceptance of this License to do so. + + 10. Automatic Licensing of Downstream Recipients. + + Each time you convey a covered work, the recipient automatically +receives a license from the original licensors, to run, modify and +propagate that work, subject to this License. You are not responsible +for enforcing compliance by third parties with this License. + + An "entity transaction" is a transaction transferring control of an +organization, or substantially all assets of one, or subdividing an +organization, or merging organizations. If propagation of a covered +work results from an entity transaction, each party to that +transaction who receives a copy of the work also receives whatever +licenses to the work the party's predecessor in interest had or could +give under the previous paragraph, plus a right to possession of the +Corresponding Source of the work from the predecessor in interest, if +the predecessor has it or can get it with reasonable efforts. + + You may not impose any further restrictions on the exercise of the +rights granted or affirmed under this License. For example, you may +not impose a license fee, royalty, or other charge for exercise of +rights granted under this License, and you may not initiate litigation +(including a cross-claim or counterclaim in a lawsuit) alleging that +any patent claim is infringed by making, using, selling, offering for +sale, or importing the Program or any portion of it. + + 11. Patents. + + A "contributor" is a copyright holder who authorizes use under this +License of the Program or a work on which the Program is based. The +work thus licensed is called the contributor's "contributor version". + + A contributor's "essential patent claims" are all patent claims +owned or controlled by the contributor, whether already acquired or +hereafter acquired, that would be infringed by some manner, permitted +by this License, of making, using, or selling its contributor version, +but do not include claims that would be infringed only as a +consequence of further modification of the contributor version. For +purposes of this definition, "control" includes the right to grant +patent sublicenses in a manner consistent with the requirements of +this License. + + Each contributor grants you a non-exclusive, worldwide, royalty-free +patent license under the contributor's essential patent claims, to +make, use, sell, offer for sale, import and otherwise run, modify and +propagate the contents of its contributor version. + + In the following three paragraphs, a "patent license" is any express +agreement or commitment, however denominated, not to enforce a patent +(such as an express permission to practice a patent or covenant not to +sue for patent infringement). To "grant" such a patent license to a +party means to make such an agreement or commitment not to enforce a +patent against the party. + + If you convey a covered work, knowingly relying on a patent license, +and the Corresponding Source of the work is not available for anyone +to copy, free of charge and under the terms of this License, through a +publicly available network server or other readily accessible means, +then you must either (1) cause the Corresponding Source to be so +available, or (2) arrange to deprive yourself of the benefit of the +patent license for this particular work, or (3) arrange, in a manner +consistent with the requirements of this License, to extend the patent +license to downstream recipients. "Knowingly relying" means you have +actual knowledge that, but for the patent license, your conveying the +covered work in a country, or your recipient's use of the covered work +in a country, would infringe one or more identifiable patents in that +country that you have reason to believe are valid. + + If, pursuant to or in connection with a single transaction or +arrangement, you convey, or propagate by procuring conveyance of, a +covered work, and grant a patent license to some of the parties +receiving the covered work authorizing them to use, propagate, modify +or convey a specific copy of the covered work, then the patent license +you grant is automatically extended to all recipients of the covered +work and works based on it. + + A patent license is "discriminatory" if it does not include within +the scope of its coverage, prohibits the exercise of, or is +conditioned on the non-exercise of one or more of the rights that are +specifically granted under this License. You may not convey a covered +work if you are a party to an arrangement with a third party that is +in the business of distributing software, under which you make payment +to the third party based on the extent of your activity of conveying +the work, and under which the third party grants, to any of the +parties who would receive the covered work from you, a discriminatory +patent license (a) in connection with copies of the covered work +conveyed by you (or copies made from those copies), or (b) primarily +for and in connection with specific products or compilations that +contain the covered work, unless you entered into that arrangement, +or that patent license was granted, prior to 28 March 2007. + + Nothing in this License shall be construed as excluding or limiting +any implied license or other defenses to infringement that may +otherwise be available to you under applicable patent law. + + 12. No Surrender of Others' Freedom. + + If conditions are imposed on you (whether by court order, agreement or +otherwise) that contradict the conditions of this License, they do not +excuse you from the conditions of this License. If you cannot convey a +covered work so as to satisfy simultaneously your obligations under this +License and any other pertinent obligations, then as a consequence you may +not convey it at all. For example, if you agree to terms that obligate you +to collect a royalty for further conveying from those to whom you convey +the Program, the only way you could satisfy both those terms and this +License would be to refrain entirely from conveying the Program. + + 13. Use with the GNU Affero General Public License. + + Notwithstanding any other provision of this License, you have +permission to link or combine any covered work with a work licensed +under version 3 of the GNU Affero General Public License into a single +combined work, and to convey the resulting work. The terms of this +License will continue to apply to the part which is the covered work, +but the special requirements of the GNU Affero General Public License, +section 13, concerning interaction through a network will apply to the +combination as such. + + 14. Revised Versions of this License. + + The Free Software Foundation may publish revised and/or new versions of +the GNU General Public License from time to time. Such new versions will +be similar in spirit to the present version, but may differ in detail to +address new problems or concerns. + + Each version is given a distinguishing version number. If the +Program specifies that a certain numbered version of the GNU General +Public License "or any later version" applies to it, you have the +option of following the terms and conditions either of that numbered +version or of any later version published by the Free Software +Foundation. If the Program does not specify a version number of the +GNU General Public License, you may choose any version ever published +by the Free Software Foundation. + + If the Program specifies that a proxy can decide which future +versions of the GNU General Public License can be used, that proxy's +public statement of acceptance of a version permanently authorizes you +to choose that version for the Program. + + Later license versions may give you additional or different +permissions. However, no additional obligations are imposed on any +author or copyright holder as a result of your choosing to follow a +later version. + + 15. Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/libraries/XBee/XBee.cpp b/libraries/XBee/XBee.cpp new file mode 100755 index 0000000..191fe44 --- /dev/null +++ b/libraries/XBee/XBee.cpp @@ -0,0 +1,1566 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include "XBee.h" + +#if defined(ARDUINO) && ARDUINO >= 100 + #include "Arduino.h" +#else + #include "WProgram.h" +#endif + +#include "HardwareSerial.h" + +XBeeResponse::XBeeResponse() { + +} + +uint8_t XBeeResponse::getApiId() { + return _apiId; +} + +void XBeeResponse::setApiId(uint8_t apiId) { + _apiId = apiId; +} + +uint8_t XBeeResponse::getMsbLength() { + return _msbLength; +} + +void XBeeResponse::setMsbLength(uint8_t msbLength) { + _msbLength = msbLength; +} + +uint8_t XBeeResponse::getLsbLength() { + return _lsbLength; +} + +void XBeeResponse::setLsbLength(uint8_t lsbLength) { + _lsbLength = lsbLength; +} + +uint8_t XBeeResponse::getChecksum() { + return _checksum; +} + +void XBeeResponse::setChecksum(uint8_t checksum) { + _checksum = checksum; +} + +uint8_t XBeeResponse::getFrameDataLength() { + return _frameLength; +} + +void XBeeResponse::setFrameLength(uint8_t frameLength) { + _frameLength = frameLength; +} + +bool XBeeResponse::isAvailable() { + return _complete; +} + +void XBeeResponse::setAvailable(bool complete) { + _complete = complete; +} + +bool XBeeResponse::isError() { + return _errorCode > 0; +} + +uint8_t XBeeResponse::getErrorCode() { + return _errorCode; +} + +void XBeeResponse::setErrorCode(uint8_t errorCode) { + _errorCode = errorCode; +} + +// copy common fields from xbee response to target response +void XBeeResponse::setCommon(XBeeResponse &target) { + target.setApiId(getApiId()); + target.setAvailable(isAvailable()); + target.setChecksum(getChecksum()); + target.setErrorCode(getErrorCode()); + target.setFrameLength(getFrameDataLength()); + target.setMsbLength(getMsbLength()); + target.setLsbLength(getLsbLength()); +} + +#ifdef SERIES_2 + +ZBTxStatusResponse::ZBTxStatusResponse() : FrameIdResponse() { + +} + +uint16_t ZBTxStatusResponse::getRemoteAddress() { + return (getFrameData()[1] << 8) + getFrameData()[2]; +} + +uint8_t ZBTxStatusResponse::getTxRetryCount() { + return getFrameData()[3]; +} + +uint8_t ZBTxStatusResponse::getDeliveryStatus() { + return getFrameData()[4]; +} + +uint8_t ZBTxStatusResponse::getDiscoveryStatus() { + return getFrameData()[5]; +} + +bool ZBTxStatusResponse::isSuccess() { + return getDeliveryStatus() == SUCCESS; +} + +void XBeeResponse::getZBTxStatusResponse(XBeeResponse &zbXBeeResponse) { + + // way off? + ZBTxStatusResponse* zb = static_cast(&zbXBeeResponse); + // pass pointer array to subclass + zb->setFrameData(getFrameData()); + setCommon(zbXBeeResponse); +} + +ZBRxResponse::ZBRxResponse(): RxDataResponse() { + _remoteAddress64 = XBeeAddress64(); +} + +uint16_t ZBRxResponse::getRemoteAddress16() { + return (getFrameData()[8] << 8) + getFrameData()[9]; +} + +uint8_t ZBRxResponse::getOption() { + return getFrameData()[10]; +} + +// markers to read data from packet array. this is the index, so the 12th item in the array +uint8_t ZBRxResponse::getDataOffset() { + return 11; +} + +uint8_t ZBRxResponse::getDataLength() { + return getPacketLength() - getDataOffset() - 1; +} + +XBeeAddress64& ZBRxResponse::getRemoteAddress64() { + return _remoteAddress64; +} + +void XBeeResponse::getZBRxResponse(XBeeResponse &rxResponse) { + + ZBRxResponse* zb = static_cast(&rxResponse); + + //TODO verify response api id matches this api for this response + + // pass pointer array to subclass + zb->setFrameData(getFrameData()); + setCommon(rxResponse); + + zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]); + zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7])); +} + + +ZBRxIoSampleResponse::ZBRxIoSampleResponse() : ZBRxResponse() { + +} + +// 64 + 16 addresses, sample size, option = 12 (index 11), so this starts at 12 +uint8_t ZBRxIoSampleResponse::getDigitalMaskMsb() { + return getFrameData()[12] & 0x1c; +} + +uint8_t ZBRxIoSampleResponse::getDigitalMaskLsb() { + return getFrameData()[13]; +} + +uint8_t ZBRxIoSampleResponse::getAnalogMask() { + return getFrameData()[14] & 0x8f; +} + +bool ZBRxIoSampleResponse::containsAnalog() { + return getAnalogMask() > 0; +} + +bool ZBRxIoSampleResponse::containsDigital() { + return getDigitalMaskMsb() > 0 || getDigitalMaskLsb() > 0; +} + +bool ZBRxIoSampleResponse::isAnalogEnabled(uint8_t pin) { + return ((getAnalogMask() >> pin) & 1) == 1; +} + +bool ZBRxIoSampleResponse::isDigitalEnabled(uint8_t pin) { + if (pin <= 7) { + // added extra parens to calm avr compiler + return ((getDigitalMaskLsb() >> pin) & 1) == 1; + } else { + return ((getDigitalMaskMsb() >> (pin - 8)) & 1) == 1; + } +} + +uint16_t ZBRxIoSampleResponse::getAnalog(uint8_t pin) { + // analog starts 13 bytes after sample size, if no dio enabled + uint8_t start = 15; + + if (containsDigital()) { + // make room for digital i/o + start+=2; + } + +// std::cout << "spacing is " << static_cast(spacing) << std::endl; + + // start depends on how many pins before this pin are enabled + for (int i = 0; i < pin; i++) { + if (isAnalogEnabled(i)) { + start+=2; + } + } + +// std::cout << "start for analog pin ["<< static_cast(pin) << "]/sample " << static_cast(sample) << " is " << static_cast(start) << std::endl; + +// std::cout << "returning index " << static_cast(getSampleOffset() + start) << " and index " << static_cast(getSampleOffset() + start + 1) << ", val is " << static_cast(getFrameData()[getSampleOffset() + start] << 8) << " and " << + static_cast(getFrameData()[getSampleOffset() + start + 1]) << std::endl; + + return (uint16_t)((getFrameData()[start] << 8) + getFrameData()[start + 1]); +} + +bool ZBRxIoSampleResponse::isDigitalOn(uint8_t pin) { + if (pin <= 7) { + // D0-7 + // DIO LSB is index 5 + return ((getFrameData()[16] >> pin) & 1) == 1; + } else { + // D10-12 + // DIO MSB is index 4 + return ((getFrameData()[15] >> (pin - 8)) & 1) == 1; + } +} + +void XBeeResponse::getZBRxIoSampleResponse(XBeeResponse &response) { + ZBRxIoSampleResponse* zb = static_cast(&response); + + + // pass pointer array to subclass + zb->setFrameData(getFrameData()); + setCommon(response); + + zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]); + zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7])); +} + +#endif + +#ifdef SERIES_DIGIMESH + +DMTxStatusResponse::DMTxStatusResponse() : FrameIdResponse() { + +} + +uint8_t DMTxStatusResponse::getTxRetryCount() { + return getFrameData()[3]; +} + +uint8_t DMTxStatusResponse::getDeliveryStatus() { + return getFrameData()[4]; +} + +uint8_t DMTxStatusResponse::getDiscoveryStatus() { + return getFrameData()[5]; +} + +bool DMTxStatusResponse::isSuccess() { + return getDeliveryStatus() == SUCCESS; +} + +void XBeeResponse::getDMTxStatusResponse(XBeeResponse &dmXBeeResponse) { + + // way off? + DMTxStatusResponse* dm = static_cast(&dmXBeeResponse); + // pass pointer array to subclass + dm->setFrameData(getFrameData()); + setCommon(dmXBeeResponse); +} + + +DMRxResponse::DMRxResponse() : RxDataResponse(){ + _remoteAddress64 = XBeeAddress64(); +} + +uint8_t DMRxResponse::getOption() { + return getFrameData()[9]; +} + +// markers to read data from packet array. this is the index, so the 12th item in the array +uint8_t DMRxResponse::getDataOffset() { + return 11; +} + +uint8_t DMRxResponse::getDataLength() { + return getPacketLength() - getDataOffset() - 1; +} + +XBeeAddress64& DMRxResponse::getRemoteAddress64() { + return _remoteAddress64; +} + +void XBeeResponse::getDMRxResponse(XBeeResponse &rxResponse) { + + DMRxResponse* dm = static_cast(&rxResponse); + + //TODO verify response api id matches this api for this response + + // pass pointer array to subclass + dm->setFrameData(getFrameData()); + setCommon(rxResponse); + + dm->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]); + dm->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7])); +} + + +#endif + +#ifdef SERIES_1 + +RxResponse::RxResponse() : RxDataResponse() { + +} + +uint16_t Rx16Response::getRemoteAddress16() { + return (getFrameData()[0] << 8) + getFrameData()[1]; +} + +XBeeAddress64& Rx64Response::getRemoteAddress64() { + return _remoteAddress; +} + +Rx64Response::Rx64Response() : RxResponse() { + _remoteAddress = XBeeAddress64(); +} + +Rx16Response::Rx16Response() : RxResponse() { + +} + +RxIoSampleBaseResponse::RxIoSampleBaseResponse() : RxResponse() { + +} + +uint8_t RxIoSampleBaseResponse::getSampleOffset() { + // sample starts 2 bytes after rssi + return getRssiOffset() + 2; +} + + +uint8_t RxIoSampleBaseResponse::getSampleSize() { + return getFrameData()[getSampleOffset()]; +} + +bool RxIoSampleBaseResponse::containsAnalog() { + return (getFrameData()[getSampleOffset() + 1] & 0x7e) > 0; +} + +bool RxIoSampleBaseResponse::containsDigital() { + return (getFrameData()[getSampleOffset() + 1] & 0x1) > 0 || getFrameData()[getSampleOffset() + 2] > 0; +} + +//uint16_t RxIoSampleBaseResponse::getAnalog0(uint8_t sample) { +// return getAnalog(0, sample); +//} + +bool RxIoSampleBaseResponse::isAnalogEnabled(uint8_t pin) { + return (((getFrameData()[getSampleOffset() + 1] >> (pin + 1)) & 1) == 1); +} + +bool RxIoSampleBaseResponse::isDigitalEnabled(uint8_t pin) { + if (pin < 8) { + return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1; + } else { + return (getFrameData()[getSampleOffset() + 3] & 1) == 1; + } +} + + +uint16_t RxIoSampleBaseResponse::getAnalog(uint8_t pin, uint8_t sample) { + + // analog starts 3 bytes after sample size, if no dio enabled + uint8_t start = 3; + + if (containsDigital()) { + // make room for digital i/o sample (2 bytes per sample) + start+=2*(sample + 1); + } + + uint8_t spacing = 0; + + // spacing between samples depends on how many are enabled. add one for each analog that's enabled + for (int i = 0; i <= 5; i++) { + if (isAnalogEnabled(i)) { + // each analog is two bytes + spacing+=2; + } + } + +// std::cout << "spacing is " << static_cast(spacing) << std::endl; + + // start depends on how many pins before this pin are enabled + for (int i = 0; i < pin; i++) { + if (isAnalogEnabled(i)) { + start+=2; + } + } + + start+= sample * spacing; + +// std::cout << "start for analog pin ["<< static_cast(pin) << "]/sample " << static_cast(sample) << " is " << static_cast(start) << std::endl; + +// std::cout << "returning index " << static_cast(getSampleOffset() + start) << " and index " << static_cast(getSampleOffset() + start + 1) << ", val is " << static_cast(getFrameData()[getSampleOffset() + start] << 8) << " and " << + static_cast(getFrameData()[getSampleOffset() + start + 1]) << std::endl; + + return (uint16_t)((getFrameData()[getSampleOffset() + start] << 8) + getFrameData()[getSampleOffset() + start + 1]); +} + +bool RxIoSampleBaseResponse::isDigitalOn(uint8_t pin, uint8_t sample) { + if (pin < 8) { + return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1; + } else { + return (getFrameData()[getSampleOffset() + 3] & 1) == 1; + } +} + + +//bool RxIoSampleBaseResponse::isDigital0On(uint8_t sample) { +// return isDigitalOn(0, sample); +//} + +Rx16IoSampleResponse::Rx16IoSampleResponse() : RxIoSampleBaseResponse() { + +} + +uint16_t Rx16IoSampleResponse::getRemoteAddress16() { + return (uint16_t)((getFrameData()[0] << 8) + getFrameData()[1]); +} + +uint8_t Rx16IoSampleResponse::getRssiOffset() { + return 2; +} + +void XBeeResponse::getRx16IoSampleResponse(XBeeResponse &response) { + Rx16IoSampleResponse* rx = static_cast(&response); + + rx->setFrameData(getFrameData()); + setCommon(response); +} + + +Rx64IoSampleResponse::Rx64IoSampleResponse() : RxIoSampleBaseResponse() { + _remoteAddress = XBeeAddress64(); +} + +XBeeAddress64& Rx64IoSampleResponse::getRemoteAddress64() { + return _remoteAddress; +} + +uint8_t Rx64IoSampleResponse::getRssiOffset() { + return 8; +} + +void XBeeResponse::getRx64IoSampleResponse(XBeeResponse &response) { + Rx64IoSampleResponse* rx = static_cast(&response); + + rx->setFrameData(getFrameData()); + setCommon(response); + + rx->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]); + rx->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]); +} + +TxStatusResponse::TxStatusResponse() : FrameIdResponse() { + +} + +uint8_t TxStatusResponse::getStatus() { + return getFrameData()[1]; +} + +bool TxStatusResponse::isSuccess() { + return getStatus() == SUCCESS; +} + +void XBeeResponse::getTxStatusResponse(XBeeResponse &txResponse) { + + TxStatusResponse* txStatus = static_cast(&txResponse); + + // pass pointer array to subclass + txStatus->setFrameData(getFrameData()); + setCommon(txResponse); +} + +uint8_t RxResponse::getRssi() { + return getFrameData()[getRssiOffset()]; +} + +uint8_t RxResponse::getOption() { + return getFrameData()[getRssiOffset() + 1]; +} + +bool RxResponse::isAddressBroadcast() { + return (getOption() & 2) == 2; +} + +bool RxResponse::isPanBroadcast() { + return (getOption() & 4) == 4; +} + +uint8_t RxResponse::getDataLength() { + return getPacketLength() - getDataOffset() - 1; +} + +uint8_t RxResponse::getDataOffset() { + return getRssiOffset() + 2; +} + +uint8_t Rx16Response::getRssiOffset() { + return RX_16_RSSI_OFFSET; +} + +void XBeeResponse::getRx16Response(XBeeResponse &rx16Response) { + + Rx16Response* rx16 = static_cast(&rx16Response); + + // pass pointer array to subclass + rx16->setFrameData(getFrameData()); + setCommon(rx16Response); + +// rx16->getRemoteAddress16().setAddress((getFrameData()[0] << 8) + getFrameData()[1]); +} + +uint8_t Rx64Response::getRssiOffset() { + return RX_64_RSSI_OFFSET; +} + +void XBeeResponse::getRx64Response(XBeeResponse &rx64Response) { + + Rx64Response* rx64 = static_cast(&rx64Response); + + // pass pointer array to subclass + rx64->setFrameData(getFrameData()); + setCommon(rx64Response); + + rx64->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]); + rx64->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]); +} + +#endif + +RemoteAtCommandResponse::RemoteAtCommandResponse() : AtCommandResponse() { + +} + +uint8_t* RemoteAtCommandResponse::getCommand() { + return getFrameData() + 11; +} + +uint8_t RemoteAtCommandResponse::getStatus() { + return getFrameData()[13]; +} + +bool RemoteAtCommandResponse::isOk() { + // weird c++ behavior. w/o this method, it calls AtCommandResponse::isOk(), which calls the AtCommandResponse::getStatus, not this.getStatus!!! + return getStatus() == AT_OK; +} + +uint8_t RemoteAtCommandResponse::getValueLength() { + return getFrameDataLength() - 14; +} + +uint8_t* RemoteAtCommandResponse::getValue() { + if (getValueLength() > 0) { + // value is only included for query commands. set commands does not return a value + return getFrameData() + 14; + } + + return NULL; +} + +uint16_t RemoteAtCommandResponse::getRemoteAddress16() { + return uint16_t((getFrameData()[9] << 8) + getFrameData()[10]); +} + +XBeeAddress64& RemoteAtCommandResponse::getRemoteAddress64() { + return _remoteAddress64; +} + +void XBeeResponse::getRemoteAtCommandResponse(XBeeResponse &response) { + + // TODO no real need to cast. change arg to match expected class + RemoteAtCommandResponse* at = static_cast(&response); + + // pass pointer array to subclass + at->setFrameData(getFrameData()); + setCommon(response); + + at->getRemoteAddress64().setMsb((uint32_t(getFrameData()[1]) << 24) + (uint32_t(getFrameData()[2]) << 16) + (uint16_t(getFrameData()[3]) << 8) + getFrameData()[4]); + at->getRemoteAddress64().setLsb((uint32_t(getFrameData()[5]) << 24) + (uint32_t(getFrameData()[6]) << 16) + (uint16_t(getFrameData()[7]) << 8) + (getFrameData()[8])); + +} + +RxDataResponse::RxDataResponse() : XBeeResponse() { + +} + +uint8_t RxDataResponse::getData(int index) { + return getFrameData()[getDataOffset() + index]; +} + +uint8_t* RxDataResponse::getData() { + return getFrameData() + getDataOffset(); +} + +FrameIdResponse::FrameIdResponse() { + +} + +uint8_t FrameIdResponse::getFrameId() { + return getFrameData()[0]; +} + + +ModemStatusResponse::ModemStatusResponse() { + +} + +uint8_t ModemStatusResponse::getStatus() { + return getFrameData()[0]; +} + +void XBeeResponse::getModemStatusResponse(XBeeResponse &modemStatusResponse) { + + ModemStatusResponse* modem = static_cast(&modemStatusResponse); + + // pass pointer array to subclass + modem->setFrameData(getFrameData()); + setCommon(modemStatusResponse); + +} + +AtCommandResponse::AtCommandResponse() { + +} + +uint8_t* AtCommandResponse::getCommand() { + return getFrameData() + 1; +} + +uint8_t AtCommandResponse::getStatus() { + return getFrameData()[3]; +} + +uint8_t AtCommandResponse::getValueLength() { + return getFrameDataLength() - 4; +} + +uint8_t* AtCommandResponse::getValue() { + if (getValueLength() > 0) { + // value is only included for query commands. set commands does not return a value + return getFrameData() + 4; + } + + return NULL; +} + +bool AtCommandResponse::isOk() { + return getStatus() == AT_OK; +} + +void XBeeResponse::getAtCommandResponse(XBeeResponse &atCommandResponse) { + + AtCommandResponse* at = static_cast(&atCommandResponse); + + // pass pointer array to subclass + at->setFrameData(getFrameData()); + setCommon(atCommandResponse); +} + +uint16_t XBeeResponse::getPacketLength() { + return ((_msbLength << 8) & 0xff) + (_lsbLength & 0xff); +} + +uint8_t* XBeeResponse::getFrameData() { + return _frameDataPtr; +} + +void XBeeResponse::setFrameData(uint8_t* frameDataPtr) { + _frameDataPtr = frameDataPtr; +} + +void XBeeResponse::init() { + _complete = false; + _errorCode = NO_ERROR; + _checksum = 0; +} + +void XBeeResponse::reset() { + init(); + _apiId = 0; + _msbLength = 0; + _lsbLength = 0; + _checksum = 0; + _frameLength = 0; + + _errorCode = NO_ERROR; + + for (int i = 0; i < MAX_FRAME_DATA_SIZE; i++) { + getFrameData()[i] = 0; + } +} + +void XBee::resetResponse() { + _pos = 0; + _escape = false; + _response.reset(); +} + +XBee::XBee(): _response(XBeeResponse()) { + _pos = 0; + _escape = false; + _checksumTotal = 0; + _nextFrameId = 0; + + _response.init(); + _response.setFrameData(_responseFrameData); + // default + _serial = &Serial; +} + +uint8_t XBee::getNextFrameId() { + + _nextFrameId++; + + if (_nextFrameId == 0) { + // can't send 0 because that disables status response + _nextFrameId = 1; + } + + return _nextFrameId; +} + +void XBee::begin(long baud) { + _serial->begin(baud); +} + +void XBee::setSerial(HardwareSerial &serial) { + _serial = &serial; +} + +bool XBee::available() { + return _serial->available(); +} + +uint8_t XBee::read() { + return _serial->read(); +} + +void XBee::flush() { + _serial->flush(); +} + +void XBee::write(uint8_t val) { + _serial->write(val); +} + +XBeeResponse& XBee::getResponse() { + return _response; +} + +// TODO how to convert response to proper subclass? +void XBee::getResponse(XBeeResponse &response) { + + response.setMsbLength(_response.getMsbLength()); + response.setLsbLength(_response.getLsbLength()); + response.setApiId(_response.getApiId()); + response.setFrameLength(_response.getFrameDataLength()); + + response.setFrameData(_response.getFrameData()); +} + +void XBee::readPacketUntilAvailable() { + while (!(getResponse().isAvailable() || getResponse().isError())) { + // read some more + readPacket(); + } +} + +bool XBee::readPacket(int timeout) { + + if (timeout < 0) { + return false; + } + + unsigned long start = millis(); + + while (int((millis() - start)) < timeout) { + + readPacket(); + + if (getResponse().isAvailable()) { + return true; + } else if (getResponse().isError()) { + return false; + } + } + + // timed out + return false; +} + +void XBee::readPacket() { + + // timing profilling, C. Pham + startParseMessage=millis(); + // we don't use these variables for the moment; + startTxStatusResponse = 0; + stopTxStatusResponse = 0; + + // reset previous response + if (_response.isAvailable() || _response.isError()) { + // discard previous packet and start over + resetResponse(); + } + + while (available()) { + + if (_pos==0) + startFetchedTime=millis(); + + b = read(); + + if (_pos > 0 && b == START_BYTE && ATAP == 2) { + // new packet start before previous packeted completed -- discard previous packet and start over + _response.setErrorCode(UNEXPECTED_START_BYTE); + // timing profilling, C. Pham + stopParseMessage=millis(); + stopFetchedTime=millis(); + return; + } + + if (_pos > 0 && b == ESCAPE) { + if (available()) { + b = read(); + b = 0x20 ^ b; + } else { + // escape byte. next byte will be + _escape = true; + continue; + } + } + + if (_escape == true) { + b = 0x20 ^ b; + _escape = false; + } + + // checksum includes all bytes starting with api id + if (_pos >= API_ID_INDEX) { + _checksumTotal+= b; + } + + switch(_pos) { + case 0: + if (b == START_BYTE) { + _pos++; + } + + break; + case 1: + // length msb + _response.setMsbLength(b); + _pos++; + + break; + case 2: + // length lsb + _response.setLsbLength(b); + _pos++; + + break; + case 3: + _response.setApiId(b); + _pos++; + + break; + default: + // starts at fifth byte + + if (_pos > MAX_FRAME_DATA_SIZE) { + // exceed max size. should never occur + _response.setErrorCode(PACKET_EXCEEDS_BYTE_ARRAY_LENGTH); + // timing profilling, C. Pham + stopParseMessage=millis(); + stopFetchedTime=millis(); + return; + } + + // check if we're at the end of the packet + // packet length does not include start, length, or checksum bytes, so add 3 + if (_pos == (_response.getPacketLength() + 3)) { + // verify checksum + + //std::cout << "read checksum " << static_cast(b) << " at pos " << static_cast(_pos) << std::endl; + + if ((_checksumTotal & 0xff) == 0xff) { + _response.setChecksum(b); + _response.setAvailable(true); + + _response.setErrorCode(NO_ERROR); + } else { + // checksum failed + _response.setErrorCode(CHECKSUM_FAILURE); + } + + // minus 4 because we start after start,msb,lsb,api and up to but not including checksum + // e.g. if frame was one byte, _pos=4 would be the byte, pos=5 is the checksum, where end stop reading + _response.setFrameLength(_pos - 4); + + // reset state vars + _pos = 0; + + _checksumTotal = 0; + + // timing profilling, C. Pham + stopParseMessage=millis(); + stopFetchedTime=millis(); + + return; + } else { + // add to packet array, starting with the fourth byte of the apiFrame + _response.getFrameData()[_pos - 4] = b; + _pos++; + } + } + } + // timing profilling, C. Pham + stopParseMessage=millis(); + stopFetchedTime=millis(); +} + +// it's peanut butter jelly time!! + +XBeeRequest::XBeeRequest(uint8_t apiId, uint8_t frameId) { + _apiId = apiId; + _frameId = frameId; +} + +void XBeeRequest::setFrameId(uint8_t frameId) { + _frameId = frameId; +} + +uint8_t XBeeRequest::getFrameId() { + return _frameId; +} + +uint8_t XBeeRequest::getApiId() { + return _apiId; +} + +void XBeeRequest::setApiId(uint8_t apiId) { + _apiId = apiId; +} + +//void XBeeRequest::reset() { +// _frameId = DEFAULT_FRAME_ID; +//} + +//uint8_t XBeeRequest::getPayloadOffset() { +// return _payloadOffset; +//} +// +//uint8_t XBeeRequest::setPayloadOffset(uint8_t payloadOffset) { +// _payloadOffset = payloadOffset; +//} + + +PayloadRequest::PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength) : XBeeRequest(apiId, frameId) { + _payloadPtr = payload; + _payloadLength = payloadLength; +} + +uint8_t* PayloadRequest::getPayload() { + return _payloadPtr; +} + +void PayloadRequest::setPayload(uint8_t* payload) { + _payloadPtr = payload; +} + +uint8_t PayloadRequest::getPayloadLength() { + return _payloadLength; +} + +void PayloadRequest::setPayloadLength(uint8_t payloadLength) { + _payloadLength = payloadLength; +} + + +XBeeAddress::XBeeAddress() { + +} + +XBeeAddress64::XBeeAddress64() : XBeeAddress() { + +} + +XBeeAddress64::XBeeAddress64(uint32_t msb, uint32_t lsb) : XBeeAddress() { + _msb = msb; + _lsb = lsb; +} + +uint32_t XBeeAddress64::getMsb() { + return _msb; +} + +void XBeeAddress64::setMsb(uint32_t msb) { + _msb = msb; +} + +uint32_t XBeeAddress64::getLsb() { + return _lsb; +} + +void XBeeAddress64::setLsb(uint32_t lsb) { + _lsb = lsb; +} + + +#ifdef SERIES_2 + +ZBTxRequest::ZBTxRequest() : PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, NULL, 0) { + +} + +ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId): PayloadRequest(ZB_TX_REQUEST, frameId, data, dataLength) { + _addr64 = addr64; + _addr16 = addr16; + _broadcastRadius = broadcastRadius; + _option = option; +} + +ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength): PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, data, dataLength) { + _addr64 = addr64; + _addr16 = ZB_BROADCAST_ADDRESS; + _broadcastRadius = ZB_BROADCAST_RADIUS_MAX_HOPS; + _option = ZB_TX_UNICAST; +} + +uint8_t ZBTxRequest::getFrameData(uint8_t pos) { + if (pos == 0) { + return (_addr64.getMsb() >> 24) & 0xff; + } else if (pos == 1) { + return (_addr64.getMsb() >> 16) & 0xff; + } else if (pos == 2) { + return (_addr64.getMsb() >> 8) & 0xff; + } else if (pos == 3) { + return _addr64.getMsb() & 0xff; + } else if (pos == 4) { + return (_addr64.getLsb() >> 24) & 0xff; + } else if (pos == 5) { + return (_addr64.getLsb() >> 16) & 0xff; + } else if (pos == 6) { + return (_addr64.getLsb() >> 8) & 0xff; + } else if (pos == 7) { + return _addr64.getLsb() & 0xff; + } else if (pos == 8) { + return (_addr16 >> 8) & 0xff; + } else if (pos == 9) { + return _addr16 & 0xff; + } else if (pos == 10) { + return _broadcastRadius; + } else if (pos == 11) { + return _option; + } else { + return getPayload()[pos - ZB_TX_API_LENGTH]; + } +} + +uint8_t ZBTxRequest::getFrameDataLength() { + return ZB_TX_API_LENGTH + getPayloadLength(); +} + +XBeeAddress64& ZBTxRequest::getAddress64() { + return _addr64; +} + +uint16_t ZBTxRequest::getAddress16() { + return _addr16; +} + +uint8_t ZBTxRequest::getBroadcastRadius() { + return _broadcastRadius; +} + +uint8_t ZBTxRequest::getOption() { + return _option; +} + +void ZBTxRequest::setAddress64(XBeeAddress64& addr64) { + _addr64 = addr64; +} + +void ZBTxRequest::setAddress16(uint16_t addr16) { + _addr16 = addr16; +} + +void ZBTxRequest::setBroadcastRadius(uint8_t broadcastRadius) { + _broadcastRadius = broadcastRadius; +} + +void ZBTxRequest::setOption(uint8_t option) { + _option = option; +} + +#endif + + +#ifdef SERIES_DIGIMESH + +DMTxRequest::DMTxRequest() : PayloadRequest(DM_TX_REQUEST, DEFAULT_FRAME_ID, NULL, 0) { + +} + +DMTxRequest::DMTxRequest(XBeeAddress64 &addr64, uint8_t broadcastRadius, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId): PayloadRequest(DM_TX_REQUEST, frameId, data, dataLength) { + _addr64 = addr64; + _broadcastRadius = broadcastRadius; + _option = option; +} + +DMTxRequest::DMTxRequest(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength): PayloadRequest(DM_TX_REQUEST, DEFAULT_FRAME_ID, data, dataLength) { + _addr64 = addr64; + _broadcastRadius = DM_BROADCAST_RADIUS_MAX_HOPS; + _option = 0X00; +} + +uint8_t DMTxRequest::getFrameData(uint8_t pos) { + if (pos == 0) { + return (_addr64.getMsb() >> 24) & 0xff; + } else if (pos == 1) { + return (_addr64.getMsb() >> 16) & 0xff; + } else if (pos == 2) { + return (_addr64.getMsb() >> 8) & 0xff; + } else if (pos == 3) { + return _addr64.getMsb() & 0xff; + } else if (pos == 4) { + return (_addr64.getLsb() >> 24) & 0xff; + } else if (pos == 5) { + return (_addr64.getLsb() >> 16) & 0xff; + } else if (pos == 6) { + return (_addr64.getLsb() >> 8) & 0xff; + } else if (pos == 7) { + return _addr64.getLsb() & 0xff; + } else if (pos == 8) { + return 0xff; + } else if (pos == 9) { + return 0xfe; + } else if (pos == 10) { + return _broadcastRadius; + } else if (pos == 11) { + return _option; + } else { + return getPayload()[pos - DM_TX_API_LENGTH]; + } +} + +uint8_t DMTxRequest::getFrameDataLength() { + return DM_TX_API_LENGTH + getPayloadLength(); +} + +XBeeAddress64& DMTxRequest::getAddress64() { + return _addr64; +} + +uint8_t DMTxRequest::getBroadcastRadius() { + return _broadcastRadius; +} + +uint8_t DMTxRequest::getOption() { + return _option; +} + +void DMTxRequest::setAddress64(XBeeAddress64& addr64) { + _addr64 = addr64; +} + +void DMTxRequest::setBroadcastRadius(uint8_t broadcastRadius) { + _broadcastRadius = broadcastRadius; +} + +void DMTxRequest::setOption(uint8_t option) { + _option = option; +} + +#endif + +#ifdef SERIES_1 + +Tx16Request::Tx16Request() : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, NULL, 0) { + +} + +Tx16Request::Tx16Request(uint16_t addr16, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId) : PayloadRequest(TX_16_REQUEST, frameId, data, dataLength) { + _addr16 = addr16; + _option = option; +} + +Tx16Request::Tx16Request(uint16_t addr16, uint8_t *data, uint8_t dataLength) : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, data, dataLength) { + _addr16 = addr16; + _option = ACK_OPTION; +} + +uint8_t Tx16Request::getFrameData(uint8_t pos) { + + if (pos == 0) { + return (_addr16 >> 8) & 0xff; + } else if (pos == 1) { + return _addr16 & 0xff; + } else if (pos == 2) { + return _option; + } else { + return getPayload()[pos - TX_16_API_LENGTH]; + } +} + +uint8_t Tx16Request::getFrameDataLength() { + return TX_16_API_LENGTH + getPayloadLength(); +} + +uint16_t Tx16Request::getAddress16() { + return _addr16; +} + +void Tx16Request::setAddress16(uint16_t addr16) { + _addr16 = addr16; +} + +uint8_t Tx16Request::getOption() { + return _option; +} + +void Tx16Request::setOption(uint8_t option) { + _option = option; +} + +Tx64Request::Tx64Request() : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, NULL, 0) { + +} + +Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *data, uint8_t dataLength, uint8_t frameId) : PayloadRequest(TX_64_REQUEST, frameId, data, dataLength) { + _addr64 = addr64; + _option = option; +} + +Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t *data, uint8_t dataLength) : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, data, dataLength) { + _addr64 = addr64; + _option = ACK_OPTION; +} + +uint8_t Tx64Request::getFrameData(uint8_t pos) { + + if (pos == 0) { + return (_addr64.getMsb() >> 24) & 0xff; + } else if (pos == 1) { + return (_addr64.getMsb() >> 16) & 0xff; + } else if (pos == 2) { + return (_addr64.getMsb() >> 8) & 0xff; + } else if (pos == 3) { + return _addr64.getMsb() & 0xff; + } else if (pos == 4) { + return (_addr64.getLsb() >> 24) & 0xff; + } else if (pos == 5) { + return (_addr64.getLsb() >> 16) & 0xff; + } else if (pos == 6) { + return(_addr64.getLsb() >> 8) & 0xff; + } else if (pos == 7) { + return _addr64.getLsb() & 0xff; + } else if (pos == 8) { + return _option; + } else { + return getPayload()[pos - TX_64_API_LENGTH]; + } +} + +uint8_t Tx64Request::getFrameDataLength() { + return TX_64_API_LENGTH + getPayloadLength(); +} + +XBeeAddress64& Tx64Request::getAddress64() { + return _addr64; +} + +void Tx64Request::setAddress64(XBeeAddress64& addr64) { + _addr64 = addr64; +} + +uint8_t Tx64Request::getOption() { + return _option; +} + +void Tx64Request::setOption(uint8_t option) { + _option = option; +} + +#endif + +AtCommandRequest::AtCommandRequest() : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) { + _command = NULL; + clearCommandValue(); +} + +AtCommandRequest::AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) { + _command = command; + _commandValue = commandValue; + _commandValueLength = commandValueLength; +} + +AtCommandRequest::AtCommandRequest(uint8_t *command) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) { + _command = command; + clearCommandValue(); +} + +uint8_t* AtCommandRequest::getCommand() { + return _command; +} + +uint8_t* AtCommandRequest::getCommandValue() { + return _commandValue; +} + +uint8_t AtCommandRequest::getCommandValueLength() { + return _commandValueLength; +} + +void AtCommandRequest::setCommand(uint8_t* command) { + _command = command; +} + +void AtCommandRequest::setCommandValue(uint8_t* value) { + _commandValue = value; +} + +void AtCommandRequest::setCommandValueLength(uint8_t length) { + _commandValueLength = length; +} + +uint8_t AtCommandRequest::getFrameData(uint8_t pos) { + + if (pos == 0) { + return _command[0]; + } else if (pos == 1) { + return _command[1]; + } else { + return _commandValue[pos - AT_COMMAND_API_LENGTH]; + } +} + +void AtCommandRequest::clearCommandValue() { + _commandValue = NULL; + _commandValueLength = 0; +} + +//void AtCommandRequest::reset() { +// XBeeRequest::reset(); +//} + +uint8_t AtCommandRequest::getFrameDataLength() { + // command is 2 byte + length of value + return AT_COMMAND_API_LENGTH + _commandValueLength; +} + +XBeeAddress64 RemoteAtCommandRequest::broadcastAddress64 = XBeeAddress64(0x0, BROADCAST_ADDRESS); + +RemoteAtCommandRequest::RemoteAtCommandRequest() : AtCommandRequest(NULL, NULL, 0) { + _remoteAddress16 = 0; + _applyChanges = false; + setApiId(REMOTE_AT_REQUEST); +} + +RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) { + _remoteAddress64 = broadcastAddress64; + _remoteAddress16 = remoteAddress16; + _applyChanges = true; + setApiId(REMOTE_AT_REQUEST); +} + +RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command) : AtCommandRequest(command, NULL, 0) { + _remoteAddress64 = broadcastAddress64; + _remoteAddress16 = remoteAddress16; + _applyChanges = false; + setApiId(REMOTE_AT_REQUEST); +} + +RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) { + _remoteAddress64 = remoteAddress64; + // don't worry.. works for series 1 too! + _remoteAddress16 = ZB_BROADCAST_ADDRESS; + _applyChanges = true; + setApiId(REMOTE_AT_REQUEST); +} + +RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command) : AtCommandRequest(command, NULL, 0) { + _remoteAddress64 = remoteAddress64; + _remoteAddress16 = ZB_BROADCAST_ADDRESS; + _applyChanges = false; + setApiId(REMOTE_AT_REQUEST); +} + +uint16_t RemoteAtCommandRequest::getRemoteAddress16() { + return _remoteAddress16; +} + +void RemoteAtCommandRequest::setRemoteAddress16(uint16_t remoteAddress16) { + _remoteAddress16 = remoteAddress16; +} + +XBeeAddress64& RemoteAtCommandRequest::getRemoteAddress64() { + return _remoteAddress64; +} + +void RemoteAtCommandRequest::setRemoteAddress64(XBeeAddress64 &remoteAddress64) { + _remoteAddress64 = remoteAddress64; +} + +bool RemoteAtCommandRequest::getApplyChanges() { + return _applyChanges; +} + +void RemoteAtCommandRequest::setApplyChanges(bool applyChanges) { + _applyChanges = applyChanges; +} + + +uint8_t RemoteAtCommandRequest::getFrameData(uint8_t pos) { + if (pos == 0) { + return (_remoteAddress64.getMsb() >> 24) & 0xff; + } else if (pos == 1) { + return (_remoteAddress64.getMsb() >> 16) & 0xff; + } else if (pos == 2) { + return (_remoteAddress64.getMsb() >> 8) & 0xff; + } else if (pos == 3) { + return _remoteAddress64.getMsb() & 0xff; + } else if (pos == 4) { + return (_remoteAddress64.getLsb() >> 24) & 0xff; + } else if (pos == 5) { + return (_remoteAddress64.getLsb() >> 16) & 0xff; + } else if (pos == 6) { + return(_remoteAddress64.getLsb() >> 8) & 0xff; + } else if (pos == 7) { + return _remoteAddress64.getLsb() & 0xff; + } else if (pos == 8) { + return (_remoteAddress16 >> 8) & 0xff; + } else if (pos == 9) { + return _remoteAddress16 & 0xff; + } else if (pos == 10) { + return _applyChanges ? 2: 0; + } else if (pos == 11) { + return getCommand()[0]; + } else if (pos == 12) { + return getCommand()[1]; + } else { + return getCommandValue()[pos - REMOTE_AT_COMMAND_API_LENGTH]; + } +} + +uint8_t RemoteAtCommandRequest::getFrameDataLength() { + return REMOTE_AT_COMMAND_API_LENGTH + getCommandValueLength(); +} + + +// TODO +//GenericRequest::GenericRequest(uint8_t* frame, uint8_t len, uint8_t apiId): XBeeRequest(apiId, *(frame), len) { +// _frame = frame; +//} + +void XBee::send(XBeeRequest &request) { + + // timing profilling, C. Pham + startSend=millis(); + + // the new new deal + + sendByte(START_BYTE, false); + //sendByte(0xaa, false); + // send length + uint8_t msbLen = ((request.getFrameDataLength() + 2) >> 8) & 0xff; + uint8_t lsbLen = (request.getFrameDataLength() + 2) & 0xff; + + sendByte(msbLen, true); + sendByte(lsbLen, true); + + // api id + sendByte(request.getApiId(), true); + sendByte(request.getFrameId(), true); + + uint8_t checksum = 0; + + // compute checksum, start at api id + checksum+= request.getApiId(); + checksum+= request.getFrameId(); + + //std::cout << "frame length is " << static_cast(request.getFrameDataLength()) << std::endl; + + // timing profilling, C. Pham + startWriteLoop=millis(); + + for (int i = 0; i < request.getFrameDataLength(); i++) { +// std::cout << "sending byte [" << static_cast(i) << "] " << std::endl; + sendByte(request.getFrameData(i), true); + checksum+= request.getFrameData(i); + } + + // perform 2s complement + checksum = 0xff - checksum; + +// std::cout << "checksum is " << static_cast(checksum) << std::endl; + + // send checksum + sendByte(checksum, true); + + // timing profilling, C. Pham + stopWriteLoop=millis(); + + // timing profilling, C. Pham + startSendRadio=millis(); + + // send packet (Note: prior to Arduino 1.0 this flushed the incoming buffer, which of course was not so great) + flush(); + + // timing profilling, C. Pham + stopSendRadio=millis(); + + // timing profilling, C. Pham + stopSend=millis(); +} + +void XBee::sendByte(uint8_t b, bool escape) { + + if (escape && (b == START_BYTE || b == ESCAPE || b == XON || b == XOFF)) { +// std::cout << "escaping byte [" << toHexString(b) << "] " << std::endl; + write(ESCAPE); + write(b ^ 0x20); + } else { + write(b); + } +} diff --git a/libraries/XBee/XBee.h b/libraries/XBee/XBee.h new file mode 100755 index 0000000..257adb2 --- /dev/null +++ b/libraries/XBee/XBee.h @@ -0,0 +1,1078 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#ifndef XBee_h +#define XBee_h + +#if defined(ARDUINO) && ARDUINO >= 100 + #include "Arduino.h" +#else + #include "WProgram.h" +#endif + +#include + +#define SERIES_1 +#define SERIES_2 +#define SERIES_DIGIMESH + +// set to ATAP value of XBee. AP=2 is recommended +#define ATAP 2 + +#define START_BYTE 0x7e +#define ESCAPE 0x7d +#define XON 0x11 +#define XOFF 0x13 + +// This value determines the size of the byte array for receiving RX packets +// Most users won't be dealing with packets this large so you can adjust this +// value to reduce memory consumption. But, remember that +// if a RX packet exceeds this size, it cannot be parsed! + +// This value is determined by the largest packet size (100 byte payload + 64-bit address + option byte and rssi byte) of a series 1 radio +#define MAX_FRAME_DATA_SIZE 110 + +#define BROADCAST_ADDRESS 0xffff +#define ZB_BROADCAST_ADDRESS 0xfffe + +// the non-variable length of the frame data (not including frame id or api id or variable data size (e.g. payload, at command set value) +#define ZB_TX_API_LENGTH 12 +#define DM_TX_API_LENGTH 12 +#define TX_16_API_LENGTH 3 +#define TX_64_API_LENGTH 9 +#define AT_COMMAND_API_LENGTH 2 +#define REMOTE_AT_COMMAND_API_LENGTH 13 +// start/length(2)/api/frameid/checksum bytes +#define PACKET_OVERHEAD_LENGTH 6 +// api is always the third byte in packet +#define API_ID_INDEX 3 + +// frame position of rssi byte +#define RX_16_RSSI_OFFSET 2 +#define RX_64_RSSI_OFFSET 8 + +#define DEFAULT_FRAME_ID 1 +#define NO_RESPONSE_FRAME_ID 0 + +// TODO put in tx16 class +#define ACK_OPTION 0 +#define DISABLE_ACK_OPTION 1 +#define BROADCAST_OPTION 4 + +// RX options +#define ZB_PACKET_ACKNOWLEDGED 0x01 +#define ZB_BROADCAST_PACKET 0x02 +#define DM_PACKET_ACKNOWLEDGED 0x01 +#define DM_BROADCAST_PACKET 0x02 + +// not everything is implemented! +/** + * Api Id constants + */ +#define TX_64_REQUEST 0x0 +#define TX_16_REQUEST 0x1 +#define DM_TX_REQUEST 0x10 +#define AT_COMMAND_REQUEST 0x08 +#define AT_COMMAND_QUEUE_REQUEST 0x09 +#define REMOTE_AT_REQUEST 0x17 +#define DM_REMOTE_AT_REQUEST 0x19 +#define ZB_TX_REQUEST 0x10 +#define ZB_EXPLICIT_TX_REQUEST 0x11 +#define RX_64_RESPONSE 0x80 +#define RX_16_RESPONSE 0x81 +#define RX_64_IO_RESPONSE 0x82 +#define RX_16_IO_RESPONSE 0x83 +#define DM_RX_RESPONSE 0X90 +#define AT_RESPONSE 0x88 +#define TX_STATUS_RESPONSE 0x89 +#define DM_TX_STATUS_RESPONSE 0x8b +#define MODEM_STATUS_RESPONSE 0x8a +#define ZB_RX_RESPONSE 0x90 +#define ZB_EXPLICIT_RX_RESPONSE 0x91 +#define DM_EXPLICIT_RX_RESPONSE 0x91 +#define ZB_TX_STATUS_RESPONSE 0x8b +#define ZB_IO_SAMPLE_RESPONSE 0x92 +#define ZB_IO_NODE_IDENTIFIER_RESPONSE 0x95 +#define DM_IO_NODE_IDENTIFIER_RESPONSE 0x95 +#define AT_COMMAND_RESPONSE 0x88 +#define REMOTE_AT_COMMAND_RESPONSE 0x97 + + +/** + * TX STATUS constants + */ +#define SUCCESS 0x0 +#define CCA_FAILURE 0x2 +#define INVALID_DESTINATION_ENDPOINT_SUCCESS 0x15 +#define NETWORK_ACK_FAILURE 0x21 +#define NOT_JOINED_TO_NETWORK 0x22 +#define SELF_ADDRESSED 0x23 +#define ADDRESS_NOT_FOUND 0x24 +#define ROUTE_NOT_FOUND 0x25 +#define PAYLOAD_TOO_LARGE 0x74 + +// modem status +#define HARDWARE_RESET 0 +#define WATCHDOG_TIMER_RESET 1 +#define ASSOCIATED 2 +#define DISASSOCIATED 3 +#define SYNCHRONIZATION_LOST 4 +#define COORDINATOR_REALIGNMENT 5 +#define COORDINATOR_STARTED 6 + +#define ZB_BROADCAST_RADIUS_MAX_HOPS 0 +#define DM_BROADCAST_RADIUS_MAX_HOPS 0 + +#define ZB_TX_UNICAST 0 +#define ZB_TX_BROADCAST 8 +#define DM_TX_BROADCAST 8 + +#define AT_OK 0 +#define AT_ERROR 1 +#define AT_INVALID_COMMAND 2 +#define AT_INVALID_PARAMETER 3 +#define AT_NO_RESPONSE 4 + +#define NO_ERROR 0 +#define CHECKSUM_FAILURE 1 +#define PACKET_EXCEEDS_BYTE_ARRAY_LENGTH 2 +#define UNEXPECTED_START_BYTE 3 + +/** + * The super class of all XBee responses (RX packets) + * Users should never attempt to create an instance of this class; instead + * create an instance of a subclass + * It is recommend to reuse subclasses to conserve memory + */ +class XBeeResponse { +public: + //static const int MODEM_STATUS = 0x8a; + /** + * Default constructor + */ + XBeeResponse(); + /** + * Returns Api Id of the response + */ + uint8_t getApiId(); + void setApiId(uint8_t apiId); + /** + * Returns the MSB length of the packet + */ + uint8_t getMsbLength(); + void setMsbLength(uint8_t msbLength); + /** + * Returns the LSB length of the packet + */ + uint8_t getLsbLength(); + void setLsbLength(uint8_t lsbLength); + /** + * Returns the packet checksum + */ + uint8_t getChecksum(); + void setChecksum(uint8_t checksum); + /** + * Returns the length of the frame data: all bytes after the api id, and prior to the checksum + * Note up to release 0.1.2, this was incorrectly including the checksum in the length. + */ + uint8_t getFrameDataLength(); + void setFrameData(uint8_t* frameDataPtr); + /** + * Returns the buffer that contains the response. + * Starts with byte that follows API ID and includes all bytes prior to the checksum + * Length is specified by getFrameDataLength() + * Note: Unlike Digi's definition of the frame data, this does not start with the API ID.. + * The reason for this is all responses include an API ID, whereas my frame data + * includes only the API specific data. + */ + uint8_t* getFrameData(); + + void setFrameLength(uint8_t frameLength); + // to support future 65535 byte packets I guess + /** + * Returns the length of the packet + */ + uint16_t getPacketLength(); + /** + * Resets the response to default values + */ + void reset(); + /** + * Initializes the response + */ + void init(); +#ifdef SERIES_2 + /** + * Call with instance of ZBTxStatusResponse class only if getApiId() == ZB_TX_STATUS_RESPONSE + * to populate response + */ + void getZBTxStatusResponse(XBeeResponse &response); + /** + * Call with instance of ZBRxResponse class only if getApiId() == ZB_RX_RESPONSE + * to populate response + */ + void getZBRxResponse(XBeeResponse &response); + /** + * Call with instance of ZBRxIoSampleResponse class only if getApiId() == ZB_IO_SAMPLE_RESPONSE + * to populate response + */ + void getZBRxIoSampleResponse(XBeeResponse &response); +#endif +#ifdef SERIES_1 + /** + * Call with instance of TxStatusResponse only if getApiId() == TX_STATUS_RESPONSE + */ + void getTxStatusResponse(XBeeResponse &response); + /** + * Call with instance of Rx16Response only if getApiId() == RX_16_RESPONSE + */ + void getRx16Response(XBeeResponse &response); + /** + * Call with instance of Rx64Response only if getApiId() == RX_64_RESPONSE + */ + void getRx64Response(XBeeResponse &response); + /** + * Call with instance of Rx16IoSampleResponse only if getApiId() == RX_16_IO_RESPONSE + */ + void getRx16IoSampleResponse(XBeeResponse &response); + /** + * Call with instance of Rx64IoSampleResponse only if getApiId() == RX_64_IO_RESPONSE + */ + void getRx64IoSampleResponse(XBeeResponse &response); +#endif + +#ifdef SERIES_DIGIMESH + /** + * Call with instance of DMTxStatusResponse class only if getApiId() == DM_TX_STATUS_RESPONSE + * to populate response + */ + // fatto! + void getDMTxStatusResponse(XBeeResponse &response); + /** + * Call with instance of DMRxResponse class only if getApiId() == DM_RX_RESPONSE + * to populate response + */ + // fatto! + void getDMRxResponse(XBeeResponse &response); +#endif + + /** + * Call with instance of AtCommandResponse only if getApiId() == AT_COMMAND_RESPONSE + */ + void getAtCommandResponse(XBeeResponse &responses); + /** + * Call with instance of RemoteAtCommandResponse only if getApiId() == REMOTE_AT_COMMAND_RESPONSE + */ + void getRemoteAtCommandResponse(XBeeResponse &response); + /** + * Call with instance of ModemStatusResponse only if getApiId() == MODEM_STATUS_RESPONSE + */ + void getModemStatusResponse(XBeeResponse &response); + /** + * Returns true if the response has been successfully parsed and is complete and ready for use + */ + bool isAvailable(); + void setAvailable(bool complete); + /** + * Returns true if the response contains errors + */ + bool isError(); + /** + * Returns an error code, or zero, if successful. + * Error codes include: CHECKSUM_FAILURE, PACKET_EXCEEDS_BYTE_ARRAY_LENGTH, UNEXPECTED_START_BYTE + */ + uint8_t getErrorCode(); + void setErrorCode(uint8_t errorCode); +protected: + // pointer to frameData + uint8_t* _frameDataPtr; +private: + void setCommon(XBeeResponse &target); + uint8_t _apiId; + uint8_t _msbLength; + uint8_t _lsbLength; + uint8_t _checksum; + uint8_t _frameLength; + bool _complete; + uint8_t _errorCode; +}; + +class XBeeAddress { +public: + XBeeAddress(); +}; + +/** + * Represents a 64-bit XBee Address + */ +class XBeeAddress64 : public XBeeAddress { +public: + XBeeAddress64(uint32_t msb, uint32_t lsb); + XBeeAddress64(); + uint32_t getMsb(); + uint32_t getLsb(); + void setMsb(uint32_t msb); + void setLsb(uint32_t lsb); +private: + uint32_t _msb; + uint32_t _lsb; +}; + + +/** + * This class is extended by all Responses that include a frame id + */ +class FrameIdResponse : public XBeeResponse { +public: + FrameIdResponse(); + uint8_t getFrameId(); +private: + uint8_t _frameId; +}; + +/** + * Common functionality for both Series 1 and 2 data RX data packets + */ +class RxDataResponse : public XBeeResponse { +public: + RxDataResponse(); + /** + * Returns the specified index of the payload. The index may be 0 to getDataLength() - 1 + * This method is deprecated; use uint8_t* getData() + */ + uint8_t getData(int index); + /** + * Returns the payload array. This may be accessed from index 0 to getDataLength() - 1 + */ + uint8_t* getData(); + /** + * Returns the length of the payload + */ + virtual uint8_t getDataLength() = 0; + /** + * Returns the position in the frame data where the data begins + */ + virtual uint8_t getDataOffset() = 0; +}; + +// getResponse to return the proper subclass: +// we maintain a pointer to each type of response, when a response is parsed, it is allocated only if NULL +// can we allocate an object in a function? + +#ifdef SERIES_2 +/** + * Represents a Series 2 TX status packet + */ +class ZBTxStatusResponse : public FrameIdResponse { + public: + ZBTxStatusResponse(); + uint16_t getRemoteAddress(); + uint8_t getTxRetryCount(); + uint8_t getDeliveryStatus(); + uint8_t getDiscoveryStatus(); + bool isSuccess(); +}; + +/** + * Represents a Series 2 RX packet + */ +class ZBRxResponse : public RxDataResponse { +public: + ZBRxResponse(); + XBeeAddress64& getRemoteAddress64(); + uint16_t getRemoteAddress16(); + uint8_t getOption(); + uint8_t getDataLength(); + // frame position where data starts + uint8_t getDataOffset(); +private: + XBeeAddress64 _remoteAddress64; +}; + +/** + * Represents a Series 2 RX I/O Sample packet + */ +class ZBRxIoSampleResponse : public ZBRxResponse { +public: + ZBRxIoSampleResponse(); + bool containsAnalog(); + bool containsDigital(); + /** + * Returns true if the pin is enabled + */ + bool isAnalogEnabled(uint8_t pin); + /** + * Returns true if the pin is enabled + */ + bool isDigitalEnabled(uint8_t pin); + /** + * Returns the 10-bit analog reading of the specified pin. + * Valid pins include ADC:xxx. + */ + uint16_t getAnalog(uint8_t pin); + /** + * Returns true if the specified pin is high/on. + * Valid pins include DIO:xxx. + */ + bool isDigitalOn(uint8_t pin); + uint8_t getDigitalMaskMsb(); + uint8_t getDigitalMaskLsb(); + uint8_t getAnalogMask(); +}; + +#endif + + +#ifdef SERIES_DIGIMESH +/** + * Represents a Series DM TX status packet + */ + +// fatto! +class DMTxStatusResponse : public FrameIdResponse { + public: + DMTxStatusResponse(); + uint8_t getTxRetryCount(); + uint8_t getDeliveryStatus(); + uint8_t getDiscoveryStatus(); + bool isSuccess(); +}; + +/** + * Represents a Series DM RX packet + */ + +// fatto! +class DMRxResponse : public RxDataResponse { +public: + DMRxResponse(); + XBeeAddress64& getRemoteAddress64(); + uint8_t getOption(); + uint8_t getDataLength(); + // frame position where data starts + uint8_t getDataOffset(); +private: + XBeeAddress64 _remoteAddress64; +}; +#endif + + +#ifdef SERIES_1 +/** + * Represents a Series 1 TX Status packet + */ +class TxStatusResponse : public FrameIdResponse { + public: + TxStatusResponse(); + uint8_t getStatus(); + bool isSuccess(); +}; + +/** + * Represents a Series 1 RX packet + */ +class RxResponse : public RxDataResponse { +public: + RxResponse(); + // remember rssi is negative but this is unsigned byte so it's up to you to convert + uint8_t getRssi(); + uint8_t getOption(); + bool isAddressBroadcast(); + bool isPanBroadcast(); + uint8_t getDataLength(); + uint8_t getDataOffset(); + virtual uint8_t getRssiOffset() = 0; +}; + +/** + * Represents a Series 1 16-bit address RX packet + */ +class Rx16Response : public RxResponse { +public: + Rx16Response(); + uint8_t getRssiOffset(); + uint16_t getRemoteAddress16(); +protected: + uint16_t _remoteAddress; +}; + +/** + * Represents a Series 1 64-bit address RX packet + */ +class Rx64Response : public RxResponse { +public: + Rx64Response(); + uint8_t getRssiOffset(); + XBeeAddress64& getRemoteAddress64(); +private: + XBeeAddress64 _remoteAddress; +}; + +/** + * Represents a Series 1 RX I/O Sample packet + */ +class RxIoSampleBaseResponse : public RxResponse { + public: + RxIoSampleBaseResponse(); + /** + * Returns the number of samples in this packet + */ + uint8_t getSampleSize(); + bool containsAnalog(); + bool containsDigital(); + /** + * Returns true if the specified analog pin is enabled + */ + bool isAnalogEnabled(uint8_t pin); + /** + * Returns true if the specified digital pin is enabled + */ + bool isDigitalEnabled(uint8_t pin); + /** + * Returns the 10-bit analog reading of the specified pin. + * Valid pins include ADC:0-5. Sample index starts at 0 + */ + uint16_t getAnalog(uint8_t pin, uint8_t sample); + /** + * Returns true if the specified pin is high/on. + * Valid pins include DIO:0-8. Sample index starts at 0 + */ + bool isDigitalOn(uint8_t pin, uint8_t sample); + uint8_t getSampleOffset(); + private: +}; + +class Rx16IoSampleResponse : public RxIoSampleBaseResponse { +public: + Rx16IoSampleResponse(); + uint16_t getRemoteAddress16(); + uint8_t getRssiOffset(); + +}; + +class Rx64IoSampleResponse : public RxIoSampleBaseResponse { +public: + Rx64IoSampleResponse(); + XBeeAddress64& getRemoteAddress64(); + uint8_t getRssiOffset(); +private: + XBeeAddress64 _remoteAddress; +}; + +#endif + +/** + * Represents a Modem Status RX packet + */ +class ModemStatusResponse : public XBeeResponse { +public: + ModemStatusResponse(); + uint8_t getStatus(); +}; + +/** + * Represents an AT Command RX packet + */ +class AtCommandResponse : public FrameIdResponse { + public: + AtCommandResponse(); + /** + * Returns an array containing the two character command + */ + uint8_t* getCommand(); + /** + * Returns the command status code. + * Zero represents a successful command + */ + uint8_t getStatus(); + /** + * Returns an array containing the command value. + * This is only applicable to query commands. + */ + uint8_t* getValue(); + /** + * Returns the length of the command value array. + */ + uint8_t getValueLength(); + /** + * Returns true if status equals AT_OK + */ + bool isOk(); +}; + +/** + * Represents a Remote AT Command RX packet + */ +class RemoteAtCommandResponse : public AtCommandResponse { + public: + RemoteAtCommandResponse(); + /** + * Returns an array containing the two character command + */ + uint8_t* getCommand(); + /** + * Returns the command status code. + * Zero represents a successful command + */ + uint8_t getStatus(); + /** + * Returns an array containing the command value. + * This is only applicable to query commands. + */ + uint8_t* getValue(); + /** + * Returns the length of the command value array. + */ + uint8_t getValueLength(); + /** + * Returns the 16-bit address of the remote radio + */ + uint16_t getRemoteAddress16(); + /** + * Returns the 64-bit address of the remote radio + */ + XBeeAddress64& getRemoteAddress64(); + /** + * Returns true if command was successful + */ + bool isOk(); + private: + XBeeAddress64 _remoteAddress64; +}; + + +/** + * Super class of all XBee requests (TX packets) + * Users should never create an instance of this class; instead use an subclass of this class + * It is recommended to reuse Subclasses of the class to conserve memory + *

+ * This class allocates a buffer to + */ +class XBeeRequest { +public: + /** + * Constructor + * TODO make protected + */ + XBeeRequest(uint8_t apiId, uint8_t frameId); + /** + * Sets the frame id. Must be between 1 and 255 inclusive to get a TX status response. + */ + void setFrameId(uint8_t frameId); + /** + * Returns the frame id + */ + uint8_t getFrameId(); + /** + * Returns the API id + */ + uint8_t getApiId(); + // setting = 0 makes this a pure virtual function, meaning the subclass must implement, like abstract in java + /** + * Starting after the frame id (pos = 0) and up to but not including the checksum + * Note: Unlike Digi's definition of the frame data, this does not start with the API ID. + * The reason for this is the API ID and Frame ID are common to all requests, whereas my definition of + * frame data is only the API specific data. + */ + virtual uint8_t getFrameData(uint8_t pos) = 0; + /** + * Returns the size of the api frame (not including frame id or api id or checksum). + */ + virtual uint8_t getFrameDataLength() = 0; + //void reset(); +protected: + void setApiId(uint8_t apiId); +private: + uint8_t _apiId; + uint8_t _frameId; +}; + +// TODO add reset/clear method since responses are often reused +/** + * Primary interface for communicating with an XBee Radio. + * This class provides methods for sending and receiving packets with an XBee radio via the serial port. + * The XBee radio must be configured in API (packet) mode (AP=2) + * in order to use this software. + *

+ * Since this code is designed to run on a microcontroller, with only one thread, you are responsible for reading the + * data off the serial buffer in a timely manner. This involves a call to a variant of readPacket(...). + * If your serial port is receiving data faster than you are reading, you can expect to lose packets. + * Arduino only has a 128 byte serial buffer so it can easily overflow if two or more packets arrive + * without a call to readPacket(...) + *

+ * In order to conserve resources, this class only supports storing one response packet in memory at a time. + * This means that you must fully consume the packet prior to calling readPacket(...), because calling + * readPacket(...) overwrites the previous response. + *

+ * This class creates an array of size MAX_FRAME_DATA_SIZE for storing the response packet. You may want + * to adjust this value to conserve memory. + * + * \author Andrew Rapp + */ +class XBee { +public: + XBee(); + /** + * Reads all available serial bytes until a packet is parsed, an error occurs, or the buffer is empty. + * You may call xbee.getResponse().isAvailable() after calling this method to determine if + * a packet is ready, or xbee.getResponse().isError() to determine if + * a error occurred. + *

+ * This method should always return quickly since it does not wait for serial data to arrive. + * You will want to use this method if you are doing other timely stuff in your loop, where + * a delay would cause problems. + * NOTE: calling this method resets the current response, so make sure you first consume the + * current response + */ + void readPacket(); + /** + * Waits a maximum of timeout milliseconds for a response packet before timing out; returns true if packet is read. + * Returns false if timeout or error occurs. + */ + bool readPacket(int timeout); + /** + * Reads until a packet is received or an error occurs. + * Caution: use this carefully since if you don't get a response, your Arduino code will hang on this + * call forever!! often it's better to use a timeout: readPacket(int) + */ + void readPacketUntilAvailable(); + /** + * Starts the serial connection at the supplied baud rate + */ + void begin(long baud); + void getResponse(XBeeResponse &response); + /** + * Returns a reference to the current response + * Note: once readPacket is called again this response will be overwritten! + */ + XBeeResponse& getResponse(); + /** + * Sends a XBeeRequest (TX packet) out the serial port + */ + void send(XBeeRequest &request); + //uint8_t sendAndWaitForResponse(XBeeRequest &request, int timeout); + /** + * Returns a sequential frame id between 1 and 255 + */ + uint8_t getNextFrameId(); + /** + * Specify the serial port. Only relevant for Arduinos that support multiple serial ports (e.g. Mega) + */ + void setSerial(HardwareSerial &serial); + + //! Timing variables for performance profilling, C. Pham + /*! + */ + long startSend; + long stopSend; + long startSendRadio; + long stopSendRadio; + long startWriteLoop; + long stopWriteLoop; + long startParseMessage; + long stopParseMessage; + long startTxStatusResponse; + long stopTxStatusResponse; + long startFetchedTime; + long stopFetchedTime; + +private: + bool available(); + uint8_t read(); + void flush(); + void write(uint8_t val); + void sendByte(uint8_t b, bool escape); + void resetResponse(); + XBeeResponse _response; + bool _escape; + // current packet position for response. just a state variable for packet parsing and has no relevance for the response otherwise + uint8_t _pos; + // last byte read + uint8_t b; + uint8_t _checksumTotal; + uint8_t _nextFrameId; + // buffer for incoming RX packets. holds only the api specific frame data, starting after the api id byte and prior to checksum + uint8_t _responseFrameData[MAX_FRAME_DATA_SIZE]; + HardwareSerial* _serial; +}; + +/** + * All TX packets that support payloads extend this class + */ +class PayloadRequest : public XBeeRequest { +public: + PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint8_t payloadLength); + /** + * Returns the payload of the packet, if not null + */ + uint8_t* getPayload(); + /** + * Sets the payload array + */ + void setPayload(uint8_t* payloadPtr); + /** + * Returns the length of the payload array, as specified by the user. + */ + uint8_t getPayloadLength(); + /** + * Sets the length of the payload to include in the request. For example if the payload array + * is 50 bytes and you only want the first 10 to be included in the packet, set the length to 10. + * Length must be <= to the array length. + */ + void setPayloadLength(uint8_t payloadLength); +private: + uint8_t* _payloadPtr; + uint8_t _payloadLength; +}; + +#ifdef SERIES_1 + +/** + * Represents a Series 1 TX packet that corresponds to Api Id: TX_16_REQUEST + *

+ * Be careful not to send a data array larger than the max packet size of your radio. + * This class does not perform any validation of packet size and there will be no indication + * if the packet is too large, other than you will not get a TX Status response. + * The datasheet says 100 bytes is the maximum, although that could change in future firmware. + */ +class Tx16Request : public PayloadRequest { +public: + Tx16Request(uint16_t addr16, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId); + /** + * Creates a Unicast Tx16Request with the ACK option and DEFAULT_FRAME_ID + */ + Tx16Request(uint16_t addr16, uint8_t *payload, uint8_t payloadLength); + /** + * Creates a default instance of this class. At a minimum you must specify + * a payload, payload length and a destination address before sending this request. + */ + Tx16Request(); + uint16_t getAddress16(); + void setAddress16(uint16_t addr16); + uint8_t getOption(); + void setOption(uint8_t option); + uint8_t getFrameData(uint8_t pos); + uint8_t getFrameDataLength(); +protected: +private: + uint16_t _addr16; + uint8_t _option; +}; + +/** + * Represents a Series 1 TX packet that corresponds to Api Id: TX_64_REQUEST + * + * Be careful not to send a data array larger than the max packet size of your radio. + * This class does not perform any validation of packet size and there will be no indication + * if the packet is too large, other than you will not get a TX Status response. + * The datasheet says 100 bytes is the maximum, although that could change in future firmware. + */ +class Tx64Request : public PayloadRequest { +public: + Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId); + /** + * Creates a unicast Tx64Request with the ACK option and DEFAULT_FRAME_ID + */ + Tx64Request(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength); + /** + * Creates a default instance of this class. At a minimum you must specify + * a payload, payload length and a destination address before sending this request. + */ + Tx64Request(); + XBeeAddress64& getAddress64(); + void setAddress64(XBeeAddress64& addr64); + // TODO move option to superclass + uint8_t getOption(); + void setOption(uint8_t option); + uint8_t getFrameData(uint8_t pos); + uint8_t getFrameDataLength(); +private: + XBeeAddress64 _addr64; + uint8_t _option; +}; + +#endif + + +#ifdef SERIES_2 + +/** + * Represents a Series 2 TX packet that corresponds to Api Id: ZB_TX_REQUEST + * + * Be careful not to send a data array larger than the max packet size of your radio. + * This class does not perform any validation of packet size and there will be no indication + * if the packet is too large, other than you will not get a TX Status response. + * The datasheet says 72 bytes is the maximum for ZNet firmware and ZB Pro firmware provides + * the ATNP command to get the max supported payload size. This command is useful since the + * maximum payload size varies according to certain settings, such as encryption. + * ZB Pro firmware provides a PAYLOAD_TOO_LARGE that is returned if payload size + * exceeds the maximum. + */ +class ZBTxRequest : public PayloadRequest { +public: + /** + * Creates a unicast ZBTxRequest with the ACK option and DEFAULT_FRAME_ID + */ + ZBTxRequest(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength); + ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId); + /** + * Creates a default instance of this class. At a minimum you must specify + * a payload, payload length and a destination address before sending this request. + */ + ZBTxRequest(); + XBeeAddress64& getAddress64(); + uint16_t getAddress16(); + uint8_t getBroadcastRadius(); + uint8_t getOption(); + void setAddress64(XBeeAddress64& addr64); + void setAddress16(uint16_t addr16); + void setBroadcastRadius(uint8_t broadcastRadius); + void setOption(uint8_t option); +protected: + // declare virtual functions + uint8_t getFrameData(uint8_t pos); + uint8_t getFrameDataLength(); +private: + XBeeAddress64 _addr64; + uint16_t _addr16; + uint8_t _broadcastRadius; + uint8_t _option; +}; + +#endif + +#ifdef SERIES_DIGIMESH + +/** + * Represents a Series 2 TX packet that corresponds to Api Id: ZB_TX_REQUEST + * + * Be careful not to send a data array larger than the max packet size of your radio. + * This class does not perform any validation of packet size and there will be no indication + * if the packet is too large, other than you will not get a TX Status response. + * The datasheet says 72 bytes is the maximum for ZNet firmware and ZB Pro firmware provides + * the ATNP command to get the max supported payload size. This command is useful since the + * maximum payload size varies according to certain settings, such as encryption. + * ZB Pro firmware provides a PAYLOAD_TOO_LARGE that is returned if payload size + * exceeds the maximum. + */ +class DMTxRequest : public PayloadRequest { +public: + /** + * Creates a unicast DMTxRequest with the ACK option and DEFAULT_FRAME_ID + */ + DMTxRequest(XBeeAddress64 &addr64, uint8_t *payload, uint8_t payloadLength); + DMTxRequest(XBeeAddress64 &addr64, uint8_t broadcastRadius, uint8_t option, uint8_t *payload, uint8_t payloadLength, uint8_t frameId); + /** + * Creates a default instance of this class. At a minimum you must specify + * a payload, payload length and a destination address before sending this request. + */ + DMTxRequest(); + XBeeAddress64& getAddress64(); + uint8_t getBroadcastRadius(); + uint8_t getOption(); + void setAddress64(XBeeAddress64& addr64); + void setBroadcastRadius(uint8_t broadcastRadius); + void setOption(uint8_t option); +protected: + // declare virtual functions + uint8_t getFrameData(uint8_t pos); + uint8_t getFrameDataLength(); +private: + XBeeAddress64 _addr64; + uint8_t _broadcastRadius; + uint8_t _option; +}; + +#endif + + +/** + * Represents an AT Command TX packet + * The command is used to configure the serially connected XBee radio + */ +class AtCommandRequest : public XBeeRequest { +public: + AtCommandRequest(); + AtCommandRequest(uint8_t *command); + AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength); + uint8_t getFrameData(uint8_t pos); + uint8_t getFrameDataLength(); + uint8_t* getCommand(); + void setCommand(uint8_t* command); + uint8_t* getCommandValue(); + void setCommandValue(uint8_t* command); + uint8_t getCommandValueLength(); + void setCommandValueLength(uint8_t length); + /** + * Clears the optional commandValue and commandValueLength so that a query may be sent + */ + void clearCommandValue(); + //void reset(); +private: + uint8_t *_command; + uint8_t *_commandValue; + uint8_t _commandValueLength; +}; + +/** + * Represents an Remote AT Command TX packet + * The command is used to configure a remote XBee radio + */ +class RemoteAtCommandRequest : public AtCommandRequest { +public: + RemoteAtCommandRequest(); + /** + * Creates a RemoteAtCommandRequest with 16-bit address to set a command. + * 64-bit address defaults to broadcast and applyChanges is true. + */ + RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength); + /** + * Creates a RemoteAtCommandRequest with 16-bit address to query a command. + * 64-bit address defaults to broadcast and applyChanges is true. + */ + RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command); + /** + * Creates a RemoteAtCommandRequest with 64-bit address to set a command. + * 16-bit address defaults to broadcast and applyChanges is true. + */ + RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength); + /** + * Creates a RemoteAtCommandRequest with 16-bit address to query a command. + * 16-bit address defaults to broadcast and applyChanges is true. + */ + RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command); + uint16_t getRemoteAddress16(); + void setRemoteAddress16(uint16_t remoteAddress16); + XBeeAddress64& getRemoteAddress64(); + void setRemoteAddress64(XBeeAddress64 &remoteAddress64); + bool getApplyChanges(); + void setApplyChanges(bool applyChanges); + uint8_t getFrameData(uint8_t pos); + uint8_t getFrameDataLength(); + static XBeeAddress64 broadcastAddress64; +// static uint16_t broadcast16Address; +private: + XBeeAddress64 _remoteAddress64; + uint16_t _remoteAddress16; + bool _applyChanges; +}; + + + +#endif //XBee_h diff --git a/libraries/XBee/examples/AtCommand/AtCommand.pde b/libraries/XBee/examples/AtCommand/AtCommand.pde new file mode 100755 index 0000000..b930dd7 --- /dev/null +++ b/libraries/XBee/examples/AtCommand/AtCommand.pde @@ -0,0 +1,135 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 1 (10C8 or later firmware) or Series 2 XBee radios +Sends a few AT command queries to the radio and checks the status response for success + +This example uses the NewSoftSerial library to view the XBee communication. I am using a +Modern Device USB BUB board (http://moderndevice.com/connect) and viewing the output +with the Arduino Serial Monitor. +You can obtain the NewSoftSerial library here http://arduiniana.org/libraries/NewSoftSerial/ +*/ + +// Define NewSoftSerial TX/RX pins +// Connect Arduino pin 9 to TX of usb-serial device +uint8_t ssRX = 9; +// Connect Arduino pin 10 to RX of usb-serial device +uint8_t ssTX = 10; +// Remember to connect all devices to a common Ground: XBee, Arduino and USB-Serial device +NewSoftSerial nss(ssRX, ssTX); + +XBee xbee = XBee(); + +// serial high +uint8_t shCmd[] = {'S','H'}; +// serial low +uint8_t slCmd[] = {'S','L'}; +// association status +uint8_t assocCmd[] = {'A','I'}; + +AtCommandRequest atRequest = AtCommandRequest(shCmd); + +AtCommandResponse atResponse = AtCommandResponse(); + +void setup() { + xbee.begin(9600); + // start soft serial + nss.begin(9600); + + // Startup delay to wait for XBee radio to initialize. + // you may need to increase this value if you are not getting a response + delay(5000); +} + +void loop() { + + // get SH + sendAtCommand(); + + // set command to SL + atRequest.setCommand(slCmd); + sendAtCommand(); + + // set command to AI + atRequest.setCommand(assocCmd); + sendAtCommand(); + + // we're done. Hit the Arduino reset button to start the sketch over + while (1) {}; +} + +void sendAtCommand() { + nss.println("Sending command to the XBee"); + + // send the command + xbee.send(atRequest); + + // wait up to 5 seconds for the status response + if (xbee.readPacket(5000)) { + // got a response! + + // should be an AT command response + if (xbee.getResponse().getApiId() == AT_COMMAND_RESPONSE) { + xbee.getResponse().getAtCommandResponse(atResponse); + + if (atResponse.isOk()) { + nss.print("Command ["); + nss.print(atResponse.getCommand()[0]); + nss.print(atResponse.getCommand()[1]); + nss.println("] was successful!"); + + if (atResponse.getValueLength() > 0) { + nss.print("Command value length is "); + nss.println(atResponse.getValueLength(), DEC); + + nss.print("Command value: "); + + for (int i = 0; i < atResponse.getValueLength(); i++) { + nss.print(atResponse.getValue()[i], HEX); + nss.print(" "); + } + + nss.println(""); + } + } + else { + nss.print("Command return error code: "); + nss.println(atResponse.getStatus(), HEX); + } + } else { + nss.print("Expected AT response but got "); + nss.print(xbee.getResponse().getApiId(), HEX); + } + } else { + // at command failed + if (xbee.getResponse().isError()) { + nss.print("Error reading packet. Error code: "); + nss.println(xbee.getResponse().getErrorCode()); + } + else { + nss.print("No response from radio"); + } + } +} + + diff --git a/libraries/XBee/examples/RemoteAtCommand/RemoteAtCommand.pde b/libraries/XBee/examples/RemoteAtCommand/RemoteAtCommand.pde new file mode 100755 index 0000000..d667038 --- /dev/null +++ b/libraries/XBee/examples/RemoteAtCommand/RemoteAtCommand.pde @@ -0,0 +1,143 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 1 (10C8 or later firmware) or Series 2 XBee +Sends two Remote AT commands to configure the remote radio for I/O line monitoring + +This example uses the NewSoftSerial library to view the XBee communication. I am using a +Modern Device USB BUB board (http://moderndevice.com/connect) and viewing the output +with the Arduino Serial Monitor. +You can obtain the NewSoftSerial library here http://arduiniana.org/libraries/NewSoftSerial/ +*/ + +// Define NewSoftSerial TX/RX pins +// Connect Arduino pin 9 to TX of usb-serial device +uint8_t ssRX = 9; +// Connect Arduino pin 10 to RX of usb-serial device +uint8_t ssTX = 10; +// Remember to connect all devices to a common Ground: XBee, Arduino and USB-Serial device +NewSoftSerial nss(ssRX, ssTX); + +XBee xbee = XBee(); + +// Turn on I/O sampling +uint8_t irCmd[] = {'I','R'}; +// Set sample rate to 65 seconds (0xffff/1000) +uint8_t irValue[] = { 0xff, 0xff }; + +// Set DIO0 (pin 20) to Analog Input +uint8_t d0Cmd[] = { 'D', '0' }; +uint8_t d0Value[] = { 0x2 }; + +// SH + SL of your remote radio +XBeeAddress64 remoteAddress = XBeeAddress64(0x0013a200, 0x400a3e02); +// Create a remote AT request with the IR command +RemoteAtCommandRequest remoteAtRequest = RemoteAtCommandRequest(remoteAddress, irCmd, irValue, sizeof(irValue)); + +// Create a Remote AT response object +RemoteAtCommandResponse remoteAtResponse = RemoteAtCommandResponse(); + +void setup() { + xbee.begin(9600); + // start soft serial + nss.begin(9600); + + // When powered on, XBee radios require a few seconds to start up + // and join the network. + // During this time, any packets sent to the radio are ignored. + // Series 2 radios send a modem status packet on startup. + + // it took about 4 seconds for mine to return modem status. + // In my experience, series 1 radios take a bit longer to associate. + // Of course if the radio has been powered on for some time before the sketch runs, + // you can safely remove this delay. + // Or if you both commands are not successful, try increasing the delay. + + delay(5000); +} + +void loop() { + sendRemoteAtCommand(); + + // now reuse same object for DIO0 command + remoteAtRequest.setCommand(d0Cmd); + remoteAtRequest.setCommandValue(d0Value); + remoteAtRequest.setCommandValueLength(sizeof(d0Value)); + + sendRemoteAtCommand(); + + // it's a good idea to clear the set value so that the object can be reused for a query + remoteAtRequest.clearCommandValue(); + + // we're done + while (1) {}; +} + +void sendRemoteAtCommand() { + nss.println("Sending command to the XBee"); + + // send the command + xbee.send(remoteAtRequest); + + // wait up to 5 seconds for the status response + if (xbee.readPacket(5000)) { + // got a response! + + // should be an AT command response + if (xbee.getResponse().getApiId() == REMOTE_AT_COMMAND_RESPONSE) { + xbee.getResponse().getRemoteAtCommandResponse(remoteAtResponse); + + if (remoteAtResponse.isOk()) { + nss.print("Command ["); + nss.print(remoteAtResponse.getCommand()[0]); + nss.print(remoteAtResponse.getCommand()[1]); + nss.println("] was successful!"); + + if (remoteAtResponse.getValueLength() > 0) { + nss.print("Command value length is "); + nss.println(remoteAtResponse.getValueLength(), DEC); + + nss.print("Command value: "); + + for (int i = 0; i < remoteAtResponse.getValueLength(); i++) { + nss.print(remoteAtResponse.getValue()[i], HEX); + nss.print(" "); + } + + nss.println(""); + } + } else { + nss.print("Command returned error code: "); + nss.println(remoteAtResponse.getStatus(), HEX); + } + } else { + nss.print("Expected Remote AT response but got "); + nss.print(xbee.getResponse().getApiId(), HEX); + } + } else if (xbee.getResponse().isError()) { + nss.print("Error reading packet. Error code: "); + nss.println(xbee.getResponse().getErrorCode()); + } else { + nss.print("No response from radio"); + } +} diff --git a/libraries/XBee/examples/Series1_IoSamples/Series1_IoSamples.pde b/libraries/XBee/examples/Series1_IoSamples/Series1_IoSamples.pde new file mode 100755 index 0000000..90ce1a8 --- /dev/null +++ b/libraries/XBee/examples/Series1_IoSamples/Series1_IoSamples.pde @@ -0,0 +1,112 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 1 XBee Radios only +Receives I/O samples from a remote radio with 16-bit addressing. +The remote radio must have IR > 0, at least one digital or analog input enabled +and DL set to the 16-bit address of the receiving XBee (the one connected to the Arduino). + +This example uses the NewSoftSerial library to view the XBee communication. I am using a +Modern Device USB BUB board (http://moderndevice.com/connect) and viewing the output +with the Arduino Serial Monitor. +You can obtain the NewSoftSerial library here http://arduiniana.org/libraries/NewSoftSerial/ +*/ + +// Define NewSoftSerial TX/RX pins +// Connect Arduino pin 9 to TX of usb-serial device +uint8_t ssRX = 9; +// Connect Arduino pin 10 to RX of usb-serial device +uint8_t ssTX = 10; +// Remember to connect all devices to a common Ground: XBee, Arduino and USB-Serial device +NewSoftSerial nss(ssRX, ssTX); + +XBee xbee = XBee(); + +Rx16IoSampleResponse ioSample = Rx16IoSampleResponse(); +// 64-bit response is same except api id equals RX_64_IO_RESPONSE and returns a 64-bit address +//Rx64IoSampleResponse ioSample = Rx64IoSampleResponse(); + +void setup() { + xbee.begin(9600); + // start soft serial + nss.begin(9600); +} + +void loop() { + //attempt to read a packet + xbee.readPacket(); + + if (xbee.getResponse().isAvailable()) { + // got something + + if (xbee.getResponse().getApiId() == RX_16_IO_RESPONSE) { + xbee.getResponse().getRx16IoSampleResponse(ioSample); + + nss.print("Received I/O Sample from: "); + nss.println(ioSample.getRemoteAddress16(), HEX); + + nss.print("Sample size is "); + nss.println(ioSample.getSampleSize(), DEC); + + if (ioSample.containsAnalog()) { + nss.println("Sample contains analog data"); + } + + if (ioSample.containsDigital()) { + nss.println("Sample contains digtal data"); + } + + for (int k = 0; k < ioSample.getSampleSize(); k++) { + nss.print("Sample "); + nss.print(k + 1, DEC); + nss.println(":"); + + for (int i = 0; i <= 5; i++) { + if (ioSample.isAnalogEnabled(i)) { + nss.print("Analog (AI"); + nss.print(i, DEC); + nss.print(") is "); + nss.println(ioSample.getAnalog(i, k)); + } + } + + for (int i = 0; i <= 8; i++) { + if (ioSample.isDigitalEnabled(i)) { + nss.print("Digtal (DI"); + nss.print(i, DEC); + nss.print(") is "); + nss.println(ioSample.isDigitalOn(i, k)); + } + } + } + } + else { + nss.print("Expected I/O Sample, but got "); + nss.print(xbee.getResponse().getApiId(), HEX); + } + } + else if (xbee.getResponse().isError()) { + nss.print("Error reading packet. Error code: "); + nss.println(xbee.getResponse().getErrorCode()); + } +} diff --git a/libraries/XBee/examples/Series1_Rx/Series1_Rx.pde b/libraries/XBee/examples/Series1_Rx/Series1_Rx.pde new file mode 100755 index 0000000..af6d9c3 --- /dev/null +++ b/libraries/XBee/examples/Series1_Rx/Series1_Rx.pde @@ -0,0 +1,101 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 1 XBee (802.15.4) +Receives either a RX16 or RX64 packet and sets a PWM value based on packet data. +Error led is flashed if an unexpected packet is received +*/ + +XBee xbee = XBee(); +XBeeResponse response = XBeeResponse(); +// create reusable response objects for responses we expect to handle +Rx16Response rx16 = Rx16Response(); +Rx64Response rx64 = Rx64Response(); + +int statusLed = 11; +int errorLed = 12; +int dataLed = 10; + +uint8_t option = 0; +uint8_t data = 0; + +void flashLed(int pin, int times, int wait) { + + for (int i = 0; i < times; i++) { + digitalWrite(pin, HIGH); + delay(wait); + digitalWrite(pin, LOW); + + if (i + 1 < times) { + delay(wait); + } + } +} + +void setup() { + pinMode(statusLed, OUTPUT); + pinMode(errorLed, OUTPUT); + pinMode(dataLed, OUTPUT); + + // start serial + xbee.begin(9600); + + flashLed(statusLed, 3, 50); +} + +// continuously reads packets, looking for RX16 or RX64 +void loop() { + + xbee.readPacket(); + + if (xbee.getResponse().isAvailable()) { + // got something + + if (xbee.getResponse().getApiId() == RX_16_RESPONSE || xbee.getResponse().getApiId() == RX_64_RESPONSE) { + // got a rx packet + + if (xbee.getResponse().getApiId() == RX_16_RESPONSE) { + xbee.getResponse().getRx16Response(rx16); + option = rx16.getOption(); + data = rx16.getData(0); + } else { + xbee.getResponse().getRx64Response(rx64); + option = rx64.getOption(); + data = rx64.getData(0); + } + + // TODO check option, rssi bytes + flashLed(statusLed, 1, 10); + + // set dataLed PWM to value of the first byte in the data + analogWrite(dataLed, data); + } else { + // not something we were expecting + flashLed(errorLed, 1, 25); + } + } else if (xbee.getResponse().isError()) { + //nss.print("Error reading packet. Error code: "); + //nss.println(xbee.getResponse().getErrorCode()); + // or flash error led + } +} diff --git a/libraries/XBee/examples/Series1_Tx/Series1_Tx.pde b/libraries/XBee/examples/Series1_Tx/Series1_Tx.pde new file mode 100755 index 0000000..d726e43 --- /dev/null +++ b/libraries/XBee/examples/Series1_Tx/Series1_Tx.pde @@ -0,0 +1,116 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 1 XBee +Sends a TX16 or TX64 request with the value of analogRead(pin5) and checks the status response for success +Note: In my testing it took about 15 seconds for the XBee to start reporting success, so I've added a startup delay +*/ + +XBee xbee = XBee(); + +unsigned long start = millis(); + +// allocate two bytes for to hold a 10-bit analog reading +uint8_t payload[] = { 0, 0 }; + +// with Series 1 you can use either 16-bit or 64-bit addressing + +// 16-bit addressing: Enter address of remote XBee, typically the coordinator +Tx16Request tx = Tx16Request(0x1874, payload, sizeof(payload)); + +// 64-bit addressing: This is the SH + SL address of remote XBee +//XBeeAddress64 addr64 = XBeeAddress64(0x0013a200, 0x4008b490); +// unless you have MY on the receiving radio set to FFFF, this will be received as a RX16 packet +//Tx64Request tx = Tx64Request(addr64, payload, sizeof(payload)); + +TxStatusResponse txStatus = TxStatusResponse(); + +int pin5 = 0; + +int statusLed = 11; +int errorLed = 12; + +void flashLed(int pin, int times, int wait) { + + for (int i = 0; i < times; i++) { + digitalWrite(pin, HIGH); + delay(wait); + digitalWrite(pin, LOW); + + if (i + 1 < times) { + delay(wait); + } + } +} + +void setup() { + pinMode(statusLed, OUTPUT); + pinMode(errorLed, OUTPUT); + + xbee.begin(9600); +} + +void loop() { + + // start transmitting after a startup delay. Note: this will rollover to 0 eventually so not best way to handle + if (millis() - start > 15000) { + // break down 10-bit reading into two bytes and place in payload + pin5 = analogRead(5); + payload[0] = pin5 >> 8 & 0xff; + payload[1] = pin5 & 0xff; + + xbee.send(tx); + + // flash TX indicator + flashLed(statusLed, 1, 100); + } + + // after sending a tx request, we expect a status response + // wait up to 5 seconds for the status response + if (xbee.readPacket(5000)) { + // got a response! + + // should be a znet tx status + if (xbee.getResponse().getApiId() == TX_STATUS_RESPONSE) { + xbee.getResponse().getZBTxStatusResponse(txStatus); + + // get the delivery status, the fifth byte + if (txStatus.getStatus() == SUCCESS) { + // success. time to celebrate + flashLed(statusLed, 5, 50); + } else { + // the remote XBee did not receive our packet. is it powered on? + flashLed(errorLed, 3, 500); + } + } + } else if (xbee.getResponse().isError()) { + //nss.print("Error reading packet. Error code: "); + //nss.println(xbee.getResponse().getErrorCode()); + // or flash error led + } else { + // local XBee did not provide a timely TX Status Response. Radio is not configured properly or connected + flashLed(errorLed, 2, 50); + } + + delay(1000); +} diff --git a/libraries/XBee/examples/Series2_IoSamples/Series2_IoSamples.pde b/libraries/XBee/examples/Series2_IoSamples/Series2_IoSamples.pde new file mode 100755 index 0000000..b6ef178 --- /dev/null +++ b/libraries/XBee/examples/Series2_IoSamples/Series2_IoSamples.pde @@ -0,0 +1,115 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 2 (ZigBee) XBee Radios only +Receives I/O samples from a remote radio. +The remote radio must have IR > 0 and at least one digital or analog input enabled. +The XBee coordinator should be connected to the Arduino. + +This example uses the NewSoftSerial library to view the XBee communication. I am using a +Modern Device USB BUB board (http://moderndevice.com/connect) and viewing the output +with the Arduino Serial Monitor. +You can obtain the NewSoftSerial library here http://arduiniana.org/libraries/NewSoftSerial/ +*/ + +// Define NewSoftSerial TX/RX pins +// Connect Arduino pin 9 to TX of usb-serial device +uint8_t ssRX = 9; +// Connect Arduino pin 10 to RX of usb-serial device +uint8_t ssTX = 10; +// Remember to connect all devices to a common Ground: XBee, Arduino and USB-Serial device +NewSoftSerial nss(ssRX, ssTX); + +XBee xbee = XBee(); + +ZBRxIoSampleResponse ioSample = ZBRxIoSampleResponse(); + +XBeeAddress64 test = XBeeAddress64(); + +void setup() { + xbee.begin(9600); + // start soft serial + nss.begin(9600); +} + +void loop() { + //attempt to read a packet + xbee.readPacket(); + + if (xbee.getResponse().isAvailable()) { + // got something + + if (xbee.getResponse().getApiId() == ZB_IO_SAMPLE_RESPONSE) { + xbee.getResponse().getZBRxIoSampleResponse(ioSample); + + nss.print("Received I/O Sample from: "); + + nss.print(ioSample.getRemoteAddress64().getMsb(), HEX); + nss.print(ioSample.getRemoteAddress64().getLsb(), HEX); + nss.println(""); + + if (ioSample.containsAnalog()) { + nss.println("Sample contains analog data"); + } + + if (ioSample.containsDigital()) { + nss.println("Sample contains digtal data"); + } + + // read analog inputs + for (int i = 0; i <= 4; i++) { + if (ioSample.isAnalogEnabled(i)) { + nss.print("Analog (AI"); + nss.print(i, DEC); + nss.print(") is "); + nss.println(ioSample.getAnalog(i), DEC); + } + } + + // check digital inputs + for (int i = 0; i <= 12; i++) { + if (ioSample.isDigitalEnabled(i)) { + nss.print("Digital (DI"); + nss.print(i, DEC); + nss.print(") is "); + nss.println(ioSample.isDigitalOn(i), DEC); + } + } + + // method for printing the entire frame data + //for (int i = 0; i < xbee.getResponse().getFrameDataLength(); i++) { + // nss.print("byte ["); + // nss.print(i, DEC); + // nss.print("] is "); + // nss.println(xbee.getResponse().getFrameData()[i], HEX); + //} + } + else { + nss.print("Expected I/O Sample, but got "); + nss.print(xbee.getResponse().getApiId(), HEX); + } + } else if (xbee.getResponse().isError()) { + nss.print("Error reading packet. Error code: "); + nss.println(xbee.getResponse().getErrorCode()); + } +} diff --git a/libraries/XBee/examples/Series2_Rx/Series2_Rx.pde b/libraries/XBee/examples/Series2_Rx/Series2_Rx.pde new file mode 100755 index 0000000..59475a4 --- /dev/null +++ b/libraries/XBee/examples/Series2_Rx/Series2_Rx.pde @@ -0,0 +1,108 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 2 XBee +Receives a ZB RX packet and sets a PWM value based on packet data. +Error led is flashed if an unexpected packet is received +*/ + +XBee xbee = XBee(); +XBeeResponse response = XBeeResponse(); +// create reusable response objects for responses we expect to handle +ZBRxResponse rx = ZBRxResponse(); +ModemStatusResponse msr = ModemStatusResponse(); + +int statusLed = 13; +int errorLed = 13; +int dataLed = 13; + +void flashLed(int pin, int times, int wait) { + + for (int i = 0; i < times; i++) { + digitalWrite(pin, HIGH); + delay(wait); + digitalWrite(pin, LOW); + + if (i + 1 < times) { + delay(wait); + } + } +} + +void setup() { + pinMode(statusLed, OUTPUT); + pinMode(errorLed, OUTPUT); + pinMode(dataLed, OUTPUT); + + // start serial + xbee.begin(9600); + + flashLed(statusLed, 3, 50); +} + +// continuously reads packets, looking for ZB Receive or Modem Status +void loop() { + + xbee.readPacket(); + + if (xbee.getResponse().isAvailable()) { + // got something + + if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { + // got a zb rx packet + + // now fill our zb rx class + xbee.getResponse().getZBRxResponse(rx); + + if (rx.getOption() == ZB_PACKET_ACKNOWLEDGED) { + // the sender got an ACK + flashLed(statusLed, 10, 10); + } else { + // we got it (obviously) but sender didn't get an ACK + flashLed(errorLed, 2, 20); + } + // set dataLed PWM to value of the first byte in the data + analogWrite(dataLed, rx.getData(0)); + } else if (xbee.getResponse().getApiId() == MODEM_STATUS_RESPONSE) { + xbee.getResponse().getModemStatusResponse(msr); + // the local XBee sends this response on certain events, like association/dissociation + + if (msr.getStatus() == ASSOCIATED) { + // yay this is great. flash led + flashLed(statusLed, 10, 10); + } else if (msr.getStatus() == DISASSOCIATED) { + // this is awful.. flash led to show our discontent + flashLed(errorLed, 10, 10); + } else { + // another status + flashLed(statusLed, 5, 10); + } + } else { + // not something we were expecting + flashLed(errorLed, 1, 25); + } + } else if (xbee.getResponse().isError()) { + //nss.print("Error reading packet. Error code: "); + //nss.println(xbee.getResponse().getErrorCode()); + } +} diff --git a/libraries/XBee/examples/Series2_Rx_Nss/Series2_Rx_Nss.pde b/libraries/XBee/examples/Series2_Rx_Nss/Series2_Rx_Nss.pde new file mode 100755 index 0000000..e49404f --- /dev/null +++ b/libraries/XBee/examples/Series2_Rx_Nss/Series2_Rx_Nss.pde @@ -0,0 +1,99 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 2 XBee +Receives a ZB RX packet and sets a PWM value based on packet data. +Error led is flashed if an unexpected packet is received +*/ + +XBee xbee = XBee(); +XBeeResponse response = XBeeResponse(); +// create reusable response objects for responses we expect to handle +ZBRxResponse rx = ZBRxResponse(); +ModemStatusResponse msr = ModemStatusResponse(); + +// Define NewSoftSerial TX/RX pins +// Connect Arduino pin 9 to TX of usb-serial device +uint8_t ssRX = 9; +// Connect Arduino pin 10 to RX of usb-serial device +uint8_t ssTX = 10; +// Remember to connect all devices to a common Ground: XBee, Arduino and USB-Serial device +NewSoftSerial nss(ssRX, ssTX); + + +void setup() { + // start serial + xbee.begin(9600); + nss.begin(9600); + + nss.println("starting up yo!"); +} + +// continuously reads packets, looking for ZB Receive or Modem Status +void loop() { + + xbee.readPacket(); + + if (xbee.getResponse().isAvailable()) { + // got something + + if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { + // got a zb rx packet + + // now fill our zb rx class + xbee.getResponse().getZBRxResponse(rx); + + nss.println("Got an rx packet!"); + + if (rx.getOption() == ZB_PACKET_ACKNOWLEDGED) { + // the sender got an ACK + nss.println("packet acknowledged"); + } else { + nss.println("packet not acknowledged"); + } + + nss.print("checksum is "); + nss.println(rx.getChecksum(), HEX); + + nss.print("packet length is "); + nss.println(rx.getPacketLength(), DEC); + + for (int i = 0; i < rx.getDataLength(); i++) { + nss.print("payload ["); + nss.print(i, DEC); + nss.print("] is "); + nss.println(rx.getData()[i], HEX); + } + + for (int i = 0; i < xbee.getResponse().getFrameDataLength(); i++) { + nss.print("frame data ["); + nss.print(i, DEC); + nss.print("] is "); + nss.println(xbee.getResponse().getFrameData()[i], HEX); + } + } + } else if (xbee.getResponse().isError()) { + nss.print("oh no!!! error code:"); + nss.println(xbee.getResponse().getErrorCode()); + } +} diff --git a/libraries/XBee/examples/Series2_Sleep/Series2_Sleep.pde b/libraries/XBee/examples/Series2_Sleep/Series2_Sleep.pde new file mode 100755 index 0000000..79eb726 --- /dev/null +++ b/libraries/XBee/examples/Series2_Sleep/Series2_Sleep.pde @@ -0,0 +1,167 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 2 (ZigBee) XBee Radios only, though Series 1 also support sleep mode. +This example demonstrates the XBee pin sleep setting, by allowing the Arduino +to sleep/wake the XBee. In this example and end device is attached to the Arduino. + +The end device sleep mode must be set to 1 (SM=1), to enable pin sleep. +Set SP=AF0 (28 seconds) on the coordinator. This will instruct the coordinator to buffer any packets, for up to 28 seconds, +while the end device is sleeping. When the end device wakes, it will poll the coordinator and receive the packet. + +Note: I'm using the NewSoftSerial library to communicate with the Arduino since the Arduino's Serial is being used by the XBee + +How it works: +When you send a "1", the Arduino will sleep the XBee. +Sending "2" wakes the XBee and "3" will send an arbitrary TX packet. +Of course if the XBee is sleeping, the TX packet will not be delivered. +Connect the Arduino Serial Monitor to the usb-serial device to send the commands. +Connect an LED to the XBee Module Status (pin 13). This will turn on when the XBee is awake and off when it's sleeping +Attach the coordinator to your computer and send a TX packet ever 28 seconds. You should be able to verify the +end device receives the packet when it wakes from sleep. + +Remember to connect all devices to a common Ground: XBee, Arduino and USB-Serial device +*/ + +// TODO: monitor XBee current consumption while sleeping +// TODO: send packets while sleeping + +// create the XBee object +XBee xbee = XBee(); + +// create an arbitrary payload -- what we're sending is not relevant +uint8_t payload[] = { 0, 0 }; + +// SH + SL Address of a remote XBee +XBeeAddress64 addr64 = XBeeAddress64(0x0013a200, 0x403e0f30); +ZBTxRequest zbTx = ZBTxRequest(addr64, payload, sizeof(payload)); +ZBTxStatusResponse txStatus = ZBTxStatusResponse(); +ZBRxResponse rx = ZBRxResponse(); + +// note: xbee sleep pin doesn't need 3.3. to sleep -- open circuit also will sleep it, but of course needs 0V to wake! +// connect Arduino digital 8 to XBee sleep pin (9) through a voltage divider. I'm using 10K resistors. +uint8_t sleepPin = 8; + +// SoftSerial RX: connect Arduino digitial 9 to the TX of of usb-serial device. note: I'm using Modern Device's USB BUB (set to 5V). You can use a 3.3V usb-serial with a voltage divider on RX (TX does not require since Arduino is 3.3V tolerant) +uint8_t ssRX = 9; +// SoftSerial TX: connect Arduino digital 10 to RX of usb-serial device +uint8_t ssTX = 10; + +NewSoftSerial nss(ssRX, ssTX); + +void setup() { + pinMode(sleepPin, OUTPUT); + // set to LOW (wake) + digitalWrite(sleepPin, LOW); + + // start XBee communication + xbee.begin(9600); + // start soft serial + nss.begin(9600); +} + +void sendPacket() { + + nss.println("Sending a packet"); + + xbee.send(zbTx); + + // after sending a tx request, we expect a status response + // wait up to 5 seconds for the status response + if (xbee.readPacket(5000)) { + // got a response! + + // should be a znet tx status + if (xbee.getResponse().getApiId() == ZB_TX_STATUS_RESPONSE) { + xbee.getResponse().getZBTxStatusResponse(txStatus); + + // get the delivery status, the fifth byte + if (txStatus.getDeliveryStatus() == SUCCESS) { + // success. time to celebrate + nss.println("packet was delivered"); + } else { + // the remote XBee did not receive our packet. is it powered on? + nss.println("packet delivery failed"); + } + } else if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { + // we received a packet something! + xbee.getResponse().getZBRxResponse(rx); + // print the payload. lets assume it's text. + for (uint8_t i = 0; i < rx.getDataLength(); i++) { + nss.println(rx.getData(i)); + } + } + } else { + // local xbee is sleeping + nss.println("no response -- is local xbee sleeping?"); + } +} + +void loop() { + if (nss.available()) { + int cmd = nss.read(); + + // ascii 1 == 49 + if (cmd == 49) { // 1 (ASCII) + // sleep XBee + digitalWrite(sleepPin, HIGH); + nss.println("sleeping xbee"); + } else if (cmd == 50) { // 2 (ASCII) + digitalWrite(sleepPin, LOW); + nss.println("waking xbee"); + } else if (cmd == 51) { // 3 (ASCII) + // send packet + sendPacket(); + } else { + nss.println("I didn't understand"); + } + } + + readPacket(); +} + +// when XBee powers up it sends a modem status 0 (hardware reset), followed by a 2 (Joined Network), assumming it's configured correctly +// when XBee is woken up it sends a modem status 2 (Joined Network) + +void readPacket() { + xbee.readPacket(); + + if (xbee.getResponse().isAvailable()) { + // got something.. print packet to nss + nss.print("API="); + nss.print(xbee.getResponse().getApiId(), HEX); + nss.print(",frame="); + + // print frame data + for (int i = 0; i < xbee.getResponse().getFrameDataLength(); i++) { + nss.print(xbee.getResponse().getFrameData()[i], HEX); + nss.print(" "); + } + + nss.println(""); + } else if (xbee.getResponse().isError()) { + nss.print("XBee error. error code is"); + nss.println(xbee.getResponse().getErrorCode(), DEC); + } +} + diff --git a/libraries/XBee/examples/Series2_Tx/Series2_Tx.pde b/libraries/XBee/examples/Series2_Tx/Series2_Tx.pde new file mode 100755 index 0000000..04c0431 --- /dev/null +++ b/libraries/XBee/examples/Series2_Tx/Series2_Tx.pde @@ -0,0 +1,102 @@ +/** + * Copyright (c) 2009 Andrew Rapp. All rights reserved. + * + * This file is part of XBee-Arduino. + * + * XBee-Arduino is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * XBee-Arduino is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with XBee-Arduino. If not, see . + */ + +#include +#include + +/* +This example is for Series 2 XBee + Sends a ZB TX request with the value of analogRead(pin5) and checks the status response for success +*/ + +// create the XBee object +XBee xbee = XBee(); + +uint8_t payload[] = { 0, 0 }; + +// SH + SL Address of receiving XBee +XBeeAddress64 addr64 = XBeeAddress64(0x0013a200, 0x403e0f30); +ZBTxRequest zbTx = ZBTxRequest(addr64, payload, sizeof(payload)); +ZBTxStatusResponse txStatus = ZBTxStatusResponse(); + +int pin5 = 0; + +int statusLed = 13; +int errorLed = 13; + +void flashLed(int pin, int times, int wait) { + + for (int i = 0; i < times; i++) { + digitalWrite(pin, HIGH); + delay(wait); + digitalWrite(pin, LOW); + + if (i + 1 < times) { + delay(wait); + } + } +} + +void setup() { + pinMode(statusLed, OUTPUT); + pinMode(errorLed, OUTPUT); + + xbee.begin(9600); +} + +void loop() { + // break down 10-bit reading into two bytes and place in payload + pin5 = analogRead(5); + payload[0] = pin5 >> 8 & 0xff; + payload[1] = pin5 & 0xff; + + xbee.send(zbTx); + + // flash TX indicator + flashLed(statusLed, 1, 100); + + // after sending a tx request, we expect a status response + // wait up to half second for the status response + if (xbee.readPacket(500)) { + // got a response! + + // should be a znet tx status + if (xbee.getResponse().getApiId() == ZB_TX_STATUS_RESPONSE) { + xbee.getResponse().getZBTxStatusResponse(txStatus); + + // get the delivery status, the fifth byte + if (txStatus.getDeliveryStatus() == SUCCESS) { + // success. time to celebrate + flashLed(statusLed, 5, 50); + } else { + // the remote XBee did not receive our packet. is it powered on? + flashLed(errorLed, 3, 500); + } + } + } else if (xbee.getResponse().isError()) { + //nss.print("Error reading packet. Error code: "); + //nss.println(xbee.getResponse().getErrorCode()); + } else { + // local XBee did not provide a timely TX Status Response -- should not happen + flashLed(errorLed, 2, 50); + } + + delay(1000); +} +