[jaluino] r409 committed - Xbee API mode lib + sample. for now, only transmit
jal...@googlecode.com
Author: sebastien.lelong
Date: Sat Apr 14 02:15:50 2012
Log: Xbee API mode lib + sample. for now, only transmit
http://code.google.com/p/jaluino/source/detail?r=409
Added:
/trunk/lib/xbee_api.jal
/trunk/samples/jaluino_bee_xbee_api_tx.jal
=======================================
--- /dev/null
+++ /trunk/lib/xbee_api.jal Sat Apr 14 02:15:50 2012
@@ -0,0 +1,450 @@
+-- Title:
+-- Author: Sebastien Lelong, Copyright (c) 2012, all rights reserved.
+-- Adapted-by:
+-- Compiler: 2.4o
+--
+-- This file is part of jallib (http:--jallib.googlecode.com)
+-- Released under the BSD license
(http:--www.opensource.org/licenses/bsd-license.php)
+--
+-- Description:
+--
+-- Sources:
+--
+-- Notes: Xbee series 2 only
+--
+
+-- Must-Be-Predefined
+if !defined(xbee_carrier) then
+ _error "xbee_carrier must be defined (alias to a serial
pseudo-variable, eg. serial_hw_data)"
+end if
+;if !defined(xbee_carrier_data_available) then
+; _error "xbee_carrier_data_available must be defined (eg.
serial_hw_data_available)"
+;end if
+
+
+-- Defaults
+if !defined(XBEE_PAYLOAD_SIZE) then
+ const byte XBEE_PAYLOAD_SIZE = 32 -- message will be 32 chars length
+end if
+
+if XBEE_PAYLOAD_SIZE > 100 then
+ _error "Payload size can't be more than 100, sorry..."
+end if
+
+-- ------------
+-- CONSTANTS --
+-- ------------
+
+-- set to ATAP value of XBee. AP=2 is recommended
+const byte XBEE_ATAP = 2
+
+const byte XBEE_START_BYTE = 0x7e
+const byte XBEE_ESCAPE = 0x7d
+const byte XBEE_XON = 0x11
+const byte XBEE_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
+const byte XBEE_MAX_FRAME_DATA_SIZE = 110
+
+const word XBEE_BROADCAST_ADDRESS = 0xffff
+const word XBEE_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)
+const byte XBEE_ZB_TX_API_LENGTH = 12
+const byte XBEE_TX_16_API_LENGTH = 3
+const byte XBEE_TX_64_API_LENGTH = 9
+const byte XBEE_AT_COMMAND_API_LENGTH = 2
+const byte XBEE_REMOTE_AT_COMMAND_API_LENGTH = 13
+-- start/length(2)/api/frameid/checksum bytes
+const byte XBEE_PACKET_OVERHEAD_LENGTH = 6
+-- api is always the third byte in packet
+const byte XBEE_API_ID_INDEX = 3
+
+-- frame position of rssi byte
+const byte XBEE_RX_16_RSSI_OFFSET = 2
+const byte XBEE_RX_64_RSSI_OFFSET = 8
+
+const byte XBEE_DEFAULT_FRAME_ID = 1
+const byte XBEE_NO_RESPONSE_FRAME_ID = 0
+
+-- TODO put in tx16 class
+const byte XBEE_ACK_OPTION = 0
+const byte XBEE_DISABLE_ACK_OPTION = 1
+const byte XBEE_BROADCAST_OPTION = 4
+
+-- RX options
+const byte XBEE_ZB_PACKET_ACKNOWLEDGED = 0x01
+const byte XBEE_ZB_BROADCAST_PACKET = 0x02
+
+-- not everything is implemented!
+
+-- Api Id constants
+const byte XBEE_TX_64_REQUEST = 0x0
+const byte XBEE_TX_16_REQUEST = 0x1
+const byte XBEE_AT_COMMAND_REQUEST = 0x08
+const byte XBEE_AT_COMMAND_QUEUE_REQUEST = 0x09
+const byte XBEE_REMOTE_AT_REQUEST = 0x17
+const byte XBEE_ZB_TX_REQUEST = 0x10
+const byte XBEE_ZB_EXPLICIT_TX_REQUEST = 0x11
+const byte XBEE_RX_64_RESPONSE = 0x80
+const byte XBEE_RX_16_RESPONSE = 0x81
+const byte XBEE_RX_64_IO_RESPONSE = 0x82
+const byte XBEE_RX_16_IO_RESPONSE = 0x83
+const byte XBEE_AT_RESPONSE =0x88
+const byte XBEE_TX_STATUS_RESPONSE = 0x89
+const byte XBEE_MODEM_STATUS_RESPONSE = 0x8a
+const byte XBEE_ZB_RX_RESPONSE = 0x90
+const byte XBEE_ZB_EXPLICIT_RX_RESPONSE = 0x91
+const byte XBEE_ZB_TX_STATUS_RESPONSE = 0x8b
+const byte XBEE_ZB_IO_SAMPLE_RESPONSE = 0x92
+const byte XBEE_ZB_IO_NODE_IDENTIFIER_RESPONSE = 0x95
+const byte XBEE_AT_COMMAND_RESPONSE = 0x88
+const byte XBEE_REMOTE_AT_COMMAND_RESPONSE = 0x97
+
+-- TX STATUS constants
+const byte XBEE_SUCCESS = 0x0
+const byte XBEE_CCA_FAILURE = 0x2
+const byte XBEE_INVALID_DESTINATION_ENDPOINT_SUCCESS = 0x15
+const byte XBEE_NETWORK_ACK_FAILURE = 0x21
+const byte XBEE_NOT_JOINED_TO_NETWORK = 0x22
+const byte XBEE_SELF_ADDRESSED = 0x23
+const byte XBEE_ADDRESS_NOT_FOUND = 0x24
+const byte XBEE_ROUTE_NOT_FOUND = 0x25
+const byte XBEE_PAYLOAD_TOO_LARGE = 0x74
+
+-- modem status
+const byte XBEE_HARDWARE_RESET = 0
+const byte XBEE_WATCHDOG_TIMER_RESET = 1
+const byte XBEE_ASSOCIATED = 2
+const byte XBEE_DISASSOCIATED = 3
+const byte XBEE_SYNCHRONIZATION_LOST = 4
+const byte XBEE_COORDINATOR_REALIGNMENT = 5
+const byte XBEE_COORDINATOR_STARTED = 6
+
+const byte XBEE_ZB_BROADCAST_RADIUS_MAX_HOPS = 0
+
+const byte XBEE_ZB_TX_UNICAST = 0
+const byte XBEE_ZB_TX_BROADCAST = 8
+
+const byte XBEE_AT_OK = 0
+const byte XBEE_AT_ERROR = 1
+const byte XBEE_AT_INVALID_COMMAND = 2
+const byte XBEE_AT_INVALID_PARAMETER = 3
+const byte XBEE_AT_NO_RESPONSE = 4
+
+const byte XBEE_NO_ERROR = 0
+const byte XBEE_CHECKSUM_FAILURE = 1
+const byte XBEE_PACKET_EXCEEDS_BYTE_ARRAY_LENGTH = 2
+const byte XBEE_UNEXPECTED_START_BYTE = 3
+
+-- Related to XBee
+-- ***************
+record xbee_main is
+ byte pos
+ bit escape
+ byte checksum_total
+ byte next_frame_id
+end record
+var xbee_main xbee
+-- public
+;procedure xbee_init()
+;procedure xbee_send()
+-- ***************
+
+-- Related to: XBee response
+record xbee_response is
+ byte api_id
+ byte frame_id
+ byte frame_data[XBEE_MAX_FRAME_DATA_SIZE]
+ byte msb_length
+ byte lsb_length
+ byte checksum
+ byte frame_length
+ bit complete
+ byte error_code
+end record
+-- global var to store one request (save memory, don't pass
+-- record to proc/func, use global var)
+var xbee_response xbee_res
+
+-- todo: maybe use record to store frame data
+
+;function xbee_get_api_id() return byte ; instead: xbee_api_id
+;procedure xbee_set_api_id(byte in id)
+;function xbee_get_msb_length() return byte
+;procedure xbee_set_msb_length(byte in len)
+;function xbee_get_lsb_length() return byte
+;procedure xbee_set_lsb_length(byte in len)
+;function xbee_get_checksum() return byte
+;procedure xbee_set_checksum(byte in len)
+;function xbee_get_frame_data_length() return byte ; instead:
xbee_frame_length
+-- todo: avoid passing array, need global var
+;procedure xbee_set_frame_data(byte in data[])
+;function xbee_get_frame_data() return byte ;; not good
+;procedure xbee_set_frame_length(byte in len)
+;function xbee_get_packet_length() return word
+;procedure xbee_reset()
+;procedure xbee_response_init()
+;procedure xbee_get_tx_status_response(&response)
+;procedure xbee_get_rx_response(&response)
+;procedure xbee_get_zb_rx_io_sample_response(&response)
+;procedure xbee_get_at_command_response(&response)
+;procedure xbee_get_at_command_response(&response)
+;procedure xbee_get_modem_status_response(&response)
+;function xbee_is_available() return bit
+;procedure xbee_set_available(bit in avail)
+;function xbee_is_error() return bit
+;function xbee_get_error_code() return byte
+;procedure xbee_set_error_code(byte in err)
+
+-- Related to Xbee address
+record xbee_address64 is
+ dword msb
+ dword lsb
+end record
+
+-- Related to: Xbee request
+-- File descriptor
+record xbee_request is
+ xbee_address64 addr64
+ word network
+ byte broadcast_radius
+ byte option
+ byte api_id
+ byte frame_id
+ byte payload[XBEE_PAYLOAD_SIZE]
+end record
+-- global var to store one request (save memory, don't pass
+-- record to proc/func, use global var)
+var xbee_request xbee_req
+
+procedure xbee_req_set_frame_id(byte in frid)
+;function xbee_req_get_frame_id() return byte
+;function xbee_req_get_api_id() return byte
+function xbee_req_get_frame_data(byte in pos) return byte
+;function xbee_req_get_frame_data_length() return byte
+;procedure xbee_set_api_id(byte in api)
+
+
+-- **************
+-- Implementation
+-- **************
+
+function xbee_req_get_frame_data_length() return byte is
+ return byte(XBEE_ZB_TX_API_LENGTH + XBEE_PAYLOAD_SIZE)
+end function
+
+function xbee_req_get_frame_data(byte in pos) return byte is
+ var byte data = 0
+ case pos of
+ 0: block data = byte((xbee_req.addr64.msb >> 24) & 0xff) end block
+ 1: block data = byte((xbee_req.addr64.msb >> 16) & 0xff) end block
+ 2: block data = byte((xbee_req.addr64.msb >> 8) & 0xff) end block
+ 3: block data = byte(xbee_req.addr64.msb & 0xff) end block
+ 4: block data = byte((xbee_req.addr64.lsb >> 24) & 0xff) end block
+ 5: block data = byte((xbee_req.addr64.lsb >> 16) & 0xff) end block
+ 6: block data = byte((xbee_req.addr64.lsb >> 8) & 0xff) end block
+ 7: block data = byte(xbee_req.addr64.lsb & 0xff) end block
+ 8: block data = byte((xbee_req.network >> 8) & 0xff) end block
+ 9: block data = byte(xbee_req.network & 0xff) end block
+ 10: block data = byte(xbee_req.broadcast_radius) end block
+ 11: block data = byte(xbee_req.option) end block
+ otherwise
+ block data = xbee_req.payload[pos - XBEE_ZB_TX_API_LENGTH] end
block
+ end case
+ return data
+end function
+
+procedure xbee_send_byte(byte in b, bit in escape) is
+
+ if (escape & (b == XBEE_START_BYTE | b == XBEE_ESCAPE | b == XBEE_XON |
b == XBEE_XOFF))
+ then
+ xbee_carrier = XBEE_ESCAPE
+ xbee_carrier = b ^ 0x20
+ else
+ xbee_carrier = b
+ end if
+
+end procedure
+
+procedure xbee_send() is
+
+ xbee_send_byte(XBEE_START_BYTE, false)
+
+ var byte len = xbee_req_get_frame_data_length()
+
+ -- send length
+ var byte msb_len = ((len + 2) >> 8) & 0xFF
+ var byte lsb_len = (len + 2) & 0xFF
+
+ xbee_send_byte(msb_len, true)
+ xbee_send_byte(lsb_len, true)
+
+ -- api id
+ xbee_send_byte(xbee_req.api_id, true)
+ xbee_send_byte(xbee_req.frame_id, true)
+
+ var byte checksum = 0
+
+ -- compute checksum, start at api id
+ checksum = checksum + xbee_req.api_id
+ checksum = checksum + xbee_req.frame_id
+
+ var byte i
+ for len using i loop
+ xbee_send_byte(xbee_req_get_frame_data(i), true)
+ checksum = checksum + xbee_req_get_frame_data(i)
+ end loop
+
+ -- perform 2s complement
+ checksum = 0xff - checksum
+
+ -- send checksum
+ xbee_send_byte(checksum, true)
+
+end procedure
+
+procedure _xbee_res_init() is
+ xbee_res.complete = false
+ xbee_res.error_code = XBEE_NO_ERROR
+ xbee_res.checksum = 0
+end procedure
+
+procedure _xbee_res_reset() is
+ _xbee_res_init()
+ xbee_res.api_id = 0
+ xbee_res.msb_length = 0
+ xbee_res.lsb_length = 0
+ xbee_res.frame_length = 0
+
+ var byte i
+ for XBEE_MAX_FRAME_DATA_SIZE using i loop
+ xbee_res.frame_data[i] = 0
+ end loop
+end procedure
+
+procedure _xbee_reset_response() is
+ xbee.pos = 0
+ xbee.escape = false
+ _xbee_res_reset()
+end procedure
+
+function _xbee_res_get_packet_length() return byte is
+ return ((xbee_res.msb_length << 8) & 0xff) + (xbee_res.lsb_length &
0xff)
+end function
+
+
+procedure xbee_read_packet() is
+ -- reset previous response
+ if xbee_res.complete | xbee_res.error_code > 0 then
+ -- discard previous packet and start over
+ _xbee_reset_response()
+ end if
+
+ var byte data
+ var bit continue_parse -- implement a "continue" or "next" within loop
+ -- read and parse frame (this is a state machine)
+ forever loop
+ continue_parse = true
+ data = xbee_carrier
+
+
+ if xbee.pos > 0 & data == XBEE_START_BYTE then
+ xbee_res.error_code = XBEE_UNEXPECTED_START_BYTE
+ exit loop
+ end if
+
+ if xbee.pos > 0 & data == XBEE_ESCAPE then
+ xbee.escape = true
+ -- flag, need to read next byte, so shortcut loop
+ continue_parse = false
+ end if
+
+ if continue_parse then
+
+ if xbee.escape == true then
+ xbee.escape = false
+ data = 0x20 ^ data
+ end if
+
+ if xbee.pos >= XBEE_API_ID_INDEX then
+ xbee.checksum_total = xbee.checksum_total + data
+ end if
+
+ case xbee.pos of
+ 0: block
+ if data == XBEE_START_BYTE then
+ xbee.pos = xbee.pos + 1
+ end if
+ end block
+ 1: block
+ xbee_res.msb_length = data
+ xbee.pos = xbee.pos + 1
+ end block
+ 2: block
+ xbee_res.lsb_length = data
+ xbee.pos = xbee.pos + 1
+ end block
+ 3: block
+ xbee_res.api_id = data
+ xbee.pos = xbee.pos + 1
+ end block
+ otherwise
+ block
+ if xbee.pos > XBEE_MAX_FRAME_DATA_SIZE then
+ xbee_res.error_code =
XBEE_PACKET_EXCEEDS_BYTE_ARRAY_LENGTH
+ exit loop
+ end if
+
+ -- check if we're at the end of the packet
+ -- packet length does not include start, length, or checksum
bytes, so add 3
+ if xbee.pos == (_xbee_res_get_packet_length() + 3) then
+ -- verify checksum
+ if (xbee.checksum_total & 0xff) == 0xff then
+ xbee_res.checksum = data
+ xbee_res.complete = true
+ xbee_res.error_code = XBEE_NO_ERROR
+ else
+ -- checksum failed
+ xbee_res.error_code = XBEE_CHECKSUM_FAILURE
+ end if
+
+ -- 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
+ xbee_res.frame_length = xbee.pos - 4
+
+ -- reset state vars
+ xbee.pos = 0;
+ xbee.checksum_total = 0;
+
+ exit loop
+
+ else
+ -- add to packet array, starting with the fourth byte
of the apiFrame
+ xbee_res.frame_data[xbee.pos - 4] = data
+ xbee.pos = xbee.pos + 1
+ end if
+ end block
+ end case
+ end if
+ end loop
+
+end procedure
+
+procedure xbee_init() is
+ xbee.pos = 0
+ xbee.escape = false
+ xbee.checksum_total = 0
+ xbee.next_frame_id = 0
+end procedure
+
=======================================
--- /dev/null
+++ /trunk/samples/jaluino_bee_xbee_api_tx.jal Sat Apr 14 02:15:50 2012
@@ -0,0 +1,72 @@
+-- Title: Sending data using Xbee API mode
+-- Author: Sebastien Lelong, Copyright (c) 2012, all rights reserved.
+-- Adapted-by:
+-- Compiler: 2.4o
+--
+-- This file is part of jaluino (http://jaluino.googlecode.com)
+-- Released under the BSD license
(http://www.opensource.org/licenses/bsd-license.php)
+--
+-- Description: show how to send data through Xbee in API operation.
+--
+
+include jaluino_bee
+include delay
+include print
+
+const serial_hw_baudrate = 9_600
+include serial_hardware
+serial_hw_init()
+
+include usb_serial
+-- setup the USB serial library
+usb_serial_init()
+
+alias xbee_carrier is serial_hw_data
+--alias xbee_carrier_data_available is serial_hw_data_available
+const byte XBEE_PAYLOAD_SIZE = 2
+include xbee_api
+xbee_init()
+
+-- define which XBee will receive the message
+-- Dest. Xbee is connected to my PC, it's a coordinator
+-- with firmware API AP=2. According to X-CTU tool:
+-- SH: 13A200
+-- SL: 40301109
+-- 16bits address: 0
+var xbee_address64 xbee_dest
+xbee_dest.msb = 0x0013a200
+xbee_dest.lsb = 0x40301109
+var word xbee_net = 0xfffe -- I think it's a broadcast network address
+
+-- (for the record)
+-- Me, the source Xbee has the following addresses
+-- SH: 13A200
+-- SL: 4054F82F
+
+xbee_req.addr64 = xbee_dest
+xbee_req.network = xbee_net
+xbee_req.api_id = XBEE_ZB_TX_REQUEST
+-- what about frame id ?
+
+-- Assuming LED is enable on hajumper)
+onboard_led_direction = output
+
+forever loop
+ var byte i
+ -- send 0:0,1:2,2:4,3:6, ...
+ for 120 using i loop
+ onboard_led = high
+
+ -- prepare payload
+ xbee_req.payload[0] = i
+ xbee_req.payload[1] = i + 1
+
+ xbee_send()
+
+ delay_1s(1)
+ onboard_led = low
+ delay_1s(1)
+
+ end loop
+end loop
+