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-rw-r--r--xbee/xbee.c340
1 files changed, 340 insertions, 0 deletions
diff --git a/xbee/xbee.c b/xbee/xbee.c
new file mode 100644
index 0000000..c243b5f
--- /dev/null
+++ b/xbee/xbee.c
@@ -0,0 +1,340 @@
+/*
+ * xbee.c:
+ * XBee Zigbee module interface functions
+ *
+ * (c) 2006-2008 Tymm Twillman <tymm@booyaka.com>
+ *
+ */
+
+#include <stdint.h>
+#include <string.h> /* for memcpy, memset, etc. */
+
+#include "xbee_protocol.h"
+#include "xbee.h"
+
+
+#ifndef MIN
+# define MIN(a,b) (((a)<(b))?(a):(b))
+#endif
+
+/* In case we need to serialize access for transmission;
+ * reception is made to always come from one XBee module so
+ * shouldn't need to serialize that.
+ */
+
+#ifndef CONFIG_XBEE_REENTRANT_TX
+# define xbee_lock_frame_id(xbee) do {} while(0)
+# define xbee_unlock_frame_id(xbee) do {} while(0)
+#endif
+
+
+/* Error counters can be added later if desired */
+#define xbee_rx_crc_err(xbee) do {} while(0)
+#define xbee_rx_err(xbee) do {} while(0)
+#define xbee_rx_dropped(xbee) do {} while(0)
+#define xbee_tx_err(xbee) do {} while(0)
+#define xbee_tx_dropped(xbee) do {} while(0)
+
+
+# ifdef CONFIG_XBEE_REENTRANT_TX
+# error CONFIG_XBEE_REENTRANT_TX requires XBEE_ALLOC to be set!
+# endif
+
+#ifndef ENOMEM
+# define ENOMEM 12
+#endif
+
+
+
+/* Generate & return next 8-bit frame ID */
+static inline uint8_t xbee_next_frame_id(xbee_t *xbee)
+{
+ uint8_t frame_id;
+
+
+ xbee_lock_frame_id(xbee);
+ if (++xbee->out.frame_id == 0)
+ ++xbee->out.frame_id;
+ frame_id = xbee->out.frame_id;
+ xbee_unlock_frame_id(xbee);
+
+ return frame_id;
+}
+
+
+/* Generate CRC for an XBee packet */
+uint8_t xbee_crc(const xbee_pkt_t *pkt)
+{
+ uint8_t *pkt_data = ((uint8_t *)pkt) + sizeof(xbee_pkt_hdr_t);
+ uint16_t i;
+ uint8_t crc = 0;
+
+
+ for (i = 0; i < ntohs(((xbee_pkt_hdr_t *)pkt)->len); i++)
+ crc += *(pkt_data++);
+
+ return ~crc;
+}
+
+
+/* Accept data from an XBee module & build into valid XBEE
+ * packets
+ */
+void xbee_in(xbee_t *xbee, const void *buf, uint8_t len)
+{
+ uint8_t *data = (uint8_t *)buf;
+
+
+ while(len) {
+ switch(xbee->in.bytes_rcvd) {
+ case 0:
+ while (*data != XBEE_PKT_START) {
+ if (!--len)
+ return;
+ data++;
+ }
+
+ xbee->in.hdr_data[xbee->in.bytes_rcvd++] = *data++;
+ if (!--len)
+ return;
+
+ /* Fall thru */
+
+ case 1:
+ xbee->in.hdr_data[xbee->in.bytes_rcvd++] = *data++;
+ if (!--len)
+ return;
+
+ /* Fall thru */
+
+ case 2:
+ xbee->in.hdr_data[xbee->in.bytes_rcvd++] = *data++;
+
+ /* Got enough to get packet length */
+
+ xbee->in.bytes_left = ntohs(((xbee_pkt_hdr_t *)xbee->in.hdr_data)->len);
+
+ if (xbee->in.bytes_left > XBEE_MAX_DATA_LEN
+ || ((xbee->in.packet
+ = xbee_alloc_pkt_mem(XBEE_RECV, xbee->in.bytes_left + 4)) == NULL)
+ )
+ {
+ xbee->in.bytes_left = 0;
+ xbee_rx_err(xbee);
+ continue;
+ }
+
+ xbee->in.bytes_left++; /* Extra for crc (alloc_pkt already accounts for it) */
+
+ memcpy(&(xbee->in.packet->hdr), &(xbee->in.hdr_data),
+ sizeof(xbee->in.hdr_data));
+
+ if (!--len)
+ return;
+
+ /* Fall thru */
+
+ default:
+ while (xbee->in.bytes_left--) {
+ ((uint8_t *)xbee->in.packet)[xbee->in.bytes_rcvd++] = *data++;
+ if (!--len && xbee->in.bytes_left)
+ return;
+ }
+ }
+
+ if (xbee_crc(xbee->in.packet)
+ != ((uint8_t *)xbee->in.packet)[xbee->in.bytes_rcvd - 1])
+ {
+ xbee->in.bytes_rcvd = 0;
+ xbee_rx_crc_err(xbee);
+ continue;
+ }
+
+ if (xbee_recv_pkt(xbee, xbee->in.packet, xbee->in.bytes_rcvd)) {
+ xbee_free_pkt_mem(xbee->in.packet);
+ xbee_rx_dropped(xbee);
+ }
+
+ xbee->in.bytes_rcvd = 0;
+ }
+}
+
+
+/* Send a command to an XBee module */
+
+int xbee_send_at_cmd(xbee_t *xbee,
+ const char cmd[],
+ uint8_t param_len,
+ const uint8_t params[])
+{
+ xbee_at_cmd_pkt_t *pkt;
+ uint8_t frame_id;
+ int ret;
+
+
+ pkt = (xbee_at_cmd_pkt_t *)xbee_alloc_pkt_mem(XBEE_XMIT, param_len + 8);
+ if (pkt == NULL) {
+ xbee_tx_err();
+ return -ENOMEM;
+ }
+
+ xbee_hdr_init(pkt->hdr, param_len + 4);
+
+ pkt->type = XBEE_PKT_TYPE_ATCMD;
+
+ frame_id = xbee_next_frame_id(xbee);
+
+ pkt->frame_id = frame_id;
+
+ pkt->command[0] = cmd[0];
+ pkt->command[1] = cmd[1];
+
+ memcpy(pkt->param, params, param_len);
+ pkt->param[param_len] = xbee_crc((xbee_pkt_t *)pkt);
+
+ ret = xbee_out(xbee, (xbee_pkt_t *)pkt,
+ sizeof(xbee_at_cmd_pkt_t) + param_len + 1);
+
+ if (ret >= 0)
+ return frame_id;
+
+ xbee_free_pkt_mem((xbee_pkt_t *)pkt);
+
+ xbee_tx_err();
+
+ return ret;
+}
+
+
+/* Send a command to a remote XBee module */
+
+int xbee_send_remote_at_cmd(xbee_t *xbee,
+ const char cmd[],
+ uint8_t param_len,
+ uint8_t apply,
+ const uint8_t params[],
+ const uint8_t addr64[8],
+ const uint8_t addr16[2])
+{
+ xbee_remote_at_cmd_pkt_t *pkt;
+ uint8_t frame_id;
+ int ret;
+
+
+ pkt = (xbee_remote_at_cmd_pkt_t *)xbee_alloc_pkt_mem(XBEE_XMIT, param_len + 19);
+ if (pkt == NULL) {
+ xbee_tx_err();
+ return -ENOMEM;
+ }
+
+ xbee_hdr_init(pkt->hdr, param_len + 15);
+
+ pkt->type = XBEE_PKT_TYPE_REMOTE_ATCMD;
+
+ frame_id = xbee_next_frame_id(xbee);
+ pkt->frame_id = frame_id;
+
+ memcpy(pkt->dest64, addr64, 8);
+ memcpy(pkt->dest16, addr16, 2);
+
+ pkt->apply = apply ? 2:0;
+
+ pkt->command[0] = cmd[0];
+ pkt->command[1] = cmd[1];
+
+ memcpy(pkt->param, params, param_len);
+ pkt->param[param_len] = xbee_crc((xbee_pkt_t *)pkt);
+
+ ret = xbee_out(xbee, (xbee_pkt_t *)pkt,
+ sizeof(xbee_remote_at_cmd_pkt_t) + param_len + 1);
+
+ if (ret >= 0)
+ return frame_id;
+
+ xbee_free_pkt_mem((xbee_pkt_t *)pkt);
+
+ xbee_tx_err();
+
+ return ret;
+}
+
+
+/* Send a data packet to another module using its 64-bit unique ID */
+int xbee_send64(xbee_t *xbee, const void *data, uint8_t len, uint8_t opt, const uint8_t addr[8])
+{
+ xbee_a64_tx_pkt_t *pkt;
+ int ret;
+ uint8_t frame_id;
+
+
+ pkt = (xbee_a64_tx_pkt_t *)xbee_alloc_pkt_mem(XBEE_XMIT, len + 15);
+ if (pkt == NULL) {
+ xbee_tx_err(xbee);
+ return -ENOMEM;
+ }
+
+ xbee_hdr_init(pkt->hdr, len + 11);
+
+ pkt->type = XBEE_PKT_TYPE_TX64;
+ memcpy(pkt->dest, addr, 8);
+ pkt->opt = opt;
+ frame_id = xbee_next_frame_id(xbee);
+ pkt->frame_id = frame_id;
+ memcpy(pkt->data, data, len);
+ pkt->data[len] = xbee_crc((xbee_pkt_t *)pkt);
+
+ ret = xbee_out(xbee, (xbee_pkt_t *)pkt, len + sizeof(xbee_a64_tx_pkt_t) + 1);
+
+ if (ret >= 0)
+ return frame_id;
+
+ xbee_tx_err(xbee);
+
+ xbee_free_pkt_mem((xbee_pkt_t *)pkt);
+
+ return ret;
+}
+
+
+/* Send a data packet to another module using its 16-bit ID */
+int xbee_send16(xbee_t *xbee, const void *data, uint8_t len, uint8_t opt, const uint8_t addr[2])
+{
+ xbee_a16_tx_pkt_t *pkt;
+ uint8_t frame_id;
+ int ret;
+
+
+ pkt = (xbee_a16_tx_pkt_t *)xbee_alloc_pkt_mem(XBEE_XMIT, len + 9);
+ if (pkt == NULL) {
+ xbee_tx_err(xbee);
+ return -ENOMEM;
+ }
+
+ xbee_hdr_init(pkt->hdr, len + 5);
+
+ pkt->type = XBEE_PKT_TYPE_TX16;
+ memcpy(pkt->dest, addr, 2);
+ pkt->opt = opt;
+ frame_id = xbee_next_frame_id(xbee);
+ pkt->frame_id = frame_id;
+ memcpy(pkt->data, (uint8_t *)data, len);
+ pkt->data[len] = xbee_crc((xbee_pkt_t *)pkt);
+
+ ret = xbee_out(xbee, (xbee_pkt_t *)pkt, len + sizeof(xbee_a16_tx_pkt_t) + 1);
+
+ if (ret >= 0)
+ return frame_id;
+
+ xbee_tx_err();
+
+ xbee_free_pkt_mem((xbee_pkt_t *)pkt);
+
+ return ret;
+}
+
+
+/* Initialize this package */
+void xbee_init(xbee_t *xbee)
+{
+ memset(xbee, 0, sizeof(xbee_t));
+}
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