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/*
* 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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