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/*
* xbee.h:
* Maxstream XBee module Interface Header
*
* (c) 2006-2008 Tymm Twillman <tymm@booyaka.com>
*
*
* NOTE: This doesn't touch hardware; it's up to developers to link in functions
* that handle hardware communication.
*
* DEVELOPERS: Pieces you need to implement (see prototypes, below):
* xbee_alloc_pkt_mem (can just return static data)
* xbee_free_pkt_mem (can do nothing if not dynamic)
*
* xbee_out
* xbee_recv_pkt
*
* What you need to call from wherever you read data from UART, etc:
* xbee_in
*
* Incoming data from UART, etc. should be passed to xbee_in; it will
* be built into well-formed packets and passed to xbee_recv_pkt
* for further processing.
*
* Outgoing data will be passed to xbee_out to be passed off to
* the XBee hardware.
*
*
*/
#ifndef XBEE_H
#define XBEE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <errno.h>
/*----------------------------------------------------------------------------
Definitions for commands the XBee recognizes
----------------------------------------------------------------------------*/
/* Basic communication parameters/values */
#define XBEE_CMD_CHANNEL "CH"
#define XBEE_CMD_PAN_ID "ID"
#define XBEE_CMD_DEST_ADDR64_HI "DH"
#define XBEE_CMD_DEST_ADDR64_LO "DL"
#define XBEE_CMD_SRC_ADDR16 "MY"
#define XBEE_CMD_SER_HI "SH"
#define XBEE_CMD_SER_LO "SL"
#define XBEE_CMD_RAND_DLY_SLOTS "RN"
#define XBEE_CMD_MAC_MODE "MM"
#define XBEE_CMD_COORD_ENA "CE"
#define XBEE_CMD_SCAN "SC"
#define XBEE_CMD_SCAN_DURATION "SD"
#define XBEE_CMD_ASSOC_END "A1"
#define XBEE_CMD_ASSOC_COORD "A2"
#define XBEE_CMD_ASSOC_STATUS "AI"
#define XBEE_CMD_RSSI "DB"
/* Transceiver Control */
#define XBEE_CMD_PWR_LEVEL "PL"
#define XBEE_CMD_CCA_THRESH "CA"
/* Sleep Parameters */
#define XBEE_CMD_SLEEP_MODE "SM"
#define XBEE_CMD_SLEEP_TIMEOUT "ST"
#define XBEE_CMD_SLEEP_PERIOD "SP"
#define XBEE_CMD_SLEEP_PERIOD_DISASSOC "DP"
/* Interface parameters */
#define XBEE_CMD_DATA_RATE "BD"
#define XBEE_CMD_PACKETIZATION_TIMEOUT "RO"
#define XBEE_CMD_DIO7_CONFIG "D7"
#define XBEE_CMD_DIO6_CONFIG "D6"
#define XBEE_CMD_DIO5_CONFIG "D5"
#define XBEE_CMD_PWM0_CONFIG "PO"
#define XBEE_CMD_API_ENA "AP"
#define XBEE_CMD_PULLUP_ENA "PR"
/* Version Info */
#define XBEE_CMD_VERS_FIRMWARE "VR"
#define XBEE_CMD_VERS_HARDWARE "HV"
#define XBEE_CMD_VERS_FIRM_VERBOSE "VL"
/* Received Signal Strength */
#define XBEE_CMD_RSSI_PWM_TIMER "RP"
#define XBEE_CMD_RSS "DB"
/* Error counters */
#define XBEE_CMD_CCA_FAILS "EC"
#define XBEE_CMD_ACK_FAILS "EA"
/* AT Command Params */
#define XBEE_CMD_AT_MODE_TIMEOUT "CT"
#define XBEE_CMD_AT_GUARD_TIME "GT"
#define XBEE_CMD_AT_CMD_CHAR "CC"
#define XBEE_CMD_AT_EXIT "CN"
/* XBEE specific routing */
#define XBEE_CMD_NODE_FIND_DEST "DN"
#define XBEE_CMD_NODE_DISCOVER "ND"
#define XBEE_CMD_NODE_ID "NI"
#define XBEE_CMD_ACTIVE_SCAN "AS"
#define XBEE_CMD_FORCE_DISASSOC "DA"
#define XBEE_CMD_ENERGY_SCAN "ED"
#define XBEE_CMD_FORCE_POLL "FP"
/* Misc */
#define XBEE_CMD_WRITE_PARAMS "WR"
#define XBEE_CMD_RESET_SOFT "FR"
#define XBEE_CMD_APPLY_CHANGES "AC"
#define XBEE_CMD_RESTORE_DEFAULTS "RE"
/*----------------------------------------------------------------------------
Structures usefull for communicating with the XBee in API mode
----------------------------------------------------------------------------*/
/* Packets are wrapped with a start & length */
typedef struct {
uint8_t start; /* 0x7e */
uint16_t len;
} __attribute__ ((__packed__)) xbee_pkt_hdr_t;
/* Packets can be broken up into headers, a packet type, a number of data
* bytes and a crc (at the end of the data)
*/
typedef struct {
xbee_pkt_hdr_t hdr;
uint8_t type;
uint8_t data[0];
/* uint8_t crc; */
} __attribute__ ((__packed__)) xbee_pkt_t;
/* Context for tracking current state of communication with an
* XBee module
*/
typedef struct {
struct {
uint8_t bytes_left;
uint8_t bytes_rcvd;
xbee_pkt_t *packet;
uint8_t hdr_data[sizeof(xbee_pkt_hdr_t)];
} in;
struct {
uint8_t frame_id;
} out;
void *user_context; // yours to pass data around with
} __attribute__ ((__packed__)) xbee_t;
/* This is used for keeping track of your data as things get passed around
* through the xbee interface
*/
#define xbee_user_context(xbee) ((xbee).user_context)
/*----------------------------------------------------------------------------
Internal calls
----------------------------------------------------------------------------*/
/* Calculate CRC on an xbee packet */
uint8_t xbee_crc(const xbee_pkt_t *pkt);
/*----------------------------------------------------------------------------
Generally all the functions you need to call
----------------------------------------------------------------------------*/
/* Receive data, calling xbee_recv_pkt on each packet when it's done
* assembling; this should be called with raw data from UART, etc.
* as it comes in. *** YOU NEED TO CALL THIS ***
*/
void xbee_in(xbee_t *xbee, const void *data, uint8_t len);
/* Send a packet with a 64-bit destination address (Series 1) */
int xbee_send64(xbee_t *xbee,
const void *data,
uint8_t len,
uint8_t opt,
const uint8_t addr[8]);
/* Send a packet with a 16-bit destination address (Series 1) */
int xbee_send16(xbee_t *xbee,
const void *data,
uint8_t len,
uint8_t opt,
const uint8_t addr[2]);
/* Send a command to the xbee modem */
int xbee_send_at_cmd(xbee_t *xbee,
const char cmd[],
uint8_t param_len,
const uint8_t *params);
/* Send a command to a remote xbee modem (Series 2 & Newer Series 1 only) */
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]);
/* Initialize the XBee interface */
void xbee_init(xbee_t *xbee);
/*----------------------------------------------------------------------------
MUST be provided externally to this package
----------------------------------------------------------------------------*/
/* Queue a packet for transmission (needs to queue packet to be sent to XBEE
* module; e.g. copy the packet to a UART buffer).
* On error, -1 should be returned and the packet should NOT be freed.
* On success, 0 should be returned; if XBEE_ALLOC is set, this function or
* someone downstream is responsible for freeing it -- the packet has been
* handed off. This is to minimize copying of data.
*/
int xbee_out(xbee_t *xbee, xbee_pkt_t *pkt, uint8_t len);
/* Handle an incoming packet; the packet will be fully formed and verified
* for proper construction before being passed off to this function. This
* function should dig into the packet & process based on its contents.
*/
int xbee_recv_pkt(xbee_t *xbee, xbee_pkt_t *pkt, uint8_t len);
/*----------------------------------------------------------------------------
Must be provided externally only if using dynamic memory (which allows more
than one packet to be queued at a time)
----------------------------------------------------------------------------*/
/* Return a buffer for an xbee packet; at least <len> bytes need to be allocated
*
* Direction since we may want to have different allocations mechanisms/etc
* for xmit vs recv.
*/
void *xbee_alloc_pkt_mem(uint8_t direction, uint8_t len);
/* Free up an allocated packet */
void xbee_free_pkt_mem(xbee_pkt_t *pkt);
#ifdef __cplusplus
};
#endif
#endif /* #ifndef XBEE_H ... */
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