xbee_gpio_client.c

Dynamic C 程式語言源碼 嵌入式控制系統 Xbee蜂群網路~

/***************************************************************************

   XBee GPIO Client.c
	Digi International, Copyright (C) 2008.  All rights reserved.

   Description
   ===========

   This sample shows how to set up and use endpoints and clusters with the
   Rabbit XBee_API.lib library.  It is a command-line version of the Windows
   GUI client, and connects to the XBee GPIO Server sample running on another
   core module or SBC.

	Note: A node with JN set to 1 will send a broadcast frame when it joins
	the network.  If this sample receives one of those frames and GPIO_VERBOSE
	is defined, it will print "Unknown message arrived" and display a hex dump
	of the frame.

	Having JN set to 1 is the default configuration and should be expected on
	ZNet XBee firmware.  ZB firmware defaults to a JN setting of 0.

   Usage
   ======

		-	Compile and run XBee GPIO Server.c on an XBee-enabled core module
			or single-board computer.
		-	Compile and run this sample in the Dynamic C debugger on an
			XBee-enabled core module or single-board computer.
		-	From the STDIO window in Dynamic C, follow the instructions provided
			by the sample.  You can connect to the XBee GPIO Server sample
			wirelessly using the XBee radios to read its inputs and change its
			outputs.

*****************************************************************************/

// Set XBEE_ROLE to NODE_TYPE_COORD, NODE_TYPE_ROUTER or NODE_TYPE_ENDDEV to
// match your XBee's firmware.  View the function help (Ctrl+H) on XBEE_ROLE
// for additional information on setting up an XBee network.
// XBee-enabled Rabbit products ship with the module set to router.
#define XBEE_ROLE			NODE_TYPE_ROUTER

// Set a Node ID to identify this node on the network.
#define NODEID_STR			"GPIO Client"

// Uncomment this define to enable verbose GPIO messages
//#define GPIO_VERBOSE

// ------------------------------------------------------
//
// Serial Cable Communication:
//
// The following definitions redirect stdio to serial port A when
// the core module is not attached to the PROG connector of the
// programming cable.  Use the DIAG connector of the programming cable
// to access serial port A.  See Samples\STDIO_SERIAL.C for more details
// on redirecting stdio.
//

#define	STDIO_DEBUG_SERIAL	SADR
#define	STDIO_DEBUG_BAUD		57600
#define	STDIO_DEBUG_ADDCR

// ------------------------------------------------------

//  Set a default of declaring all local variables "auto" (on stack)
#class auto

// default to storing functions to xmem instead of root
#memmap xmem

#use "xbee_api.lib"

// ------------------------------------------------------


// Sets the maximum number of GPIO servers the client will work with (max. 10)
#define GPIO_MAX_SERVERS         10

// Sets the maximum number of signals on any GPIO server
#define GPIO_MAX_SIGNALS        200

// Sets the number of milliseconds that query_gpio_node allows for response
//  of each server request before a timeout error is returned
#define GPIO_TIMEOUT            750

// GPIO endpoint
#define XBEE_ENDPOINT_GPIO			0xDB

// Clusters for the GPIO endpoint
#define XBEE_GPIO_CLUST_INFO			0x40	// get general device info
#define XBEE_GPIO_CLUST_NAME			0x41	// get types and names of I/O signals
#define XBEE_GPIO_CLUST_ANA_RANGE	0x42	// get range info for analog input
#define XBEE_GPIO_CLUST_READ			0x43	// read states of I/O signals
#define XBEE_GPIO_CLUST_WRITE			0x44	// change states of outputs

/*
	Frame format for Device Info (XBEE_GPIO_CLUST_INFO cluster) Request
	-------------------------------------------------------------------
	Payload is a single byte, set to 0.  (XBee will not send a packet without
	a payload.)  All other requests will be ignored (non-zero values are
	reserved).
*/

/*
	Frame format for Device Info (XBEE_GPIO_CLUST_INFO cluster) Response
	--------------------------------------------------------------------
	Payload contains an 8-bit cluster version, an 8-bit count of I/O signals on
	the device, a 16-bit device manufacturer, a 16-bit device type, and a 16-bit
	firmware version.

	The firmware version is stored in BCD and can be printed as:
		("%u.%02x", firmware_ver >> 8, firmware_ver & 0x00FF))
	  For example, v1.23 is stored as 0x0123.
*/
typedef struct {
	byte		protocol_ver;			// version of the GPIO Endpoint protocol used
	byte		io_count;				// # of I/O signals on device (0-254)
	// the remaining elements can be used to identify a manufacturer-specific
	// version of this structure, with additional fields following firmware_ver
	word		manufacturer;			// for this sample, set to 0x101e (Digi)
	word		device_type;			// unique code to identify the device
	word		firmware_ver;			// BCD (0x0123 = v1.23)
} xbee_frame_gpio_info_t;

// Newer versions of this protocol could add fields to the Device Info response,
// more I/O types, or additional features.  By querying the server, the GPIO
// Endpoint Client learns about the server's capabilities.
#define XBEE_GPIO_CLUST_VERSION	0x01

/*
	Frame format for GPIO Name (XBEE_GPIO_CLUST_NAME cluster) Request
	-----------------------------------------------------------------
	Payload is variable-length, and is simply a series of 8-bit I/O signal
	numbers.

	Example to retrieve the names of the first 8 I/O signals:
		0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07

	Valid I/O signal numbers are 0x00 through 0xFE, 0xFF is reserved for future
	use.  If the server receives a request with an 0xFF, it should ignore the
	0xFF byte and all bytes that follow.
*/

/*
	Frame format for GPIO Name (XBEE_GPIO_CLUST_NAME cluster) Response
	------------------------------------------------------------------
	Payload is variable-length, with a record for each I/O signal requested.
	Each record starts with the 8-bit I/O number and an 8-bit type.  If the
	type is not 0xFF, an 8-bit length for its name follows (or 0x00 if it is
	unnamed), and <length> bytes of printable characters for the name.

	Maximum length for an I/O Signal Name is 20 characters.

	Example response to the request example above (with extra line-breaks and
	comments for readability:
		0x00 0x81 0x04 'D' 'I' 'N' '0'		; I/O #0, digital input, "DIN0"
		0x01 0x81 0x04 'D' 'I' 'N' '1'		; I/O #1, digital input, "DIN1"
		0x02 0xA3 0x04 'A' 'I' 'N' '0'		; I/O #2, analog input, "AIN0"
		0x03 0xA3 0x04 'A' 'I' 'N' '1'		; I/O #3, analog input, "AIN1"
		0x04 0x01 0x05 'D' 'O' 'U' 'T' '0'	; I/O #4, digital output, "DOUT0"
		0x05 0x01 0x05 'D' 'O' 'U' 'T' '1'	; I/O #5, digital output, "DOUT1"
		0x06 0x02 0x04 'L' 'E' 'D' '0'		; I/O #6, LED/Light, "LED0"
		0x07 0xFF									; I/O #7 is not a valid I/O signal

	Names are sent in the order requested.

	If there isn't enough room to fit all of the names in the frame, the
	requestor will have to send an updated request asking for the missing
	I/O numbers from the first request.
*/

// I/O Types and their setting size (size is 1 octet unless otherwise specified)
														// Data Type for I/O Type
#define XBEE_GPIO_TYPE_DISABLED		0x00	// Null (0 octets)
#define XBEE_GPIO_TYPE_INVALID		0xFF	// Null (0 octets)

// Output types
#define XBEE_GPIO_TYPE_DIGITAL_OUT	0x01	// Boolean (0/low, 1/high)
#define XBEE_GPIO_TYPE_LED_OUT		0x02	// Boolean (0/off, 1/on)

#define XBEE_GPIO_TYPE_SINK_OUT		0x10	// Enum (0/sink, 2/tristate)
#define XBEE_GPIO_TYPE_SOURCE_OUT	0x11	// Enum (1/source, 2/tristate)
#define XBEE_GPIO_TYPE_TRISTATE_OUT	0x12	// Enum (0/sink, 1/source, 2/tristate)

#define XBEE_GPIO_TYPE_ANALOG_OUT	0x20	// Float (4 octets, IEEE float)

// Input types
#define XBEE_GPIO_TYPE_DIGITAL_IN	0x81	// Boolean (0/low, 1/high)
#define XBEE_GPIO_TYPE_SWITCH_IN		0x82	// Boolean (0/open, 1/closed)

#define XBEE_GPIO_TYPE_ANALOG_IN		0xA3	// Float (4 octets, IEEE float)

// masks for various types
#define XBEE_GPIO_MASK_TYPE_INPUT	0x80	// Bit flag indicating input channel
#define XBEE_GPIO_MASK_TYPE_ANALOG	0x20	// Bit flag indicating analog

// settings for outputs
#define XBEE_GPIO_OUTPUT_LOW			0
#define XBEE_GPIO_OUTPUT_HIGH			1
#define XBEE_GPIO_OUTPUT_OFF			0
#define XBEE_GPIO_OUTPUT_ON			1
#define XBEE_GPIO_OUTPUT_SINK			0
#define XBEE_GPIO_OUTPUT_SOURCE		1
#define XBEE_GPIO_OUTPUT_TRISTATE	2

// settings for inputs
#define XBEE_GPIO_INPUT_LOW			0
#define XBEE_GPIO_INPUT_HIGH			1
#define XBEE_GPIO_INPUT_OPEN			0
#define XBEE_GPIO_INPUT_CLOSED		1

/*
	Frame format for Analog Range (XBEE_GPIO_CLUST_ANA_RANGE cluster) Request
	-------------------------------------------------------------------------
	Payload is identical to GPIO Name Request.

	Example to retrieve the analog ranges for of the first 8 I/O signals:
		0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07
*/

/*
	Frame format for Analog Range (XBEE_GPIO_CLUST_ANA_RANGE cluster) Response
	--------------------------------------------------------------------------
	Payload is variable-length, with a record for each I/O signal requested.
	Each record starts with the 8-bit I/O number.  If the given I/O signal is
	not an analog input or output, the I/O number is followed by 0xFF.  Analog
	I/O signal numbers are followed by a string description of the units (e.g.,
	"V", "mA", "C") sent as follows an 8-bit length followed by <length & 0x0F>
	bytes of printable ASCII characters.  If bit 7 of length is set
	(length & 0x80), the name is followed by two floats (4 octets each)
	representing the lower and upper range for the signal.

	Bits 4-6 of the length are reserved for future use and should be set to zero
	by the server and ignored by the client.

	Maximum length for a "units description" is 15 characters.  Servers should
	send a description for each signal, but Clients must accept a 0-byte
	description.

	Example response to the request example above (with extra line-breaks and
	comments for readability):
		0x00 0xFF									; I/O #0 is not an analog I/O
		0x01 0x81 'V' <0.000> <20.000>		; I/O #1, 0 to 20 V
		0x02 0x82 'm' 'A' <4.000> <20.000>	; I/O #2, 4 to 20 mA
		0x03 0x01 'C'								; I/O #3, Celsius with unknown range
		0x04 0x80 <-10.000> <10.000>			; I/O #4, +/-10.000, unknown units
		0x05 0x00									; I/O #5, unknown range or units

	Ranges are sent in the order requested.

	If there isn't enough room to fit all of the responses in the frame, the
	requestor will have to send an updated request asking for the missing
	I/O numbers from the first request.
*/

/*
	Frame format for GPIO Read (XBEE_GPIO_CLUST_READ cluster) Request
	-----------------------------------------------------------------
	Payload is identical to GPIO Name Request.

	Example to retrieve the configuration/readings of the first 8 I/O signals:
		0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07
*/

/*
	Frame format for GPIO Read (XBEE_GPIO_CLUST_READ cluster) Response
	------------------------------------------------------------------
	Payload is variable-length, with a record for each I/O signal requested.
	Each record starts with the 8-bit I/O number, an 8-bit I/O type for its
	name (or 0x00 if it is disabled or 0xFF if it's not a valid I/O number),
	and a variable number of bytes (depending on type, see table below) for its
	current setting (for outputs) or reading (for inputs).

	Example response to the request example above (with extra line-breaks and
	comments for readability:
		0x00 0x81 0x01						; I/O #0 is a digital input, last read high
		0x01 0x81 0x00						; I/O #1 is a digital input, last read low
		0x02 0xA3 0x00 0x00 0xa0 0x40	; I/O #2 is an analog input, last read 5.00
		0x03 0x00							; I/O #3 is disabled
		0x04 0x01 0x00						; I/O #4 is a digital output, set low
		0x05 0x01 0x01						; I/O #5 is a digital output, set high
		0x06 0x02 0x01						; I/O #6 is an LED output, currently on
		0x07 0xFF							; I/O #7 is not a valid I/O signal

	If there isn't enough room to fit all of the readings in the frame, the
	requestor will have to send an updated request asking for the missing
	I/O numbers from the first request.
*/

/*
	Frame format for GPIO Write (XBEE_GPIO_CLUST_WRITE cluster) Request
	-------------------------------------------------------------------
	Payload is variable length, with a record for each output to be written.
	Each record is identical to the record format for the GPIO Read Response:
	8-bit I/O number, 8-bit I/O type and variable-length setting.

	Note that all writes are done asynchronously.  Version 1 of the GPIO
	Endpoint does not support setting synchronous analog outputs or banked
	digital outputs.

	Example to set some outputs:
		0x00 0x01 0x01						; Set I/O #0 to digital output, high
		0x03 0x02 0x01						; Set I/O #3 to led output, on
		0x04 0x01 0x01						; Set I/O #4 to digital output, high
		0x06 0x02 0x00						; Set I/O #6 to LED output, off
		0x07 0x20 <25.000>				; Set I/O #7 to analog output, 25.000
*/

/*
	Frame format for GPIO Write (XBEE_GPIO_CLUST_WRITE cluster) Response
	--------------------------------------------------------------------
	Payload are byte pairs of a status byte followed by the I/O number.
	See table of valid status bytes below.

	Example response to example request above:
		0x00 0xF1							; can't set I/O #0, type didn't match
		0x03 0xF0							; can't set I/O #3, it is disabled
		0x04 0x00							; successfully set I/O #4
		0x06 0x00							; successfully set I/O #6
		0x07 0xF2							; setting for I/O #7 outside of valid range

*/

// status bytes for XBEE_GPIO_CLUST_WRITE responses
#define XBEE_GPIO_STATUS_SUCCESS			0x00
#define XBEE_GPIO_STATUS_DISABLED		0xF0
#define XBEE_GPIO_STATUS_BAD_TYPE		0xF1
#define XBEE_GPIO_STATUS_OUT_OF_RANGE	0xF2
#define XBEE_GPIO_STATUS_INVALID			0xFF

//// End of GPIO Endpoint Protocol Definition

// GPIO Client sample follows


// end point to use when sending requests, responses come back to it
#define XBEE_ENDPOINT_RESPONSE	0xDA

// these "Resp" functions handle the responses from the XBee GPIO Server
void xbeeGpioDevInfoResp(char *data, int datalen);
void xbeeGpioNameResp(char *data, int datalen);
void xbeeGpioAnaRangeResp(char *data, int datalen);
void xbeeGpioReadResp(char *data, int datalen);
void xbeeGpioWriteResp(char *data, int datalen);

RabbitClusterIDList_t const gpioEndPointResp = {
	{ XBEE_GPIO_CLUST_INFO,	XBEE_GPIO_CLUST_NAME,	XBEE_GPIO_CLUST_ANA_RANGE,
				XBEE_GPIO_CLUST_READ,	XBEE_GPIO_CLUST_WRITE },
	{ xbeeGpioDevInfoResp,		xbeeGpioNameResp,			xbeeGpioAnaRangeResp,
				xbeeGpioReadResp,			xbeeGpioWriteResp }
};

// The endpoint table defines what endpoints the application
// has and what Cluster IDs are associated with it. Each
// endpoint is associated with a profile and a device. The
// device is not important, but the profile is very
// important. A profile defines what commands and data formats
// and functions are available on a network. Any device
// implementing some or all of these items may join the network
// and be used or use other devices. A network may support more
// than one profile.

// Applications using the Rabbit XBee_API.lib library must define an
// endpoint table, even if it is empty.  For more information,
// perform a function lookup (ctrl-H) on ENDPOINT_TABLE_BEGIN.
ENDPOINT_TABLE_BEGIN
//                   Endpt,              desc, profile,           device, flags,
// IC, OC, ICL			 		 OCL
ENDPOINT_TABLE_ENTRY(XBEE_ENDPOINT_RESPONSE, 0,    XB_PROFILE_DIGI, 1,      0,  \
	5,  0, &gpioEndPointResp, NULL)
ENDPOINT_TABLE_END


typedef struct {
	byte	signal;
	byte	type;
	byte	namelen;
	char	name[20];				// 0 to 20 character name, not terminated
} xbee_gpio_rec_name_resp_t;

typedef struct {
   byte  signal;
   byte  length;
   char  units[15];
} xbee_gpio_rec_ar_resp_units_t;

typedef struct {
   float lower, upper;
} xbee_gpio_rec_ar_resp_range_t;

// Main control structure for communicating with GPIO servers
typedef struct {
	int		state;          // State of request/response operation
	int		ep_count;       // End point counter for processing I/O groups
   int      last_ep;        // Last end point to be read
	int		node_index;     // ZigBee Node Index of this GPIO server
	byte		io_count;       // Count of I/O end points on this GPIO server
	word		device_type;    // Device type code from GPIO server
	byte		last_request;   // Last request sent to this GPIO server
	unsigned long request_sent; // Timestamp of when last_request was sent
} gpio_device_t;

gpio_device_t gpio_device[GPIO_MAX_SERVERS];

int gpio_index;       // Index of current GPIO device selected
int gpio_last;        // Index of last GPIO server found

struct {
	byte	index;
	byte	type;
	char	name[21];				// 0 to 20 character name, null terminated