/** Waits for the specified type of message. Silently discards any other messages received.
Received message will be in znpBuf[]. If the specified type of message isn't received then returns error code.
@return 0 if success, -21 if timeout, -31 if received a message but it wasn't the type we're expecting.
*/
signed int waitForMessage(unsigned int messageType, unsigned char timeoutSecs)
{
unsigned long counter = 0;
unsigned long timeout = (timeoutSecs / 2) * XTAL; //since loop takes more than 1 clock cycle
while (SRDY_IS_HIGH() && (counter != timeout))
counter++;
if (counter == timeout)
return -21;
spiPoll();
if ((znpBuf[SRSP_LENGTH_FIELD] > 0) && (CONVERT_TO_INT(znpBuf[2], znpBuf[1]) == messageType))
{
#ifdef ZNP_INTERFACE_VERBOSE
printf("Received expected message %04X\r\n", messageType);
#endif
return 0;
} else { //unexpected message received
//#ifdef ZNP_INTERFACE_VERBOSE
printf("waitForMessage Unexpected Message: L%u, messageType = %04X\r\n",
znpBuf[SRSP_LENGTH_FIELD] , (CONVERT_TO_INT(znpBuf[2], znpBuf[1])));
//#endif
return -31;
}
}
/** Prints out the returned value of zdoNetworkAddressRequest() */
void printZdoNetworkAddressResponse(unsigned char* rsp)
{
printf("Status = %u; MAC:", rsp[0]);
for (int i=1; i<9; i++)
printf("%02X ", rsp[i]);
printf("NwkAddr:%04X; StartIdx:%u, numAssocDev:%u\r\n", CONVERT_TO_INT(rsp[9], rsp[10]), rsp[11],rsp[12]);
for (int j=0; j<rsp[12]; j++)
printf("%04X ", CONVERT_TO_INT(rsp[(j+13)], rsp[(j+14)]));
printf("\r\n");
}
/** Displays the header information in an AF_INCOMING_MSG.
@param srsp a pointer to the buffer containing the message
@return 0 if success, -1 if not a AF_INCOMING_MSG.
*/
signed int printAfIncomingMsgHeader(unsigned char* srsp)
{
if (CONVERT_TO_INT(srsp[SRSP_CMD_LSB_FIELD], srsp[SRSP_CMD_MSB_FIELD]) == AF_INCOMING_MSG)
{
printf("#%02u: Grp%04x Clus%04x, SrcAd%04x, SrcEnd%02x DestEnd%02x Bc%02x Lqi%02x Sec%02x Len%02u",
srsp[SRSP_HEADER_SIZE+15],
CONVERT_TO_INT(srsp[SRSP_HEADER_SIZE], srsp[SRSP_HEADER_SIZE+1]),
CONVERT_TO_INT(srsp[SRSP_HEADER_SIZE+2], srsp[SRSP_HEADER_SIZE+3]),
CONVERT_TO_INT(srsp[SRSP_HEADER_SIZE+4], srsp[SRSP_HEADER_SIZE+5]),
srsp[SRSP_HEADER_SIZE+6], srsp[SRSP_HEADER_SIZE+7], srsp[SRSP_HEADER_SIZE+8],
srsp[SRSP_HEADER_SIZE+9], srsp[SRSP_HEADER_SIZE+10], srsp[SRSP_HEADER_SIZE+16]);
return 0;
} else {
return -1;
}
}
/**
Private method used to wait until a message is received indicating that we are on the network.
Exits if received message is a ZDO_STATE_CHANGE_IND and the state matches what we want.
Else loops until timeout.
@note Since this is basically a blocking wait, you can also implement this in your application.
@param expectedState the deviceState we are expecting - DEV_ZB_COORD etc.
@param timeoutMs the amount of milliseconds to wait before returning an error. Should be an integer
multiple of WFDS_POLL_INTERVAL_MS.
@todo modify this if using UART.
*/
static moduleResult_t waitForDeviceState(unsigned char expectedState, uint16_t timeoutMs)
{
RETURN_INVALID_PARAMETER_IF_TRUE( ((!(IS_VALID_DEVICE_STATE(expectedState))) || (timeoutMs < WFDS_POLL_INTERVAL_MS)), METHOD_WAIT_FOR_DEVICE_STATE);
uint16_t intervals = timeoutMs / WFDS_POLL_INTERVAL_MS; // how many times to check
uint8_t state = 0xFF;
while (intervals--)
{
if (moduleHasMessageWaiting()) // If there's a message waiting for us
{
getMessage();
if (CONVERT_TO_INT(zmBuf[2], zmBuf[1]) == ZDO_STATE_CHANGE_IND) // if it's a state change message
{
state = zmBuf[SRSP_PAYLOAD_START];
printf("%s, ", getDeviceStateName(state)); // display the name of the state in the message
if (state == expectedState) // if it's the state we're expecting
return MODULE_SUCCESS; //Then we're done!
} //else we received a different type of message so we just ignore it
}
delayMs(WFDS_POLL_INTERVAL_MS);
}
// We've completed the loop without receiving the sate that we want; so therefore we've timed out.
RETURN_RESULT(TIMEOUT, METHOD_WAIT_FOR_DEVICE_STATE);
}
/** Utility method to display stored network configuration parameters. These are the configuration
parameters stored in NV memory and are used to initialize the ZNP.
@post znpResult contains the error code, or ZNP_SUCCESS if success.
*/
void getNetworkConfigurationParameters()
{
printf("ZNP Configuration Parameters\r\n");
unsigned char* param;
param = getConfigurationParameter(ZCD_NV_PANID);
if (znpResult != 0) return;
printf(" ZCD_NV_PANID %04X\r\n", (CONVERT_TO_INT(param[0], param[1])));
param = getConfigurationParameter(ZCD_NV_CHANLIST);
if (znpResult != 0) return;
printf(" ZCD_NV_CHANLIST %02X %02X %02X %02X\r\n", param[0], param[1], param[2], param[3]);
param = getConfigurationParameter(ZCD_NV_SECURITY_MODE);
if (znpResult != 0) return;
printf(" ZCD_NV_SECURITY_MODE %02X\r\n", param[0]);
param = getConfigurationParameter(ZCD_NV_PRECFGKEYS_ENABLE);
if (znpResult != 0) return;
printf(" ZCD_NV_PRECFGKEYS_ENABLE %02X\r\n", param[0]);
param = getConfigurationParameter(ZCD_NV_PRECFGKEY);
if (znpResult != 0) return;
printf(" ZCD_NV_PRECFGKEY ");
printHexBytes(param, ZCD_NV_PRECFGKEY_LEN);
}
/** Retrieves a random number from the ZNP using SYS_RANDOM command.
@post znpResult contains the error code, or ZNP_SUCCESS if success.
@return the random number, or indeterminate data if error.
*/
unsigned int getRandom()
{
znpBuf[0] = SYS_RANDOM_PAYLOAD_LEN;
znpBuf[1] = MSB(SYS_RANDOM);
znpBuf[2] = LSB(SYS_RANDOM);
znpResult = sendMessage();
return (CONVERT_TO_INT(znpBuf[SRSP_PAYLOAD_START], znpBuf[SRSP_PAYLOAD_START+1]));
}
/** Displays the radio's device Information Properties. Device Information Properties include:
- Device State indicates whether the ZNP is on a network or not, and what type of device it is.
This is a handy thing to check if things aren't operating correctly.
If the device is starting as a coordinator, you'll see states of 01, 08, 08, then 09 once it has fully started.
- MAC Address (aka IEEE Address) is a globally unique serial number for this IC.
- Device Short Address is a network address assigned by the coordinator, similar to an IP Address in DHCP.
The Coordinator always has a Short Address of 0.
- Parent MAC Address is the IEEE Address of this device's "parent", i.e. which device was used to join the network.
For a router, once joined this parent MAC address is irrelevant. This DIP will NOT be updated if the network reforms.
For an end-device then this parent MAC address will always specify which router the end-device is joined to.
- Channel is which frequency channel the device is operating on.
- PAN ID (Personal Area Network Identifier) of the network is a unique number shared for all devices on the same network.
- Extended PAN ID of the network is the coordinator's MAC Address.
If device is not connected to a network then the Short Address fields will be 0xFEFF,
the Parent MAC Address and channel will be 0, and the Extended PAN ID will be this device's MAC Address.
@post znpResult contains the error code, or ZNP_SUCCESS if success.
*/
void getDeviceInformation()
{
printf("Device Information Properties (MSB first)\r\n");
getDeviceInformationProperty(DIP_STATE);
if (znpResult != 0) return;
printf(" Device State: %s (%u)\r\n", getDeviceStateName(znpBuf[SRSP_DIP_VALUE_FIELD]), (znpBuf[SRSP_DIP_VALUE_FIELD]));
getDeviceInformationProperty(DIP_MAC_ADDRESS);
printf(" MAC Address: ");
if (znpResult != 0) return;
for (int i = SRSP_DIP_VALUE_FIELD+7; i>=SRSP_DIP_VALUE_FIELD; i--)
printf("%02X ", znpBuf[i]);
printf("\r\n");
getDeviceInformationProperty(DIP_SHORT_ADDRESS);
if (znpResult != 0) return;
printf(" Short Address: %04X\r\n", CONVERT_TO_INT(znpBuf[SRSP_DIP_VALUE_FIELD] , znpBuf[SRSP_DIP_VALUE_FIELD+1]));
getDeviceInformationProperty(DIP_PARENT_SHORT_ADDRESS);
if (znpResult != 0) return;
printf(" Parent Short Address: %04X\r\n", CONVERT_TO_INT(znpBuf[SRSP_DIP_VALUE_FIELD] , znpBuf[SRSP_DIP_VALUE_FIELD+1]));
getDeviceInformationProperty(DIP_PARENT_MAC_ADDRESS);
if (znpResult != 0) return;
printf(" Parent MAC Address: ");
for (int i = SRSP_DIP_VALUE_FIELD+7; i>=SRSP_DIP_VALUE_FIELD; i--)
printf("%02X ", znpBuf[i]);
printf("\r\n");
getDeviceInformationProperty(DIP_CHANNEL);
if (znpResult != 0) return;
printf(" Device Channel: %u\r\n", znpBuf[SRSP_DIP_VALUE_FIELD]);
getDeviceInformationProperty(DIP_PANID);
if (znpResult != 0) return;
printf(" PAN ID: %04X\r\n", CONVERT_TO_INT(znpBuf[SRSP_DIP_VALUE_FIELD], znpBuf[SRSP_DIP_VALUE_FIELD+1]));
getDeviceInformationProperty(DIP_EXTENDED_PANID);
if (znpResult != 0) return;
printf(" Extended PAN ID: ");
for (int i = SRSP_DIP_VALUE_FIELD+7; i>=SRSP_DIP_VALUE_FIELD; i--)
printf("%02X ", znpBuf[i]);
printf("\r\n");
}
/** Blocking wait until a message is received. Exits if received message is a ZDO_STATE_CHANGE_IND
and the state matches what we want. Else loops.
@param expectedState the deviceState we are expecting - DEV_ZB_COORD etc.*/
void waitForDeviceState(unsigned char expectedState)
{
unsigned char state = 0xFF;
while (state != expectedState)
{
while (SRDY_IS_HIGH());
pollAndDisplay();
if (CONVERT_TO_INT(znpBuf[2], znpBuf[1]) == ZDO_STATE_CHANGE_IND)
state = znpBuf[SRSP_PAYLOAD_START];
}
}
/** Waits for SRDY to go low, indicating a message has arrived. Displays the msg to console,
and find the device's MAC address using ZDO_IEEE_ADDR_REQ.
Then, if FIND_NWK_ADDRESS was defined, uses the received MAC address to find the device's short address.
The two should match.
@pre callbacks have been enabled with enableCallbacks() - otherwise you will never receive the ZDO_IEEE_ADDR_RSP message.
*/
void displayReceivedMessagesAndFindDevice()
{
znpBuf[0] = 0;
unsigned int shortAddress;
while (1)
{
while (SRDY_IS_HIGH());
pollAndDisplay();
if (CONVERT_TO_INT(znpBuf[2], znpBuf[1]) == AF_INCOMING_MSG)
{
shortAddress = CONVERT_TO_INT(znpBuf[7], znpBuf[8]);
zdoRequestIeeeAddress(shortAddress, SINGLE_DEVICE_RESPONSE, 0);
if (znpResult == 0)
{
printf("MAC Address (LSB first) of sender is :");
printHexBytes(znpBuf+4, 8);
} else {
printf("IEEE Request Failed (%d)\r\n", znpResult);
continue;
}
#ifdef FIND_NWK_ADDRESS
/** Very simple example of zdoNetworkAddressRequest() */
unsigned char* response = zdoNetworkAddressRequest(znpBuf+4, SINGLE_DEVICE_RESPONSE, 0); //was SINGLE_DEVICE_RESPONSE
if (znpResult == 0)
{
unsigned int sa = CONVERT_TO_INT(znpBuf[12], znpBuf[13]);
printf("Short Address = %04X\r\n", sa);
} else {
printf("NWK Request Failed (%d)\r\n", znpResult);
continue;
}
printZdoNetworkAddressResponse(response);
#endif
}
}
}
/**
* Crea un message_t a partir de un stream de bytes apuntado por source.
* @param source puntero al comienzo del mensaje serializado
* @return un message_t con los datos parseados.
* @todo verificar que lenData < MAX_DATA_MESSAGE
*/
struct message_t deserializeMessage(unsigned char* source) {
unsigned char* sourcePtr = source;
struct message_t im;
// header
im.sequence = CONVERT_TO_INT( (*sourcePtr), (*(sourcePtr+1)) );
sourcePtr += 2;
for (int i = 0; i < 8; i++)
im.mac[i] = *sourcePtr++;
im.msgType = *sourcePtr++;
im.lenData = *sourcePtr++;
// data
for (int i = 0; i < im.lenData; i++)
im.data[i] = *sourcePtr++;
return im;
}
/**
* Utility function only used when displaying the network topology.
* Recursively iterates through the network and displays the children of a node and then the children
* of those children, and then the children of those children, etc. using recursion.
* @param shortAddress the root at which to start getting the topology. Use 0000 for the Coordinator.
* @note does not retrieve children for the same node twice. Uses a Set to keep track of which nodes
* have been searched. This is done because occasionally two nodes will list the same child.
* @see http://en.wikipedia.org/wiki/Recursion_%28computer_science%29
* @return the number of children
* @todo handle case where starting index != 0. We will have to keep track of which nodes had
* additional children, and then call zdoRequestIeeeAddress() for the next group.
*/
static uint8_t displayChildren(uint16_t shortAddress)
{
printf("Device %04X has ", shortAddress);
moduleResult_t result = zdoRequestIeeeAddress(shortAddress, INCLUDE_ASSOCIATED_DEVICES, 0);
#define MAX_CHILDREN 5 // Max of 20 from Z-Stack. Of these 20, 7 can be routers, the rest end devices.
// We reduce to fit in RAM on the LaunchPad since this is called recursively
uint8_t childCount = 0;
uint16_t children[MAX_CHILDREN];
if (result == MODULE_SUCCESS)
{
if (!(addToSet(&searchedSet, shortAddress)))
{
printf("[addToSet failed for 0x%04X\r\n]", shortAddress);
}
childCount = zmBuf[SRSP_PAYLOAD_START + ZDO_IEEE_ADDR_RSP_NUMBER_OF_ASSOCIATED_DEVICES_FIELD];
if (childCount > 0)
{
printf("%u children, starting with #%u:", childCount, zmBuf[SRSP_PAYLOAD_START + ZDO_IEEE_ADDR_RSP_START_INDEX_FIELD]);
int i=0;
int j;
for (j = 0; j < (childCount*2) - 1; j += 2) // Iterate through all the children. Each is a 2B integer
{
children[i] = CONVERT_TO_INT(zmBuf[(j + SRSP_PAYLOAD_START + ZDO_IEEE_ADDR_RSP_ASSOCIATED_DEVICE_FIELD_START)], zmBuf[( j + SRSP_PAYLOAD_START + ZDO_IEEE_ADDR_RSP_ASSOCIATED_DEVICE_FIELD_START + 1)]);
printf("<%04X> ", children[i]);
i++;
}
printf("\r\n");
for (i=0; i<childCount; i++) // Iterate through all children
{
if (!setContains(&searchedSet, children[i])) // Don't process the same short address twice!
{
displayChildren(children[i]); // Note use of recursion here
}
}
} else {
printf("no children\r\n");
}
} else {
printf("Could not locate that device (Error Code 0x%02X)\r\n", result);
}
return childCount;
}
/**
Creates an infoMessage from the stream of bytes starting at source
@param source the beginning of the serialized Info Message
@param info the infoMessage to create
@return the number of bytes deserialized if success, or else an error code < 0
*/
int16_t deserializeInfoMessage(unsigned char* source, struct infoMessage* info)
{
unsigned char* sourcePtr = source;
info->header = deserializeHeader(sourcePtr); // First, deserialize the header
sourcePtr += (HEADER_SIZE);
info->deviceType = *sourcePtr++; // Get the deviceType
info->numParameters = *sourcePtr++; // ... and the number of Parameters
if (info->numParameters > MAX_KVPS_IN_STATUS_MESSAGE)
return -1;
int i;
for (i=0; i < info->numParameters; i++) //for each Parameter:
{
info->kvps[i].oid = *sourcePtr++;
info->kvps[i].value = CONVERT_TO_INT( (*sourcePtr), (*(sourcePtr+1)) );
sourcePtr += 2;
}
return (sourcePtr - source);
}
/** Wait until a message is received. Exits if received message is a ZDO_STATE_CHANGE_IND
and the state matches what we want. Else loops.
@param expectedState the deviceState we are expecting - DEV_ZB_COORD etc.
@return 0 if success, -1 if timeout
*/
signed int waitForDeviceState(unsigned char expectedState)
{
printf("Waiting for network... ");
unsigned char state = 0xFF;
unsigned long timeout = WAIT_FOR_DEVICE_STATE_TIMEOUT;
while (state != expectedState)
{
while ((SRDY_IS_HIGH()) && (timeout > 0))
timeout--;
if (timeout == 0)
return -1; //error
spiPoll();
if (CONVERT_TO_INT(znpBuf[2], znpBuf[1]) == ZDO_STATE_CHANGE_IND)
{
state = znpBuf[SRSP_PAYLOAD_START];
printf("%s ", getDeviceStateName(state));
}
}
printf("\r\n");
return 0;
}
/**
Displays the type of message in zmBuf.
Ignores the message if length = 0.
@pre moduleHasMessageWaiting() is true
@pre getMessage() called to get message into zmBuf
@post zmBuf Length field = 0
*/
void displayMessage()
{
if (zmBuf[SRSP_LENGTH_FIELD] > 0)
{
switch ( (CONVERT_TO_INT(zmBuf[SRSP_CMD_LSB_FIELD], zmBuf[SRSP_CMD_MSB_FIELD])) )
{
case AF_DATA_CONFIRM:
{
printf("AF_DATA_CONFIRM\r\n");
break;
}
case AF_INCOMING_MSG:
{
printf("AF_INCOMING_MSG ");
printAfIncomingMsgHeader(zmBuf);
printf("\r\n");
#ifdef VERBOSE_MESSAGE_DISPLAY
printf("Payload: ");
printHexBytes(zmBuf+SRSP_HEADER_SIZE+17, zmBuf[SRSP_HEADER_SIZE+16]); //print out message payload
#endif
break;
}
case AF_INCOMING_MSG_EXT:
{
printf("AF_INCOMING_MSG_EXT\r\n");
uint16_t len = AF_INCOMING_MESSAGE_EXT_LENGTH();
printf("Extended Message Received, L%u ", len);
break;
}
case ZDO_IEEE_ADDR_RSP:
{
printf("ZDO_IEEE_ADDR_RSP\r\n");
displayZdoAddressResponse(zmBuf + SRSP_PAYLOAD_START);
break;
}
case ZDO_NWK_ADDR_RSP:
{
printf("ZDO_NWK_ADDR_RSP\r\n");
displayZdoAddressResponse(zmBuf + SRSP_PAYLOAD_START);
break;
}
case ZDO_END_DEVICE_ANNCE_IND:
{
printf("ZDO_END_DEVICE_ANNCE_IND\r\n");
displayZdoEndDeviceAnnounce(zmBuf);
break;
}
case ZB_FIND_DEVICE_CONFIRM:
{
printf("ZB_FIND_DEVICE_CONFIRM\r\n");
break;
}
case ZDO_MGMT_NWK_DISCOVERY_RSP:
{
printf("ZDO_MGMT_NWK_DISCOVERY_RSP\r\n");
displayZdoNetworkDiscoveryResponse(zmBuf + SRSP_PAYLOAD_START);
break;
}
case ZDO_MGMT_LEAVE_RSP:
{
printf("ZDO_MGMT_LEAVE_RSP\r\n");
displayZdoManagementLeaveResponse(zmBuf);
break;
}
case ZDO_JOIN_CNF:
{
printf("ZDO_JOIN_CNF\r\n");
displayZdoJoinConfirm(zmBuf);
break;
}
case ZDO_STATE_CHANGE_IND:
{
printf("ZDO_STATE_CHANGE_IND\r\n");
displayZdoStateChangeInd(zmBuf);
break;
}
default:
{
printf("Message received, type 0x%04X\r\n", (CONVERT_TO_INT(zmBuf[SRSP_CMD_LSB_FIELD], zmBuf[SRSP_CMD_MSB_FIELD])));
printHexBytes(zmBuf, (zmBuf[SRSP_LENGTH_FIELD] + SRSP_HEADER_SIZE));
}
}
zmBuf[SRSP_LENGTH_FIELD] = 0;
} //ignore messages with length == 0
}
void stateMachine()
{
while (1)
{
switch (state)
{
case STATE_IDLE:
{
if (stateFlags & STATE_FLAG_SEND_INFO_MESSAGE) //if there is a pending info message to be sent
{
state = STATE_SEND_INFO_MESSAGE; //then send the message and clear the flag
stateFlags &= ~STATE_FLAG_SEND_INFO_MESSAGE;
}
//note: other flags (for different messages or events) can be added here
break;
}
case STATE_ZNP_STARTUP:
{
#define ZNP_START_DELAY_IF_FAIL_MS 5000
/* Start the network; if fails then wait a second and try again. */
signed int startResult = startZnp(END_DEVICE);
while (startResult != ZNP_SUCCESS)
{
printf("FAILED. Error Code %i, ZNP Result %i. Retrying...\r\n", startResult, znpResult);
delayMs(ZNP_START_DELAY_IF_FAIL_MS);
startResult = startZnp(END_DEVICE);
}
printf("Success\r\n");
//ZNP Initialized so store MAC Address
memcpy(hdr.mac, getMacAddress(), 8);
#ifdef SEND_MESSAGE_ON_TIMER
signed int timerResult = initTimer(4, WAKEUP_AFTER_TIMER);
if (timerResult != 0)
{
printf("timerResult Error %i, STOPPING\r\n", timerResult);
while (1);
}
#endif
state = STATE_DISPLAY_NETWORK_INFORMATION;
break;
}
case STATE_DISPLAY_NETWORK_INFORMATION:
{
printf("~ni~");
/* On network, display info about this network */
getNetworkConfigurationParameters();
getDeviceInformation();
state = STATE_SEND_INFO_MESSAGE;
break;
}
case STATE_SEND_INFO_MESSAGE:
{
printf("~im~");
setLed(1);
im.header->sequence = sequenceNumber++;
im.cause = infoMessageCause;
unsigned char* panid = getDeviceInformationProperty(DIP_PANID);
im.parameters[0] = CONVERT_TO_INT(*panid, *(panid+1)); //PAN ID
im.parameters[1] = getVcc3(); //VCC
im.parameters[2] = getLightSensor(); //Light Sensor
printInfoMessage(&im);
#define ZNP_RESTART_DELAY_IF_MESSAGE_FAIL_MS 5000
unsigned char msgBuf[100];
serializeInfoMessage(&im, msgBuf);
afSendData(DEFAULT_ENDPOINT,DEFAULT_ENDPOINT,0, INFO_MESSAGE_CLUSTER, msgBuf, getSizeOfInfoMessage(&im));
if (znpResult != ZNP_SUCCESS)
{
printf("afSendData error %i; restarting...\r\n", znpResult);
delayMs(ZNP_RESTART_DELAY_IF_MESSAGE_FAIL_MS); //allow enough time for coordinator to fully restart, if that caused our problem
state = STATE_ZNP_STARTUP;
} else {
state = STATE_IDLE;
clearLeds();
HAL_SLEEP();
}
break;
}
default: //should never happen
{
printf("UNKNOWN STATE\r\n");
state = STATE_ZNP_STARTUP;
}
break;
}
}
}
