int8_t _dynamixel_rtu_check_integrity(dynamixel_t *ctx, uint8_t *msg,
uint8_t msg_length) {
uint8_t checksum_calculated;
uint8_t checksum_received;
checksum_calculated = gen_checksum(msg, msg_length - 1);
checksum_received = msg[msg_length - 1];
/* Check Checksum of msg */
if (checksum_calculated == checksum_received) {
memmove(
msg,
msg+_DYNAMIXEL_RTU_HEADER_LENGTH,
msg_length-_DYNAMIXEL_RTU_HEADER_LENGTH-_DYNAMIXEL_RTU_CHECKSUM_LENGTH
);
msg_length=msg_length-_DYNAMIXEL_RTU_HEADER_LENGTH-_DYNAMIXEL_RTU_CHECKSUM_LENGTH;
return msg_length;
} else {
if (ctx->debug) {
fprintf(stderr, "ERROR Checksum received %0X != Checksum calculated %0X\n",
checksum_received, checksum_calculated);
}
if (ctx->error_recovery & DYNAMIXEL_ERROR_RECOVERY_PROTOCOL) {
_dynamixel_rtu_flush(ctx);
}
errno = E_DYNAMIXEL_BADCHECKSUM;
return -1;
}
}
/*
Function: Reset the Network
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NR command
Parameters:
reset --> Possible values are 0/1
0: reset the node network interface
1: reset the entirely network
*/
uint8_t WaspXBeeZB::resetNetwork(uint8_t reset)
{
int8_t error=2;
error_AT=2;
gen_data(reset_network_ZB,reset);
gen_checksum(reset_network_ZB);
error=gen_send(reset_network_ZB);
return error;
}
/*
Function: Specifies the number of retries than can be sent for a given unicast RF packet
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the RR command
Parameters:
macretries: number of retries than can be sent for a given unicast RF packet (0x00-0x0F)
*/
uint8_t WaspXBee868::setMacRetries(uint8_t macretries)
{
int8_t error=2;
error_AT=2;
gen_data(set_retries_868,macretries);
gen_checksum(set_retries_868);
error=gen_send(set_retries_868);
if(error==0)
{
macRetries=macretries;
}
return error;
}
/*
Function: Specifies the number of additional broadcast retransmissions
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the MT command
Parameters:
mtrans: number of additional broadcast retransmissions (0x00-0x0F)
*/
uint8_t WaspXBee868::setMultipleBroadcast(uint8_t mtrans)
{
int8_t error=2;
error_AT=2;
gen_data(set_mult_broadcast_868,mtrans);
gen_checksum(set_mult_broadcast_868);
error=gen_send(set_mult_broadcast_868);
if(error==0)
{
multipleBroadcast=mtrans;
}
return error;
}
/*
Function: Set the CA threshold in the CCA process to detect energy on the channel
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the CA command
Parameters:
threshold: CA threshold in the CCA process (0x00-0x50)
*/
uint8_t WaspXBee802::setEnergyThreshold(uint8_t threshold)
{
int8_t error=2;
error_AT=2;
gen_data(set_energy_thres_802,threshold);
gen_checksum(set_energy_thres_802);
error=gen_send(set_energy_thres_802);
if(!error)
{
energyThreshold=threshold;
}
return error;
}
/*
Function: Set the Mac Mode, choosen between the 4 options (0/1/2/3)
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the MM command
Parameters:
mac: set the mac mode to use (0-3)
*/
uint8_t WaspXBee802::setMacMode(uint8_t mac)
{
int8_t error=2;
error_AT=2;
gen_data(set_mac_mode_802,mac);
gen_checksum(set_mac_mode_802);
error=gen_send(set_mac_mode_802);
if(!error)
{
macMode=mac;
}
return error;
}
/*
Function: Set the maximum hops limit
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NH command
Parameters:
hops: max number of hops that an unicast message can make (0x00-0xFF)
*/
uint8_t WaspXBeeZB::setMaxUnicastHops(uint8_t hops)
{
int8_t error=2;
error_AT=2;
gen_data(set_max_uni_hops_ZB,hops);
gen_checksum(set_max_uni_hops_ZB);
error=gen_send(set_max_uni_hops_ZB);
if(error==0)
{
maxUnicastHops=hops;
}
return error;
}
/*
Function: Configure options for encryption
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the EO command
Parameters:
eoptions: options for encryption (0x00-0xFF)
*/
uint8_t WaspXBeeZB::setEncryptionOptions(uint8_t eoptions)
{
int8_t error=2;
error_AT=2;
gen_data(set_encryp_options_ZB,eoptions);
gen_checksum(set_encryp_options_ZB);
error=gen_send(set_encryp_options_ZB);
if(error==0)
{
encryptOptions=eoptions;
}
return error;
}
/*
Function: Set the join notification setting
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the JN command
Parameters:
notif: join notification setting (0-1)
*/
uint8_t WaspXBeeZB::setJoinNotification(uint8_t notif)
{
int8_t error=2;
error_AT=2;
gen_data(set_join_notif_ZB,notif);
gen_checksum(set_join_notif_ZB);
error=gen_send(set_join_notif_ZB);
if(error==0)
{
joinNotification=notif;
}
return error;
}
/*
Function: Set the time that a Coordinator/Router allows nodes to join
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NJ command
Parameters:
time: time allowed for joining (0x00-0xFF)
*/
uint8_t WaspXBeeZB::setJoinTime(uint8_t time)
{
int8_t error=2;
error_AT=2;
gen_data(set_join_time_ZB,time);
gen_checksum(set_join_time_ZB);
error=gen_send(set_join_time_ZB);
if(error==0)
{
joinTime=time;
}
return error;
}
/*
Function: Set time between consecutive aggregate route broadcast messages
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the AR command
Parameters:
anotif: time between consecutive aggregate route broadcast messages (0x00-0xFF)
*/
uint8_t WaspXBeeZB::setAggregateNotification(uint8_t anotif)
{
int8_t error=2;
error_AT=2;
gen_data(set_aggreg_notif_ZB,anotif);
gen_checksum(set_aggreg_notif_ZB);
error=gen_send(set_aggreg_notif_ZB);
if(error==0)
{
aggregateNotification=anotif;
}
return error;
}
/*
Function: Set the channel verification parameter
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the JV command
Parameters:
verif: channel verification parameter (0-1)
*/
uint8_t WaspXBeeZB::setChannelVerification(uint8_t verif)
{
int8_t error=2;
error_AT=2;
gen_data(set_channel_verif_ZB,verif);
gen_checksum(set_channel_verif_ZB);
error=gen_send(set_channel_verif_ZB);
if(error==0)
{
channelVerification=verif;
}
return error;
}
/*
Function: Set the ZigBee Stack profile
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the ZS command
Parameters:
profile: choosen stack profile (0-2)
*/
uint8_t WaspXBeeZB::setStackProfile(uint8_t profile)
{
int8_t error=2;
error_AT=2;
gen_data(set_stack_profile_ZB,profile);
gen_checksum(set_stack_profile_ZB);
error=gen_send(set_stack_profile_ZB);
if(error==0)
{
stackProfile=profile;
}
return error;
}
/*
Function: Set the maximum number of hops for each broadcast data transmission
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the BH command
Parameters:
bhops: max number of hops a bradcast message can make (0x00-0x20)
*/
uint8_t WaspXBeeZB::setMaxBroadcastHops(uint8_t bhops)
{
int8_t error=2;
error_AT=2;
gen_data(set_max_brd_hops_ZB,bhops);
gen_checksum(set_max_brd_hops_ZB);
error=gen_send(set_max_brd_hops_ZB);
if(error==0)
{
maxBroadcastHops=bhops;
}
return error;
}
/*
Function: Set the power mode of the device
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the PM command
Parameters:
power: power mode (0-1)
*/
uint8_t WaspXBeeZB::setPowerMode(uint8_t power)
{
int8_t error=2;
error_AT=2;
gen_data(set_power_mode_ZB,power);
gen_checksum(set_power_mode_ZB);
error=gen_send(set_power_mode_ZB);
if(error==0)
{
powerMode=power;
}
return error;
}
/*
Function: Set the minimun value of the back-off exponent in CSMA/CA
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the RN command
Parameters:
exponent: value of the back-off exponential (0-3)
*/
uint8_t WaspXBee802::setDelaySlots(uint8_t exponent)
{
int8_t error=2;
error_AT=2;
gen_data(set_delay_slots_802,exponent);
gen_checksum(set_delay_slots_802);
error=gen_send(set_delay_slots_802);
if(!error)
{
delaySlots=exponent;
}
return error;
}
/*
Function: Set the number of Sleep Periods to not assert XBee pin
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the SN command
Parameters:
periods: array which contains the number of sleep periods to sleep
*/
uint8_t WaspXBeeZB::setPeriodSleep(uint8_t* periods)
{
int8_t error=2;
error_AT=2;
gen_data(set_period_sleep_ZB,periods);
gen_checksum(set_period_sleep_ZB);
error=gen_send(set_period_sleep_ZB);
if(error==0)
{
periodSleep[0]=periods[0];
periodSleep[1]=periods[1];
}
return error;
}
/*
Function: Reads the DBM level of the designated channel
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Stores in global "channelRSSI" variable the DBM level of the designated channel
Parameters:
channel --> The channel to get the DBM value
*/
uint8_t WaspXBee868::getChannelRSSI(uint8_t channel)
{
int8_t error=2;
error_AT=2;
gen_data(get_channel_RSSI_868,channel);
gen_checksum(get_channel_RSSI_868);
error=gen_send(get_channel_RSSI_868);
if(error==0)
{
channelRSSI=data[1];
delay(20);
}
return error;
}
/*
Function: Set the maximum number of retries to execute in addition to the
three retries defined in the 802.15.4 protocol
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the RR command
Parameters:
retry: number of retries (0-6)
*/
uint8_t WaspXBee802::setRetries(uint8_t retry)
{
int8_t error=2;
error_AT=2;
gen_data(set_retries_802,retry);
gen_checksum(set_retries_802);
error=gen_send(set_retries_802);
if(!error)
{
retries=retry;
}
return error;
}
/*
Function: Reads the DBM level of the designated channel
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Stores in global "channelRSSI" variable the DBM level of the designated channel
Parameters:
channel --> The channel to get the DBM value
*/
uint8_t WaspXBeeDM::getChannelRSSI(uint8_t channel)
{
int8_t error=2;
error_AT=2;
gen_data(get_channel_RSSI_DM,channel);
gen_checksum(get_channel_RSSI_DM);
error=gen_send(get_channel_RSSI_DM);
if(!error)
{
channelRSSI=data[1];
delay(20);
}
return error;
}
/*
Function: Set the maximum number of network packet delivery attempts
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the MR command
Parameters:
mesh: maximum number of attempts (0-7)
*/
uint8_t WaspXBeeDM::setMeshNetworkRetries(uint8_t mesh)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// set_network_retries_DM
strcpy_P(buffer, (char*)pgm_read_word(&(table_DM[10])));
gen_data(buffer,mesh);
gen_checksum(buffer);
error=gen_send(buffer);
if(error==0)
{
meshNetRetries=mesh;
}
return error;
}
/*
Function: Set the maximum number of route discovery retries allowed to find a
path to the destination node. Only valid for XBee900 protocol.
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NQ command
Parameters:
route: maximum number of route discovery retries (0-0x0A)
*/
uint8_t WaspXBeeDM::setNetworkRouteRequests(uint8_t route)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// set_network_route_DM
strcpy_P(buffer, (char*)pgm_read_word(&(table_DM[8])));
gen_data(buffer,route);
gen_checksum(buffer);
error=gen_send(buffer);
if(error==0)
{
netRouteRequest=route;
}
return error;
}
/*
Function: Set the maximum random number of network delay slots before
rebroadcasting a network packet
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NN command
Parameters:
dslots: maximum number of delay slots (0-0x0A)
*/
uint8_t WaspXBeeDM::setNetworkDelaySlots(uint8_t dslots)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// set_network_delay_DM
strcpy_P(buffer, (char*)pgm_read_word(&(table_DM[6])));
gen_data(buffer,dslots);
gen_checksum(buffer);
error=gen_send(buffer);
if(error==0)
{
netDelaySlots=dslots;
}
return error;
}
/*
Function: Set the maximum number of retries to execute in addition to the
three retries defined in the 802.15.4 protocol
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the RR command
Parameters:
retry: number of retries (0-6)
*/
uint8_t WaspXBee802::setRetries(uint8_t retry)
{
int8_t error=2;
error_AT=2;
char buffer[20];
strcpy_P(buffer, (char*)pgm_read_word(&(table_802[0])));//set_retries_802
gen_data(buffer,retry);
gen_checksum(buffer);
error=gen_send(buffer);
if(!error)
{
retries=retry;
}
return error;
}
/*
Function: Set the current device type
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the DD command
Parameters:
type: current device type (0-0xFFFFFFFF)
*/
uint8_t WaspXBeeZB::setDeviceType(uint8_t* type)
{
int8_t error=2;
error_AT=2;
gen_data(set_device_type_ZB,type);
gen_checksum(set_device_type_ZB);
error=gen_send(set_device_type_ZB);
if(error==0)
{
for(it=0;it<4;it++)
{
deviceType[it]=type[it];
}
}
return error;
}
/*
Function: Set the 128-bit AES encryption key
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NK command
Parameters:
key: 16 position array that contains the 128b AES key (0-0xFFFFFFFFFFFFFFFF)
*/
uint8_t WaspXBeeZB::setNetworkKey(const char* key)
{
int8_t error=2;
error_AT=2;
gen_data(set_netwk_key_ZB,key);
gen_checksum(set_netwk_key_ZB);
error=gen_send(set_netwk_key_ZB);
if(error==0)
{
for(it=0;it<16;it++)
{
networkKey[it]=key[it];
}
}
return error;
}
/*
Function: Set the maximum number of hops expected to be seen in a network route
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the NH command
Parameters:
nhops: maximum number of hops (1-0xFF)
*/
uint8_t WaspXBeeDM::setNetworkHops(uint8_t nhops)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// set_network_hops_DM
strcpy_P(buffer, (char*)pgm_read_word(&(table_DM[4])));
gen_data(buffer,nhops);
gen_checksum(buffer);
error=gen_send(buffer);
if(!error)
{
networkHops=nhops;
}
return error;
}
/*
Function: Reads the DBM level of the designated channel
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Stores in global "channelRSSI" variable the DBM level of the designated channel
Parameters:
channel --> The channel to get the DBM value
*/
uint8_t WaspXBeeDM::getChannelRSSI(uint8_t channel)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// get_channel_RSSI_DM
strcpy_P(buffer, (char*)pgm_read_word(&(table_DM[2])));
gen_data(buffer,channel);
gen_checksum(buffer);
error=gen_send(buffer);
if(!error)
{
channelRSSI=data[1];
}
return error;
}
/*
Function: Specifies the number of retries than can be sent for a given unicast
RF packet
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the RR command
Parameters:
macretries: number of retries than can be sent for a given unicast RF packet
(0x00-0x0F) Default value: 0x0A
*/
uint8_t WaspXBee868::setMacRetries(uint8_t macretries)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// set_retries_868
strcpy_P(buffer, (char*)pgm_read_word(&(table_868[10])));
gen_data(buffer,macretries);
gen_checksum(buffer);
error=gen_send(buffer);
if(error==0)
{
macRetries=macretries;
}
return error;
}
/*
Function: Specifies the number of additional broadcast retransmissions
Returns: Integer that determines if there has been any error
error=2 --> The command has not been executed
error=1 --> There has been an error while executing the command
error=0 --> The command has been executed with no errors
Values: Change the MT command
Parameters:
mtrans: number of additional broadcast retransmissions (Range: 0x00-0x0F).
Default: 0x03
*/
uint8_t WaspXBee868::setMultipleBroadcast(uint8_t mtrans)
{
int8_t error=2;
error_AT=2;
char buffer[20];
// set_mult_broadcast_868
strcpy_P(buffer, (char*)pgm_read_word(&(table_868[8])));
gen_data(buffer,mtrans);
gen_checksum(buffer);
error=gen_send(buffer);
if(error==0)
{
multipleBroadcast=mtrans;
}
return error;
}
