XBee.cpp

Go to the documentation of this file.

/**
 * XBee-mbed library
 * Modified for mbed, 2011 Suga.
 *
 *
 * Copyright (c) 2009 Andrew Rapp. All rights reserved.
 *
 * This file is part of XBee-Arduino.
 *
 * XBee-Arduino is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * XBee-Arduino is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with XBee-Arduino.  If not, see <http://www.gnu.org/licenses/>.
 */

/** @file
 * @brief XBee library for mbed
 */

//#define DEBUG
#include "dbg.h"

#include "mbed.h"
#include "XBee.h"

XBeeResponse::XBeeResponse() {

}

uint8_t XBeeResponse::getApiId() {
    return _apiId;
}

void XBeeResponse::setApiId(uint8_t apiId) {
    _apiId = apiId;
}

uint8_t XBeeResponse::getMsbLength() {
    return _msbLength;
}

void XBeeResponse::setMsbLength(uint8_t msbLength) {
    _msbLength = msbLength;
}

uint8_t XBeeResponse::getLsbLength() {
    return _lsbLength;
}

void XBeeResponse::setLsbLength(uint8_t lsbLength) {
    _lsbLength = lsbLength;
}

uint8_t XBeeResponse::getChecksum() {
    return _checksum;
}

void XBeeResponse::setChecksum(uint8_t checksum) {
    _checksum = checksum;
}

uint16_t XBeeResponse::getFrameDataLength() {
    return _frameLength;
}

void XBeeResponse::setFrameLength(uint16_t frameLength) {
    _frameLength = frameLength;
}

bool XBeeResponse::isAvailable() {
    return _complete;
}

void XBeeResponse::setAvailable(bool complete) {
    _complete = complete;
}

bool XBeeResponse::isError() {
    return _errorCode > 0;
}

uint8_t XBeeResponse::getErrorCode() {
    return _errorCode;
}

void XBeeResponse::setErrorCode(uint8_t errorCode) {
    _errorCode = errorCode;
}

// copy common fields from xbee response to target response
void XBeeResponse::setCommon(XBeeResponse &target) {
    target.setApiId(getApiId());
    target.setAvailable(isAvailable());
    target.setChecksum(getChecksum());
    target.setErrorCode(getErrorCode());
    target.setFrameLength(getFrameDataLength());
    target.setMsbLength(getMsbLength());
    target.setLsbLength(getLsbLength());
}

#ifdef SERIES_2

ZBTxStatusResponse::ZBTxStatusResponse() : FrameIdResponse() {

}

uint16_t ZBTxStatusResponse::getRemoteAddress() {
    return  (getFrameData()[1] << 8) + getFrameData()[2];
}

uint8_t ZBTxStatusResponse::getTxRetryCount() {
    return getFrameData()[3];
}

uint8_t ZBTxStatusResponse::getDeliveryStatus() {
    return getFrameData()[4];
}

uint8_t ZBTxStatusResponse::getDiscoveryStatus() {
    return getFrameData()[5];
}

bool ZBTxStatusResponse::isSuccess() {
    return getDeliveryStatus() == SUCCESS;
}

void XBeeResponse::getZBTxStatusResponse(XBeeResponse &zbXBeeResponse) {

    // way off?
    ZBTxStatusResponse* zb = static_cast<ZBTxStatusResponse*>(&zbXBeeResponse);
    // pass pointer array to subclass
    zb->setFrameData(getFrameData());
    setCommon(zbXBeeResponse);
}

ZBRxResponse::ZBRxResponse(): RxDataResponse() {
    _remoteAddress64 = XBeeAddress64();
}

uint16_t ZBRxResponse::getRemoteAddress16() {
    return     (getFrameData()[8] << 8) + getFrameData()[9];
}

uint8_t ZBRxResponse::getOption() {
    return getFrameData()[10];
}

// markers to read data from packet array.  this is the index, so the 12th item in the array
uint8_t ZBRxResponse::getDataOffset() {
    return 11;
}

uint16_t ZBRxResponse::getDataLength() {
    return getPacketLength() - getDataOffset() - 1;
}

XBeeAddress64& ZBRxResponse::getRemoteAddress64() {
    return _remoteAddress64;
}

void XBeeResponse::getZBRxResponse(XBeeResponse &rxResponse) {

    ZBRxResponse* zb = static_cast<ZBRxResponse*>(&rxResponse);

    //TODO verify response api id matches this api for this response

    // pass pointer array to subclass
    zb->setFrameData(getFrameData());
    setCommon(rxResponse);

    zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
    zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
}


ZBRxIoSampleResponse::ZBRxIoSampleResponse() : ZBRxResponse() {

}

// 64 + 16 addresses, sample size, option = 12 (index 11), so this starts at 12
uint8_t ZBRxIoSampleResponse::getDigitalMaskMsb() {
    return getFrameData()[12] & 0x1c;
}

uint8_t ZBRxIoSampleResponse::getDigitalMaskLsb() {
    return getFrameData()[13];
}

uint8_t ZBRxIoSampleResponse::getAnalogMask() {
    return getFrameData()[14] & 0x8f;
}

bool ZBRxIoSampleResponse::containsAnalog() {
    return getAnalogMask() > 0;
}

bool ZBRxIoSampleResponse::containsDigital() {
    return getDigitalMaskMsb() > 0 || getDigitalMaskLsb() > 0;
}

bool ZBRxIoSampleResponse::isAnalogEnabled(uint8_t pin) {
    return ((getAnalogMask() >> pin) & 1) == 1;
}

bool ZBRxIoSampleResponse::isDigitalEnabled(uint8_t pin) {
    if (pin <= 7) {
        // added extra parens to calm avr compiler
        return ((getDigitalMaskLsb() >> pin) & 1) == 1;
    } else {
        return ((getDigitalMaskMsb() >> (pin - 8)) & 1) == 1;
    }
}

uint16_t ZBRxIoSampleResponse::getAnalog(uint8_t pin) {
    // analog starts 13 bytes after sample size, if no dio enabled
    uint8_t start = 15;

    if (containsDigital()) {
        // make room for digital i/o
        start+=2;
    }

//    std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;

    // start depends on how many pins before this pin are enabled
    for (int i = 0; i < pin; i++) {
//        if (isAnalogEnabled(pin)) {
        if (isAnalogEnabled(i)) {
            start+=2;
        }
    }

//    std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;

//    std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " <<  static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) <<  " and " <<  + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;

    return (uint16_t)((getFrameData()[start] << 8) + getFrameData()[start + 1]);
}

bool ZBRxIoSampleResponse::isDigitalOn(uint8_t pin) {
    if (pin <= 7) {
        // D0-7
        // DIO LSB is index 5
        return ((getFrameData()[16] >> pin) & 1) == 1;
    } else {
        // D10-12
        // DIO MSB is index 4
        return ((getFrameData()[15] >> (pin - 8)) & 1) == 1;
    }
}

void XBeeResponse::getZBRxIoSampleResponse(XBeeResponse &response) {
    ZBRxIoSampleResponse* zb = static_cast<ZBRxIoSampleResponse*>(&response);


    // pass pointer array to subclass
    zb->setFrameData(getFrameData());
    setCommon(response);

    zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
    zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
}

#endif

#ifdef SERIES_1

RxResponse::RxResponse() : RxDataResponse() {

}

uint16_t Rx16Response::getRemoteAddress16() {
    return (getFrameData()[0] << 8) + getFrameData()[1];
}

XBeeAddress64& Rx64Response::getRemoteAddress64() {
    return _remoteAddress;
}

Rx64Response::Rx64Response() : RxResponse() {
    _remoteAddress = XBeeAddress64();
}

Rx16Response::Rx16Response() : RxResponse() {

}

RxIoSampleBaseResponse::RxIoSampleBaseResponse() : RxResponse() {

}

uint8_t RxIoSampleBaseResponse::getSampleOffset() {
    // sample starts 2 bytes after rssi
    return getRssiOffset() + 2;
}


uint8_t RxIoSampleBaseResponse::getSampleSize() {
    return getFrameData()[getSampleOffset()];
}

bool RxIoSampleBaseResponse::containsAnalog() {
    return (getFrameData()[getSampleOffset() + 1] & 0x7e) > 0;
}

bool RxIoSampleBaseResponse::containsDigital() {
    return (getFrameData()[getSampleOffset() + 1] & 0x1) > 0 || getFrameData()[getSampleOffset() + 2] > 0;
}

//uint16_t RxIoSampleBaseResponse::getAnalog0(uint8_t sample) {
//    return getAnalog(0, sample);
//}

bool RxIoSampleBaseResponse::isAnalogEnabled(uint8_t pin) {
    return (((getFrameData()[getSampleOffset() + 1] >> (pin + 1)) & 1) == 1);
}

bool RxIoSampleBaseResponse::isDigitalEnabled(uint8_t pin) {
    if (pin < 8) {
        return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
    } else {
        return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
    }
}

uint16_t RxIoSampleBaseResponse::getAnalog(uint8_t pin, uint8_t sample) {

    // analog starts 3 bytes after sample size, if no dio enabled
    uint8_t start = 3;

    if (containsDigital()) {
        // make room for digital i/o sample (2 bytes per sample)
        start+=2*(sample + 1);
    }

    uint8_t spacing = 0;

    // spacing between samples depends on how many are enabled. add one for each analog that's enabled
    for (int i = 0; i <= 5; i++) {
        if (isAnalogEnabled(i)) {
            // each analog is two bytes
            spacing+=2;
        }
    }

//    std::cout << "spacing is " << static_cast<unsigned int>(spacing) << std::endl;

    // start depends on how many pins before this pin are enabled
    for (int i = 0; i < pin; i++) {
        if (isAnalogEnabled(pin)) {
            start+=2;
        }
    }

    start+= sample * spacing;

//    std::cout << "start for analog pin ["<< static_cast<unsigned int>(pin) << "]/sample " << static_cast<unsigned int>(sample) << " is " << static_cast<unsigned int>(start) << std::endl;

//    std::cout << "returning index " << static_cast<unsigned int>(getSampleOffset() + start) << " and index " <<  static_cast<unsigned int>(getSampleOffset() + start + 1) << ", val is " << static_cast<unsigned int>(getFrameData()[getSampleOffset() + start] << 8) <<  " and " <<  + static_cast<unsigned int>(getFrameData()[getSampleOffset() + start + 1]) << std::endl;

    return (uint16_t)((getFrameData()[getSampleOffset() + start] << 8) + getFrameData()[getSampleOffset() + start + 1]);
}

bool RxIoSampleBaseResponse::isDigitalOn(uint8_t pin, uint8_t sample) {
    if (pin < 8) {
        return ((getFrameData()[getSampleOffset() + 4] >> pin) & 1) == 1;
    } else {
        return (getFrameData()[getSampleOffset() + 3] & 1) == 1;
    }
}


//bool RxIoSampleBaseResponse::isDigital0On(uint8_t sample) {
//    return isDigitalOn(0, sample);
//}

Rx16IoSampleResponse::Rx16IoSampleResponse() : RxIoSampleBaseResponse() {

}

uint16_t Rx16IoSampleResponse::getRemoteAddress16() {
    return (uint16_t)((getFrameData()[0] << 8) + getFrameData()[1]);
}

uint8_t Rx16IoSampleResponse::getRssiOffset() {
    return 2;
}

void XBeeResponse::getRx16IoSampleResponse(XBeeResponse &response) {
    Rx16IoSampleResponse* rx = static_cast<Rx16IoSampleResponse*>(&response);

    rx->setFrameData(getFrameData());
    setCommon(response);
}


Rx64IoSampleResponse::Rx64IoSampleResponse() : RxIoSampleBaseResponse() {
    _remoteAddress = XBeeAddress64();
}

XBeeAddress64& Rx64IoSampleResponse::getRemoteAddress64() {
    return _remoteAddress;
}

uint8_t Rx64IoSampleResponse::getRssiOffset() {
    return 8;
}

void XBeeResponse::getRx64IoSampleResponse(XBeeResponse &response) {
    Rx64IoSampleResponse* rx = static_cast<Rx64IoSampleResponse*>(&response);

    rx->setFrameData(getFrameData());
    setCommon(response);

    rx->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
    rx->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
}

TxStatusResponse::TxStatusResponse() : FrameIdResponse() {

}

uint8_t TxStatusResponse::getStatus() {
    return getFrameData()[1];
}

bool TxStatusResponse::isSuccess() {
    return getStatus() == SUCCESS;
}

void XBeeResponse::getTxStatusResponse(XBeeResponse &txResponse) {

    TxStatusResponse* txStatus = static_cast<TxStatusResponse*>(&txResponse);

    // pass pointer array to subclass
    txStatus->setFrameData(getFrameData());
    setCommon(txResponse);
}

uint8_t RxResponse::getRssi() {
    return getFrameData()[getRssiOffset()];
}

uint8_t RxResponse::getOption() {
    return getFrameData()[getRssiOffset() + 1];
}

bool RxResponse::isAddressBroadcast() {
    return (getOption() & 2) == 2;
}

bool RxResponse::isPanBroadcast() {
    return (getOption() & 4) == 4;
}

uint16_t RxResponse::getDataLength() {
    return getPacketLength() - getDataOffset() - 1;
}

uint8_t RxResponse::getDataOffset() {
    return getRssiOffset() + 2;
}

uint8_t Rx16Response::getRssiOffset() {
    return RX_16_RSSI_OFFSET;
}

void XBeeResponse::getRx16Response(XBeeResponse &rx16Response) {

    Rx16Response* rx16 = static_cast<Rx16Response*>(&rx16Response);

    // pass pointer array to subclass
    rx16->setFrameData(getFrameData());
    setCommon(rx16Response);

//    rx16->getRemoteAddress16().setAddress((getFrameData()[0] << 8) + getFrameData()[1]);
}

uint8_t Rx64Response::getRssiOffset() {
    return RX_64_RSSI_OFFSET;
}

void XBeeResponse::getRx64Response(XBeeResponse &rx64Response) {

    Rx64Response* rx64 = static_cast<Rx64Response*>(&rx64Response);

    // pass pointer array to subclass
    rx64->setFrameData(getFrameData());
    setCommon(rx64Response);

    rx64->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
    rx64->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + getFrameData()[7]);
}

#endif

RemoteAtCommandResponse::RemoteAtCommandResponse() : AtCommandResponse() {

}

uint8_t* RemoteAtCommandResponse::getCommand() {
    return getFrameData() + 11;
}

uint8_t RemoteAtCommandResponse::getStatus() {
    return getFrameData()[13];
}

bool RemoteAtCommandResponse::isOk() {
    // weird c++ behavior.  w/o this method, it calls AtCommandResponse::isOk(), which calls the AtCommandResponse::getStatus, not this.getStatus!!!
    return getStatus() == AT_OK;
}

uint16_t RemoteAtCommandResponse::getValueLength() {
    return getFrameDataLength() - 14;
}

uint8_t* RemoteAtCommandResponse::getValue() {
    if (getValueLength() > 0) {
        // value is only included for query commands.  set commands does not return a value
        return getFrameData() + 14;
    }

    return NULL;
}

uint16_t RemoteAtCommandResponse::getRemoteAddress16() {
    return uint16_t((getFrameData()[9] << 8) + getFrameData()[10]);
}

XBeeAddress64& RemoteAtCommandResponse::getRemoteAddress64() {
    return _remoteAddress64;
}

void XBeeResponse::getRemoteAtCommandResponse(XBeeResponse &response) {

    // TODO no real need to cast.  change arg to match expected class
    RemoteAtCommandResponse* at = static_cast<RemoteAtCommandResponse*>(&response);

    // pass pointer array to subclass
    at->setFrameData(getFrameData());
    setCommon(response);

    at->getRemoteAddress64().setMsb((uint32_t(getFrameData()[1]) << 24) + (uint32_t(getFrameData()[2]) << 16) + (uint16_t(getFrameData()[3]) << 8) + getFrameData()[4]);
    at->getRemoteAddress64().setLsb((uint32_t(getFrameData()[5]) << 24) + (uint32_t(getFrameData()[6]) << 16) + (uint16_t(getFrameData()[7]) << 8) + (getFrameData()[8]));

}

RxDataResponse::RxDataResponse() : XBeeResponse() {

}

uint8_t RxDataResponse::getData(int index) {
    return getFrameData()[getDataOffset() + index];
}

uint8_t* RxDataResponse::getData() {
    return getFrameData() + getDataOffset();
}

FrameIdResponse::FrameIdResponse() {

}

uint8_t FrameIdResponse::getFrameId() {
    return getFrameData()[0];
}


ModemStatusResponse::ModemStatusResponse() {

}

uint8_t ModemStatusResponse::getStatus() {
    return getFrameData()[0];
}

void XBeeResponse::getModemStatusResponse(XBeeResponse &modemStatusResponse) {

    ModemStatusResponse* modem = static_cast<ModemStatusResponse*>(&modemStatusResponse);

    // pass pointer array to subclass
    modem->setFrameData(getFrameData());
    setCommon(modemStatusResponse);

}

AtCommandResponse::AtCommandResponse() {

}

uint8_t* AtCommandResponse::getCommand() {
    return getFrameData() + 1;
}

uint8_t AtCommandResponse::getStatus() {
    return getFrameData()[3];
}

uint16_t AtCommandResponse::getValueLength() {
    return getFrameDataLength() - 4;
}

uint8_t* AtCommandResponse::getValue() {
    if (getValueLength() > 0) {
        // value is only included for query commands.  set commands does not return a value
        return getFrameData() + 4;
    }

    return NULL;
}

bool AtCommandResponse::isOk() {
    return getStatus() == AT_OK;
}

void XBeeResponse::getAtCommandResponse(XBeeResponse &atCommandResponse) {

    AtCommandResponse* at = static_cast<AtCommandResponse*>(&atCommandResponse);

    // pass pointer array to subclass
    at->setFrameData(getFrameData());
    setCommon(atCommandResponse);
}

uint16_t XBeeResponse::getPacketLength() {
    return ((uint16_t)_msbLength << 8) + _lsbLength;
}

uint8_t* XBeeResponse::getFrameData() {
    return _frameDataPtr;
}

void XBeeResponse::setFrameData(uint8_t* frameDataPtr) {
    _frameDataPtr = frameDataPtr;
}

void XBeeResponse::init() {
    _complete = false;
    _errorCode = NO_ERROR;
    _checksum = 0;
}

void XBeeResponse::reset() {
    init();
    _apiId = 0;
    _msbLength = 0;
    _lsbLength = 0;
    _checksum = 0;
    _frameLength = 0;

    for (int i = 0; i < MAX_FRAME_DATA_SIZE; i++) {
        getFrameData()[i] = 0;
    }
}

void XBee::resetResponse() {
    _pos = 0;
    _epos = 0;
    _escape = false;
    _checksumTotal = 0;
    _response.reset();
}

XBee::XBee(PinName p_tx, PinName p_rx): _xbee(p_tx, p_rx) {
    _pos = 0;
    _epos = 0;
    _escape = false;
    _checksumTotal = 0;
    _nextFrameId = 0;

    _response.init();
    _response.setFrameData(_responseFrameData);
}

XBee::XBee(PinName p_tx, PinName p_rx, PinName p_cts, PinName p_rts): _xbee(p_tx, p_rx) {
    _pos = 0;
    _epos = 0;
    _escape = false;
    _checksumTotal = 0;
    _nextFrameId = 0;
#if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
    if (p_cts == p12) { // CTS (P0_17)
        LPC_UART1->MCR |= (1<<7); // CTSEN
        LPC_PINCON->PINSEL1 &= ~(3 << 2);
        LPC_PINCON->PINSEL1 |= (1 << 2); // UART CTS
    }
    if (p_rts == P0_22) { // RTS (P0_22)
        LPC_UART1->MCR |= (1<<6); // RTSEN
        LPC_PINCON->PINSEL1 &= ~(3 << 12);
        LPC_PINCON->PINSEL1 |= (1 << 12); // UART RTS
        _xbee.attach(this, &XBee::isr_recv, Serial::RxIrq);
        _rts = true;
    } else {
        _rts = false;
    }
#elif defined(TARGET_LPC11U24)
    if (p_cts == p21) { // CTS (P0_7)
        LPC_UART->MCR = (1<<7); // CTSEN
        LPC_IOCON->PIO0_7 &= ~0x07;
        LPC_IOCON->PIO0_7 |= 0x01; // UART CTS
    }
    if (p_rts == p22) { // RTS (P0_17)
        LPC_UART->MCR = (1<<6); // RTSEN
        LPC_IOCON->PIO0_17 &= ~0x07;
        LPC_IOCON->PIO0_17 |= 0x01; // UART RTS
        _xbee.attach(this, &XBee::isr_recv, Serial::RxIrq);
        _rts = true;
    } else {
        _rts = false;
    }
#endif

    _response.init();
    _response.setFrameData(_responseFrameData);
}

uint8_t XBee::getNextFrameId() {

    _nextFrameId++;

    if (_nextFrameId == 0) {
        // can't send 0 because that disables status response
        _nextFrameId = 1;
    }

    return _nextFrameId;
}

void XBee::begin(long baud) {
    _xbee.baud(baud);
}

/*
void XBee::setSerial(HardwareSerial serial) {
    Serial = serial;
}
*/

XBeeResponse& XBee::getResponse() {
    return _response;
}

// TODO how to convert response to proper subclass?
void XBee::getResponse(XBeeResponse &response) {

    response.setMsbLength(_response.getMsbLength());
    response.setLsbLength(_response.getLsbLength());
    response.setApiId(_response.getApiId());
    response.setFrameLength(_response.getFrameDataLength());

    response.setFrameData(_response.getFrameData());
}

void XBee::readPacketUntilAvailable() {
    while (!(getResponse().isAvailable() || getResponse().isError())) {
        // read some more
        readPacket();
    }
}

bool XBee::readPacket(int timeout) {
    Timer t;

    if (timeout < 0) {
        return false;
    }

/*
    unsigned long start = millis();

    while (int((millis() - start)) < timeout) {
*/
    t.reset();
    t.start();
    while (t.read_ms() < timeout) {
         readPacket();

         if (getResponse().isAvailable()) {
             t.stop();
             return true;
         } else if (getResponse().isError()) {
             t.stop();
             return false;
         }
    }

    DBG("(timeout %d %d)\r\n", _pos, _epos);
    // timed out
    t.stop();
    return false;
}

void XBee::isr_recv () {
    _rxbuf[_rxaddr_w] = _xbee.getc();
    _rxaddr_w = (_rxaddr_w + 1) % MAX_RXBUF_SIZE;
}

int XBee::getbuf () {
    int r;
    __disable_irq();
    r = _rxbuf[_rxaddr_r];
    _rxaddr_r = (_rxaddr_r + 1) % MAX_RXBUF_SIZE;
    __enable_irq();
    return r;
}

int XBee::bufreadable () {
    return _rxaddr_w != _rxaddr_r;
}

void XBee::readPacket() {
    // reset previous response
    if (_response.isAvailable() || _response.isError()) {
        // discard previous packet and start over
        resetResponse();
    }

//    while (_xbee.readable()) {
    while ((! _rts && _xbee.readable()) || (_rts && bufreadable())) {

//        b = _xbee.getc();
        if (_rts) {
            b = getbuf();
        } else {
            b = _xbee.getc();
        }

        if (_pos > 0 && b == START_BYTE && ATAP == 2) {
            // new packet start before previous packeted completed -- discard previous packet and start over
            DBG("error: %02x %d %d\r\n", b, _pos, _epos);
            _response.setErrorCode(UNEXPECTED_START_BYTE);
            return;
        }

        if (_pos > 0 && b == ESCAPE) {
            if (_xbee.readable()) {
//                b = _xbee.getc();
                if (_rts) {
                    b = getbuf();
                } else {
                    b = _xbee.getc();
                }
                b = 0x20 ^ b;
                _epos ++;
            } else {
                // escape byte.  next byte will be
                _escape = true;
                continue;
            }
        }
        DBG("%02x_", b);

        if (_escape == true) {
            b = 0x20 ^ b;
            _escape = false;
            _epos ++;
        }

        // checksum includes all bytes starting with api id
        if (_pos >= API_ID_INDEX) {
            _checksumTotal+= b;
        }

        switch(_pos) {
            case 0:
                if (b == START_BYTE) {
                    _pos++;
                }

                break;
            case 1:
                // length msb
                _response.setMsbLength(b);
                _pos++;

                break;
            case 2:
                // length lsb
                _response.setLsbLength(b);
                _pos++;

                break;
            case 3:
                _response.setApiId(b);
                _pos++;

                break;
            default:
                // starts at fifth byte

                if (_pos > MAX_FRAME_DATA_SIZE) {
                    // exceed max size.  should never occur
                    _response.setErrorCode(PACKET_EXCEEDS_BYTE_ARRAY_LENGTH);
                    return;
                }

                // check if we're at the end of the packet
                // packet length does not include start, length, or checksum bytes, so add 3
                if (_pos == (_response.getPacketLength() + 3)) {
//                if (_pos + _epos == (_response.getPacketLength() + 3)) {
                    // verify checksum

                    //std::cout << "read checksum " << static_cast<unsigned int>(b) << " at pos " << static_cast<unsigned int>(_pos) << std::endl;
                    if ((_checksumTotal & 0xff) == 0xff) {
                        _response.setChecksum(b);
                        _response.setAvailable(true);

                        _response.setErrorCode(NO_ERROR);
                    } else {
                        // checksum failed
                        DBG("error: checksum %02x %02x %d %d\r\n", b, _checksumTotal, _pos, _epos);
                        _response.setErrorCode(CHECKSUM_FAILURE);
                    }

                    // minus 4 because we start after start,msb,lsb,api and up to but not including checksum
                    // e.g. if frame was one byte, _pos=4 would be the byte, pos=5 is the checksum, where end stop reading
                    _response.setFrameLength(_pos - 4);

                    // reset state vars
                    _pos = 0;
                    _epos = 0;

                    _checksumTotal = 0;

                    return;
                } else {
                    // add to packet array, starting with the fourth byte of the apiFrame
                    _response.getFrameData()[_pos - 4] = b;
                    _pos++;
                }
        }
    }
}

// it's peanut butter jelly time!!

XBeeRequest::XBeeRequest(uint8_t apiId, uint8_t frameId) {
    _apiId = apiId;
    _frameId = frameId;
}

void XBeeRequest::setFrameId(uint8_t frameId) {
    _frameId = frameId;
}

uint8_t XBeeRequest::getFrameId() {
    return _frameId;
}

uint8_t XBeeRequest::getApiId() {
    return _apiId;
}

void XBeeRequest::setApiId(uint8_t apiId) {
    _apiId = apiId;
}

//void XBeeRequest::reset() {
//    _frameId = DEFAULT_FRAME_ID;
//}

//uint8_t XBeeRequest::getPayloadOffset() {
//    return _payloadOffset;
//}
//
//uint8_t XBeeRequest::setPayloadOffset(uint8_t payloadOffset) {
//    _payloadOffset = payloadOffset;
//}


PayloadRequest::PayloadRequest(uint8_t apiId, uint8_t frameId, uint8_t *payload, uint16_t payloadLength) : XBeeRequest(apiId, frameId) {
    _payloadPtr = payload;
    _payloadLength = payloadLength;
}

uint8_t* PayloadRequest::getPayload() {
    return _payloadPtr;
}

void PayloadRequest::setPayload(uint8_t* payload) {
    _payloadPtr = payload;
}

uint16_t PayloadRequest::getPayloadLength() {
    return _payloadLength;
}

void PayloadRequest::setPayloadLength(uint16_t payloadLength) {
    _payloadLength = payloadLength;
}


XBeeAddress::XBeeAddress() {

}

XBeeAddress64::XBeeAddress64() : XBeeAddress() {

}

XBeeAddress64::XBeeAddress64(uint32_t msb, uint32_t lsb) : XBeeAddress() {
    _msb = msb;
    _lsb = lsb;
}

uint32_t XBeeAddress64::getMsb() {
    return _msb;
}

void XBeeAddress64::setMsb(uint32_t msb) {
    _msb = msb;
}

uint32_t XBeeAddress64::getLsb() {
    return _lsb;
}

void XBeeAddress64::setLsb(uint32_t lsb) {
    _lsb = lsb;
}


#ifdef SERIES_2

ZBTxRequest::ZBTxRequest() : PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {

}

ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint16_t addr16, uint8_t broadcastRadius, uint8_t option, uint8_t *data, uint16_t dataLength, uint8_t frameId): PayloadRequest(ZB_TX_REQUEST, frameId, data, dataLength) {
    _addr64 = addr64;
    _addr16 = addr16;
    _broadcastRadius = broadcastRadius;
    _option = option;
}

ZBTxRequest::ZBTxRequest(XBeeAddress64 &addr64, uint8_t *data, uint16_t dataLength): PayloadRequest(ZB_TX_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
    _addr64 = addr64;
    _addr16 = ZB_BROADCAST_ADDRESS;
    _broadcastRadius = ZB_BROADCAST_RADIUS_MAX_HOPS;
    _option = ZB_TX_UNICAST;
}

uint8_t ZBTxRequest::getFrameData(uint16_t pos) {
    if (pos == 0) {
        return (_addr64.getMsb() >> 24) & 0xff;
    } else if (pos == 1) {
        return (_addr64.getMsb() >> 16) & 0xff;
    } else if (pos == 2) {
        return (_addr64.getMsb() >> 8) & 0xff;
    } else if (pos == 3) {
        return _addr64.getMsb() & 0xff;
    } else if (pos == 4) {
        return (_addr64.getLsb() >> 24) & 0xff;
    } else if (pos == 5) {
        return  (_addr64.getLsb() >> 16) & 0xff;
    } else if (pos == 6) {
        return (_addr64.getLsb() >> 8) & 0xff;
    } else if (pos == 7) {
        return _addr64.getLsb() & 0xff;
    } else if (pos == 8) {
        return (_addr16 >> 8) & 0xff;
    } else if (pos == 9) {
        return _addr16 & 0xff;
    } else if (pos == 10) {
        return _broadcastRadius;
    } else if (pos == 11) {
        return _option;
    } else {
        return getPayload()[pos - ZB_TX_API_LENGTH];
    }
}

uint16_t ZBTxRequest::getFrameDataLength() {
    return ZB_TX_API_LENGTH + getPayloadLength();
}

XBeeAddress64& ZBTxRequest::getAddress64() {
    return _addr64;
}

uint16_t ZBTxRequest::getAddress16() {
    return _addr16;
}

uint8_t ZBTxRequest::getBroadcastRadius() {
    return _broadcastRadius;
}

uint8_t ZBTxRequest::getOption() {
    return _option;
}

void ZBTxRequest::setAddress64(XBeeAddress64& addr64) {
    _addr64 = addr64;
}

void ZBTxRequest::setAddress16(uint16_t addr16) {
    _addr16 = addr16;
}

void ZBTxRequest::setBroadcastRadius(uint8_t broadcastRadius) {
    _broadcastRadius = broadcastRadius;
}

void ZBTxRequest::setOption(uint8_t option) {
    _option = option;
}

#endif

#ifdef SERIES_1

Tx16Request::Tx16Request() : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {

}

Tx16Request::Tx16Request(uint16_t addr16, uint8_t option, uint8_t *data, uint16_t dataLength, uint8_t frameId) : PayloadRequest(TX_16_REQUEST, frameId, data, dataLength) {
    _addr16 = addr16;
    _option = option;
}

Tx16Request::Tx16Request(uint16_t addr16, uint8_t *data, uint16_t dataLength) : PayloadRequest(TX_16_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
    _addr16 = addr16;
    _option = ACK_OPTION;
}

uint8_t Tx16Request::getFrameData(uint16_t pos) {

    if (pos == 0) {
        return (_addr16 >> 8) & 0xff;
    } else if (pos == 1) {
        return _addr16 & 0xff;
    } else if (pos == 2) {
        return _option;
    } else {
        return getPayload()[pos - TX_16_API_LENGTH];
    }
}

uint16_t Tx16Request::getFrameDataLength() {
    return TX_16_API_LENGTH + getPayloadLength();
}

uint16_t Tx16Request::getAddress16() {
    return _addr16;
}

void Tx16Request::setAddress16(uint16_t addr16) {
    _addr16 = addr16;
}

uint8_t Tx16Request::getOption() {
    return _option;
}

void Tx16Request::setOption(uint8_t option) {
    _option = option;
}

Tx64Request::Tx64Request() : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, NULL, 0) {

}

Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t option, uint8_t *data, uint16_t dataLength, uint8_t frameId) : PayloadRequest(TX_64_REQUEST, frameId, data, dataLength) {
    _addr64 = addr64;
    _option = option;
}

Tx64Request::Tx64Request(XBeeAddress64 &addr64, uint8_t *data, uint16_t dataLength) : PayloadRequest(TX_64_REQUEST, DEFAULT_FRAME_ID, data, dataLength) {
    _addr64 = addr64;
    _option = ACK_OPTION;
}

uint8_t Tx64Request::getFrameData(uint16_t pos) {

    if (pos == 0) {
        return (_addr64.getMsb() >> 24) & 0xff;
    } else if (pos == 1) {
        return (_addr64.getMsb() >> 16) & 0xff;
    } else if (pos == 2) {
        return (_addr64.getMsb() >> 8) & 0xff;
    } else if (pos == 3) {
        return _addr64.getMsb() & 0xff;
    } else if (pos == 4) {
        return (_addr64.getLsb() >> 24) & 0xff;
    } else if (pos == 5) {
        return (_addr64.getLsb() >> 16) & 0xff;
    } else if (pos == 6) {
        return(_addr64.getLsb() >> 8) & 0xff;
    } else if (pos == 7) {
        return _addr64.getLsb() & 0xff;
    } else if (pos == 8) {
        return _option;
    } else {
        return getPayload()[pos - TX_64_API_LENGTH];
    }
}

uint16_t Tx64Request::getFrameDataLength() {
    return TX_64_API_LENGTH + getPayloadLength();
}

XBeeAddress64& Tx64Request::getAddress64() {
    return _addr64;
}

void Tx64Request::setAddress64(XBeeAddress64& addr64) {
    _addr64 = addr64;
}

uint8_t Tx64Request::getOption() {
    return _option;
}

void Tx64Request::setOption(uint8_t option) {
    _option = option;
}

#endif

AtCommandRequest::AtCommandRequest() : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
    _command = NULL;
    clearCommandValue();
}

AtCommandRequest::AtCommandRequest(uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
    _command = command;
    _commandValue = commandValue;
    _commandValueLength = commandValueLength;
}

AtCommandRequest::AtCommandRequest(uint8_t *command) : XBeeRequest(AT_COMMAND_REQUEST, DEFAULT_FRAME_ID) {
    _command = command;
    clearCommandValue();
}

uint8_t* AtCommandRequest::getCommand() {
    return _command;
}

uint8_t* AtCommandRequest::getCommandValue() {
    return _commandValue;
}

uint8_t AtCommandRequest::getCommandValueLength() {
    return _commandValueLength;
}

void AtCommandRequest::setCommand(uint8_t* command) {
    _command = command;
}

void AtCommandRequest::setCommandValue(uint8_t* value) {
    _commandValue = value;
}

void AtCommandRequest::setCommandValueLength(uint8_t length) {
    _commandValueLength = length;
}

uint8_t AtCommandRequest::getFrameData(uint16_t pos) {

    if (pos == 0) {
        return _command[0];
    } else if (pos == 1) {
        return _command[1];
    } else {
        return _commandValue[pos - AT_COMMAND_API_LENGTH];
    }
}

void AtCommandRequest::clearCommandValue() {
    _commandValue = NULL;
    _commandValueLength = 0;
}

//void AtCommandRequest::reset() {
//     XBeeRequest::reset();
//}

uint16_t AtCommandRequest::getFrameDataLength() {
    // command is 2 byte + length of value
    return AT_COMMAND_API_LENGTH + _commandValueLength;
}

XBeeAddress64 RemoteAtCommandRequest::broadcastAddress64 = XBeeAddress64(0x0, BROADCAST_ADDRESS);

RemoteAtCommandRequest::RemoteAtCommandRequest() : AtCommandRequest(NULL, NULL, 0) {
    _remoteAddress16 = 0;
    _applyChanges = false;
    setApiId(REMOTE_AT_REQUEST);
}

RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) {
    _remoteAddress64 = broadcastAddress64;
    _remoteAddress16 = remoteAddress16;
    _applyChanges = true;
    setApiId(REMOTE_AT_REQUEST);
}

RemoteAtCommandRequest::RemoteAtCommandRequest(uint16_t remoteAddress16, uint8_t *command) : AtCommandRequest(command, NULL, 0) {
    _remoteAddress64 = broadcastAddress64;
    _remoteAddress16 = remoteAddress16;
    _applyChanges = false;
    setApiId(REMOTE_AT_REQUEST);
}

RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command, uint8_t *commandValue, uint8_t commandValueLength) : AtCommandRequest(command, commandValue, commandValueLength) {
    _remoteAddress64 = remoteAddress64;
    // don't worry.. works for series 1 too!
    _remoteAddress16 = ZB_BROADCAST_ADDRESS;
    _applyChanges = true;
    setApiId(REMOTE_AT_REQUEST);
}

RemoteAtCommandRequest::RemoteAtCommandRequest(XBeeAddress64 &remoteAddress64, uint8_t *command) : AtCommandRequest(command, NULL, 0) {
    _remoteAddress64 = remoteAddress64;
    _remoteAddress16 = ZB_BROADCAST_ADDRESS;
    _applyChanges = false;
    setApiId(REMOTE_AT_REQUEST);
}

uint16_t RemoteAtCommandRequest::getRemoteAddress16() {
    return _remoteAddress16;
}

void RemoteAtCommandRequest::setRemoteAddress16(uint16_t remoteAddress16) {
    _remoteAddress16 = remoteAddress16;
}

XBeeAddress64& RemoteAtCommandRequest::getRemoteAddress64() {
    return _remoteAddress64;
}

void RemoteAtCommandRequest::setRemoteAddress64(XBeeAddress64 &remoteAddress64) {
    _remoteAddress64 = remoteAddress64;
}

bool RemoteAtCommandRequest::getApplyChanges() {
    return _applyChanges;
}

void RemoteAtCommandRequest::setApplyChanges(bool applyChanges) {
    _applyChanges = applyChanges;
}


uint8_t RemoteAtCommandRequest::getFrameData(uint16_t pos) {
    if (pos == 0) {
        return (_remoteAddress64.getMsb() >> 24) & 0xff;
    } else if (pos == 1) {
        return (_remoteAddress64.getMsb() >> 16) & 0xff;
    } else if (pos == 2) {
        return (_remoteAddress64.getMsb() >> 8) & 0xff;
    } else if (pos == 3) {
        return _remoteAddress64.getMsb() & 0xff;
    } else if (pos == 4) {
        return (_remoteAddress64.getLsb() >> 24) & 0xff;
    } else if (pos == 5) {
        return (_remoteAddress64.getLsb() >> 16) & 0xff;
    } else if (pos == 6) {
        return(_remoteAddress64.getLsb() >> 8) & 0xff;
    } else if (pos == 7) {
        return _remoteAddress64.getLsb() & 0xff;
    } else if (pos == 8) {
        return (_remoteAddress16 >> 8) & 0xff;
    } else if (pos == 9) {
        return _remoteAddress16 & 0xff;
    } else if (pos == 10) {
        return _applyChanges ? 2: 0;
    } else if (pos == 11) {
        return getCommand()[0];
    } else if (pos == 12) {
        return getCommand()[1];
    } else {
        return getCommandValue()[pos - REMOTE_AT_COMMAND_API_LENGTH];
    }
}

uint16_t RemoteAtCommandRequest::getFrameDataLength() {
    return REMOTE_AT_COMMAND_API_LENGTH + getCommandValueLength();
}


// TODO
//GenericRequest::GenericRequest(uint8_t* frame, uint8_t len, uint8_t apiId): XBeeRequest(apiId, *(frame), len) {
//    _frame = frame;
//}

void XBee::send(XBeeRequest &request) {
    // the new new deal

    sendByte(START_BYTE, false);

    // send length
    uint8_t msbLen = ((request.getFrameDataLength() + 2) >> 8) & 0xff;
    uint8_t lsbLen = (request.getFrameDataLength() + 2) & 0xff;

    sendByte(msbLen, true);
    sendByte(lsbLen, true);

    // api id
    sendByte(request.getApiId(), true);
    sendByte(request.getFrameId(), true);

    uint8_t checksum = 0;

    // compute checksum, start at api id
    checksum+= request.getApiId();
    checksum+= request.getFrameId();

    //std::cout << "frame length is " << static_cast<unsigned int>(request.getFrameDataLength()) << std::endl;

    for (int i = 0; i < request.getFrameDataLength(); i++) {
//        std::cout << "sending byte [" << static_cast<unsigned int>(i) << "] " << std::endl;
        sendByte(request.getFrameData(i), true);
        checksum+= request.getFrameData(i);
    }

    // perform 2s complement
    checksum = 0xff - checksum;

//    std::cout << "checksum is " << static_cast<unsigned int>(checksum) << std::endl;

    // send checksum
    sendByte(checksum, true);
/*
    // send packet
    Serial.flush();
*/
    DBG("\r\n");
}

void XBee::sendByte(uint8_t b, bool escape) {

    if (escape && (b == START_BYTE || b == ESCAPE || b == XON || b == XOFF)) {
//        std::cout << "escaping byte [" << toHexString(b) << "] " << std::endl;
        _xbee.putc(ESCAPE);
        _xbee.putc(b ^ 0x20);
    } else {
        _xbee.putc(b);
    }
    DBG("%02x ", b);
}