ATCommands.h

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/* Copyright (c) 2021 Skyward Experimental Rocketry
 * Author: Luca Erbetta
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include "APIFrames.h"
#include "Xbee.h"
 
namespace Boardcore
{
 
namespace Xbee
{
 
inline bool setChannelMask(Xbee& xbee, uint32_t mask,
                           unsigned int timeout = 1000)
{
    ATCommandResponseFrame response;
 
    mask = swapBytes32(mask);
 
    return xbee.sendATCommand("CM", &response,
                              reinterpret_cast<uint8_t*>(&mask), 4, timeout);
}
 
inline bool setChannelMask(Xbee& xbee, bool channels[30],
                           unsigned int timeout = 1000)
{
    uint32_t val = 0;
 
    for (int i = 0; i < 30; i++)
        val &= ((uint32_t)channels[i]) << i;
 
    return setChannelMask(xbee, val, timeout);
}
 
inline bool enableAllChannels(Xbee& xbee, unsigned int timeout = 1000)
{
    return setChannelMask(xbee, 0x3EFFFDFF, timeout);
}
 
inline bool disableFrequencyHopping(Xbee& xbee, unsigned int timeout = 1000)
{
    return setChannelMask(xbee, 0x20000000, timeout);
}
 
inline bool setDataRate(Xbee& xbee, bool dataRate80kbps,
                        unsigned int timeout = 1000)
{
    uint8_t param = (uint8_t)dataRate80kbps;
    ATCommandResponseFrame response;
 
    return xbee.sendATCommand("BR", &response, &param, 1, timeout);
}
 
inline bool writeToMemory(Xbee& xbee, unsigned int timeout = 1000)
{
    ATCommandResponseFrame response;
    return xbee.sendATCommand("WR", &response, nullptr, 0, timeout);
}
 
inline bool energyDetect(Xbee& xbee, int* energyDetectData, uint8_t duration,
                         unsigned int timeout = 1000)
{
    ATCommandResponseFrame response;
    if (xbee.sendATCommand("ED", &response, &duration, 1, timeout))
    {
        uint16_t respLen = response.getCommandDataLength();
        if (respLen == 30)
        {
            for (int i = 0; i < 30; i++)
            {
                energyDetectData[i] =
                    (int)(*(response.getCommandDataPointer() + i));
            }
 
            return true;
        }
    }
    return false;
}
 
}  // namespace Xbee
 
}  // namespace Boardcore