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355 south 520 west, suite 180 lindon, ut 84042 phone: (801) 765-9885 fax: (801) 765-9895 rf-xperts@maxstream.net www.maxstream.net (live chat support) xbee? series 2 oem rf modules xbee series 2 oem rf modules zigbee ? networks rf module operation rf module configuration appendices product manual v1.x.1x - zigbee protocol for oem rf module part numbers: xb24-bxit-00x zigbee oem rf modules by maxstream, inc. - a digi i nternational brand firmware versions: 1.0xx - coordinator, transparent operation 1.1xx - coordinator, api operation 1.2xx - router, end device, transparent operation 1.3xx - router, end device, api operation 90000866_a 2007.06.01
xbee oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. ii ? 2007 digi international, inc. all rights reserved no part of the contents of this manual may be transmitted or reproduced in any form or by any means without the written permission of digi international, inc. zigbee ? is a registered trademark of the zigbee alliance. xbee? series 2 is a trademark of digi international, inc. technical support: phone: (801) 765 ! 9885 live chat: www.maxstream.net e ! mail: rf ! xperts@maxstream.net
contents xbee/xbee ! pro oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi internaitonal, inc. iii 1. xbee series 2 oem rf modules 4 1.1. key features 4 1.1.1. worldwide acceptance 4 1.2. specifications 5 1.3. mechanical drawings 6 1.4. mounting considerations 6 1.5. pin signals 7 1.6. electrical characteristics 8 2. rf module operation 9 2.1. serial communications 9 2.1.1. uart data flow 9 2.1.2. serial buffers 9 2.1.3. transparent operation 11 2.1.4. api operation 11 2.2. modes of operation 12 2.2.1. idle mode 12 2.2.2. transmit mode 12 2.2.3. receive mode 13 2.2.4. command mode 13 2.2.5. sleep mode 14 3. zigbee networks 15 3.1. zigbee network formation 15 3.1.1. starting a zigbee coordinator 15 3.1.2. joining a router 15 3.1.3. joining an end device 16 3.2. zigbee network communications 17 3.2.1. zigbee device addressing 17 3.2.2. zigbee application-layer addressing 17 3.2.3. data transmission and routing 18 4. xbee series 2 network formation 20 4.1. xbee series 2 network formation 20 4.1.1. starting an xbee series 2 coordinator 20 4.1.2. joining an xbee series 2 router to an ex- isting pan 20 4.1.3. joining an xbee series 2 end device to an existing pan 20 4.1.4. network reset 21 4.2. xbee series 2 addressing 22 4.2.1. device addressing 22 4.2.2. application-layer addressing 23 4.2.3. xbee series 2 endpoint table 25 4.3. advanced network features 26 4.4. i.o. line configuration 27 5. xbee series 2 command reference tables29 6. api operation 35 6.0.1. api frame specifications 35 6.0.2. api types 36 7. examples 45 7.0.1. starting an xbee network 45 7.0.2. at command programming examples 46 8. manufacturing support 47 8.1. interoperability with other em250 devic- es 47 8.1.1. xbee data transmission and reception 47 8.1.2. customizing xbee default parameters 47 8.1.3. xbee series 2 custom bootloader 47 appendix a: definitions 48 appendix b: migrating from the 802.15.4 proto- col 50 appendix c: agency certifications 51 appendix d: development guide 52 appendix e: additional information 60
? 2007 digi international, inc. 4 1. xbee series 2 oem rf modules the xbee series 2 oem rf modules were engineered to operate within the zigbee protocol and support the unique needs of low-cost, low-power wireless sensor networks. the modules require minimal power and provide relia ble delivery of data between remote devices. the modules operate within the ism 2.4 ghz frequenc y band. 1.1. key features 1.1.1. worldwide acceptance fcc approval (usa) refer to appendix a [p50] for fcc requiremen ts. systems that contain xbee series 2 rf modules inher it maxstream certifications. ism (industrial, scientific & medical) 2.4 ghz frequency band manufactured under iso 9001:2000 registered standards xbee series 2 rf modules are optimized for use in us , canada , australia, israel and europe (contact maxstream for complete list of agency app rovals). high performance, low cost ? indoor/urban: up to 133? (40 m) ? outdoor line-of-sight: up to 400? (120 m) ? transmit power: 2 mw (+3 dbm) ? receiver sensitivity: -95 dbm rf data rate: 250,000 bps advanced networking & security retries and acknowledgements dsss (direct sequence spread spectrum) each direct sequence channel has over 65,000 unique network addresses available point-to-point, point-to-multipoint and peer-to-peer topologies supported self-routing, self-healing and fault-tolerant mesh networking low power xbee series 2 ? tx current: 40 ma (@3.3 v) ? rx current: 40 ma (@3.3 v) ? power-down current: < 1 a @ 25 o c easy-to-use no configuration necessary for out-of box rf communications at and api command modes for configuring module parameters small form factor extensive command set free x-ctu software (testing and configuration software) free & unlimited technical support
xbee series 2 oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. 5 chapter 1 ! xbee series 2 oem rf modules 1.2. specifications antenna options: the ranges specified are typical w hen using the integrated whip (1.5 dbi) and dipole (2.1 dbi) antennas. the chip antenna option provides advantag es in its form factor; however, it typically yields shorter range than the whip and dipole antenna options when transmitti ng outdoors. for more information, refer to the xb ee series 2 antenna application note located on maxstreams we b site http://www.maxstream.net/support/knowledgebase/arti cle.php?kb=153 table 1 ! 01. specifications of the xbee series 2 oem rf module (preliminary) specification xbee series 2 performance indoor/urban range up to 133 ft. (40 m) outdoor rf line-of-sight range up to 400 ft. (120 m) transmit power output (software selectable) 2mw (+3dbm) rf data rate 250,000 bps serial interface data rate (software selectable) 1200 - 230400 bps (non-standard baud rates also supported) receiver sensitivity -95 dbm (1% packet error rate) power requirements supply voltage 2.8 ? 3.4 v operating current (transmit) 40ma (@ 3.3 v) operating current (receive) 40ma (@ 3.3 v) power-down current < 1 ua @ 25 o c general operating frequency band ism 2.4 ghz dimensions 0.960? x 1.087? (2.438cm x 2.761cm) operating temperature -40 to 85o c (industrial) antenna options integrated whip, chip, rpsma, or u.f l connector networking & security supported network topologies point-to-point, point-t o-multipoint, peer-to-peer & mesh number of channels (software selectable) 16 direct sequence channels addressing options pan id and addresses, cluster ids and endpoints (optional) agency approvals united states (fcc part 15.247) pending industry canada (ic) pending europe (ce) pending
xbee series 2 oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. 6 chapter 1 ! xbee series 2 oem rf modules 1.3. mechanical drawings figure 1 ! 01. mechanical drawings of the xbee series 2 oem rf modules (antenna options not shown) . 1.4. mounting considerations the xbee series 2 rf module (through-hole) was desi gned to mount into a receptacle (socket) and therefore does not require any soldering when mount ing it to a board. the xbee series 2 development kits contain rs-232 and usb interface b oards which use two 20-pin receptacles to receive modules. figure 1 ! 02. xbee series 2 module mounting to an rs ! 232 interface board . the receptacles used on maxstream development board s are manufactured by century interconnect. several other manufacturers provide c omparable mounting solutions; however, maxstream currently uses the following receptacles: ? through-hole single-row receptacles - samtec p/n: mms-110-01-l-sv (or equivalent) ? surface-mount double-row receptacles - century interconnect p/n: cprmsl20-d-0-1 (or equiva lent) ? surface-mount single-row receptacles - samtec p/n: smm-110-02-sm-s maxstream also recommends printing an outline of th e module on the board to indicate the orientation the module should be mounted. xbee
xbee series 2 oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. 7 chapter 1 ! xbee series 2 oem rf modules 1.5. pin signals figure 1 ! 03. xbee series 2 rf module pin number (top sides shown ! shields on bottom) design notes: ? minimum connections: vcc, gnd, dout & din ? minimum connections to support firmware upgrades: vcc, gnd, din, dout, rts & dtr ? signal direction is specified with respect to the module ? module includes a 30k ohm resistor attached to reset ? several of the input pull-ups can be configured us ing the pr command ? unused pins should be left disconnected table 1 ! 02. pin assignments for the xbee series 2 modules (low ! asserted signals are distinguished with a horizontal line above signal name.) pin # name direction description 1 vcc - power supply 2 dout output uart data out 3 din / config input uart data in 4 dio8 either digital i/o 8 5 reset input module reset (reset pulse must be at least 2 00 ns) 6 pwm0 / rssi / dio10 output pwm output 0 / rx signal strength indicator / digital io 7 pwm / dio11 either digital i/o 11 8 [reserved] - do not connect 9 dtr / sleep_rq/ di8 input pin sleep control line or digi tal input 8 10 gnd - ground 11 dio4 either digital i/o 4 12 cts / dio7 either clear-to-send flow control or digital i/o 7 13 on / sleep output module status indicator 14 [reserved] - do not connect 15 associate / dio5 either associated indicator, digit al i/o 5 16 rts / dio6 either request-to-send flow control, digital i/o 6 17 ad3 / dio3 either analog input 3 or digital i/o 3 18 ad2 / dio2 either analog input 2 or digital i/o 2 19 ad1 / dio1 either analog input 1 or digital i/o 1 20 ad0 / dio0 either analog input 0 or digital i/o 0
xbee series 2 oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. 8 chapter 1 ! xbee series 2 oem rf modules 1.6. electrical characteristics table 1 ! 03. dc characteristics of the xbee series 2 (vcc = 2.8 ! 3.4 vdc) symbol parameter condition min typical max units v il input low voltage all digital inputs - - 0.2 * vcc v v ih input high voltage all digital inputs 0.8 * vcc - 0.1 8* vcc v v ol output low voltage i ol = 2 ma, vcc >= 2.7 v - - 0.18*vcc v v oh output high voltage i oh = -2 ma, vcc >= 2.7 v 0.82*vcc - - v ii in input leakage current v in = vcc or gnd, all inputs, per pin - - 0.5ua ua tx transmit current vcc = 3.3 v - 45 - ma rx receive current vcc = 3.3 v - 50 - ma pwr-dwn power-down current sm parameter = 1 - < 10 - ua
? 2007 digi international, inc. 9 2. rf module operation 2.1. serial communications the xbee series 2 oem rf modules interface to a hos t device through a logic-level asynchronous serial port. through its serial port, the module ca n communicate with any logic and voltage compatible uart; or through a level translator to a ny serial device (for example: through a maxstream proprietary rs-232 or usb interface board ). 2.1.1. uart data flow devices that have a uart interface can connect dire ctly to the pins of the rf module as shown in the figure below. figure 2 ! 01. system data flow diagram in a uart ! interfaced environment (low ! asserted signals distinguished with horizontal line over signal name.) serial data data enters the module uart through the din (pin 3) as an asynchronous serial signal. the signal should idle high when no data is being transmitted. each data byte consists of a start bit (low), 8 dat a bits (least significant bit first) and a stop bit (high). the following figure illustrates the serial bit pattern of data passing through the module. figure 2 ! 02. uart data packet 0x1f (decimal number " 31 " ) as transmitted through the rf module example data format is 8 ! n ! 1 (bits ! parity ! # of stop bits) the module uart performs tasks, such as timing and parity checking, that are needed for data communications. serial communications depend on the two uarts to be configured with compatible settings (baud rate, parity, start bits, stop bits, data bits). 2.1.2. serial buffers the xbee series 2 modules maintain small buffers to collect received serial and rf data. the serial receive buffer collects incoming serial characters and holds them until they can be processed. the serial transmit buffer collects data that is receiv ed via the rf link that will be transmitted out the uart. serial receive buffer when serial data enters the rf module through the d in pin (3 pin), the data is stored in the serial receive buffer until it can be processed. din (data in) din (data in) dout (data out) dout (data out)
xbee/xbee ! pro oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. 10 chapter 2 ! rf module operation hardware flow control (cts ). when the serial receive buffer is 17 bytes away fr om being full, by default, the module de-asserts cts (high) to signal to the host device to stop sendin g data [refer to d7 (dio7 configuration) parameter]. cts is re-asserted after the serial receive buffer has 34 bytes of memory available. cases in which the serial receive buffer may become full and possibly overflow: serial transmit buffer when rf data is received, the data is moved into th e serial transmit buffer and is sent out the serial port. if the serial transmit buffer becomes full enough such that all data in a received rf packet won?t fit in the serial transmit buffer, the entire rf data packet is dropped. hardware flow control (rts ). if rts is enabled for flow control (d6 (dio6 configuratio n) parameter = 1), data will not be sent out the seria l transmit buffer as long as rts (pin 16) is de- asserted. cases in which the serial transmit buffer may becom e full resulting in dropped rf packets figure 2 ! 03. internal data flow diagram 1. if the module is receiving a continuous stream of rf data, any serial data that arrives on the din pin is placed in the serial receive buffer. the data in the serial receive buffer will be transmitted over-the-air when the module is no long er receiving rf data in the network. 2. when data is ready to be transmitted, the module may need to discover a network address and/or a route in order to reach the destination no de. discovery overhead may delay packet transmission. refer to the zigbee networks --> mesh routing secti ons for more information. 1. if the rf data rate is set higher than the in terface data rate of the module, the module could receive data faster than it can send the data to the host. 2. if the host does not allow the module to tran smit data out from the serial transmit buffer because of being held off by hardware flow control. serial receive buffer serial transmit buffer
xbee/xbee ! pro oem rf modules ! zigbee ! v1.x1x [2007.06.01] ? 2007 digi international, inc. 11 chapter 2 ! rf module operation 2.1.3. transparent operation rf modules that contain the following firmware vers ions will support transparent mode: 1.0xx (coordinator) and 1.2xx (router/end device). when operating in transparent mode, modules are con figured using at commands and api operation is not supported. the modules act as a se rial line replacement - all uart data received through the din pin is queued up for rf transmissio n. data is sent to a module as defined by the dh (destination address high) and dl (destination a ddress low) parameters. when rf data is received by a module, the data is s ent out the dout pin. serial-to-rf packetization data is buffered in the serial receive buffer until one of the following causes the data to be packetized and transmitted: 2.1.4. api operation api (application programming interface) operation i s an alternative to the default transparent operation. the frame-based api extends the level to which a host application can interact with the networking capabilities of the module. rf modules t hat contain the following firmware versions will support api operation: 1.1xx (coordinator) and 1.3x x (router/end device). when in api mode, all data entering and leaving the module is contained in frames that define operations or events within the module. transmit data frames (received through the din pin (pin 3)) include: ? rf transmit data frame ? command frame (equivalent to at commands) receive data frames (sent out the dout pin (pin 2)) include: ? rf-received data frame ? command response ? event notifications such as reset, associate, disa ssociate, etc. the api provides alternative means of configuring m odules and routing data at the host application layer. a host application can send data frames to the module that contain address and payload information instead of using command mode t o modify addresses. the module will send data frames to the application containing status pa ckets; as well as source, and payload information from received data packets. the api operation option facilitates many operation s such as the examples cited below: to implement api operations, refer to the api opera tion chapter 6. 1. no serial characters are received for the amount of time determined by the ro (packetiza- tion timeout) parameter. if ro = 0, packetization b egins when a character is received. 2. maximum number of characters that will fit (72) i n an rf packet is received. 3. the command mode sequence (gt + cc + gt) is recei ved. any character buffered in the serial receive buffer before the sequence is transm itted. -> transmitting data to multiple destinations withou t entering command mode -> receive success/failure status of each transmitte d rf packet -> identify the source address of each received pack et
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 12 chapter ! 2 ! ! rf ! module ! operation 2.2. modes of operation 2.2.1. idle mode when not receiving or transmitting data, the rf mod ule is in idle mode. during idle mode, the rf module is also checking for valid rf data. the modu le shifts into the other modes of operation under the following conditions: ? transmit mode (serial data in the serial receive b uffer is ready to be packetized) ? receive mode (valid rf data is received through th e antenna) ? sleep mode (end devices only) ? command mode (command mode sequence is issued) 2.2.2. transmit mode when serial data is received and is ready for packe tization, the rf module will exit idle mode and attempt to transmit the data. the destination addre ss determines which node(s) will receive the data. prior to transmitting the data, the module ensures that a 16-bit network address and route to the destination node have been established. if the 16-bit network address is not known, network address discovery will take place. if a route is not known, route discovery will take place for t he purpose of establishing a route to the destination node. if a module with a matching netwo rk address is not discovered, the packet is discarded. the data will be transmitted once a rout e is established. if route discovery fails to establish a route, the packet will be discarded. figure 2 ! 04. transmit mode sequence when data is transmitted from one node to another, a network-level acknowledgement is transmitted back across the established route to th e source node. this acknowledgement packet indicates to the source node that the data packet w as received by the destination node. if a network acknowledgement is not received, the source node will re-transmit the data. see data transmission and routing in chapter 3 for more info rmation. 16-bit network address discovery data discarded successful transmission yes no new transmission 16-bit network address discovered? route known? route discovered? 16-bit network address known? route discovery transmit data idle mode no yes no no yes yes
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 13 chapter ! 2 ! ! rf ! module ! operation 2.2.3. receive mode if a valid rf packet is received and its address ma tches the rf module?s my (16-bit source address) parameter, the data is transferred to the serial transmit buffer. 2.2.4. command mode to modify or read rf module parameters, the module must first enter into command mode - a state in which incoming serial characters are inter preted as commands. refer to the api mode section for an alternate means of configuring modul es. at command mode to enter at command mode: default at command mode sequence (for transition to command mode): ? no characters sent for one second [gt (guard times ) parameter = 0x3e8] ? input three plus characters (?+++?) within one sec ond [cc (command sequence character) parameter = 0x2b.] ? no characters sent for one second [gt (guard times ) parameter = 0x3e8] all of the parameter values in the sequence can be modified to reflect user preferences. note: failure to enter at command mode is most commonly due to baud rate mi smatch. ensure the baud setting on the pc settings tab matches the interface data rate of the rf module. by default, the bd parameter = 3 (9600 bps). to send at commands: figure 2 ! 05. syntax for sending at commands to read a parameter value stored in the rf modules register, omit the parameter field. the preceding example would change the rf module de stination address (low) to ?0x1f?. to store the new value to non-volatile (long term) memory, s ubsequently send the wr (write) command. for modified parameter values to persist in the mod ule?s registry after a reset, changes must be saved to non-volatile memory using the wr (write) c ommand. otherwise, parameters are restored to previously saved values after the modul e is reset. system response. when a command is sent to the module, the module w ill parse and execute the command. upon successful execution of a command , the module returns an ?ok? message. if execution of a command results in an error, the mod ule returns an ?error? message. to exit at command mode: send the 3-character command sequence ?+++? and obs erve guard times before and after the command characters. [refer to the ?default at comma nd mode sequence? below.] send at commands and parameters using the syntax sh own below. 1. send the atcn (exit command mode) command (fo llowed by a carriage return). [or] 2. if no valid at commands are received within t he time specified by ct (command mode timeout) command, the rf module automatically retur ns to idle mode.
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 14 chapter ! 2 ! ! rf ! module ! operation for an example of programming the rf module using a t commands and descriptions of each configurable parameter, refer to the "rf module con figuration" chapter. 2.2.5. sleep mode sleep modes are supported on end devices only. rout er and coordinator devices participate in routing data packets and are intended to be mains p owered. end devices must be joined to a parent (router or coordinator) before they can part icipate on a zigbee network. the parent device does not track when an end device is awake or aslee p. instead, the end device must inform the parent when it is able to receive data. the parent must be able to buffer incoming data packets destined for the end device until the end device ca n awake and receive the data. when an end device is able to receive data, it sends a poll com mand to the parent. when the parent router or coordinator receives the poll command, it will tran smit any buffered data packets for the end device. routers and coordinators are capable of buf fering one broadcast transmission for sleeping end device children. the sm, st, sp, and sn commands are used to configu re sleep mode operation. data management the sp command on the parent determines how long th e parent will buffer a packet. it should be set to match the maximum sp value on any end device that may join to it. sp can be set up to 28 seconds (0xaf0). end device sleep modes pin sleep setting sm=1 or sm=2 configures a device as a pin-s leep enabled end device. when operating in this mode, an end device monitors the sleep_request pin for a high state. when sleep_request goes high, the module enters sleep mode once any pe nding transmissions have finished. the module remains in a low power state until the sleep _request pin goes low. when the module wakes from pin sleep, it sends a po ll request to the parent to see if any data is pending for the end device. since routers and coord inators can only buffer data up to 30 seconds, end devices should not remain in pin sleep longer t han about 28 seconds if incoming data packets must be received. using pin sleep for more than 28 seconds is recommended only if incoming data packets are not expected. when the module wakes from a pin sleep mode, the ct s line goes low, and on/sleep goes high. cyclic sleep cyclic sleep allows the end device to sleep for a s pecified period of time. the period of time is specified by sp. since routers and coordinators can only buffer data packets for up to 30 seconds, sp on end devices can be set up to 28 seconds (0xaf 0). the module will wake after sp time and send a poll request to the parent to check for data . if any serial or rf data is received, the st time is restarted. once st time has expired with no seri al or rf activity, the end device will resume cyclic sleep operation. when the module wakes, cts goes low allowing the ap plication to send serial data to the module if necessary. the on/sleep indicator will be set hi gh to alert the application that the end device has awakened. if serial or rf data is received, the st timer will be reset, otherwise, the end device will resume low power operation. off board peripherals may wish to sleep longer than the maximum sp time of the end device. the sn command can be used to not wake off board periph erals for longer than sp time. for example, if sp=28 seconds, and sn=5, the end de vice will wake up every 28 seconds and poll the parent for data. if no data is pending, the end device will return to sleep. in this example, if the parent has no data for the end device, on/sleep will go high after 140 seconds, assuming the parent never has data for the end device. if the pa rent has data for the end device, on/sleep will go high and the sn counter will reset.
? ! 2007 ! digi ! international, ! inc. !!!!! 15 3. zigbee networks 3.1. zigbee network formation a zigbee personal area network (pan) consists of on e coordinator and one or more routers and/or end devices. a zigbee personal area network (pan) i s created when a coordinator selects a channel and pan id to start on. once the coordinato r has started a pan, it can allow router and end device nodes to join the pan. when a router or end device joins a pan, it receive s a 16-bit network address and can transmit data to or receive data from other devices in the p an. routers and the coordinator can allow other devices to join the pan, and can assist in sending data through the network to ensure data is routed correctly to the intended recipient device. when a router or coordinator allows an end device to join the pan, the end device that joined becomes a child of the router or coordinator that allowed the join. end devices, however can transmit or receive data b ut cannot route data from one node to another, nor can they allow devices to join the pan . end devices must always communicate directly to the parent they joined to. the parent r outer or coordinator can route data on behalf of an end device child to ensure it reaches the correc t destination. end devices are intended to be battery powered and can support low power modes. figure 3 ! 01. node types / sample of a basic zigbee network topology the network address of the pan coordinator is alway s 0. when a router joins a pan, it can also allow other routers and end devices to join to it. joining establishes a parent/child relationship between two nodes. the node that allowed the join i s the parent, and the node that joined is the child. the parent/child relationship is not necessa ry for routing data. 3.1.1. starting a zigbee coordinator when a coordinator first comes up, it performs an e nergy scan on mulitple channels (frequencies) to select an unused channel to start the pan. after removing channels with high detected energy levels, the coordinator issues an 802.15.4 beacon r equest command on the remaining, low energy level channels. any routers or coordinators respond to the beacon request frame with a small beacon transmission that indicates the pan identifi er (pan id) that they are operating on, and whether or not they are allowing joining.the coordi nator will attempt to start on an unused pan id and channel. after starting, the coordinator may al low other devices to join its pan. 3.1.2. joining a router when a router first comes up, it must locate and jo in a zigbee pan. to do this, it issues an 802.15.4 beacon request command on multiple channel s to locate nearby pans. nearby routers and coordinators respond to the beacon request fram e with a small beacon transmission, indicating which channel and pan id they are operat ing on. the router listens on each channel for these beacon frames, and determines which device it should join. if a valid pan is found from one of the received beacons, the router issues a join r equest to the device that sent the beacon. if joining succeeds, the router will then receive a jo in confirmation from the device, indicating the join was successful. once the router joins the pan, it can communicate with other devices on the pan and allow new devices to join to it.
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 16 chapter ! 3 ! ! zigbee ! networks 3.1.3. joining an end device when an end device first comes up, it must also loc ate and join a pan. end devices follow the same process as a router to join a pan. once the en d device has successfully joined a pan, it can communicate with other devices on the pan. however, since end devices cannot route data, it must always communicate directly with its parent an d allow the parent to route data in its behalf. figure 3 ! 02. demonstration of beacon request and beacon transmissions that take place during joining.
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 17 chapter ! 3 ! ! zigbee ! networks 3.2. zigbee network communications zigbee supports device addressing and application l ayer addressing. device addressing specifies the destination address of the device a packet is d estined to. application layer addressing indicates a particular application recipient, known as a zigbee en dpoint, along with message type fields called cluster ids. 3.2.1. zigbee device addressing the 802.15.4 protocol upon which the zigbee protoco l is built specifies two address types: ? 16-bit network addresses ? 64-bit addresses 16-bit network addresses a 16-bit network address is assigned to a node when the node joins a network. the network address is unique to each node in the network. howe ver, network addresses are not static - it can change. the following two conditions will cause a node to r eceive a new network address: zigbee requires that data be sent to the 16-bit net work address of the destination device. this requires that the 16-bit address be discovered befo re transmitting data. see 3.2.3 network address discovery for more information. 64-bit addresses each node contains a unique 64-bit address. the 64- bit address uniquely identifies a node and is permanent. 3.2.2. zigbee application-layer addressing the zigbee application layers define endpoints and cluster identifiers (cluster ids) that are used to address individual services or applications on a de vice. an endpoint is a distinct task or application that runs on a zigbee device, similar to a tcp port . each zigbee device may support one or more endpoints. cluster ids define a particular function or action on a device. cluster ids in the zigbee home controls lighting profile, for example, would include actions such as ?turnlighton?, ?turnlightoff?, ?dimlight?, etc. suppose a single radio controls a light dimmer and one or more light switches. the dimmer and switches could be assigned to different endpoint va lues. to send a message to the dimmer, a remote radio would transmit a message to the dimmer endpoint on the radio. in this example, the radio might support cluster ids to ?turnlighton?, ? turnlightoff?, or ?dimlight?. thus, for radio a to turn off a light on radio b, radio a would send a t ransmission to the light switch endpoint on radio b, using cluster id ?turnlightoff?. this is shown i n the figure below. 1. if an end device cannot communicate with its par ent it may need to leave the network and rejoin to find a new parent. 2. if the device type changes from router to end de vice, or vice-versa, the device will leave the network and rejoin as the new device type.
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 18 chapter ! 3 ! ! zigbee ! networks figure 3 ! 03. zigbee data transmission higher layer addressing fields figure 3 ! 04. zigbee layer ! addressing example 3.2.3. data transmission and routing all data packets are addressed using both device an d application layer addressing fields. data can be sent as a broadcast, multicast, or unicast trans mission. broadcast transmissions broadcast transmissions within the zigbee protocol are intended to be propagated throughout the entire network such that all nodes receive the tran smission. to accomplish this, all devices that receive a broadcast transmission will retransmit th e packet 3 times. each node that transmits the broadcast will also create an entry in a local broa dcast transmission table. this entry is used to keep track of each received broadcast packet to ens ure the packets are not endlessly transmitted. each entry persists for 8 seconds. the broadcast tr ansmission table holds 8 entries. since broadcast transmissions are retransmitted by each device in the network, broadcast messages should be used sparingly. multicast transmissions multicast transmissions operate similar to broadcas t transmissions. data packets are broadcast throughout the network in a similar fashion. howeve r, only devices that are part of the multicast group will receive the data packets. unicast transmissions unicast zigbee transmissions are always addressed t o the 16-bit address of the destination device. however, only the 64-bit address of a devic e is permanent; the 16-bit address can change. therefore, zigbee devices may employ network addres s discovery to identify the current 16-bit src address dest address profile id src endpoint dest endpoint cluster id network layer application support layer endpoint 1 endpoint 3 (radio a) endpoint 2 endpoint 40 endpoint 41 (radio b) endpoint 42 cluster id = turnlightoff zigbee device a zigbee device b
xbee/xbee pro ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 19 chapter ! 3 ! ! zigbee ! networks address that corresponds to a known 64-bit address. once the 16-bit address is known, a route to the destination device must be discovered. zigbee e mploys mesh routing using the ad-hoc on- demand distance vector routing (aodv) protocol to e stablish a route between the source device and the destination. network address discovery data transmissions are always sent to the 16-bit ne twork address of the destination device. however, since the 64-bit address is unique to each device and is generally known, zigbee devices must discover the network address that was assigned to a particular device when it joined the pan before they can transmit data. to do this, the device initiating a transmission sends a broadc ast network address discovery transmission throughout the network. this packet co ntains the 64-bit address of the device the initiator needs to send data to. devices that recei ve this broadcast transmission check to see if their 64-bit address matches the 64-bit address con tained in the broadcast transmission. if the addresses match, the device sends a response packet back to the initiator, providing the network address of the device with the matching 64-bit addr ess. when this response is received, the initiator can then transmit data. mesh routing mesh routing allows data packets to traverse multip le nodes (hops) in a network to route data from a source to a destination. the route a packet can take in a mesh network is independent of the parent/child relationships established during j oining. before transmitting a data packet from source to destination nodes, a route must be establ ished. route discovery is based on the aodv (ad-hoc on-demand distance vector routing) protocol . aodv (ad-hoc on-demand distance vector) routing alg orithm routing under the aodv protocol is accomplished usi ng tables in each node that store in the next hop (intermediary node between source and destinati on nodes) for a destination node. if a next hop is not known, route discovery must take place i n order to find a path. since only a limited number of routes can be stored on a router, route d iscovery will take place more often on a large network with communication between many different n odes. when a source node must discover a route to a desti nation node, it sends a broadcast route request command. the route request command contains the source network address, the destination network address and a path cost field ( a metric for measuring route quality). as the route request command is propagated through the net work (refer to the broadcast transmission), each node that re-broadcasts the message updates th e path cost field and creates a temporary entry in its route discovery table. when the destination node receives a route request, it compares the ?path cost? field against previously received route request commands. if the path cost stored in the route request is better than any previously received, the destination node will transmit a route reply packet to the node that originated the route request. intermediate nod es receive and forward the route reply packet to the source node (the node that originated route request). retries and acknowledgments zigbee includes acknowledgment packets at both the mac and application support (aps) layers. when data is transmitted to remote device, it may t raverse multiple hops to reach the destination. as data is transmitted from one node to its neighbo r, an acknowledgment packet (ack) is transmitted in the opposite direction to indicate t hat the transmission was successfully received. if the ack is not received, the transmitting device wi ll retransmit the data, up to 4 times. this ack is called the mac layer acknowledgment. in addition, the device that originated the transmi ssion expects to receive an acknowledgment packet (ack) from the destination device. this ack will traverse the same path that the data traversed, but in the opposite direction. if the or iginator fails to receive this ack, it will retrans mit the data, up to 2 times until an ack is received. t his ack is called the zigbee aps layer acknowledgment. refer to the zigbee specification for more details.
? ! 2007 ! digi ! international, ! inc. !!!!! 20 4. xbee series 2 network formation 4.1. xbee series 2 network formation to create a zigbee network, a coordinator must be s tarted on a channel and pan id. once the coordinator has started, routers and end device can join the network. routers and coordinator devices can support up to 8 end device children eac h. network formation is governed by the sc (scan channels), id (pan id), sd (scan duration), a nd nj (node join time) commands. the sc and id settings must be written using the wr comman d to affect network formation and joining. 4.1.1. starting an xbee series 2 coordinator in order to form a network, a coordinator must sele ct an unused operating channel and pan id on behalf of its network. to do this, the coordinator first performs an energy scan on all channels specified by its sc (scan channels) parameter. the scan time on each channel is determined by the sd (scan duration) parameter. once the energy s can is completed, the coordinator sends a beacon request on each of the sc channels and liste ns for any beacons. the information from the energy scan and the beacon scan (active scan) is us ed to select an unused channel and pan id. if the id (pan id) parameter is set to 0xffff, the coo rdinator will select a random pan id. otherwise, the coordinator will start on the pan id specified by its id parameter. after the coordinator has started, it will allow n odes to join to it for a time based on its nj (node join time) parameter. if the associated led functio n is enabled (d5 (dio5 configuration) command), the associate pin (pin 15) will toggle it s output state 1x per second after the coordinator stated. at this point, the operating c hannel and pan id can be read using the ch (operating channel) and id (pan id) commands. the 1 6-bit address of the coordinator is always 0. if api is enable (ap parameter > 0): the api mod em status ?coordinator started? frame is sent out the uart. the ai (association indication) comma nd can be used at any point during the coordinator startup routine to determine the status of the startup operation. 4.1.2. joining an xbee series 2 router to an existi ng pan before a router can participate in a zigbee network , the router must locate a coordinator or another router that has already joined a pan, and a ttempt to join to it. to do this, it sends a beacon request frame on each of the sc channels and listens for beacon frames. the scan duration on each channel is determined by the sd parameter. the joining router will evaluate the received beacons to find a coordinator or router that is all owing joins on a valid pan id, and attempt to join to that device. if id = 0xffff, the router will att empt to join to a device on any pan id. otherwise, the router will only attempt joining with a device that operates on the pan id specified by the id parameter. if a valid router/ coordinator is found, the router will attempt to join to that node. if the join succeeds, the router has successfully star ted. after the router has started, it will allow nodes t o join to it for a time based on the nj (node join time) parameter. if the associated led function is enabled(d5 (dio5 configuration) command) the associate pin (pin 15) will toggle its output s tate 2x per second after the router has joined. at this point, the operating channel and pan id can be read using the ch (operating channel) and id (pan id) commands. the 16-bit network address of th e router can be read using the my (16-bit source address) command. if api is enabled (ap para meter > 0): the api modem status ?joined? is sent out the uart. the ai (association indicatio n) command can be used at any point during the router join routine to know the status of the start up operation. 4.1.3. joining an xbee series 2 end device to an ex isting pan joining an end device to a pan is similar to joinin g a router. once the end device joins a pan, however, the end device cannot allow other devices to join to it. if the associate led function is enabled (d5 (dio5 configuration) command), the asso ciate pin (pin 15) will toggle its output state 2x per second after the end device has joined . at this point, the operating channel and pan id can be read using the ch (operating channel) and id (pan id) commands. the 16-bit network
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 21 chapter ! 4 ! ! rf ! module ! configuration address of the end device can be read using the my (16-bit source address) command. if api is enabled (ap parameter > 0), the api modem status ?j oined? is sent out the uart. the ai (association indication) command can be used at any point during the end device join routine to know the status of the startup operation. 4.1.4. network reset once a coordinator has started, or a router or end device has joined the network, the device will continue operating on that channel and pan id unles s one of the following occurs: 1. the id parameter changes, and is saved using the wr command 2. the sc parameter changes and is saved using the wr command, such that the current operating channel is not included in the new sc par ameter 3. the nr command is issued with either 0 or 1 as a parameter if any of the above occurs on a coordinator, the co ordinator will attempt to restart on a channel and pan id based on the new saved id and sc command s. on a router or end device, the above conditions will cause the device to leave the netwo rk (if previously joined) and attempt to join a new pan using the saved id and sc parameters.
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 22 chapter ! 4 ! ! rf ! module ! configuration 4.2. xbee series 2 addressing xbee modules support both zigbee device addressing and application-layer addressing. 4.2.1. device addressing all xbee/xbee-pro modules can be identified by thei r unique 64-bit adresses or a user- configurable ascii string identifier the 64-bit add ress of a module can read using the sh and sl commands. the ascii string identifier is configured using the ni command. to transmit using device addressing, only the destination address mus t be configured. the destination address can be specified using either the destination device?s 64-bit address or its ni-string. the xbee modules also support coordinator and broadcast addressing m odes. device addressing in the at firmware is configured using the dl, dh, or dn commands. in the api firmware, the zigbee transmit request api frame (0x10) can be used to specify destination addresses. 64-bit addressing to address a node by its 64-bit address, the destin ation 64-bit address must be set to match the 64-bit address of the remote. in the at firmware, t he dh and dl commands set the destination 64-bit address. in the api firmware, the destinatio n 64-bit address is set in the zigbee transmit request frame. the coordinator can be addressed by either setting the destination address to 0 or by setting it to match the coordinator's 64-bit add ress. broadcast transmissions can be sent by setting the 64-bit address to 0x000000000000ffff. to send a packet to an rf module using its 64-bit a ddress (transparent mode) to send a packet to an rf module using its 64-bit a ddress (api mode) since the zigbee protocol relies on the 16-bit netw ork address for routing, the 64-bit address must be converted into a 16-bit network address pri or to transmitting data. if a module does not know the 16-bit network address for a given 64-bit address, it will transmit a broadcast network address discovery command. the module with a matchi ng 64-bit address will transmit its 16-bit network address back. once the network address is d iscovered, the data will be transmitted. the modules maintain a table that can store up to s even 64-bit addresses and their corresponding 16-bit network addresses. api addressing api mode provides the ability to store and maintain 16-bit network address tables on an external processor. the 16-bit network address information i s provided to the application through the following: ? the zigbee transmit status frame (contains the current 16-bit network address of the remote) ? the nd and dn commands (return 64-bit and 16-bit network addresses of remo te nodes) with this information, a table can be built in an a pplication that maps a 64-bit address to the corresponding 16-bit network address. the zigbee transmit request api frame specifies the 64-bit address and the network address (if known) that the packet should be sent to. by supply ing both addresses, the module will forego network address discovery and immediately attempt t o route the data packet to the remote. if the network address of a particular remote changes, network address and route discovery will set the dh (destination address high) and dl (desti nation address low) parameters of the source node to match the 64-bit address (sh (serial number high) and sl (serial number low) parameters) of the destination node. use the zigbee transmit request api frame to set th e dh (destination address high) and dl (destination address low) parameters of the source node to match the 64-bit address (sh (serial number high) and sl (serial number low) parameters) of the destination node. if the 16-bit address of the destination node is no t known, set 16-bit destination network address to 0xfffe (refer to the ?api addressing sec tion below).
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 23 chapter ! 4 ! ! rf ! module ! configuration take place to establish a new route to the correct node. upon successful packet delivery, the tx status frame will indicate the correct network addr ess of the remote. ni-string addressing the ni string can alternatively be used to address a remote module. to send a packet to an rf module using its ni-strin g (transparent mode) to send a packet to an rf module using its ni-strin g (api mode) when the dn command is issued, a broadcast transmis sion is sent across the network to discover the module that has a matching ni (node identifier) parameter. if a module is discovered with a matching ni-string, the dh and dl parameters will b e configured to address the destination node and the command will return both the 64-bit address and the 16-bit network address of the discovered node. data can be transmitted after the dn (destination node) command finishes. the ao command. see ?api frames? section for detail s. coordinator addressing a coordinator can be addressed using its 64-bit add ress or ni string as described in the ?ni-string addressing? section. alternatively, since the zigbe e coordinator has a network address of ?0?, it can be addressed by its 16-bit network address. to send a transmission to a coordinator using its 1 6-bit network address: broadcast addressing broadcast transmissions are sent using a 64-bit add ress of 0x0000ffff. any rf module in the pan will accept a packet that contains a broadcast addr ess. when configured to operate in broadcast mode, receiving modules do not send acks (acknowledgements). to send a broadcast packet to all modules note: when programming the module, parameters are e ntered in hexadecimal notation (without the ?0x? prefix). leading zeros may be omitted. refer to the ?broadcast transmissions? for more inf ormation. 4.2.2. application-layer addressing application-layer addressing allows the application to specify endpoint and cluster id values for each transmission. addressing multiple endpoints an d cluster ids can be accomplished by explicitly setting these values as needed. table 4 ! 01. sample table mapping 64 ! bit addresses to 16 ! bit network addresses index 64-bit address 16-bit network address 0 0013 4000 4000 0001 1234 1 0013 4000 4000 0002 5678 2 0013 4000 4000 01a0 a479 3 0013 4000 4000 0220 1f70 issue the dn (destination node) command using the n i (node identifier)-string of the destina- tion node as the parameter. issue the dn command as stated above using the at c ommand api frame. set the destination addresses of the transmitting m odule as shown below: dl (destination low address) = 0 dh (destination high address) = 0 set the destination addresses of the transmitting m odule as shown below: dl (destination low address) = 0x0000ffff dh (destination high address) = 0x00000000
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 24 chapter ! 4 ! ! rf ! module ! configuration in at firmware, application-layer addressing must b e enabled using the za command. when application-layer addressing is enabled, the de and se commands specify the source and destination endpoints, and the ci command sets the cluster id that will be used in the transmission. in api firmware, the explicit addressing zigbee com mand frame (0x11) can be used to configure the endpoint and cluster id addressing parameters a s needed. the destination device can indicate application-layer addressing information if the exp licit receive api frame is addressing information using either the explicit receive indicator or the binding receive api frames. the receive rf data frame is set using binding table addressing the xbee series 2 modules maintain several entries in a binding table. the binding table contains a destination 64-bit address, a type field, and endpo ints for each transmission. non-broadcast transmissions make use of the binding table to spec ify the addressing values for the transmission. some entries in the binding table are reserved by m axstream for special purposes. binding table entries can be accessed by setting the bi command t o a valid index in at firmware, or by using the binding table api command frame in the api firmware . the binding table entries are organized as follows. coordinator binding the coordinator binding contains the 64-bit address of the coordinator. this table entry is populated when the device joins the network. tx-aggregation binding this binding table entry contains the 64-bit addres s of the aggregate (sink) node if one exists. data can be sent to the aggregate node by addressin g this index in the binding table. tx-explicit binding the tx-explicit binding table entry contains the de stination address and endpoint information from the last explicit transmission that was issued. thi s entry is modified whenever explicit addressing is used in either the at or api firmware as describ ed in the "xbee series 2 addressing" section. command binding if a remote command request is received, the comman d binding entry stores information from the device that initiated the command. for example, if the nd or dn command is issued, this binding table entry would contain the source address of the device that sent the nd command. received data bindings the received data bindings contain addressing infor mation for the last three received data packets. the fourth entry is marked invalid. when a data packet is received, the address and endpoint information is stored into the invalid ent ry. then, the oldest entry is made invalid. thus, once an entry is created in the received data bindi ng indexes, it will remain valid until three more rf data packets are received. table 4 ! 02. binding table index name access 0 coordinator binding read-write 1 tx-aggregation binding read-only 2 tx-explicit binding read-write 3-4 command binding read-only 5-8 received data bindings read-only 9 user bindings. read-write
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 25 chapter ! 4 ! ! rf ! module ! configuration figure 4 ! 05. demonstration of how entries in the received data bindings are replaced when an rf data packet is received. user bindings these entries can be created and maintained by the application if needed. the following commands can be used to modify the user bindings. s ee the command descriptions for formatting details. multicast addressing multicast addressing sends a broadcast message that will only be received by devices who subscribe to a multicast group. the binding table i s used to subscribe to a multicast group. to send a multicast transmission, a binding table entry mus t exist where the type field is set to the multicast type value. the 64-bit address in this en try becomes a multicast group address. only remote devices with a matching 64-bit multicast gro up will receive multicast transmissions. once the binding table is configured with a multicast bi nding entry, the binding table index can be specified for a transmission using the bi command ( at firmware), or the binding table api command frame (api firmware). see the xbee binding table section for details. endpoint addressing the zigbee specification, ember stack, and maxstrea m application have reserved some endpoints for different uses. some of these endpoints are not accessible. applications that will support custom endpoints should select endpoints not alread y used by zigbee, ember, or maxstream. the cluster id used by maxstream on the serial data endpoint for serial data transmissions is 0x11. 4.2.3. xbee series 2 endpoint table the xbee series 2 modules maintain a table of suppo rted endpoints. if an endpoint will be used as the source endpoint in a data transmission, the endpoint must first be defined in the endpoint table. table 4 ! 03. command name description b+ add binding creates a binding table entry at a spe cified user binding index. b- remove binding removes a binding from a specified user binding index. bv view binding views one or more bindings in the bin ding table. wb write binding writes the binding table to non-vola tile memory. 3rd 2nd 1st inv 3rd 2nd 1st inv 2nd 1st data inv 3rd 2nd 1st 3 data entries + 1 invalid entry data is inserted into invalid entry data oldest entry (3 rd ) is marked invalid newest or 1st 1 st entry becomes second newest entry 2 nd newest entry becomes oldest data entry
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 26 chapter ! 4 ! ! rf ! module ! configuration the xbee series 2 endpoint table operates similar t o the binding table. entries may be added, removed, or viewed using the e+, e-, and ev command s respectively. some table entries are reserved for special purposes command endpoint the command endpoint is used to send or reply to va rious commands. this endpoint must exist in the application. data endpoint this endpoint is used to send serial data to other xbee series 2 modules. it must always exist in the application. tx-explicit endpoint this entry is used as needed to define the source e ndpoint that must be defined for a data transmission. if a transmit request is made, and th e specified source endpoint does not exist, it will be created temporarily at this endpoint table index. user endpoints user endpoints are controlled entirely by the appli cation. these endpoints may be added, removed, or viewed in the api firmware using the fo llowing commandssee the command descriptions for command formatting details. at pre sent, changes to the endpoint table are saved to non-volatile memory when wr is issued.. 4.3. advanced network features network mapping network mapping has provisions to identify all devi ces on a pan.there are currently two ways to do this either through the node discover (nd) comma nd or the api child joined indicator. both are explained below. node discover (nd) command issuing the nd command on a device sends a broadcas t node discovery command throughout the pan. all devices that receive the command will send a response that includes the device?s 64-bit and 16-bit addresses, along with the ni-string and other information. api child joined indicator routers and end devices can be configured to send a transmission after joining to alert the coordinator, or the entire network, that the device has joined the network. when this message is transmitted, the receiving device(s), if running ap i firmware, will send an advanced modem status indicator out the uart to indicate the 64-bit and 1 6-bit addresses of the joining device. table 4 ! 04. endpoint table index name access 0 command endpoint read-only 1 data endpoint read-only 2 tx-explicit endpoint read-write 3- 4 user endpoints read-write table 4 ! 05. zigbee data transmissions addressing fields command name description e+ add endpoint creates an endpoint entry at a specified user endpo int index. e- remove endpoint removes an endpoint entry from a specified user end point index. ev view endpoint views one or more endpoints in the e ndpoint table.
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 27 chapter ! 4 ! ! rf ! module ! configuration 4.4. i.o. line configuration the xbee series 2 modules support both analog input and digital io line modes on several configurable pins. configuring a/d and digital lines the following table lists the pin functions support ed on the modules . setting the configuration command that corresponds to a particular pin will configure the pin. parameters for the pin configuration commands typic ally include the following: . table 4 ! 06. module pin names module pin numbers configuration command cd/dio12 4 p2 pwm0/rssi/dio10 6 p0 pwm/dio11 7 p1 sleep_rq/dio8 9 io configuration not supported dio4 11 d4 cts/dio7 12 d7 on_sleep/dio9 13 io configuration not supported assoc/dio5 15 d5 rts/dio6 16 d6 ad3/dio3 17 d3 ad2/dio2 18 d2 ad1/dio1 19 di ad0/dio0 20 d0 table 4 ! 07. pin command parameter description 0 unmonitored digital input 1 reserved for pin-specific alternate functionalitie s 2 analog input, single ended (a/d pins only) 3 digital input, monitored 4 digital output, default low 5 digital output, default high 6-9 alternate functionalities, where applicable 0 unmonitored digital input 1 reserved for pin-specific alternate functionalitie s 2 analog input, single ended (a/d pins only) 3 digital input, monitored 4 digital output, default low 5 digital output, default high
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 28 chapter ! 4 ! ! rf ! module ! configuration see the command table for more information. pullup resistors for each digital input can be enabled using the pr command. sampling a/d and digital input lines the is command can be used to read the current valu e of all enabled a/d and digital input lines. the format for the is response is shown below. at t he time, only one sample set is supported in this frame. the at firmware returns a carriage return delimited list containing the above-listed fields. the api firmware returns an at command response api frame w ith the io data included in the command data portion of the packet. to convert the a/d reading to mv, do the following: ad(mv)= (adio reading/0x3ff)*1200mv the reading in the sample frame represent voltage i nputs of 1144.9 and 342.5mv for adio0 and adio1 respectively. bytes name description 1 sample sets in packet number of sample sets in the packet 2 digital channel mask each bit in the digital channel mask corresponds to one digital io line. the bits, from lsb to msb, correspond to doi0-doi5 on t he module. for example a digital channel mask of 0x002f means dio0,1,2,3, and 5 are enabled as digital input lines. 1 analog channel mask each bit in the analog channel mask corresponds to one analog channel. the bits from lsb to msb correspond to ain0-ain7 on the module. for example, if the analog channel mask is 0x06, ai ni and ain3 are enabled as analog input lines. var sampled data set a sample set consisting of 1 sample for each enable d adc and/or dio channel. if any digital input lines are enabled, th e first two bytes indicate the state of all enabled digital input lines. each bit in these two bytes corresponds to one digital io line, similar to the way each bit in the diglossia channel mask corresponds. note: only the digital input line that are enabled in the detail channel mask have valid readings. channels that are not enabled as digital input lines will return a 0 in the sampled data set . if no pins are configured as digital inputs, these 2 bytes will be omitted. following the digital input data, if any, each enab led analog channel will return 2 bytes (10bits). the analog data is scaled such th at 0 represents 0v, and 0x3ff=1.2v. the analog input lines cannot measure m ore than 1.2v. information for each enabled analog channel is retu rned in order, starting with ain0 and finishing with ain4. only enabled analog i nput channels will return data. example sample at response 0x01\r [1 sample set] 0x0c0c\r [digital inputs: dio 2, 3, 10, 11 low] 0x03\r [analog inputs: adop 0, 1] 0x0408\r [digital input states: dio 3, 10 high, dio 2, 11 low] 0x03d0\r [analog input adio 0= 0x3d0] 0x0124\r [analog input adio 1=0x120]
? ! 2007 ! digi ! international, ! inc. !!!!! 29 5. xbee series 2 command reference tables special node types that support the command: c = coordinator, r = router, e = end device addressing table 5 ! 08. special commands at command name and description node type 1 parameter range default wr write . write parameter values to non-volatile memory so that parameter modifications persist through subsequent resets. note: once wr is issued, no additional characters s hould be sent to the module until after the "ok\r" response is received. cre -- -- wb write binding table: writes the current binding table to non-volative m emory. cre -- -- re restore defaults . restore module parameters to factory defaults. re command does not reset the id parameter. cre -- -- fr software reset . reset module. responds immediately with an ?ok? t hen performs a reset ~2 seconds later. use of the fr command will cause a network layer restart on the node if sc or id were modified since the last reset . cre -- -- nr network reset . reset network layer parameters on one or more mod ules within a pan. responds immediately with an ?ok? then causes a net work restart. all network configuration and routing information is consequent ly lost. if nr = 0 : resets network layer parameters on the node issui ng the command. if nr = 1 : sends broadcast transmission to reset network lay er parameters on all nodes in the pan. cre 0 - 1 -- table 5 ! 09. addressing commands (sub ! categories designated within {brackets}) at command name and description node type 1 parameter range default dh 2 destination address high . set/get the upper 32 bits of the 64-bit destinati on address. when combined with dl, it defines the destination a ddress used for transmission. 0x000000000000ffff is the broadcast address for the pan. dh is not supported in api mode. 0x0000000000000000 is the coordinator?s 1 6-bit network address. cre 0 - 0xffffffff 0 dl 2 destination address low . set/get the lower 32 bits of the 64-bit destinati on address. when combined with dh, dl defines the destination a ddress used for transmission. 0x000000000000ffff is the broadcast address for the pan. dl is not supported in api mode. 0x0000000000000000 is the coordinator?s 16-bi t network address. cre 0 - 0xffffffff 0xffff(coordinator) 0 (router/end device) za 2 zigbee application layer addressing . set/read the zigbee application layer addressing enabled attribute. if enabled, data pack ets will use the se, de, and ci commands to address zigbee application layer source and destination endpoints, and the cluster id fields in all data transmissions. za is only supported in the at firmware. cre 0 - 1 0 se 2 source endpoint . set/read the zigbee application layer source endp oint value. if zigbee application layer addressing is enabled (za command), this value will be used as the source endpoint for all data transmissions. se is only supported in at firmware. the default value (0xe8) is the maxstream data endpoint cre 1 - 0xef 0xe8 de 2 destination endpoint . set/read zigbee application layer destination id value. if zigbee application layer addressing is enabled (za command), this value will be used as the destination endpoint all data transmissions. de is only supported in at firmware. the default value (0xe8) is the maxstream data endpoint. cre 0 - 0xef 0xe8 ci 2 cluster identifier . set/read zigbee application layer cluster id valu e. if zigbee application layer addressing is enabled (za command), this valu e will be used as the cluster id for all data transmissions. ci is only s upported in at firmware.the default value (0x11) is the mastream transparent data clust er id. cre 0 - 0xff 0x11 bi 2 binding table index . set/read the binding table index value. if this v alue is set to a valid binding table index, the addressing informati on at that index in the binding table will be used for all data transmissions. bi is only supported in at firmware cre 0 - 0xff 0xff my 16-bit network address. get the 16-bit network address of the module. cre 0 - 0xfffe [read-only] 0xfffe mp 16-bit parent network address. get the 16-bit parent network address of the modul e. e 0 - 0xfffe [read-only] 0xfffe sh serial number high . read high 32 bits of the rf module's unique ieee 64-bit address. 64-bit source address is always enabled. cre 0 - 0xffffffff [read-only] factory-set sl serial number low . read low 32 bits of the rf module's unique ieee 6 4-bit address. 64-bit source address is always enabled. cre 0 - 0xffffffff [read-only] factory-set
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 30 chapter ! 5 ! ! xbee ! series ! 2 ! command ! reference ! tables 1. node types that support the command: c=coordinator, r=router, e=end device 2. command supported by modules using at command firmware only networking & security ni node identifier. stores a string identifier. the register only acce pts printable ascii data. in at command mode, a string can not start wi th a space. a carriage return ends the command. command will automatically end when ma ximum bytes for the string have been entered. this string is returned as part of the nd (node discover) command. this identifier is also used with the dn (destinati on node) command. cre 20-byte printable ascii string -- table 5 ! 010. networking commands (sub ! categories designated within {brackets}) at command name and description node type 1 parameter range default ch operating channel . read the channel number used for transmitting and receiving between rf modules. uses 802.15.4 channel numbers. cre 0, 0x0b-0x1a (xbee) 0 id pan id . set/get the pan (personal area network) id. coordinator - set the preferred pan id. set (id = 0xffff) to a uto-select. router / end device - set the desired pan id. when the device searches for a coordinator, it attempts to only join to a parent t hat has a matching pan id. set (id = 0xffff) to join a parent operating on any pan id. changes to id should be written to non-volatile mem ory using the wr command. id changes are not used until the module is reset (fr, nr or power-up). cre 0 - 0x3fff, 0xffff 0x0234 (291d) bh broadcast hops. set/read the maximum number of hops for each broad cast data transmission. setting this to 0 will use the maximu m number of hops. cre 0 - 0x0f -- nt node discover timeout. set/read the amount of time a node will spend disc overing other nodes when nd or dn is issued. cre 0 - 0xfc [x 100 msec] 0x3c (60d) nd node discover. discovers and reports all rf modules found. the fo llowing information is reported for each module discovered. my sh sl ni (variable length) parent_network address (2 bytes) device_type (1 byte: 0=coord, 1=router, 2=end d evice) status (1 byte: reserved) profile_id (2 bytes) manufacturer_id (2 bytes) after (nt * 100) milliseconds, the command ends by returning a . nd also accepts a node identifier (ni) as a parameter (optional). i n this case, only a module that matches the supplied identifier will respond. if nd is sent through the api, each response is ret urned as a separate at_cmd_response packet. the data consists of the ab ove listed bytes without the carriage return delimiters. the ni string will end in a "0x00" null character. cre optional 20-byte ni or my value -- dn destination node. resolves an ni (node identifier) string to a physi cal address (case- sensitive). the following events occur after the de stination node is discovered: 1. dl & dh are set to the extended (64-bit) address of the module with the matching ni (node identifier) string. 2. ok (or error)\r is returned. 3. command mode is exited to allow immediate commun ication 1. the 16-bit network and 64-bit extended addresses are returned in an api command response frame. if there is no response from a module within (nt * 100) milliseconds or a parameter is not specified (left blank), the command is terminat ed and an ?error? message is returned. in the case of an error, command mode is not exited. cre up to 20-byte printable ascii string -- jn join notification . set/read the join notification value. if enabled, the device will send a transmission after joining a pan identifying itself to other devices in the pan. cre 0 - join notification disabled 1 - send notification only to coordinator after joining pan 2 - send notification as broadcast transmission after joining pan 0 table 5 ! 09. addressing commands (sub ! categories designated within {brackets}) at command name and description node type 1 parameter range default
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 31 chapter ! 5 ! ! xbee ! series ! 2 ! command ! reference ! tables rf interfacing 1. node types that support the command: c = coordinator, r = router, e = end device serial interfacing (i/o) sc scan channels . set/read the list of channels to scan. coordinator - bit field list of channels to choose from prior to starting network. router/end device - bit field list of channels that will be scanned to find a coordinator/ router to join. changes to sc should be written using wr command. s c changes are not used until the module is reset (fr, nr or power-up). bit (channel): 0 (0x0b) 4 (0x0f) 8 (0x13) 12 (0x17) 1 (0x0c) 5 (0x10) 9 (0x14) 13 (0x18) 2 (0x0d) 6 (0x11) 10 (0x15) 14 (0x19) 3 (0x0e) 7 (0x12) 11 (0x16) 15 (0x1a) cre 1 - 0xffff[bitfield] 0x1ffe sd scan duration . set/read the scan duration exponent. changes to s d should be written using wr command. coordinator - duration of the active and energy scans (on each channel) that are used to determine an acceptable channel and pan id for the coordinator to startup on. router / end device - duration of active scan (on each channel) used t o locate an available coordinator / router to join during assoc iation. scan time is measured as:(# channels to scan) * (2 ^ sd) * 15.36ms - the number of channels to scan is determined by the sc parameter. the xbee can scan up to 16 channels (sc = 0xffff). sample scan duration times (13 channel scan): if sd = 0, time = 0.200 sec sd = 2, time = 0.799 sec sd = 4, time = 3.190 sec sd = 6, time = 12.780 sec cre 0 - 7 [exponent] 3 nj node join time . set/read the time that a coordinator/router allow s nodes to join. this value can be changed at run time without requi ring a coordinator or router to restart. the time starts once the coordinator or ro uter has started. the timer is reset on power-cycle or when nj changes. cr 0 ? 0x40, 0xff [x 1 sec] 0xff (always allows joining) ar aggregate routing notification . set/read time between consecutive aggregate route broadcast messages. if used, ar should be set on on ly one device to enable many-to- one routing to the device. setting ar to 0 only sen ds one broadcast cr 0 - 0xff 0xff ai association indication . read information regarding last node join request : 0x00 - successful completion - coordinator started or router/end device found and joined with a parent. 0x21 - scan found no pans 0x22 - scan found no valid pans based on current sc and id settings 0x23 - valid coordinator or routers found, but they are not allowing joining (nj expired) 0x27 - node joining attempt failed 0x2a - coordinator start attempt failed? 0xff - scanning for a parent cre 0 - 0xff [read-only] -- table 5 ! 011. rf interfacing commands at command name and description node type 1 parameter range default pl power level . select/read the power level at which the rf modul e transmits conducted power. cre 0 - 4 (xbee ) 0 = -10 / 10 dbm 1 = -6 / 12 dbm 2 = -4 / 14 dbm 3 = -2 / 16 dbm 4 = 0 / 18 dbm 4 pm power mode . set/read the power mode of the device. enabling b oost mode will improve the receive sensitivity by 1db and increase the tra nsmit power by 2db cre 0-1, 0= -boost mode disabled, 1= boost mode enabled. 1 table 5 ! 012. serial interfacing commands at command name and description node type 1 parameter range default ap 2 api enable . enable api mode. the ap parameter is only applicable when using modu les that contain the following firmware versions:1.1xx (coordinator), 1.3xx (route r/end device) cre 1 - 2 1 = api-enabled 2 = api-enabled (w/escaped control characters) 1 table 5 ! 010. networking commands (sub ! categories designated within {brackets}) at command name and description node type 1 parameter range default
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 32 chapter ! 5 ! ! xbee ! series ! 2 ! command ! reference ! tables 1. node types that support the command: c = coordinator, r = router, e = end device 2. command supported by modules using api firmware only i/o commands ao 2 api options . configure options for api. current options select the type of api rf data receive frame that is used. cre 0 - zigbee rx data indicator enabled (0x90) 1 - explicit rx data indicator api frame enabled (0x91) 2 - binding rx data indicator api frame enabled (0x92) 0 bd interface data rate . set/read the serial interface data rate for commu nication between the module serial port and host. any value above 0x07 will be interpreted as an actu al baud rate. when a value above 0x07 is sent, the closest interface data rate repre sented by the number is stored in the bd register. cre 0 - 7 (standard baud rates) 0 = 1200 bps 1 = 2400 2 = 4800 3 = 9600 4 = 19200 5 = 38400 6 = 57600 7 = 115200 0x80 - 0x38400 (non-standard rates) 3 ro packetization timeout . set/read number of character times of inter-chara cter silence required before packetization. set (ro=0) to transm it characters as they arrive instead of buffering them into one rf packet. cre 0 - 0xff [x character times] 3 d7 dio7 configuration . select/read options for the dio7 line of the rf m odule. cre 0 - 1 0 = disabled 1 = cts flow control 3 = digital input 4 = digital output, low 5 = digital output, high 6 = rs-485 transmit enable (low enable) 7 = rs-485 transmit enable (high enable) 1 d6 dio6 configuration. configure options for the dio6 line of the rf modul e. cre 0 - disabled 1 - rts flow control 0 d5 dio5 configuration . configure options for the dio5 line of the rf mod ule. options include: associated led indicator (led blin ks 1x/sec when the module is powered and 2x/sec when module is associated to a c oordinator.). cre 0 - 1 0 = disabled 1 = associated indication led 3 = digital input 4 1 table 5 ! 013. serial interfacing commands at command name and description node type 1 parameter range default p0 pwm0 configuration . select/read function for pwm0. cre 0 - 1 0 = disabled 1 = rssi pwm 1 p1 dio11 configuration . configure options for the dio11 line of the rf mo dule. cre 0 - unmonitored digital input 3- digital input, monitored 4- digital output, default low 5- digital output, default low 0 p2 dio12 configuration . configure options for the dio12 line of the rf mo dule. cre 0 - unmonitored digital input 3- digital input, monitored 4- digital output, default low 5- digital output, default low 0 table 5 ! 012. serial interfacing commands at command name and description node type 1 parameter range default
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 33 chapter ! 5 ! ! xbee ! series ! 2 ! command ! reference ! tables diagnostics 1. node types that support the command:c = coordinator, r = router, e = end device at command options rp rssi pwm timer. time rssi signal will be output after last transmission. when rp = 0xff, output will always be on. cre 0 - 0xff [x 100 ms] 0x28 (40d) is force sample forces a read of all enabled digital and analog in put lines. cre -- -- d0 ad0/dio0 configuration . select/read function for ad0/dio0. cre 0, 2-5 0 ? disabled 2 - analog input, single ended 3 ? digital input 4 ? digital output, low 5 ? digital output, high 0 d1 ad1/dio1 configuration . select/read function for ad1/dio1. cre 0, 2-5 0 ? disabled 2 - analog input, single ended 3 ? digital input 4 ? digital output, low 5 ? digital output, high 0 d2 ad2/dio2 configuration. select/read function for ad 2/dio2. cre 0, 2-5 0 ? disabled 2 - analog input, single ended 3 ? digital input 4 ? digital output, low 5 ? digital output, high 0 d3 ad3/dio3 configuration. select/read function for ad 3/dio3. cre 0, 2-5 0 ? disabled 2 - analog input, single ended 3 ? digital input 4 ? digital output, low 5 ? digital output, high 0 d4 dio4 configuration. select/read function for dio4 . cre 0, 3-5 0 ? disabled 3 ? digital input 4 ? digital output, low 5 ? digital output, high 0 table 5 ! 014. diagnostics commands at command name and description node type 1 parameter range default vr firmware version . read firmware version of the module. cre 0 - 0xffff [read-only] factory-set hv hardware version . read hardware version of the module. cre 0 - 0xffff [read-only] factory-set table 5 ! 015. at command options commands at command name and description node type 1 parameter range default ct 2 command mode timeout. set/read the period of inactivity (no valid comman ds received) after which the rf module automatically e xits at command mode and returns to idle mode. cre 2 - 0x028f [x 100 ms] 0x64 (100d) cn 2 exit command mode. explicitly exit the module from at command mode. cr e -- -- gt 2 guard times . set required period of silence before and after t he command sequence characters of the at command mode sequence (gt + cc + gt). the period of silence is used to prevent inadvertent entrance into at com mand mode. cre 1 - 0x0ce4 [x 1 ms] (max of 3.3 decimal sec) 0x3e8 (1000d) table 5 ! 013. serial interfacing commands at command name and description node type 1 parameter range default
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 34 chapter ! 5 ! ! xbee ! series ! 2 ! command ! reference ! tables 1. node types that support the command: c = coordinator, r = router, e = end device 2. command supported by modules using at command firmware only sleep commands cc 2 command sequence character . set/read the ascii character value to be used between guard times of the at command mode sequence (gt + cc + gt). the at command mode sequence enters the rf module into at command mode. cc command is only applicable when using modules th at contain the following ?at command? firmware versions: 8.0xx (coordinator), 8. 2xx (router), 8.4xx (end device) cre 0 - 0xff 0x2b (?+? ascii) table 5 ! 016. sleep commands at command name and description node type 1 parameter range default sm sleep mode sets the sleep mode on the rf module re 0-sleep disabled 1-pin sleep enabled 4-cyclic sleep enabled note: when sm=0, the device operates as a router. when sm changes to a non-zero value, the router leaves the network and rejoins as an end device. only end devices can sleep 0 sn number of sleep periods. sets the number of sleep periods to not assert the on/sleep pin on wakeup if no rf data is waiting for the end device. this command allows a host application to sleep for an extended time if no rf data is present re 1-0xff 1 sp sleep period. this value determines how long the end device will sleep at a time, up to 28 seconds. (the sleep time can effectively be exte nded past 28 seconds using the sn command.) on the parent, this value determines how long the parent will buffer a message for the sleeping end device. it should be s et at least equal to the longest sp time of any child end device. cre 0x20 - 0xaf0 x 10ms (quarter second resolution) 0x7d0 (20 seconds) st time before sleep sets the time before sleep timer on an end device. the timer is reset each time serial or rf data is received. once the t imer expires, an end device may enter low power operation. applicable for cyclic sleep en d devices only. re 1 - 0xfffe (x 1ms) 0x1388 (5 seconds) table 5 ! 015. at command options commands at command name and description node type 1 parameter range default
? ! 2007 ! digi ! international, ! inc. !!!!! 35 6. api operation as an alternative to transparent operation, api (ap plication programming interface) operations are available. api operation requires that communic ation with the module be done through a structured interface (data is communicated in frame s in a defined order). the api specifies how commands, command responses and module status messa ges are sent and received from the module using a uart data frame. 6.0.1. api frame specifications two api modes are supported and both can be enabled using the ap (api enable) command. use the following ap parameter values to configure the module to operate in a particular mode: ? ap = 1: api operation ? ap = 2: api operation (with escaped characters) api operation (ap parameter = 1) when this api mode is enabled (ap = 1), the uart da ta frame structure is defined as follows: figure 6 ! 06. uart data frame structure: msb = most significant byte, lsb = least significant byte any data received prior to the start delimiter is s ilently discarded. if the frame is not received correctly or if the checksum fails, the module will reply with a module status frame indicating the nature of the failure. api operation - with escape characters (ap parameter = 2) when this api mode is enabled (ap = 2), the uart da ta frame structure is defined as follows: figure 6 ! 07. uart data frame structure ! with escape control characters: msb = most significant byte, lsb = least significant byte escape characters . when sending or receiving a uart data frame, spec ific data values must be escaped (flagged) so they do not interfere with the data frame sequencing. to escape an interfering data byte, insert 0x7d and follow it wi th the byte to be escaped xor?d with 0x20. start delimiter (byte 1) length (bytes 2-3) frame data (bytes 4-n) checksum (byte n + 1) 0x7e msb lsb api-specific structure 1 byte start delimiter (byte 1) length (bytes 2-3) frame data (bytes 4-n) checksum (byte n + 1) 0x7e msb lsb api-specific structure 1 byte characters escaped if needed
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 36 chapter ! 6 ! ! api ! operation data bytes that need to be escaped: ? 0x7e ? frame delimiter ? 0x7d ? escape ? 0x11 ? xon ? 0x13 ? xoff note: in the above example, the length of the raw d ata (excluding the checksum) is 0x0002 and the checksum of the non-escaped data (excluding fra me delimiter and length) is calculated as: 0xff - (0x23 + 0x11) = (0xff - 0x34) = 0xcb. checksum to test data integrity, a checksum is calculated an d verified on non-escaped data. to calculate : not including frame delimiters and length, add al l bytes keeping only the lowest 8 bits of the result and subtract the result from 0xf f. to verify : add all bytes (include checksum, but not the deli miter and length). if the checksum is correct, the sum will equal 0xff. 6.0.2. api types frame data of the uart data frame forms an api-spec ific structure as follows: figure 6 ! 08. uart data frame & api ! specific structure: the cmdid frame (api-identifier) indicates which ap i messages will be contained in the cmddata frame (identifier-specific data). refer to the sect ions that follow for more information regarding the supported api types. note that multi-byte value s are sent big endian. modem status api identifier: 0x8a rf module status messages are sent from the module in response to specific conditions. figure 6 ! 09. modem status frames example - raw uart data frame (before escaping interfering by tes): 0x7e 0x00 0x02 0x23 0x11 0xcb 0x11 needs to be escaped which results in the follo wing frame: 0x7e 0x00 0x02 0x23 0x7d 0x31 0xcb length (bytes 2-3) checksum (byte n + 1) msb lsb 1 byte start delimiter (byte 1) 0x7e frame data (bytes 4- n ) api-specific structure identifier-specific data cmddata api identifier cmdid cmddata 0x8a length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure status (byte 5) 0 = hardware reset 1 = watchdog timer reset 2 = joined 3 = unjoined 6 = coordinator started
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 37 chapter ! 6 ! ! api ! operation advanced modem status frame (0x8c) api identifier name: advanced modem status frame api identifier value: 0x8c product support: xbee series 2 0x7e api-specific structure 1 byte m sb lsb 0x8c cm dd ata status id 0 status id 1 start delim inator length fram e d ata c hecksum api identifier identifier specific data 64-bit addr] + [16-bit addr] + [type] + [join actio n] type 0 ? coordinator type 1 ? router type 2 ? end device [b ind table index] + [bind type] b ind type 1 ? unicast binding b ind type 2 ? aggregation binding b ind type 3 ? m ulticast binding join action 0 ? device left netw ork join action 1 ? device joined network
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 38 chapter ! 6 ! ! api ! operation at command api identifier value: 0x08 allows for module parameter registers to be queried or set. figure 6 ! 10. at command frames figure 6 ! 11. example: api frames when reading the nj parameter value of the module. figure 6 ! 12. example: api frames when modifying the nj parameter value of the module. a string parameter used with the ni (node identifie r), nd (node discover) and dh (destination address high) command is terminated with a 0x00 cha racter. at command - queue parameter value api identifier value: 0x09 this api type allows module parameters to be querie d or set. in contrast to the ?at command? api type, new parameter values are queued and not appli ed until either the ?at command? (0x08) api type or the ac (apply changes) command is issued. r egister queries (reading parameter values) are returned immediately. figure 6 ! 13. at command frames (note that frames are identical to the at command api type except for the api identifier.) cmddata 0x08 length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure frame id (byte 5) identifies the uart data frame for the host to correlate with a subsequent ack (acknowledgement). if set to ?0?, no response is sent. at command (bytes 6-7) command name - two ascii characters that identify the at command. parameter value (byte(s) 8-n) if present, indicates the requested parameter value to set the given register. if no characters present, register is queried. * ! length ! [bytes] ! = ! api ! identifier ! + ! frame ! id ! + ! at ! command ** ! r ! value ! was ! arbitrarily ! selected. checksum 0x0d byte 8 at command bytes 6-7 frame id** 0x52 (r) byte 5 0x4e (n) 0x4a (j) api identifier 0x08 byte 4 start delimiter byte 1 0x7e length* bytes 2-3 0x00 0x04 * ! length ! [bytes] ! = ! api ! identifier ! + ! frame ! id ! + ! at ! command ! + ! parameter ! value ** ! m ! value ! was ! arbitrarily ! selected. checksum 0xd2 byte 9 at command bytes 6-7 0x4e (n) 0x4a (j) parameter value 0x40 bytes 8 frame id** 0x4d (m) byte 5 length* bytes 2-3 0x00 0x05 api identifier 0x08 byte 4 start delimiter byte 1 0x7e cmddata 0x09 length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure frame id (byte 5) identifies the uart data frame for the host to correlate with a subsequent ack (acknowledgement). if set to ?0?, no response is requested. at command (bytes 6-7) command name - two ascii characters that identify the at command. parameter value (byte(s) 8-n) if present, indicates the requested parameter value to set the given register. if no characters present, register is queried.
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 39 chapter ! 6 ! ! api ! operation at command response api identifier value: 0x88 response to previous command. in response to an at command message, the module wi ll send an at command response message. some commands will send back multiple fram es (for example, the nd (node discover) command). these commands will end by sending a fram e with a status of atcmd_ok and no cmddata. figure 6 ! 14. at command response frames. zigbee transmit request api identifier value: 0x10 a tx request message will cause the module to send rf data as an rf packet.tx packet frames cmddata 0x88 length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure frame id (byte 5 ) identifies the uart data frame being reported. note: if frame id = 0 in at command mode, no at command response will be given. at command (bytes 6-7) command name - two ascii characters that identify the at command. status (byte 8) 0 = ok 1 = error value (byte(s) 9-n) the hex (non-ascii) value of the requested register 0x10 length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure 16-bit destination network address (bytes 14-15) m sb first, lsb last. set to 0xfffe for broadcast tx or if network address is not known 64-bit destination address (bytes 6-13) m sb first, lsb last. broadcast = 0x000000000000ffff broadcast radius (byte 16) sets m axim um num ber of hops a broadcast transm ission can traverse. if set to 0, the tx radi us will be set to the network maximum hops value (10). options (byte 17) 0x01 = disable ack 0x02 = disable network address discovery all other bits m ust be set to 0. frame id (byte 5) identifies the uart data fram e for the host to correlate with a subsequent ack (acknowledgem ent). setting fram e id to ?0' will disable response frame . cmddata rf data (byte(s) 18-n) up to 72 bytes per packet
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 40 chapter ! 6 ! ! api ! operation explicit addressing zigbee command frame (0x11) api identifier name: explicit addressing zigbee com mand frame api identifier value: 0x11 product support: xbee series 2 0x7e api-specific structure 1 byte msb lsb start delimiter length frame data checksum 0x11 cmddata api identifier identifier specific data identifies the uart data frame for the host correlate with a subsequent ack (acknowledgement). setting frame id to ?0? will disable response frame. frame id (byte 5) 64-bit destination address (bytes 6-13) destination 64-bit (extended) address. set to 0xffff for broadcast. 16-bit destination network address (byted 14-15) destination network address (if known). set to 0xfffe for broadcast transmissions or if the destination network address is not known. source endpoint (byte 16) source endpoint for the transmission. destination endpoint (byte 17) destination endpoint for the transmission. reserved (byte 18) set to 0 cluster id (byte 19) cluster id used in the transmission profile id (bytes 20-21) profile id used in the transmission broadcast radius (byte 22) sets the maximum number of hops a broadcast transmi ssion can traverse. if set to 0, the transmission radius will be set to the network maximum hops value. options (byte 23) set to 0 rf data (byte 24-n) up to 72 bytes
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 41 chapter ! 6 ! ! api ! operation binding table zigbee command frame (0x12) api identifier name: binding table zigbee command f rame api identifier value: 0x12 product support: xbee series 2 0x7e api-specific structure 1 byte msb lsb start delimiter length frame data checksum 0x12 cmddata api identifier identifier specific data binding table index (byte 6) this field specifies an index in the binding table. specifies the source endpoint for the transmission source endpoint (bytes 7) set to 0 cluster id the packet was addressed to reserved (byte 9) cluster id (byte 10) set to 0 options (byte 11) up to 72 bytes rf data (byte 12-n) destination endpoint (byte 8) frame id (byte 5) identifies the uart data frame for the host correlate with a subsequent ack (acknowledgement). setting frame id to ? 0? will disable response frame. destination endpoint for the transmission
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 42 chapter ! 6 ! ! api ! operation zigbee transmit status api identifier value: 0x8b when a tx request is completed, the module sends a tx status message. this message will indicate if the packet was transmitted successfully or if there was a failure. figure 6 ! 15. tx status frames zigbee receive packet api identifier value: 0x90 when the module receives an rf packet, it is sent o ut the uart using this message type. figure 6 ! 16. rx packet frames cmddata 0x8b length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure remote network address (bytes 6-7) 16-bit network address the packet was delivered to (if success). if not success, this address matches the destination network address that was provided in the transmit request frame. transmit retry count (byte 8) the number of application transmission retries that took place. discovery status (byte 10) 0x00 = no discovery overhead 0x01 = address discovery 0x02 = route discovery 0x03 = address and route discovery delivery status (byte 9) 0x00 = success 0x02 = cca failure 0x21 = network ack failure 0x22 = not joined to network 0x23 = self-addressed 0x24 = address not found 0x25 = route not found frame id (byte 5) identifies uart data frame being reported. cm ddata 0x90 length checksum start delimiter frame data identifier-specific data api identifier msb lsb 0x7e 1 byte api-specific structure bit 0 = packet acknowledged bit 1 = broadcast address bits 2-7 [reserved] up to 72 bytes per packet 64-bit address (bytes 5-12) options (byte 15) rf data (byte(s) 16-n) 16-bit network address (bytes 13-14) msb (most significant byte) first, lsb (least significant) last msb (most significant byte) first, lsb (least significant) last
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 43 chapter ! 6 ! ! api ! operation zigbee explicit rx indicator (0x91) api identifier name: zigbee explicit rx indicator api identifier value: 0x91 product support: xbee series 2 when the modem receives a zigbee rf packet it is se nt out the uart using this message type if the explicit_receive_option bit is set in ao. 0x7e api-specific structure 1 byte msb lsb 0x91 cmddata start delimiter length frame data checksum ap identifier identifier specific data destination 64-bit (extended) address. set to 0xffff for broadcast. 64-bit source address (bytes 5-12) destination network address (if known). set to 0xfffe for broadcast transmissions or if the destination network add ress is not known. endpoint of the source that initiated the transmission endpoint of the destination the message is addressed to. cluster id the packet was addressed to. profile id the packet was addressed to. (multiple profile ids not yet supported.) source endpoint (byte 15) not yet defined up to 72 bytes. 16-bit source network address (13-14) destination endpoint (byte 16) cluster id (byte 17-18) profile id (byte 19-20) options (byte 21) rf data (byte 22-n)
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 44 chapter ! 6 ! ! api ! operation zigbee binding rx indicator (0x92) api identifier name: zigbee binding rx indicator api identifier value: 0x92 product support: xbee series 2 when the modem receives a zigbee rf packet it is se nt out the uart using this message type if the binding_table_index_receive_option bit is set i n ao. 0x7e api-specific structure 1 byte msb lsb start delimiter length frame data checksum 0x92 cmddata ap identifier identifier specific data binding table index (byte 5) indicates the binding table index entry that was created. this index could be used to send a reply to the originator endpoint of the destination the message is sent to destination endpoint (byte 6) cluster id the packet was addressed to cluster id (byte 7-8) not yet defined options (byte 9) up to 72 bytes rf data (byte 10-n)
? ! 2007 ! digi ! international, ! inc. !!!!! 45 7. examples 7.0.1. starting an xbee network start the coordinator adding a child (router) transmit data 1. determine the operating channels list using the sc (scan channels) command and the pan id to operate using the id (pan id) command. the de fault sd (scan duration) parameter value should suffice. if these values are changed f rom the defaults, they must be written to non-volatile memory using the wr (write) command. 2. the associate led, if enabled using the d5 (dio5 configuration) parameter, will start blink- ing 1x per second once the coordinator has started. if api is enabled (ap parameter > 0): the api modem status ?coordinator started? is sent out the uart. 3. the ai (association indication) parameter will b e 0 signifying a successful startup. 4. the my (16-bit source address) attribute is 0 (the 16-bit network address of a zigbee coordinator ). 5. after startup, the coordinator will allow joinin g based on its nj (node join time) value. 6. it is recommended that the coordinator be config ured with an ni-string identifier. this ni- string identifier should be written to non-volatile memory using the wr (write) command to be preserved through power-loss. 1. determine the operating channel list (sc) and th e desired pan id to join (id) (0xffff - join any pan). the default sd parameter should suffice. if these values are changed from the defaults, they must be written to non-volatile memo ry using the wr (write) command. 2. the router, on power-up, will attempt to locate a parent to join according to its sc and id parameters. 3. once the router has joined a parent, the associa te led, if enabled (d5), will start blinking 2x per second. the id and ch parameters will reflec t the operating pan id and channel. the my parameter will reflect the 16-bit network ad dress of the router. the mp command returns the 16-bit network address of the router?s parent (node it joined to). if api is enabled (ap parameter > 0): the api modem status ?joined? is sent out the uart. 4. if the router is not joining as expected, the ai (association indication) parameter can be read to determine the cause of failure. verify the pan contains a coordinator or nearby joi ned router that has matching channel (sc, ch) and pan id (id) settings and is allowing n odes to join to it (nj parameter). 5. once the router has joined a pan, the router wil l allow joining based on the nj parameter. 6. it is recommended that the router be configured with a unique ni-string identifier. this ni- string identifier should be written to non-volatile memory using the wr (write) command to be preserved through power-loss. 1. start a coordinator (refer to instructions above) . 2. add one or more child router(s) to the coordinato r (refer to instructions above). 3. once the coordinator has started, all routers and end devices should join to a parent and their associate led should blink 2x per second. 4. if any nodes have not joined, read the ai command to determine why. 5. issue the atnd command on the coordinator to get a list of all nodes on the network. 6. use the ?terminal? tab of the x-ctu software to s end serial data between nodes. the data should be transmitted from the source to the destin ation node as specified by the dh & dl parameters. 7. (optional) change the destination address on any node to one of the 64-bit addresses dis- covered using the nd command in step 5 (dh, dl comm ands, or in the ?zigbee transmit request? api frame). then repeat step 6 to transmit data.
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 46 chapter ! 7 ! ! examples 7.0.2. at command programming examples setup sample configuration: modify rf module destination address sample configuration: restore rf module defaults the programming examples in this section require th e installation of maxstream's x-ctu soft- ware and a serial connection to a pc. (maxstream st ocks rs-232 and usb boards to facilitate interfacing with a pc.) 1. install maxstream's x-ctu software to a pc by dou ble-clicking the "setup_x-ctu.exe" file. (the file is located on the maxstream cd and under the 'software' section of the following web page: www.maxstream.net/support/downloads.php) 2. mount the rf module to an interface board, then c onnect the module assembly to a pc. 3. launch the x-ctu software and select the 'pc sett ings' tab. verify the baud and parity set- tings of the com port match those of the rf module. note: failure to enter at command mode is most comm only due to baud rate mismatch. ensure the ?baud? setting on the ?pc settings? tab matches the interface data rate of the rf mod- ule. by default, the bd parameter = 3 (which corres ponds to 9600 bps). example: utilize the x-ctu ?terminal? tab to change the rf module's dl (destination address low) parameter and save the new address to non-volatile memory. after establishing a serial connection between the rf module and a pc [re fer to the 'setup' sec- tion above], select the ?terminal? tab of the x-ctu software and enter the following command lines (?cr? stands for carriage return): method 1 (one line per command) send at command +++ atdl atdl1a0d atwr atcn system response ok (enter into command mode) {current value} (read destination address low) ok (modify destination address low) ok (write to non-volatile memory) ok (exit command mode) method 2 (multiple commands on one line) send at command +++ atdl atdl1a0d,wr,cn system response ok (enter into command mode) {current value} (read destination address low) ok ok ok example: utilize the x-ctu ?modem configuration? ta b to restore default parameter values. after establishing a connection between the module and a pc [refer to the 'setup' section above], select the ?modem configuration? tab of the x-ctu software. 1. select the 'read' button. 2. select the 'restore' button. refer to the x ! ctu sec ! tion of the develop ! ment guide [appendix b] for more information regarding the x ! ctu configuration software.
? ! 2007 ! digi ! international, ! inc. !!!!! 47 8. manufacturing support 8.1. interoperability with other em250 devices the xbee module may integrate functionality to some extent with other em250 based devices. the following should be considered when communicating b etween a maxstream xbee module and another em250-based device. 8.1.1. xbee data transmission and reception the xbee firmware inserts 8 bytes at the beginning of the data payload that represent the 64-bit address of the source module. custom devices that t ransmit to an xbee or receive data from an xbee should make provisions to manage these 8 addre ss bytes in the payload. data packets destined for an xbee module should include the sour ce address of the sending device with the most significant byte copied first. 8.1.2. customizing xbee default parameters once module parameters are determined, maxstream ca n manufacture modules with specific customer-defined configurations. these custom confi gurations can lock in a firmware version or set command values when the modules are manufacture d, eliminating the need for customers to adjust module parameters on arrival. contact maxstr eam to create a custom configuration. 8.1.3. xbee series 2 custom bootloader xbee series 2 modules use a modified version of emb er?s boot loader. this version supports a custom entry mechanism. to invoke the boot loader, do the following: 1. set dtr low (ttl 0v) and rts high. 2. send a serial break to the din pin and power cyc le or reset the module. 3. when the module powers up, dtr and din should be low (ttl 0v) and rts should be high. 4. terminate the serial break and send a carriage r eturn at 115200bps to the module. 5. if successful, the module will send the ember bo ot loader menu out the dout pin at 115200bps. 6. commands can be sent to the boot loader at 11520 0bps. programming xbee series 2 modules firmware on the xbee series 2 modules can be upgrad ed using the maxstream x-ctu program to interface with the din and dout serial lines, or wi th an insight programmer device via insight header.
? ! 2007 ! digi ! international, ! inc. !!!!! 48 appendix a:definitions definitions table a ! 01. terms and definitions zigbee node types coordinator a node that has the unique function of f orming a network. the coordinator is responsible for establishing the ope rating channel and pan id for an entire network. once established, the coordinator can form a network by allowing routers and end devices to join to it. once the network is formed, the coordinator functio ns like a router (it can participate in routing packets and be a sou rce or destination for data packets). -- one coordinator per pan -- establishes/organizes pan -- can route data packets to/from other nodes -- can be a data packet source and destination -- mains-powered refer to the xbee series 2 coordinator section for more information. router a node that creates/maintains network informa tion and uses this information to determine the best route for a data packet. a router must join a network before it can allow other route rs and end devices to join to it. a router can participate in routing packets and is intended to be a mains-powered node. -- several routers can operate in one pan -- can route data packets to/from other nodes -- can be a data packet source and destination -- mains-powered refer to the xbee series 2 router section for more information. end device end devices must always interact with the ir parent to receive or transmit data. (see ?joining definition.) they are intended to sleep periodically and therefore have no routing capacity . an end device can be a source or destination for da ta packets but cannot route packets. end devices can be battery-po wered and offer low-power operation. -- several end devices can operate in one pan -- can be a data packet source and destination -- all messages are relayed through a coordinator or router -- lower power modes zigbee protocol pan personal area network - a data communication net work that includes a coordinator and one or more routers/end devices.
xbee ! series ! 2 ! oem ! rf ! modules ! ! zigbee ! ! v1.x1x ! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. !!!!! 49 chapter ! a ! ! definitions joining the process of a node becoming part of a zig bee pan. a node becomes part of a network by joining to a coordinat or or a router (that has previously joined to the network). during the process of joining, the node that allowed joining (the parent) assigns a 16-bit address to the joining node (the child). network address the 16-bit address assigned to a nod e after it has joined to another node. the coordinator always has a network address of 0. operating channel the frequency selected for data co mmunications between nodes. the operating channel is selected by the coordinator on power-up. energy scan a scan of rf channels that detects the a mount of energy present on the selected channels. the coordinator uses the ene rgy scan to determine the operating channel. route request broadcast transmission sent by a coord inator or router throughout the network in attempt to establish a route to a de stination node. route reply unicast transmission sent back to the or iginator of the route request. it is initiated by a node when it receives a route request packet and its address matches the destination address in the route request packet. route discovery the process of establishing a route to a destination node when one does not exist in the routing table. it is based on the aodv (ad-hoc on-demand distance vector routing) protocol. zigbee stack zigbee is a published specification set of high-level communication protocols for use with small, low-power modules. th e zigbee stack provides a layer of network functionality on top of the 802.15.4 specification. for example, the mesh and routing capabilities avai lable to zigbee solutions are absent in the 802.15.4 protocol. table a ! 01. terms and definitions
? ! 2007 ! maxstream, ! inc. !!!!! 50 appendix b:migrating from the 802.15.4 protocol this following are some of the differences in the z igbee firmware assuming familiarity with the 802.15.4 application: ? zigbee command set ? address assignment ? api / at firmware versions also, refer to the ?getting started? section for mo re information. zigbee command set modified commands ? ch - read only command that displays the operating channel that was selected from sc. ? my - read only command that displays the assigned 16-bit network address of the device. ? ai - zigbee definitions added to this command. see documentation. ? a1, a2 and ce commands are not supported. new commands ? nj (node join time) - this value determines how lo ng a coordinator or router will allow other devices to join to it. this command is supported on coordinators & routers only. ? mp (16-bit parent network address). this value rep resents the 16-bit parent network address of the module. ? bh (broadcast hops). this value sets the maximum n umber of hops for each broadcast data transmission. setting this to 0 will use the maximu m number of hops. api / at firmware versions the 802.15.4 firmware supports the ap command for s etting the module into no api (ap=0), api without escaping (ap=1), or api with escaping (ap=2 ) modes. the first digit in the 802.15.4 firmware versions is a '1'. the zigbee firmware comes in different versions to support the api interface (ap 1, 2 modes) or the at command set (ap 0 mode). the first digit in the zigbee firmware versions is an '8'. the following is a list of firmware versions: ? 1.0xx - coordinator, at command support (transpare nt mode) ? 1.1xx - coordinator, api support (ap 1, 2) ? 1.2xx - router, end device, at command support (tr ansparent mode) ? 1.3xx - router, end device, api support (ap 1, 2)
? ! 2007 ! maxstream, ! inc. !!!!! 51 appendix c: agency certifications fcc, ic, and etsi approvals pending.
? ! 2007 ! digi ! international, ! inc. ! !!!!! 52 appendix d:development guide xbee series 2 development kits the xbee series 2 professional development kit incl udes the hardware and software needed to rapidly create long range wireless data links betwe en nodes (xbee series 2 starter kits that contain fewer modules and accessories are also avai lable). interfacing options the development kit includes rs-232 and usb interfa ce boards. the boards provide a connection to pc ports and therefore give access to the rf mod ule registries. parameters stored in the registry allow oems and integrators to customize th e modules to suite the needs of their data radio systems. the following sections illustrate how to use the in terface boards for development purposes. the maxstream interface board provides means for connec ting the module to any node that has an available rs-232 or usb connector. since the module requires signals to enter at ttl voltages, one of the main functions of the interface board is to convert signals between ttl levels and rs- 232 and usb levels. table d ! 01. items included in the development kit item qty. description part # xbee series 2 module 5 (1) oem rf module, at coordinator with wire antenna (1) oem rf module, at router/end device with wire a ntenna (1) oem rf module, at router/end device with u.fl a ntenna (1) oem rf module, at router/end device with chip a ntenna (1) oem rf module, at router/end device with sma an tenna xb24-bwit-002 xb24-bwit-004 xb24-buit-004 xb24-bcit-004 xb24-bsit-004 rs-232 development board 4 board for interfacing between modules and rs-232 no des (converts signal levels, displays diagnostic info, & more) xbib-r usb development board 1 board for interfacing between modules & usb nodes (converts signal levels, displays diagnostic info, & more) xbib-u rs-232 cable (6?, straight-through) 1 cable for connecting rs-232 interface board with dt e nodes (nodes that have a male serial db-9 port - such as most pcs) jd2d3-cds-6f usb cable (6?) 1 cable for connecting usb interface b oard to usb nodes ju1u2-csb-6f serial loopback adapter 1 [red] adapter for configuring the module assembly ( module + rs-232 interface board) to function as a repeater for rang e testing jd2d3-cdl-a null modem adapter (male-to-male) 1 [black] adapter for connecting the module assembly (module + rs-232 interface board) to other dce (female db-9) nodes jd2d2-cdn-a null modem adapter (female-to-female) 1 [gray] adapter for connecting serial nodes. it allo ws users to bypass the radios to verify serial cabling is functioning properly. jd3d3-cdn-a power adapter (9vdc, 1 a) 1 adapter for powering the rs-232 development board jp5p2-9v11-6f battery clip (9v) 1 clip for remotely powering the rs -232 board w/ a 9v battery jp2p3-c2c-4i rpsma antenna 2 rpsma half-wave dipole antenna (2.4 g hz, 2.1 db) A24-HASM-450 rf cable assembly 2 adapter for connecting rpsma ante nna to u.fl connector jf1r6-cr3-4i cd 1 documentation and software md0030 quick start guide 1 step-by-step instruction on how to create wireless links & test range capabilities of the modules md0026
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 53 development ! guide note: in the following sections, an oem rf module m ounted to an interface board will be referred to as a "module assembly". rs-232 development board external interface b-01a. reset switch figure b ! 01. front view the reset switch is used to reset (re-boot) the rf module. this switch only applies when using the configuration ta bs of maxstream?s x-ctu software. b-01b. i/o & power leds leds indicate rf module activity as follows: yellow (top led) = serial data out (to host) green (middle) = serial data in (from host) red (bottom) = power/association indicator (refer t o the d5 (dio5 configuration) parameter) b-01c. serial port standard female db-9 (rs-232) connector. b-01d. rssi leds rssi leds indicate the amount of fade margin presen t in an active wireless link. fade margin is defined as the differ ence between the incoming signal strength and the module's receiver sensitivity. 3 leds on = very strong signal (> 30 db fade margin) 2 leds on = strong signal (> 20 db fade margin) 1 led on = moderate signal (> 10 db fade margin) 0 led on = weak signal (< 10 db fade margin) b-01e. power connector 5-14 vdc power connector b-02a. dip switch figure b ! 02. back view dip switch functions are not supported in this rele ase. future down- loadable firmware versions will support dip switch configurations. b 01a. config ! switch b 01b. i/o ! & ! power ! leds b 01c. db 9 ! serial ! port b 01d rssi ! leds b 01e. power ! connector b 02a. dip ! switch
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 54 development ! guide rs-232 pin signals figure b ! 03. pins used on the female rs ! 232 (db ! 9) serial connector * ! functions ! listed ! in ! the ! implementation ! column ! may ! not ! be ! available ! at ! the ! time ! of ! release. table d ! 02. pin assignments and implementations db-9 pin rs-232 name description implementation* 1 dcd data-carrier-detect connected to dsr (pin6) 2 rxd receive data serial data exiting the module assembly (to host) 3 txd transmit data serial data entering into the module assembly (from host) 4 dtr data-terminal-ready can enable power-down on the module assembly 5 gnd ground signal ground 6 dsr data-set-ready connected to dcd (pin1) 7 rts / cmd request-to-send / command mode provides rts flow control or enables command mode 8 cts clear-to-send provides cts flow control 9 ri ring indicator optional power input that is connected internally t o the positive lead of the front power connector
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 55 development ! guide wiring diagrams figure b ! 04. dte node (rs ! 232, male db ! 9 connector) wired to a dce module assembly (female db ! 9) figure b ! 05. dce module assembly (female db ! 9 connector) wired to a dce node (rs ! 232, male db ! 9) sample wireless connection: dte <--> dce <--> dce <--> dce figure b ! 06. typical wireless link between dte and dce nodes
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 56 development ! guide adapters the development kit includes several adapters that support the following functions: ? performing range tests ? testing cables ? connecting to other rs-232 dce and dte nodes ? connecting to terminal blocks or rj-45 (for rs-485 /422 nodes) null modem adapter (male-to-male) part number: jd2d2-cdn-a (black, db-9 m-m) the male-to-male null modem adapter is used to connect two dce nodes. a dce node connects with a straight-through cable to the male serial port of a computer (dte). figure b ! 07. male null modem adapter and pinouts figure b ! 08. example of a maxstream radio modem (dce node) connecting to another dce node) null modem adapter (female-to-female) part number: jd3d3-cdn-a (gray, db-9 f-f) the female-to-female null modem adapter is used to verify serial cabling is functioning proper ly. to test cables, insert the female-to-female null modem adapter in place of a pair of module ass emblies (rs-232 interface board + xtend module) and test the connection without the modules in the connection. figure b ! 09. female null modem adapter and pinouts serial loopback adapter part number: jd2d3-cdl-a (red, db-9 m-f) the serial loopback adapter is used for range testing. during a range test, the serial loopback a dapter configures the module to function as a repeater by looping serial data back into the radio for retransmission. figure d ! 01. serial loopback adapter and pinouts
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 57 development ! guide usb development board external interface b-11a. i/o & power leds figure d ! 02. front view leds indicate rf module activity as follows: yellow (top led) = serial data out (to host) green (middle) = serial data in (from host) red (bottom) = power/association indicator (refer t o the d5 (dio5 configuration) parameter) b-11b. rssi leds rssi leds indicate the amount of fade margin presen t in an active wireless link. fade margin is defined as the differ ence between the incoming signal strength and the module's receiver sensitivity. 3 leds on = very strong signal (> 30 db fade margin) 2 leds on = strong signal (> 20 db fade margin) 1 led on = moderate signal (> 10 db fade margin) 0 led on = weak signal (< 10 db fade margin) b-11c. usb port standard type-b oem connector is used to communicat e with oem host and power the rf module. b-12a. dip switch figure d ! 03. back view dip switch functions are not supported in this rele ase. future down- loadable firmware versions will support the dip swi tch configurations. b-12b. reset switch the reset switch is used to reset (re-boot) the rf module. b 11a. i/o ! & ! power ! leds b 11b. rssi ! leds b 11c. usb ! port b 12a. dip ! switch b 12a. reset ! switch
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 58 development ! guide usb pin signals x-ctu software x-ctu is a maxstream-provided software program used to interface with and configure maxstream rf modules. the software application is o rganized into the following four tabs: ? pc settings tab - setup pc serial ports for interf acing with an rf module ? range test tab - test the rf module's range and mo nitor packets sent and received ? terminal tab - set and read rf module parameters u sing at commands ? modem configuration tab - set and read rf module p arameters figure d ! 04. x ! ctu user interface (pc settings, range test, terminal and modem configuration tabs) note: pc setting values are visible at the bottom of the range test, termin al and modem configura- tion tabs. a shortcut for editing pc setting values is available by clicking on any of the values. install double-click the "setup_x-ctu.exe" file and follow prompts of the installation screens. this file is located in the 'software' folder of the maxstream c d and also under the 'downloads' section of the following web page: www.maxstream.net/support/downl oads.php setup serial communications software a terminal program is built into the x-ctu software . other terminal programs such as "hyperterminal" can also be used. when issuing at c ommands through a terminal program interface, use the following syntax: figure d ! 05. syntax for sending at commands table d ! 03. usb signals and their implantations on the xbee/xbee ! pro rf module pin name description implementation 1 vbus power power the rf module 2 d- transmitted & received data transmit data to and from the rf module 3 d+ transmitted & received data transmit data to and from the rf module 4 gnd ground signal ground to use the x-ctu software, a module assembly (an rf module mounted to an interface board) must be connected to a serial port of a pc. the int erface data rate and parity settings of the serial port ("pc settings" tab) must match those of the module (bd (baud rate) and nb (parity) parameters).
xbee/xbee pro ! zigbee ! oem ! rf ! modules ! v1.x1x !! [2007.06.01] ? ! 2007 ! digi ! international, ! inc. ! !!!!! 59 development ! guide note: to read a parameter value stored in a registe r, leave the parameter field blank. the example above issues the dl (destination addres s low) command to change destination address of the module to "0x1f". to save the new va lue to the module?s non-volatile memory, issue wr (write) command after modifying parameters .
? ! 2007 ! digi ! international, ! inc. !!!!! 60 appendix e:additional information 1-year warranty xbee series 2 rf modules from maxstream, inc. (the "product") are warranted against defects in materials and workmanship under normal use, for a p eriod of 1-year from the date of purchase. in the event of a product failure due to materials or workmanship, maxstream will repair or replace the defective product. for warranty service, return the defective product to maxstream, shipping prepaid, for prompt repair or replacement. the foregoing sets forth the full extent of maxstre am's warranties regarding the product. repair or replacement at maxstream's option is the exclusive remedy. this warranty is given in lieu of all other warranties, express or implied, and ma xstream specifically disclaims all warranties of merchantability or fitness for a particular purpose. in no event shall maxstream, its suppliers or licensors be liab le for damages in excess of the purchase price of the product, for any loss of use, loss of time, inconvenience, commercial loss, lost profits or savings, or other incidental, special or conse- quential damages arising out of the use or inabilit y to use the product, to the full extent such may be disclaimed by law. some sta tes do not allow the exclusion or limitation of incidental or consequential damage s. therefore, the foregoing exclusions may not apply in all cases. this warrant y provides specific legal rights. other rights which vary from state to state may also appl y. ordering information figure e ! 01. divisions of the xbee/xbee ! pro rf module part numbers contact maxstream free and unlimited technical support is included wi th every maxstream radio modem sold. for the best in wireless data solutions and support, please use the following resources: maxstream office hours are 8:00 am - 5:00 pm [u.s. mountain standard time] documentation: www.maxstream.net/support/downloads. php technical support: phone. (866) 765-9885 toll-free u .s.a. & canada (801) 765-9885 worldwide live chat. www.maxstream.net e-mail. rf-xperts@maxstream.net x b 2 4 - b i t - 0 0 antenna types s = rpsma w = wire antenna c = chip antenna u = u.fl connector firmware versions 1 = coordinator; api operation 2 = coordinator; transparent operation 3 = router/end device; api operation 4 = router/end device, transparent operation

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