t1 = millis();
state = xbeeZB.sendXBee(syncBeacon);
t2 = millis();
sprintf(temp80, "\r\n-[ SYNC REQUEST BRDCST COMPLETED IN (mS): %u STATE: %u", (t2-t1),

/*
 *  Creating a network with Synchronisation beacon.
 *
 *  Version: 0.1
 *  Date:    20/12/2011
 */

#define  MAX_DATA   200
#define  MAC_END    "0013A20040690224"
#define  GNSSMAC_P  "0013A200406972C3"
#define  GNSSMAC_Q  "0013A200406972D1"
#define  GNSSMAC_R  "0013A200406972C8"
#define  GNSSMAC_S  "0013A200406972C7"
#define  GNSSMAC_T  "0013A200406972C4"

uint8_t  PANID[8]={0x12,0x34,0,0,0,0,0,0};
char       myMac[20];   // Full mac address
char       macLow[20];
char      macHigh[20];
char       temp80[80];
char       temp20[20];

unsigned long previous   = 0;
unsigned long t1, t2, t3;          // used to benchmark code throughput
unsigned broadcastCounter = 0;
packetXBee  * syncBeacon;     // Must be global

//********************************************************************
// Start of function declarations
//*******************************************************************/
void  toggleLEDs(uint8_t  times)
{     while(times--)
       {  Utils.setLED(LED0, LED_ON);   Utils.setLED(LED1, LED_OFF);  delay(20);
           Utils.setLED(LED0, LED_OFF);  Utils.setLED(LED1, LED_ON);   delay(20);
       }
}

void  broadcastBeacon()
{
uint8_t   state;
t1 = millis();
state = xbeeZB.sendXBee(syncBeacon);
t2 = millis();
sprintf(temp80, "\r\n-[ SYNC REQUEST BRDCST COMPLETED IN (mS): %u STATE: %u", (t2-t1), state);
printString(temp80, 1);
if (!state) {  printString("\r\n-[ RETRIES: ", 1);
               printInteger(syncBeacon->retries, 1);
               printString("\r\n-[ STATUS: ", 1);
               printInteger(syncBeacon->deliv_status, 1);
            }
}

void     formBroadcastPacket(uint8_t gts)
{
unsigned t1, t2;
if (gts > 10000) gts = 10000;    // Error bounds
t1=millis();
sprintf(temp20, "SYNC,%u", gts);
syncBeacon=(packetXBee *)calloc(1, sizeof(packetXBee));
syncBeacon->mode=BROADCAST   ;
syncBeacon->MY_known = 0     ;
syncBeacon->packetID = 0x52  ;
syncBeacon->opt      = 0x0   ;
xbeeZB.hops          = 1     ;
xbeeZB.setOriginParams(syncBeacon, "", MAC_TYPE);
xbeeZB.setDestinationParams(syncBeacon, "0000000000000000FFFF", temp20, MAC_TYPE, DATA_ABSOLUTE);
printString("\r\n -[ DEBUG: BROADCAST MESSAGE FORMED IN (mS): ", 1);
printInteger(millis()-t1, 1);
}

// Function to delete the broadcasted packet and free memory
void   deleteBroadcastPacket()
{      free(syncBeacon);
       syncBeacon = NULL; 
}

// Function to display Mac Address of current XBee.

void   displayOwnMac()
{      xbeeZB.getOwnMacHigh();
       xbeeZB.getOwnMacLow();
       sprintf(macHigh, "%02X%02X%02X%02X", xbeeZB.sourceMacHigh[0], xbeeZB.sourceMacHigh[1], xbeeZB.sourceMacHigh[2], xbeeZB.sourceMacHigh[3]);
       sprintf(macLow,  "%02X%02X%02X%02X", xbeeZB.sourceMacLow[0],  xbeeZB.sourceMacLow[1],  xbeeZB.sourceMacLow[2],  xbeeZB.sourceMacLow[3]);
       printString("\r\n-[ DEBUG: Gateway MAC is ", 1);
       strcpy(myMac, strcat(macHigh, macLow));
       printString(myMac, 1);
}
// Start of main program with setup first

void setup()
{ beginSerial(38400, 1);
  Utils.setMuxAux1();
  USB.begin();                                      // starts using the serial port
  xbeeZB.init(ZIGBEE,FREQ2_4G,PRO);              // Powers XBee
  // xbeeZB.init(ZIGBEE,FREQ2_4G,PRO);
  xbeeZB.ON();                                      // Getting Channel
  xbeeZB.setAPSencryption(XBEE_OFF);
  printString("\r\n************************************************", 1);
  printString("\r\n**[ INITIALISING DEBUG INFORMATION ON BEACON ]**", 1);
  printString("\r\n************************************************", 1);
  xbeeZB.setPAN(PANID);
  if (!xbeeZB.error_AT)     printString("\r\n-[ DEBUG: Beacon PANID set ok", 1);
  else                      {
                            printString("\r\n-[ DEBUG: Error setting PANID", 1);
                            printString("\r\n-[ DEBUG: Insert module, reset in 5secs ", 1);
                            delay(5000);
                            PWR.reboot();
                            }
  printString("\r\n-[ DEBUG: Receiver Battery ", 1);
  sprintf(temp80, "%u %c ", (unsigned)PWR.getBatteryLevel(),'\%');
  printString(temp80, 1);
  xbeeZB.encryptionMode(0);
  if( !xbeeZB.error_AT )    printString("\r\n-[ DEBUG: Security disabled ]-",     1);
  else                      printString("\r\n-[ DEBUG: Error while enabling security ]-", 1);      // Configuring Trust Center
 
  xbeeZB.setNodeIdentifier("NODE-0");
  xbeeZB.getNodeIdentifier();
  printString("\r\n-[ DEBUG: Name of node: ", 1);
  printString(xbeeZB.nodeID, 1);
  // xbeeZB.setNetworkRetries(3);
  xbeeZB.setPowerLevel(1);           // set to maximum power (+2dBm).
  xbeeZB.setStackProfile(2);
  xbeeZB.setScanningChannels(0xff,0xff);
  xbeeZB.setDurationEnergyChannels(3);
  xbeeZB.setJoinTime(0xff);          //  Always allow joining
  xbeeZB.setJoinNotification(1);

  printString("\r\n-[ DEBUG: Network Initialisation (3 seconds) ]-",       1);
  displayOwnMac();
  xbeeZB.getChannel();
  sprintf(temp80, "\r\n-[ DEBUG: Beacon init on chan: %02u ]-", (unsigned)xbeeZB.channel);
  printString(temp80, 1);
  xbeeZB.setMaxUnicastHops(1);      //  Star so do not route through other device
  xbeeZB.setMaxBroadcastHops(1);   //

  xbeeZB.writeValues();
  if (!xbeeZB.error_AT )    printString("\r\n-[ DEBUG: XBee Changes stored OK",     1);
  else                            printString("\r\n-[ DEBUG: Error while storing values", 1);

  unsigned counter = 0;            // This is 10 seconds - waiting for nodes to join !
  printString("\r\n-[ DEBUG: Waiting to join PAN .. ", 1);
  counter = 0;
  // Wait for first device to join to coordinator...
  do {  xbeeZB.getAssociationIndication();     
        if (xbeeZB.associationIndication != 0x2B) 
             printString("\r\n-[ DEBUG: 1st Pass waiting for network association (code): ", 1);
        delay(250);
        printInteger(xbeeZB.associationIndication, 1);
     }  while(xbeeZB.associationIndication > 0);
     
  uint8_t  bros;
  xbeeZB.scanNetwork();               
  if (xbeeZB.totalScannedBrothers > 0)
    {   printString("\r\n-[ DEBUG: MAC Joined: ", 1);
        bros = xbeeZB.totalScannedBrothers-1;
        sprintf(macHigh, "%02X%02X%02X%02X", xbeeZB.scannedBrothers[bros].SH[0],   
.                 xbeeZB.scannedBrothers[bros].SH[1], xbeeZB.scannedBrothers[bros].SH[2], 
.                 xbeeZB.scannedBrothers[bros].SH[3]);
        sprintf(macLow , "%02X%02X%02X%02X", xbeeZB.scannedBrothers[bros].SL[0],
.                 xbeeZB.scannedBrothers[bros].SL[1], xbeeZB.scannedBrothers[bros].SL[2],
.                 xbeeZB.scannedBrothers[bros].SL[3]);
        sprintf(temp80, "%s-%s", macHigh, macLow);
        printString(temp80, 1);
    }
  else
    {   printString("\r\n-[ DEBUG: Network association failed, rebooting (5 secs)", 1);
        delay(5000);
        PWR.reboot();
    }
  do {  xbeeZB.getAssociationIndication();
        printString("\r\n-[ DEBUG: 2nd Pass rechecking network association (code): ", 1);
        printInteger(xbeeZB.associationIndication, 1);
     }  while(xbeeZB.associationIndication > 0);  // stop if network association still good
        sprintf(temp80, "\r\n-[ DEBUG: Brothers %u ", xbeeZB.totalScannedBrothers);
        printString(temp80, 1);
        printString("\r\n-[ DEBUG: Starting beacon (3 secs) ]-", 1);
        formBroadcastPacket(200);
        delay(3000);
}
 
uint8_t code      = 0;
uint8_t beacons = 0;
uint8_t value     = 0;
uint8_t stime     = 0;

void loop()               // This loop continually forces the network PANID
{ unsigned long tscan;
  t3=millis();
  toggleLEDs(3);
  if (beacons++ > 20)
    {  beacons = 0;
       xbeeZB.setPAN(PANID);
       do {  xbeeZB.getAssociationIndication();
          }  while(xbeeZB.associationIndication > 0);
       printString("\r\nDevice associations ok", 1);
    }
  broadcastBeacon();
  printString("\r\nFree memory: ", 1);
  printInteger(freeMemory(), 1);      // Check for memory leaks. */
  while(millis()-t3 < 1000);          // Synchronise beacon for 1Hz
}