root / trunk / code / projects / libwireless / lib / xbee.c @ 1428
History | View | Annotate | Download (22.1 KB)
1 | 242 | bcoltin | /**
|
---|---|---|---|
2 | * Copyright (c) 2007 Colony Project
|
||
3 | 409 | emarinel | *
|
4 | 242 | bcoltin | * Permission is hereby granted, free of charge, to any person
|
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | 409 | emarinel | *
|
13 | 242 | bcoltin | * The above copyright notice and this permission notice shall be
|
14 | * included in all copies or substantial portions of the Software.
|
||
15 | 409 | emarinel | *
|
16 | 242 | bcoltin | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | **/
|
||
25 | |||
26 | /**
|
||
27 | * @file xbee.c
|
||
28 | * @brief XBee Interface
|
||
29 | *
|
||
30 | * Implementation of low level communication with the XBee in API mode.
|
||
31 | *
|
||
32 | * @author Brian Coltin, Colony Project, CMU Robotics Club
|
||
33 | **/
|
||
34 | |||
35 | 17 | bcoltin | #include "xbee.h" |
36 | #include "wl_defs.h" |
||
37 | |||
38 | #ifndef ROBOT
|
||
39 | |||
40 | #include <fcntl.h> |
||
41 | #include <unistd.h> |
||
42 | #include <pthread.h> |
||
43 | #include <errno.h> |
||
44 | 309 | emarinel | #include <termios.h> |
45 | 17 | bcoltin | |
46 | #else
|
||
47 | |||
48 | #include <serial.h> |
||
49 | #include <avr/interrupt.h> |
||
50 | |||
51 | #endif
|
||
52 | |||
53 | #include <stdio.h> |
||
54 | #include <stdlib.h> |
||
55 | #include <string.h> |
||
56 | |||
57 | #define XBEE_FRAME_START 0x7E |
||
58 | 581 | jknichel | #define XBEE_GET_PACKET_TIMEOUT 1000 |
59 | 17 | bcoltin | |
60 | /*Frame Types*/
|
||
61 | #define XBEE_FRAME_STATUS 0x8A |
||
62 | #define XBEE_FRAME_AT_COMMAND 0x08 |
||
63 | #define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88 |
||
64 | #define XBEE_FRAME_TX_REQUEST_64 0x00 |
||
65 | #define XBEE_FRAME_TX_REQUEST_16 0x01 |
||
66 | #define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
|
||
67 | #define XBEE_FRAME_RX_64 0x80 |
||
68 | #define XBEE_FRAME_RX_16 XBEE_RX
|
||
69 | |||
70 | /*Internal Function Prototypes*/
|
||
71 | |||
72 | /*I/O Functions*/
|
||
73 | 397 | emarinel | static int xbee_send(char* buf, int size); |
74 | 418 | emarinel | static int xbee_send_string(char* c); |
75 | 17 | bcoltin | |
76 | #ifndef ROBOT
|
||
77 | 418 | emarinel | static int xbee_read(char* buf, int size); |
78 | 17 | bcoltin | #endif
|
79 | |||
80 | /*Command Mode Functions
|
||
81 | * Called during initialization.
|
||
82 | */
|
||
83 | 418 | emarinel | static int xbee_enter_command_mode(void); |
84 | static int xbee_exit_command_mode(void); |
||
85 | static int xbee_enter_api_mode(void); |
||
86 | 581 | jknichel | static int xbee_wait_for_string(char* s, int len); |
87 | static int xbee_wait_for_ok(void); |
||
88 | 17 | bcoltin | |
89 | /*API Mode Functions*/
|
||
90 | |||
91 | 418 | emarinel | static int xbee_handle_packet(char* packet, int len); |
92 | static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen); |
||
93 | static void xbee_handle_status(char status); |
||
94 | static int xbee_verify_checksum(char* packet, int len); |
||
95 | static char xbee_compute_checksum(char* packet, int len); |
||
96 | static int xbee_send_frame(char* buf, int len); |
||
97 | static int xbee_send_read_at_command(char* command); |
||
98 | static int xbee_send_modify_at_command(char* command, char* value); |
||
99 | 17 | bcoltin | |
100 | /*Global Variables*/
|
||
101 | |||
102 | #ifndef ROBOT
|
||
103 | 399 | emarinel | static char* xbee_com_port = XBEE_PORT_DEFAULT; |
104 | static int xbee_stream; |
||
105 | static pthread_t* xbee_listen_thread;
|
||
106 | 17 | bcoltin | #endif
|
107 | |||
108 | 336 | bcoltin | // TODO: is this a good size?
|
109 | 736 | bcoltin | #define XBEE_BUFFER_SIZE 128 |
110 | #define PACKET_BUFFER_SIZE 108 |
||
111 | 336 | bcoltin | // a buffer for data received from the XBee
|
112 | char arrival_buf[XBEE_BUFFER_SIZE];
|
||
113 | // location of last unread byte in buffer
|
||
114 | volatile int buffer_last = 0; |
||
115 | // first unread byte in buffer
|
||
116 | volatile int buffer_first = 0; |
||
117 | 17 | bcoltin | |
118 | 336 | bcoltin | |
119 | 17 | bcoltin | //used to store packets as they are read
|
120 | 736 | bcoltin | static char xbee_buf[PACKET_BUFFER_SIZE]; |
121 | 418 | emarinel | static int currentBufPos = 0; |
122 | 17 | bcoltin | |
123 | //XBee status
|
||
124 | 418 | emarinel | static unsigned int xbee_panID = XBEE_PAN_DEFAULT; |
125 | static unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT; |
||
126 | static int xbee_channel = XBEE_CHANNEL_DEFAULT; |
||
127 | static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT; |
||
128 | 581 | jknichel | static volatile unsigned int xbee_address = 0; |
129 | 17 | bcoltin | |
130 | /*Function Implementations*/
|
||
131 | |||
132 | #ifdef ROBOT
|
||
133 | |||
134 | /**
|
||
135 | * Interrupt for the robot. Adds bytes received from the xbee
|
||
136 | 336 | bcoltin | * to the buffer.
|
137 | 17 | bcoltin | **/
|
138 | 86 | bcoltin | #ifndef FIREFLY
|
139 | 346 | bcoltin | ISR(USART1_RX_vect) |
140 | { |
||
141 | char c = UDR1;
|
||
142 | arrival_buf[buffer_last] = c; |
||
143 | int t = buffer_last + 1; |
||
144 | if (t == XBEE_BUFFER_SIZE)
|
||
145 | t = 0;
|
||
146 | if (t == buffer_first)
|
||
147 | { |
||
148 | 736 | bcoltin | WL_DEBUG_PRINT("\nOut of space in buffer.\n");
|
149 | 346 | bcoltin | } |
150 | buffer_last = t; |
||
151 | 17 | bcoltin | } |
152 | 86 | bcoltin | #else
|
153 | 346 | bcoltin | SIGNAL(SIG_USART0_RECV) |
154 | { |
||
155 | char c = UDR0;
|
||
156 | arrival_buf[buffer_last] = c; |
||
157 | int t = buffer_last + 1; |
||
158 | if (t == XBEE_BUFFER_SIZE)
|
||
159 | t = 0;
|
||
160 | if (t == buffer_first)
|
||
161 | { |
||
162 | WL_DEBUG_PRINT("Out of space in buffer.\n");
|
||
163 | } |
||
164 | buffer_last = t; |
||
165 | 86 | bcoltin | } |
166 | #endif
|
||
167 | 17 | bcoltin | |
168 | #else
|
||
169 | |||
170 | 418 | emarinel | // Computer code
|
171 | |||
172 | 17 | bcoltin | /**
|
173 | * Thread that listens to the xbee.
|
||
174 | **/
|
||
175 | 418 | emarinel | static void* listen_to_xbee(void* x) |
176 | 346 | bcoltin | { |
177 | char c;
|
||
178 | while (1) |
||
179 | { |
||
180 | 418 | emarinel | if (xbee_read(&c, 1) != 0) { |
181 | 736 | bcoltin | WL_DEBUG_PRINT("xbee_read failed.\n");
|
182 | 418 | emarinel | return NULL; |
183 | } |
||
184 | 717 | jknichel | |
185 | 346 | bcoltin | arrival_buf[buffer_last] = c; |
186 | int t = buffer_last + 1; |
||
187 | if (t == XBEE_BUFFER_SIZE)
|
||
188 | t = 0;
|
||
189 | if (t == buffer_first)
|
||
190 | { |
||
191 | WL_DEBUG_PRINT("Out of space in buffer.\n");
|
||
192 | } |
||
193 | buffer_last = t; |
||
194 | 409 | emarinel | |
195 | usleep(1000);
|
||
196 | 346 | bcoltin | } |
197 | 418 | emarinel | |
198 | return NULL; |
||
199 | 17 | bcoltin | } |
200 | |||
201 | #endif
|
||
202 | |||
203 | /**
|
||
204 | * Initializes the XBee library so that other functions may be used.
|
||
205 | **/
|
||
206 | 399 | emarinel | int xbee_lib_init()
|
207 | 346 | bcoltin | { |
208 | 744 | bcoltin | WL_DEBUG_PRINT("in xbee_init\n");
|
209 | 581 | jknichel | #ifdef ROBOT
|
210 | 17 | bcoltin | |
211 | 346 | bcoltin | //enable the receiving interrupt
|
212 | 412 | emarinel | #ifdef FIREFLY
|
213 | 346 | bcoltin | UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
214 | 412 | emarinel | #else
|
215 | 887 | bcoltin | #ifdef BAYBOARD
|
216 | UCSR1B |= _BV(RXCIE1); |
||
217 | #else
|
||
218 | 346 | bcoltin | UCSR1B |= _BV(RXCIE); |
219 | 412 | emarinel | #endif
|
220 | 887 | bcoltin | #endif
|
221 | 346 | bcoltin | sei(); |
222 | 412 | emarinel | #else
|
223 | 346 | bcoltin | xbee_stream = open(xbee_com_port, O_RDWR); |
224 | if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) |
||
225 | { |
||
226 | 736 | bcoltin | WL_DEBUG_PRINT("Failed to open connection to XBee on port ");
|
227 | WL_DEBUG_PRINT_INT(xbee_com_port); |
||
228 | WL_DEBUG_PRINT(".\n");
|
||
229 | 346 | bcoltin | return -1; |
230 | 581 | jknichel | } else {
|
231 | 736 | bcoltin | WL_DEBUG_PRINT("Successfully opened connection to XBee on port ");
|
232 | WL_DEBUG_PRINT_INT(xbee_com_port); |
||
233 | WL_DEBUG_PRINT(".\n");
|
||
234 | 346 | bcoltin | } |
235 | 409 | emarinel | |
236 | 346 | bcoltin | // set baud rate, etc. correctly
|
237 | struct termios options;
|
||
238 | 309 | emarinel | |
239 | 346 | bcoltin | tcgetattr(xbee_stream, &options); |
240 | cfsetispeed(&options, B9600); |
||
241 | cfsetospeed(&options, B9600); |
||
242 | options.c_iflag &= ~ICRNL; |
||
243 | options.c_oflag &= ~OCRNL; |
||
244 | options.c_cflag |= (CLOCAL | CREAD); |
||
245 | options.c_cflag &= ~PARENB; |
||
246 | options.c_cflag &= ~CSTOPB; |
||
247 | options.c_cflag &= ~CSIZE; |
||
248 | options.c_cflag |= CS8; |
||
249 | options.c_lflag &= ~ICANON; |
||
250 | options.c_cc[VMIN] = 1;
|
||
251 | options.c_cc[VTIME] = 50;
|
||
252 | 309 | emarinel | |
253 | 346 | bcoltin | if (tcsetattr(xbee_stream, TCSANOW, &options))
|
254 | { |
||
255 | 736 | bcoltin | WL_DEBUG_PRINT("Error setting attributes.\n");
|
256 | 346 | bcoltin | return -1; |
257 | } |
||
258 | 309 | emarinel | |
259 | 409 | emarinel | xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t));
|
260 | 346 | bcoltin | if (xbee_listen_thread == NULL) |
261 | { |
||
262 | 736 | bcoltin | WL_DEBUG_PRINT("Malloc failed.\n");
|
263 | 346 | bcoltin | return -1; |
264 | } |
||
265 | 409 | emarinel | |
266 | int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL); |
||
267 | 346 | bcoltin | if (ret)
|
268 | { |
||
269 | 736 | bcoltin | WL_DEBUG_PRINT("Failed to create listener thread.\n");
|
270 | 346 | bcoltin | return -1; |
271 | } |
||
272 | 412 | emarinel | #endif
|
273 | 409 | emarinel | |
274 | 744 | bcoltin | WL_DEBUG_PRINT("Entering command mode.\n");
|
275 | 613 | jknichel | |
276 | 418 | emarinel | if (xbee_enter_command_mode() != 0) { |
277 | return -1; |
||
278 | } |
||
279 | 409 | emarinel | |
280 | 744 | bcoltin | WL_DEBUG_PRINT("Entered command mode.\n");
|
281 | |||
282 | 418 | emarinel | if (xbee_enter_api_mode() != 0) { |
283 | return -1; |
||
284 | } |
||
285 | |||
286 | 744 | bcoltin | WL_DEBUG_PRINT("Entered api mode.\n");
|
287 | |||
288 | 418 | emarinel | if (xbee_exit_command_mode() != 0) { |
289 | 931 | tachim | return -1; |
290 | 418 | emarinel | } |
291 | 931 | tachim | |
292 | 744 | bcoltin | WL_DEBUG_PRINT("Left command mode.\n");
|
293 | |||
294 | 418 | emarinel | if (xbee_send_read_at_command("MY")) { |
295 | return -1; |
||
296 | } |
||
297 | 744 | bcoltin | WL_DEBUG_PRINT("Getting ATMY address.\n");
|
298 | 418 | emarinel | |
299 | 581 | jknichel | #ifndef ROBOT
|
300 | int i;
|
||
301 | for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) { |
||
302 | ret = xbee_get_packet(NULL);
|
||
303 | |||
304 | usleep(1000);
|
||
305 | 931 | tachim | |
306 | /* if (ret == -1) { */
|
||
307 | /* WL_DEBUG_PRINT("xbee_get_packet(NULL) failed.\n"); */
|
||
308 | /* return -1; */
|
||
309 | /* } */
|
||
310 | 581 | jknichel | } |
311 | #else
|
||
312 | 346 | bcoltin | //wait to return until the address is set
|
313 | 717 | jknichel | //TODO: this shouldn't wait indefinitely. There should be some sort of reasonable timeout
|
314 | // so if the address is never set right, an error can be returned instead of having the
|
||
315 | // robot hang forever
|
||
316 | 581 | jknichel | while (xbee_address == 0) { |
317 | xbee_get_packet(NULL);
|
||
318 | } |
||
319 | #endif
|
||
320 | 744 | bcoltin | WL_DEBUG_PRINT("Got ATMY address.\n");
|
321 | 309 | emarinel | |
322 | 581 | jknichel | #ifndef ROBOT
|
323 | if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out. |
||
324 | |||
325 | 736 | bcoltin | WL_DEBUG_PRINT("xbee_get_packet timed out.\n");
|
326 | 581 | jknichel | return -1; |
327 | } else {
|
||
328 | return 0; |
||
329 | } |
||
330 | #else
|
||
331 | 346 | bcoltin | return 0; |
332 | 581 | jknichel | #endif
|
333 | 17 | bcoltin | } |
334 | |||
335 | /**
|
||
336 | * Call when finished using the XBee library. This releases
|
||
337 | * all sued resources.
|
||
338 | **/
|
||
339 | 346 | bcoltin | void xbee_terminate()
|
340 | { |
||
341 | #ifndef ROBOT
|
||
342 | pthread_cancel(*xbee_listen_thread); |
||
343 | 1428 | rcahoon | pthread_join(*xbee_listen_thread, NULL);
|
344 | 346 | bcoltin | free(xbee_listen_thread); |
345 | lockf(xbee_stream, F_ULOCK, 0);
|
||
346 | close(xbee_stream); |
||
347 | #endif
|
||
348 | 17 | bcoltin | } |
349 | |||
350 | /**
|
||
351 | * Send a buffer buf of size bytes to the XBee.
|
||
352 | 409 | emarinel | *
|
353 | 17 | bcoltin | * @param buf the buffer of data to send
|
354 | * @param size the number of bytes to send
|
||
355 | **/
|
||
356 | 418 | emarinel | static int xbee_send(char* buf, int size) |
357 | 346 | bcoltin | { |
358 | 418 | emarinel | #ifdef ROBOT
|
359 | 346 | bcoltin | int i;
|
360 | 418 | emarinel | for (i = 0; i < size; i++) { |
361 | 346 | bcoltin | xbee_putc(buf[i]); |
362 | 418 | emarinel | } |
363 | |||
364 | return 0; |
||
365 | |||
366 | #else
|
||
367 | |||
368 | 346 | bcoltin | int ret = write(xbee_stream, buf, size);
|
369 | //success
|
||
370 | if (ret == size)
|
||
371 | 397 | emarinel | return 0; |
372 | 346 | bcoltin | if (ret == -1) |
373 | { |
||
374 | //interrupted by system signal, probably timer interrupt.
|
||
375 | //just try again
|
||
376 | if (errno == 4) |
||
377 | { |
||
378 | 397 | emarinel | return xbee_send(buf, size);
|
379 | 346 | bcoltin | } |
380 | 755 | gtress | WL_DEBUG_PRINT("Failed to write to xbee\r\n");
|
381 | 397 | emarinel | return -1; |
382 | 346 | bcoltin | } |
383 | 17 | bcoltin | |
384 | 346 | bcoltin | //write was interrupted after writing ret bytes
|
385 | 418 | emarinel | return xbee_send(buf + ret, size - ret);
|
386 | #endif
|
||
387 | 17 | bcoltin | } |
388 | |||
389 | /**
|
||
390 | * Sends a string to the XBee.
|
||
391 | *
|
||
392 | * @param c the string to send to the XBEE
|
||
393 | **/
|
||
394 | 717 | jknichel | //TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
|
395 | // it reduces code size or not should be done to be sure.
|
||
396 | 418 | emarinel | static int xbee_send_string(char* c) |
397 | 346 | bcoltin | { |
398 | 418 | emarinel | return xbee_send(c, strlen(c));
|
399 | 17 | bcoltin | } |
400 | |||
401 | #ifndef ROBOT
|
||
402 | 418 | emarinel | static int xbee_read(char* buf, int size) |
403 | 346 | bcoltin | { |
404 | 418 | emarinel | if (read(xbee_stream, buf, size) == -1) { |
405 | 736 | bcoltin | WL_DEBUG_PRINT("Failed to read from xbee.\r\n");
|
406 | 418 | emarinel | return -1; |
407 | } |
||
408 | |||
409 | return 0; |
||
410 | 17 | bcoltin | } |
411 | #endif
|
||
412 | |||
413 | /**
|
||
414 | * Enter into command mode.
|
||
415 | **/
|
||
416 | 418 | emarinel | static int xbee_enter_command_mode() |
417 | 346 | bcoltin | { |
418 | 418 | emarinel | if (xbee_send_string("+++") != 0) { |
419 | return -1; |
||
420 | } |
||
421 | |||
422 | 581 | jknichel | if (xbee_wait_for_ok() != 0) { |
423 | return -1; |
||
424 | 736 | bcoltin | } |
425 | 581 | jknichel | return 0; |
426 | 17 | bcoltin | } |
427 | |||
428 | /**
|
||
429 | * Exit from command mode.
|
||
430 | **/
|
||
431 | 418 | emarinel | static int xbee_exit_command_mode() |
432 | 346 | bcoltin | { |
433 | 418 | emarinel | if (xbee_send_string("ATCN\r") != 0) { |
434 | return -1; |
||
435 | } |
||
436 | |||
437 | 346 | bcoltin | xbee_wait_for_ok(); |
438 | 418 | emarinel | |
439 | return 0; |
||
440 | 17 | bcoltin | } |
441 | |||
442 | /**
|
||
443 | * Enter API mode.
|
||
444 | **/
|
||
445 | 418 | emarinel | static int xbee_enter_api_mode() |
446 | 346 | bcoltin | { |
447 | 418 | emarinel | if (xbee_send_string("ATAP 1\r") != 0) { |
448 | return -1; |
||
449 | } |
||
450 | 346 | bcoltin | xbee_wait_for_ok(); |
451 | 418 | emarinel | |
452 | return 0; |
||
453 | 17 | bcoltin | } |
454 | |||
455 | /**
|
||
456 | * Wait until the string "OK\r" is received from the XBee.
|
||
457 | **/
|
||
458 | 717 | jknichel | //TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
|
459 | // it reduces code size or not should be done to be sure.
|
||
460 | 581 | jknichel | static int xbee_wait_for_ok() |
461 | 346 | bcoltin | { |
462 | 581 | jknichel | return xbee_wait_for_string("OK\r", 3); |
463 | 17 | bcoltin | } |
464 | |||
465 | /**
|
||
466 | * Delay until the specified string is received from
|
||
467 | * the XBee. Discards all other XBee data.
|
||
468 | *
|
||
469 | * @param s the string to receive
|
||
470 | * @param len the length of the string
|
||
471 | **/
|
||
472 | 581 | jknichel | static int xbee_wait_for_string(char* s, int len) |
473 | 346 | bcoltin | { |
474 | 412 | emarinel | char* curr = s;
|
475 | while (curr - s < len) {
|
||
476 | // check if buffer is empty
|
||
477 | if (buffer_last != buffer_first) {
|
||
478 | char c = arrival_buf[buffer_first++];
|
||
479 | if (buffer_first == XBEE_BUFFER_SIZE) {
|
||
480 | buffer_first = 0;
|
||
481 | } |
||
482 | 409 | emarinel | |
483 | 412 | emarinel | if (c == *curr) {
|
484 | curr++; |
||
485 | } else {
|
||
486 | 581 | jknichel | #ifndef ROBOT
|
487 | 613 | jknichel | //return -1; // Computer is less forgiving.
|
488 | curr = s; |
||
489 | 581 | jknichel | #else
|
490 | curr = s; |
||
491 | #endif
|
||
492 | 412 | emarinel | } |
493 | 581 | jknichel | } // else buffer is empty.
|
494 | 409 | emarinel | |
495 | 412 | emarinel | #ifndef ROBOT
|
496 | 581 | jknichel | usleep(100);
|
497 | 412 | emarinel | #endif
|
498 | } |
||
499 | 581 | jknichel | |
500 | return 0; |
||
501 | 17 | bcoltin | } |
502 | |||
503 | /**
|
||
504 | * Verifies that the packets checksum is correct.
|
||
505 | * (If the checksum is correct, the sum of the bytes
|
||
506 | * is 0xFF.)
|
||
507 | *
|
||
508 | * @param packet the packet received. This includes the first
|
||
509 | * three bytes, which are header information from the XBee.
|
||
510 | *
|
||
511 | * @param len The length of the packet received from the XBee
|
||
512 | *
|
||
513 | * @return 0 if the checksum is incorrect, nonzero
|
||
514 | * otherwise
|
||
515 | **/
|
||
516 | 346 | bcoltin | int xbee_verify_checksum(char* packet, int len) |
517 | { |
||
518 | unsigned char sum = 0; |
||
519 | int i;
|
||
520 | for (i = 3; i < len; i++) |
||
521 | sum += (unsigned char)packet[i]; |
||
522 | return sum == 0xFF; |
||
523 | 17 | bcoltin | } |
524 | |||
525 | /**
|
||
526 | * Returns the checksum of the given packet.
|
||
527 | *
|
||
528 | * @param buf the data for the packet to send
|
||
529 | * @param len the length of the packet in bytes
|
||
530 | *
|
||
531 | * @return the checksum of the packet, which will
|
||
532 | * become the last byte sent in the packet
|
||
533 | **/
|
||
534 | 346 | bcoltin | char xbee_compute_checksum(char* buf, int len) |
535 | { |
||
536 | int i;
|
||
537 | unsigned char sum = 0; |
||
538 | for (i = 0; i < len; i++) |
||
539 | sum += (unsigned char)buf[i]; |
||
540 | return 0xFF - sum; |
||
541 | 17 | bcoltin | } |
542 | |||
543 | /**
|
||
544 | * Adds header information and checksum to the given
|
||
545 | * packet and sends it. Header information includes
|
||
546 | * XBEE_FRAME_START and the packet length, as two bytes.
|
||
547 | *
|
||
548 | * @param buf the packet data
|
||
549 | * @param len the size in bytes of the packet data
|
||
550 | *
|
||
551 | **/
|
||
552 | 418 | emarinel | static int xbee_send_frame(char* buf, int len) |
553 | 346 | bcoltin | { |
554 | char prefix[3]; |
||
555 | prefix[0] = XBEE_FRAME_START;
|
||
556 | prefix[1] = (len & 0xFF00) >> 8; |
||
557 | prefix[2] = len & 0xFF; |
||
558 | char checksum = xbee_compute_checksum(buf, len);
|
||
559 | 418 | emarinel | |
560 | if (xbee_send(prefix, 3) != 0) { |
||
561 | return -1; |
||
562 | } |
||
563 | 581 | jknichel | |
564 | 418 | emarinel | if (xbee_send(buf, len) != 0) { |
565 | return -1; |
||
566 | } |
||
567 | |||
568 | if (xbee_send(&checksum, 1) != 0) { |
||
569 | return -1; |
||
570 | } |
||
571 | |||
572 | return 0; |
||
573 | 17 | bcoltin | } |
574 | |||
575 | /**
|
||
576 | * Sends an AT command to read a parameter.
|
||
577 | *
|
||
578 | * @param command the AT command to send. For exmaple,
|
||
579 | * use ID to read the PAN ID and MY to return the XBee ID.
|
||
580 | * See the XBee reference guide for a complete listing.
|
||
581 | **/
|
||
582 | 717 | jknichel | //TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if
|
583 | // it reduces code size or not should be done to be sure.
|
||
584 | 418 | emarinel | static int xbee_send_read_at_command(char* command) |
585 | 346 | bcoltin | { |
586 | 418 | emarinel | return xbee_send_modify_at_command(command, NULL); |
587 | 17 | bcoltin | } |
588 | |||
589 | /**
|
||
590 | * Sends the given AT command.
|
||
591 | *
|
||
592 | * @param command the AT command to send (e.g., MY, ID)
|
||
593 | * @param value the value to pass as a parameter
|
||
594 | * (or NULL if there is no parameter)
|
||
595 | **/
|
||
596 | 418 | emarinel | static int xbee_send_modify_at_command(char* command, char* v |