/ - Diff - Colony - Robotics Club

     /**@brief high priority, handle immediately **/
     #define HIGH_PRIORITY UINT8_C(1)
     /**@brief packet still in sending phase **/
     #define SENDING UINT8_C(0)
     /**@brief packet was send successfully **/
     #define ACK_OK UINT8_C(1)
     /**@brief packet failure - no acknowledgment **/
     #define ACK_FAILURE UINT8_C(2)
     /**@brief packet failure - network too busy **/
     #define CCA_FAILURE UINT8_C(3)
     /**@} **/ // end defines group
-...
     // the ack function
     /**@brief Returns the number of acknowledgment errors. **/
     int8_t wl_ack_error(void);
     uint8_t wl_ack_error(void);
     /**@brief Checks a specific packet for the acknowledgement status. **/
     int8_t wl_ack_check(uint8_t packet);

     #include <string.h>
     /**@addtogroup xbee
      * @{ **/
     /**@defgroup xbee_const xbee constants
      * @{ **/
     // TODO: move constants to xbee.h so they can be used publicly
     /**@brief The port to use the XBee from on the computer. **/
     #ifndef ROBOT
     #define XBEE_PORT_DEFAULT "/dev/ttyUSB1"
     #endif
     /**@name xbee options
      * @{ **/
     /**@brief Unset PAN, uses XBee default **/
     #define XBEE_PAN_DEFAULT 0xFFFF
     /**@brief Unset channel, uses XBee default **/
     #define XBEE_CHANNEL_DEFAULT 0
     /**@brief Broadcast to all robots in the PAN **/
     #define XBEE_BROADCAST 0xFFFF
     /**@brief No special options **/
     #define XBEE_OPTIONS_NONE 0x00
     /**@brief Do not receive a TX_STATUS message from this packet **/
     #define XBEE_OPTIONS_DISABLE_RESPONSE 0x01
     /**@brief Send the packet to all PANS **/
     #define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04
     /**@brief A transmit status packet **/
     #define XBEE_TX_STATUS 0x89
     /**@brief A packet received from another XBee **/
     #define XBEE_RX 0x81
     /**@}
      * @name xbee frame types
      * @{ **/
     // TODO: add comments for all of these definitions
     #define XBEE_FRAME_START 0x7E
     #define XBEE_GET_PACKET_TIMEOUT 1000
     /*Frame Types*/
     #define XBEE_FRAME_STATUS 0x8A
     #define XBEE_FRAME_AT_COMMAND 0x08
     #define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88
     #define XBEE_FRAME_TX_REQUEST_64 0x00
     #define XBEE_FRAME_TX_REQUEST_16 0x01
     #define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
     #define XBEE_FRAME_RX_64 0x80
     #define XBEE_FRAME_RX_16 XBEE_RX
     /** @} **/
     // TODO: is this a good size?
     /*Buffer sizes*/
     #define XBEE_BUFFER_SIZE	128
     #define PACKET_BUFFER_SIZE	108
     /**@} **/ // end const group
     /*Internal Function Prototypes*/
     // TODO: convert all int references to int16_t syntax (see stdint.h)
-...
     static volatile unsigned int xbee_address = 0;
     /**@addtogroup xbee
      * @{ **/
     /*Function Implementations*/
     #ifdef ROBOT

     #include "wl_defs.h"
     #include "wireless.h"
     #include <string.h>
     /* Definition for wireless library packet structure
      * byte 1: frame number
      * byte 2: group code
      * bytes 3-n: data
+     *
      * Definition for ack buffer
      * 2 bit system: 0=still sending
      *               1=OK
      *               2=ack failure
      *               3=CCA failure
      */
     /* global variables */
     uint8_t nextframe = 1;
     uint8_t ack_buf[64];
     /* private function prototypes */
     void setack(uint8_t num,uint8_t val);
     // the send functions
     /**
-...
+     *
      * @return positive packet number for tracking acks, or error code (TBD)
      **/
     int16_t wl_send(char *data, uint8_t length, uint8_t group, uint8_t scope, uint16_t dest, uint8_t mode) {
     int16_t wl_send(uint8_t *data, uint8_t length, uint8_t group, uint8_t scope, uint16_t dest, uint8_t mode) {
       uint8_t packet[length+2];
       uint8_t options = XBEE_OPTIONS_NONE;
       int16_t ret_val = (int16_t)nextframe;
       // build packet
       packet[0] = nextframe;
       packet[1] = group;
       memcpy(packet+2,data,length);
       // set options
       if (scope == GLOBAL)
         options &= XBEE_OPTIONS_BROADCAST_ALL_PANS;
       if (mode == FAST) {
         options &= XBEE_OPTIONS_DISABLE_RESPONSE;
         ret_val = 0;
         setack(nextframe,ACK_OK); // save in ack system
       } else if (mode == RELIABLE) {
         // save in ack system
         setack(nextframe,SENDING); // save in ack system
       } else {
         WL_DEBUG_PRINT("Error - bad mode in core send function\r\n");
         return WL_ERROR_MODE;
+      }
       return 0;
       // send the packet
       if (xbee_send_packet(packet,length,dest,options,(uint_8)ret_val) != 0) {
         WL_DEBUG_PRINT("Error sending packet from core send function\r\n");
         return WL_ERROR_SEND;
+      }
       // increment frame number
       nextframe = (nextframe == 0xFF)?1:nextframe+1;
       return ret_val; // return frame number for ack tracking
+    }
     /**
-...
+     *
      * @return the # of packets lost (up to 255)
      **/
     int8_t wl_ack_error(void) {
     uint8_t wl_ack_error(void) {
       uint_8 val=0,i=1;
       while(1) {
         if (ack_buf[i/4]&(0x3<<(i%4)) != 0)
           val++;
         if (i==255)
           break;
         i++;
+      }
       return 0;
       return val;
+    }
     /**
      * acknowledgement error check
      * check if a specific packet has been lost
      * note: buffer will overflow ever 255 packets
      * note: buffer will overflow every 255 packets
+     *
      * @param packet number
      * @param packet packet number
+     *
      * @return 0=still sending,1=ack received,-1=ack failure
      * @return {SENDING,ACK_OK,ACK_FAILURE,CCA_FAILURE}
      **/
     int8_t wl_ack_check(uint8_t packet) {
     	return 0;
       if (packet == 0) {
         // no ack information here
         WL_DEBIG_PRINT("packet number cannot be 0\r\n");
         return WL_ERROR_ARGUMENT;
+      }
       // check ack
       return ack_buf[packet/4]&(0x3<<(packet%4));
+    }
     /**
-...
      * reset the acknowledgement buffer
      **/
     void wl_ack_reset(void) {
       memset(ack_buf,0,64);
+    }
-...
     // Define all private functions down here
     /*
      * sets 2 bits in the ack_buf
+     *
      * @param num the ack number
      * @param val {SENDING,ACK_OK,ACK_FAILURE,CCA_FAILURE}
      */
     void setack(uint8_t num,uint8_t val) {
       switch(num%4) {
       case 0:
         ack_buf[num/4] &= (0xFC|val);
         break;
       case 1:
         ack_buf[num/4] &= (0xF3|(val<<2));
         break;
       case 2:
         ack_buf[num/4] &= (0xCF|(val<<4));
         break;
       case 3:
         ack_buf[num/4] &= (0x3F|(val<<6));
         break;
+      }
+    }

     #define WL_ERROR_BAD_GROUP INT8_C(-11)
     /** @brief Error code for a bad scope **/
     #define WL_ERROR_SCOPE INIT8_C(-12)
     #define WL_ERROR_SCOPE INT8_C(-12)
     /** @brief Error code for a bad robot address **/
     #define WL_ERROR_ADDRESS INIT8_C(-13)
     #define WL_ERROR_ADDRESS INT8_C(-13)
     /** @brief Error code for a bad mode **/
     #define WL_ERROR_MODE INIT8_C(-14)
     #define WL_ERROR_MODE INT8_C(-14)
     /**@} */ // end error group

      * @{
      **/
      /**@defgroup xbee_const xbee constants
       * @brief These are constants used for the xbee module.
       * @{ **/
     // TODO: move constants to xbee.h so they can be used publicly
     /**@brief The port to use the XBee from on the computer. **/
     #ifndef ROBOT
     #define XBEE_PORT_DEFAULT "/dev/ttyUSB1"
     #endif
     /**@name xbee options
      * @{ **/
     /**@brief Unset PAN, uses XBee default **/
     #define XBEE_PAN_DEFAULT 0xFFFF
     /**@brief Unset channel, uses XBee default **/
     #define XBEE_CHANNEL_DEFAULT 0
     /**@brief Broadcast to all robots in the PAN **/
     #define XBEE_BROADCAST 0xFFFF
     /**@brief No special options **/
     #define XBEE_OPTIONS_NONE 0x00
     /**@brief Do not receive a TX_STATUS message from this packet **/
     #define XBEE_OPTIONS_DISABLE_RESPONSE 0x01
     /**@brief Send the packet to all PANS **/
     #define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04
     /**@brief A transmit status packet **/
     #define XBEE_TX_STATUS 0x89
     /**@brief A packet received from another XBee **/
     #define XBEE_RX 0x81
     /**@}
      * @name xbee frame types
      * @{ **/
     // TODO: add comments for all of these definitions
     #define XBEE_FRAME_START 0x7E
     #define XBEE_GET_PACKET_TIMEOUT 1000
     /*Frame Types*/
     #define XBEE_FRAME_STATUS 0x8A
     #define XBEE_FRAME_AT_COMMAND 0x08
     #define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88
     #define XBEE_FRAME_TX_REQUEST_64 0x00
     #define XBEE_FRAME_TX_REQUEST_16 0x01
     #define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
     #define XBEE_FRAME_RX_64 0x80
     #define XBEE_FRAME_RX_16 XBEE_RX
     /** @} **/
     // TODO: is this a good size?
     /*Buffer sizes*/
     #define XBEE_BUFFER_SIZE	128
     #define PACKET_BUFFER_SIZE	108
     /**@} **/ // end const group
     /**
      * @defgroup xbee_funcs Xbee Functions
      * @brief These are the public xbee functions.
      * @{
      **/
     // TODO: convert all int references to int16_t syntax (see stdint.h)
     /**@brief Initialize the XBee library **/
-...
     /**@brief Reset XBee **/
     int xbee_reset(void);
     /**@}**/ //end defgroup
     /**@} **/ //end xbee_funcs group
     /**@} **/ //end defgroup
     #endif

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