Colony

/**

 * Copyright (c) 2009 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wl_defs.h

 * @brief Definitions for Wireless

 *

 * Contains definitions for wireless, debugging information, etc.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef WL_DEFS_H

#define WL_DEFS_H

// create main wireless page documentation

/** @mainpage The Wireless Library

 *

 * This is the documentation for the Colony wireless library.\n\n

 * Xbee documentation can be found under @ref xbee \n

 * Higher level wireless documentation can be found under @ref wireless \n

 **/

// need this for C99 int types

#ifndef STDINT_H

#define STDINT_H

#include <stdint.h>

#endif

// ***** TODO: these next two defines should be moved to makefile options

//comment out this line if using a computer hooked up to an xbee

#define ROBOT

//uncomment this line for debug information

#define WL_DEBUG

/**@addtogroup wireless

 * @{ **/

/**@defgroup wl_error Error Codes

 * @{ **/

/** @brief Success **/

#define WL_SUCCESS INT8_C(0)

/** @brief Error code for init failure **/

#define WL_ERROR_INIT_FAILED INT8_C(-1)

/** @brief Error code for duplicate init calls **/

#define WL_ERROR_INIT_ALREADY_INITD INT8_C(-2)

/** @brief Error code for not calling init **/

#define WL_ERROR_LIBRARY_NOT_INITD INT8_C(-3)

/** @brief Error code for failed termination **/

#define WL_ERROR_TERMINATION_FAILED INT8_C(-4)

/** @brief Error code for failed packet group registration **/

#define WL_ERROR_FAILED_REGISTRATION INT8_C(-5)

/** @brief Error code for failed packet group registration **/

#define WL_ERROR_FAILED_UNREGISTRATION INT8_C(-6)

/** @brief Error in arguments **/

#define WL_ERROR_ARGUMENT INT8_C(-7)

/** @brief Error code for send failure **/

#define WL_ERROR_SEND INT8_C(-10)

/** @brief Error code for a bad group number **/

#define WL_ERROR_BAD_GROUP INT8_C(-11)

/** @brief Error code for a bad scope **/

#define WL_ERROR_SCOPE INT8_C(-12)

/** @brief Error code for a bad robot address **/

#define WL_ERROR_ADDRESS INT8_C(-13)

/** @brief Error code for a bad mode **/

#define WL_ERROR_MODE INT8_C(-14)

/** @brief Error code for received paacket destination too small for received packet **/

#define WL_ERROR_TOO_SMALL INT8_C(-15)

/** @brief Error code for sending buffer full (the packet was sent, but no retries will be made). **/

#define WL_ERROR_SENDING_BUFFER_FULL INT8_C(-16)

/** @brief Error code for failed xbee command **/

#define WL_ERROR_XBEE_COMMAND INT8_C(-17)

/** @brief Error code for failed 16bit xbee command **/

#define WL_ERROR_XBEE_COMMAND_16BIT 0xFEFE

/** @brief Error code for bad baud rate **/

#define WL_ERROR_BAUD INT8_C(-18)

/**@} */ // end error group

// TODO: is this a good size?

/*Buffer sizes*/

#define PACKET_BUFFER_SIZE        128

/**@} */ // end wireless group

#ifdef WL_DEBUG

#ifdef ROBOT

#include <serial.h>

#define WL_DEBUG_PRINT( s ) usb_puts( s )

#define WL_DEBUG_PRINT_CHAR( c ) usb_putc( c )

#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)

#define WL_DEBUG_PRINT_HEX( i ) usb_puth8(i)

#else

#define WL_DEBUG_PRINT( s ) printf( s )

#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c)

#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)

#define WL_DEBUG_PRINT_HEX( i ) printf("%x", i)

#endif

#else

#define WL_DEBUG_PRINT( s )

#define WL_DEBUG_PRINT_CHAR( c )

#define WL_DEBUG_PRINT_INT( i )

#define WL_DEBUG_PRINT_HEX( i )

#endif

#endif