Colony

#include <dragonfly_lib.h>

#include <wl_defs.h>

#include "xbee.h"

#define ROBOT

#define WL_DEBUG

/*

 * This function tests the xbee, returning the results to teraterm

 *

 * 

 */

 /*

 // test interrupt

ISR(USART1_RX_vect) {

  WL_DEBUG_PRINT("in interrupt|");

  char c = UDR1;

  WL_DEBUG_PRINT_HEX(c);

  WL_DEBUG_PRINT("|in interrupt");

}*/

//int8_t xbee_putc(uint8_t c) {

  // Wait until buffer is clear for sending

  // Then load buffer with your character

/*#ifdef FIREFLY

  loop_until_bit_is_set(UCSR0A, UDRE0);  

  UDR0 = c;

#else*/

/*  loop_until_bit_is_set(UCSR1A, UDRE1);

  UDR1 = c;

//#endif

  WL_DEBUG_PRINT("xbee_putc:");

  WL_DEBUG_PRINT_HEX(c);

  WL_DEBUG_PRINT("|\r\n");

  return WL_SUCCESS;

}*/

int testxbee(void) {

  unsigned char buf[100];

  int i=0;

        usb_init();

        usb_puts("usb turned on, test starting:\r\n");

  /*UBRR1H = 0x00; // baud rate

  UBRR1L = 103;  // baud rate

  UCSR1A |= (1<<U2X1); // double transmit speed 

  //Enable receiver and transmitter on USART1

  UCSR1B |= (1<<RXEN1)|(1<<TXEN1);

  // Set frame format: 8data, 1stop bit, asynchronous normal mode

  //UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);

  //UCSR1C |= (1<<UMSEL1) | (1<<UCSZ10) | (1<<UCSZ11);   

  //UCSR1C |= (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1);

  UCSR1B |= (1<<RXCIE1);  // enable receive, transmit (1<<RXCIE)

  WL_DEBUG_PRINT("receive interrupt flag=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<RXCIE1));

  WL_DEBUG_PRINT("|\r\n");

  sei();

  xbee_putc('+');  

  xbee_putc('+');  

  xbee_putc('+');*/

  int ret = xbee_init();

  if (ret != WL_SUCCESS) {

    usb_puts("xbee_init() failed\r\n");

    usb_puti(ret);

    usb_puts("|\r\n");

    return -1;

  } else {

    usb_puts("xbee_init successful\r\n");

  }

        usb_puts("\r\n\n");

        delay_ms(1000);

  // check registers

  WL_DEBUG_PRINT("receive interrupt flag(80)=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<RXCIE1));

  WL_DEBUG_PRINT("|\r\nreceive flag(10)=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<RXEN1));

  WL_DEBUG_PRINT("|\r\ntransmit flag(08)=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<TXEN1));

  WL_DEBUG_PRINT("|\r\ncharacter size(06)=");

  WL_DEBUG_PRINT_HEX(UCSR1C&((1<<UCSZ10)|(1<<UCSZ11)));

  WL_DEBUG_PRINT("|\r\ncharacter size2(00)=");

  WL_DEBUG_PRINT_HEX((UCSR1B&(1<<UCSZ12))|(0<<UCSZ12));

  WL_DEBUG_PRINT("|\r\n");

        // try getting xbee address

  /*xbee_send_read_at_command("MY");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      //usb_puts("packet:");

      //usb_puts(buf);

      //usb_puts("|end\r\n");

      break; // got a response

    }

  }*/

  // try setting channel

  /*xbee_set_channel(0x0F);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  usb_puts("\r\nxbee set channel works\r\n\r\n");

  wl_set_channel(0x16);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }  

  usb_puts("\r\nwireless set channel works\r\n");*/

  // scan all xbees in network

  /*xbee_send_read_at_command("ND");

  i=0;

  while(i < 1000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      i++;

    }

  }*/

  // end of tests

  /*if (xbee_terminate() != 0) {

    usb_puts("xbee_terminate error\r\n");

  } else {

    usb_puts("xbee_terminate success\r\n");

  }*/

  usb_puts("testxbee done\r\n\r\n");

        return 0;

}