Revision 1642
wireless: test_xbee is good. Need to start testing wireless_send and wireless_receive.
| xbee.c | ||
|---|---|---|
| 620 | 620 |
// TODO: we should set the MY address to the robot address from eeprom |
| 621 | 621 |
uint16_t i=0; |
| 622 | 622 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 623 |
uint8_t newmy = 4;
|
|
| 624 |
if (xbee_send_modify_at_command((uint8_t*)"MY",&newmy,1) != WL_SUCCESS) {
|
|
| 623 |
uint16_t newmy = 0x9876;
|
|
| 624 |
if (xbee_send_modify_at_command((uint8_t*)"MY",&newmy,2) != WL_SUCCESS) {
|
|
| 625 | 625 |
WL_DEBUG_PRINT("setting MY address failed\r\n");
|
| 626 | 626 |
} |
| 627 | 627 |
// wait for up to 30 ms |
| ... | ... | |
| 1031 | 1031 |
* @param len the size in bytes of the packet data |
| 1032 | 1032 |
* |
| 1033 | 1033 |
**/ |
| 1034 |
int8_t xbee_send_header(uint8_t type, uint16_t len)
|
|
| 1034 |
int8_t xbee_send_header(uint16_t len) |
|
| 1035 | 1035 |
{
|
| 1036 | 1036 |
//packet prefix |
| 1037 | 1037 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS) |
| ... | ... | |
| 1287 | 1287 |
* |
| 1288 | 1288 |
* @param id the new personal area network (PAN) id |
| 1289 | 1289 |
**/ |
| 1290 |
int8_t xbee_set_pan_id(uint16_t id)
|
|
| 1290 |
int8_t xbee_set_pan(uint16_t id) |
|
| 1291 | 1291 |
{
|
| 1292 | 1292 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
| 1293 | 1293 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| ... | ... | |
| 1301 | 1301 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) {
|
| 1302 | 1302 |
delay_us(1); // wait 3us |
| 1303 | 1303 |
} |
| 1304 |
if (i < 1000 && xbee_command[0] == 'O' && xbee_command[1] == 'K')
|
|
| 1304 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D')
|
|
| 1305 | 1305 |
i = WL_SUCCESS; |
| 1306 | 1306 |
else |
| 1307 | 1307 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
| ... | ... | |
| 1315 | 1315 |
* @return the personal area network id, or |
| 1316 | 1316 |
* XBEE_PAN_DEFAULT if it has not yet been set. |
| 1317 | 1317 |
**/ |
| 1318 |
uint16_t xbee_get_pan_id()
|
|
| 1318 |
uint16_t xbee_get_pan() |
|
| 1319 | 1319 |
{
|
| 1320 | 1320 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
| 1321 | 1321 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| ... | ... | |
| 1330 | 1330 |
delay_us(1); // wait 3us |
| 1331 | 1331 |
} |
| 1332 | 1332 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
| 1333 |
i = (xbee_command[2]<<8)|xbee_command[3]; // get PAN
|
|
| 1333 |
i = xbee_command[2]|(xbee_command[3]<<8); // do ntoh16 coversion
|
|
| 1334 | 1334 |
else |
| 1335 | 1335 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code |
| 1336 | 1336 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
| ... | ... | |
| 1350 | 1350 |
if (channel < 0x0B || channel > 0x1A) |
| 1351 | 1351 |
{
|
| 1352 | 1352 |
WL_DEBUG_PRINT("Channel out of range.\r\n");
|
| 1353 |
return -1;
|
|
| 1353 |
return WL_ERROR_ARGUMENT;
|
|
| 1354 | 1354 |
} |
| 1355 | 1355 |
|
| 1356 | 1356 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
| ... | ... | |
| 1365 | 1365 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) {
|
| 1366 | 1366 |
delay_us(1); // wait 3us |
| 1367 | 1367 |
} |
| 1368 |
if (i < 1000 && xbee_command[0] == 'O' && xbee_command[1] == 'K')
|
|
| 1368 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H')
|
|
| 1369 | 1369 |
i = WL_SUCCESS; |
| 1370 | 1370 |
else |
| 1371 | 1371 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
| ... | ... | |
| 1389 | 1389 |
int16_t i=0; |
| 1390 | 1390 |
// change status to command wait |
| 1391 | 1391 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1392 |
xbee_send_read_at_command((uint8_t*)"ID"); // send command to get the channel
|
|
| 1392 |
xbee_send_read_at_command((uint8_t*)"CH"); // send command to get the channel
|
|
| 1393 | 1393 |
// wait for up to 30 ms |
| 1394 | 1394 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) {
|
| 1395 | 1395 |
delay_us(1); // wait 3us |
| 1396 | 1396 |
} |
| 1397 | 1397 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
| 1398 |
i = xbee_command[2]; // get channel |
|
| 1398 |
i = (int8_t)xbee_command[2]; // get channel
|
|
| 1399 | 1399 |
else |
| 1400 | 1400 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
| 1401 | 1401 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
| ... | ... | |
| 1438 | 1438 |
} |
| 1439 | 1439 |
|
| 1440 | 1440 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') {
|
| 1441 |
i = (xbee_command[2]<<8) | (xbee_command[3]);
|
|
| 1441 |
i = xbee_command[2]|(xbee_command[3]<<8); // do ntoh16 coversion
|
|
| 1442 | 1442 |
} else |
| 1443 | 1443 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code |
| 1444 | 1444 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
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