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/** |
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* Copyright (c) 2009 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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/** |
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* @file xbee.c |
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* @brief XBee Interface |
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* |
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* Implementation of low level communication with the XBee in API mode. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#include <lights.h> |
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|
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#include <string.h> |
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#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#include <time.h> |
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#include <wl_defs.h> |
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#include <wireless.h> |
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#include "xbee.h" |
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|
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|
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/* Internal Function Prototypes */ |
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|
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/* I/O Functions */ |
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static int8_t xbee_send_string(uint8_t* c); |
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|
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/* Command Mode Functions */ |
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static int8_t xbee_enter_command_mode(void); |
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static int8_t xbee_exit_command_mode(void); |
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static int8_t xbee_enter_api_mode(void); |
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static int8_t xbee_exit_api_mode(void); |
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static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len); |
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static int8_t xbee_wait_for_ok(void); |
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|
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/* API Mode Functions */ |
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//TODO: does this exist? static int8_t xbee_handle_packet(uint8_t* packet, uint16_t len); |
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static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t status, uint8_t len); |
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static void xbee_handle_status(uint8_t status); |
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static int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len); |
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static uint8_t xbee_compute_checksum(uint8_t* packet, uint16_t len); |
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static int8_t xbee_send_frame(uint8_t* buf, uint16_t len); |
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int8_t xbee_send_read_at_command(uint8_t* command); |
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static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len); |
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|
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/* Buffer Manipulation Functions */ |
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int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte); |
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uint8_t xbee_basic_buf_get(uint8_t *ptr); |
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int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte); |
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|
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/* private functions */ |
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int8_t check_last_receive(uint16_t source,uint8_t framenum); |
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inline uint8_t getStatus(uint8_t mask); |
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inline void setStatus(uint8_t mask,uint8_t value); |
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|
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/*Global Variables*/ |
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|
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// last few packet sources and frame nums |
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#define NUM_LAST_PACKETS 10 |
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struct { |
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uint16_t source; |
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uint8_t framenum; |
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} lastPacket[NUM_LAST_PACKETS]; |
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|
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// array for basic packets |
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static uint8_t xbee_basic_buf[PACKET_BUFFER_SIZE]; |
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|
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// beginning of first packet in basic buffer |
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static uint8_t basic_buf_first = 0xFF; |
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|
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// byte after end of last packet in basic buffer (only access < basic_buf_last) |
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// aka, the first free byte in basic buffer |
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static uint8_t basic_buf_last = 0; |
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|
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// array for other packets |
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static uint8_t xbee_other_buf[PACKET_BUFFER_SIZE]; |
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|
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// beginning of first packet in other buffer |
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static uint8_t other_buf_first = 0xFF; |
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|
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// byte after end of last packet in other buffer (only access < other_buf_last) |
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// aka, the first free byte in other buffer |
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static uint8_t other_buf_last = 0; |
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|
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// xbee status |
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#define XBEE_API_OFF 0x00 |
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#define XBEE_API_ON 0x10 |
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#define XBEE_API_ESCAPE 0x20 |
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#define XBEE_API_MASK 0x30 |
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#define XBEE_COMMAND_WAIT 0x80 |
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#define XBEE_COMMAND_RESPONSE 0xC0 |
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#define XBEE_COMMAND_NONE 0x00 |
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#define XBEE_COMMAND_MASK 0xC0 |
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#define XBEE_NOT_INITD 0xF0 |
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#define LAST_PACKET_MASK 0x0F |
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uint8_t xbee_status = XBEE_NOT_INITD; |
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|
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// xbee command response (for PAN, channel, address, etc) |
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static uint8_t xbee_command[8]; |
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|
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// external ack handler (wireless_send.c) |
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void ackhandle(uint8_t num,uint8_t val) { return; } // disabled |
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|
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// message buffer |
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uint8_t message[100]; |
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|
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|
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/**@addtogroup xbee |
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* @{ **/ |
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|
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/*Function Implementations*/ |
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|
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/** |
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* Interrupt for the robot. Adds bytes received from the xbee |
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* to the buffer. |
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**/ |
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|
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|
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#ifndef FIREFLY |
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#define PORT UDR1 |
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#define FLAG (UCSR1A & (1<<RXC1)) |
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ISR(USART1_RX_vect) { |
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#else |
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#define PORT UDR0 |
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#define FLAG (UCSR0A & (1<<RXC0)) |
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SIGNAL(SIG_USART0_RECV) |
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#endif |
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// start of frame |
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uint8_t apitype = PORT; // get frame start byte |
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uint16_t i=0; |
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uint16_t len=0; |
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|
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/*WL_DEBUG_PRINT("in interrupt|status="); |
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WL_DEBUG_PRINT_HEX(xbee_status); |
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WL_DEBUG_PRINT("|frame_start="); |
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WL_DEBUG_PRINT_HEX(apitype); |
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|
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if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
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WL_DEBUG_PRINT("|API OFF"); |
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} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
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WL_DEBUG_PRINT("|API ON"); |
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} else { |
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WL_DEBUG_PRINT("|API ERROR"); |
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}*/ |
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|
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// check that we're in API mode |
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if (getStatus(XBEE_API_MASK) == XBEE_API_OFF || apitype != XBEE_FRAME_START) { |
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// not in API mode |
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WL_DEBUG_PRINT("|api off branch"); |
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|
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if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT) { |
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// get rest of command and put in basic buf |
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xbee_basic_buf[i] = apitype; |
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if (xbee_basic_buf[i++] != '\r') { |
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while(i < PACKET_BUFFER_SIZE) { |
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if (FLAG) { |
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xbee_basic_buf[i] = PORT; |
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if (xbee_basic_buf[i] == '\r') |
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break; |
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i++; |
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} |
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} |
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} |
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WL_DEBUG_PRINT("got packet, len="); |
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT("str="); |
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WL_DEBUG_PRINT(xbee_basic_buf); |
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// signal handler that command response is done |
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setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
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} |
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WL_DEBUG_PRINT("return\r\n"); |
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return; |
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} |
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//WL_DEBUG_PRINT("|api on branch"); |
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|
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// get length and type |
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char buf[100]; |
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uint8_t buf_pos = 18; |
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while(i<3) { |
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if (FLAG) { |
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if (i==0) { |
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len |= PORT<<8; |
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buf[0] = 'l'; |
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buf[1] = 'e'; |
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buf[2] = 'n'; |
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buf[3] = '_'; |
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buf[4] = 'h'; |
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buf[5] = 'i'; |
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buf[6] = '|'; |
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//WL_DEBUG_PRINT("|len_hi"); |
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} else if (i==1) { |
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len |= PORT; |
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buf[7] = 'l'; |
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buf[8] = 'e'; |
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buf[9] = 'n'; |
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buf[10] = '_'; |
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buf[11] = 'l'; |
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buf[12] = 'o'; |
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buf[13] = '|'; |
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//WL_DEBUG_PRINT("|len_lo"); |
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} else if (i==2) { |
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apitype = PORT; |
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buf[14] = 'a'; |
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buf[15] = 'p'; |
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buf[16] = 'i'; |
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buf[17] = '|'; |
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//WL_DEBUG_PRINT("|GOT APITYPE"); |
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} else { |
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buf[buf_pos++] = PORT; |
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//WL_DEBUG_PRINT("|GOT NEXT"); |
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} |
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i++; |
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} |
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} |
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|
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// do something based on the type |
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i=1; |
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switch(apitype) { |
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case XBEE_FRAME_AT_COMMAND_RESPONSE: { |
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// AT command response |
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if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
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return; // we're currently processing a command, so drop the incoming one ***** TODO: we need to read the whole length of the frame to do this right **** |
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uint16_t atcommand=0; |
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uint8_t ptr=basic_buf_last; |
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while(i<len) { |
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if (FLAG) { |
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if (i==1) |
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apitype = PORT; // get frame id, but ignore it |
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else if (i==2) |
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atcommand |= PORT<<8; // get command char1 |
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else if (i==3) |
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atcommand |= PORT; // get command char2 |
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else if (i==4) |
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apitype = PORT; // get status |
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else { |
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// put the command response on the basic buf temporarily |
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if (xbee_basic_buf_add(&ptr,PORT) != 0) |
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break; |
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} |
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i++; |
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} |
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} |
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// handle AT command |
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WL_DEBUG_PRINT("i="); |
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT("|len="); |
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WL_DEBUG_PRINT_INT(len); |
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WL_DEBUG_PRINT("|status:"); |
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WL_DEBUG_PRINT_INT(apitype); |
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WL_DEBUG_PRINT("|atcommand:"); |
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WL_DEBUG_PRINT_CHAR((uint8_t)(atcommand>>8)); |
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WL_DEBUG_PRINT_CHAR((uint8_t)(atcommand&0xFF)); |
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WL_DEBUG_PRINT("|buf="); |
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uint8_t ptr2 = basic_buf_last; |
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for(uint8_t j=0;j<i;j++) |
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WL_DEBUG_PRINT_HEX(xbee_basic_buf_get(&ptr2)); |
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WL_DEBUG_PRINT("|\r\n"); |
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xbee_handle_at_command_response(atcommand,apitype,len-5); // TODO: rewrite function |
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break; } |
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case XBEE_FRAME_TX_STATUS: { |
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// TX status |
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uint8_t frame_id = 0; |
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while(i<len) { |
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if (FLAG) { |
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if (i==1) |
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frame_id = PORT; |
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else { |
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ackhandle(frame_id,PORT); // handle the status |
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break; |
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} |
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i++; |
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} |
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} |
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break; } |
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case XBEE_FRAME_RX_64: { |
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// receive a packet with 64bit address |
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break; } // TODO: implement this (even if we don't use it) |
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case XBEE_FRAME_RX_16: { |
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// receive a packet with 16bit address |
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uint16_t source = 0; |
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uint8_t framenum = 0; |
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uint8_t group = 0; |
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uint8_t ptr=basic_buf_last; |
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while(i<len) { |
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if (FLAG) { |
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if (i==1) |
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source |= PORT<<8; // get source hi byte |
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else if (i==2) |
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source |= PORT; // get source lo byte |
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else if (i==3) |
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apitype = PORT; // get RSSI, and ignore |
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else if (i==4) |
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apitype = PORT; // get options, and ignore |
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else if (i==5) { |
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framenum = PORT; // get the frame number |
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if (check_last_receive(source,framenum) != WL_SUCCESS) { |
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// we've already received this frame |
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ptr = 0xFF; // signal to skip processing |
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break; |
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} |
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} |
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else if (i==6) { |
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group = PORT; // get group number |
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if (group == 0) { |
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ptr = basic_buf_last+1; |
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// add source to buffer |
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if (xbee_basic_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) |
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break; |
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if (xbee_basic_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) |
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break; |
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} else { |
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ptr = other_buf_last+1; |
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// add source and group to buffer |
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if (xbee_other_buf_add(&ptr,group) != 0) |
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break; |
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if (xbee_other_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) |
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break; |
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if (xbee_other_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) |
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break; |
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} |
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} |
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else { // TODO: handle escaped characters supported by APIv2 |
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// put packet data on the correct buffer |
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if (group == 0 && xbee_basic_buf_add(&ptr,PORT) != 0) |
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break; |
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else if (xbee_other_buf_add(&ptr,PORT) != 0) |
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break; |
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} |
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i++; |
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} |
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} |
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if (ptr != 0xFF && i > 6) { |
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if (group == 0) { |
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xbee_basic_buf[basic_buf_last] = i-6; // set length |
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basic_buf_last = ptr; |
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} |
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else { |
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xbee_other_buf[other_buf_last] = i-6; // set length |
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// check if we have a high priority group |
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for(;;) |
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if (HIGH_PRIORITY) { |
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// handle receive now |
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ptr = 0xFF; |
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break; |
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} |
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if (ptr != 0xFF) { |
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// handle receive later |
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other_buf_last = ptr; |
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} |
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} |
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} |
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break; } |
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default: |
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WL_DEBUG_PRINT("|BAD APITYPE"); |
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} // end of switch statement |
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while (1) { |
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if (FLAG) { |
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apitype = PORT; // get checksum, and ignore |
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break; |
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} |
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} |
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buf[buf_pos] = '\0'; |
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WL_DEBUG_PRINT("xbee_interrupt_api_mode|"); |
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WL_DEBUG_PRINT(buf); |
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WL_DEBUG_PRINT("|len="); |
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WL_DEBUG_PRINT_INT(len); |
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WL_DEBUG_PRINT("|apitype="); |
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WL_DEBUG_PRINT_HEX(apitype); |
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WL_DEBUG_PRINT("|return\r\n"); |
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} // end of interrupt |
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|
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|
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/* adds a byte to the basic buffer */ |
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int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte) { |
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if (*ptr == basic_buf_first) { |
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// buffer full |
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WL_DEBUG_PRINT("basic buffer full\r\n"); |
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return -1; |
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} |
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xbee_basic_buf[(*ptr)++] = byte; |
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if (*ptr == PACKET_BUFFER_SIZE) |
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*ptr = 0; |
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return 0; |
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} |
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/* gets a byte from the basic buffer */ |
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uint8_t xbee_basic_buf_get(uint8_t *ptr) { |
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uint8_t byte = xbee_basic_buf[(*ptr)++]; |
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if (*ptr == PACKET_BUFFER_SIZE) |
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*ptr = 0; |
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return byte; |
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} |
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/* adds a byte to the other buffer */ |
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int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte) { |
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if (*ptr == other_buf_first) { |
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// buffer full |
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WL_DEBUG_PRINT("other buffer full\r\n"); |
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return -1; |
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} |
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xbee_other_buf[(*ptr)++] = byte; |
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if (*ptr == PACKET_BUFFER_SIZE) |
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*ptr = 0; |
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return 0; |
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} |
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|
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/** |
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* Checks if packet is a duplicate |
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**/ |
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int8_t check_last_receive(uint16_t source,uint8_t framenum) { |
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uint8_t i=0; |
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for(;i<NUM_LAST_PACKETS;i++) { |
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if (lastPacket[i].source == source && lastPacket[i].framenum == framenum) |
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return -1; // duplicate packet, so return error |
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} |
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// save packet source and framenum |
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i=getStatus(LAST_PACKET_MASK); |
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lastPacket[i].source = source; |
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lastPacket[i].framenum = framenum; |
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if (++i>=NUM_LAST_PACKETS) |
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i = 0; |
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setStatus(LAST_PACKET_MASK,i); |
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return WL_SUCCESS; |
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} |
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|
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/** status functions **/ |
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inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; } |
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void setStatus(uint8_t mask,uint8_t value) { xbee_status = ((xbee_status&(~mask))|value); } |
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|
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|
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// test interrupt |
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/*ISR(USART1_RX_vect) { |
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WL_DEBUG_PRINT("in interrupt|"); |
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char c = UDR1; |
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WL_DEBUG_PRINT_HEX(c); |
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WL_DEBUG_PRINT("|in interrupt"); |
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}*/ |
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|
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|
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|
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/** |
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* Initializes the XBee library so that other functions may be used. |
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**/ |
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int8_t xbee_init() |
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{ |
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WL_DEBUG_PRINT("in xbee_init\r\n"); |
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|
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if(getStatus(XBEE_NOT_INITD) != XBEE_NOT_INITD) { |
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return WL_ERROR_INIT_ALREADY_INITD; |
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} |
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|
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// set status |
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setStatus(XBEE_NOT_INITD,XBEE_COMMAND_NONE); |
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|
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// clear last packet buffer |
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for(int i=0;i<NUM_LAST_PACKETS;i++) |
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lastPacket[i].source = lastPacket[i].framenum = 0; |
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|
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// Set startup baud rate of 9600 |
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// Set frame format: 8data, 1stop bit, asynchronous normal mode |
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// Enable receiver and transmitter and the receiving interrupt |
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#ifdef FIREFLY |
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UBRR0H = 0x00; |
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UBRR0L = 103; |
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UCSR0A |= (1<<U2X0); |
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UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
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UCSR0B |= (1<<RXEN0) | (1<<TXEN0) | (1<<RXCIE); |
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#else |
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// Bayboard or robot |
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UBRR1H = 0x00; // baud rate |
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UBRR1L = 103; // baud rate |
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UCSR1A |= (1<<U2X1); // double transmit speed |
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//Enable receiver and transmitter on USART1 |
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UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
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|
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// Set frame format: 8data, 1stop bit, asynchronous normal mode |
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UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
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|
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UCSR1B |= (1<<RXCIE1); // enable receive, transmit (1<<RXCIE) |
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#endif |
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sei(); |
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|
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// enter command mode |
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WL_DEBUG_PRINT("entering command mode\r\n"); |
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xbee_send_string((uint8_t*)"+++"); |
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xbee_wait_for_ok(); |
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WL_DEBUG_PRINT("entered command mode\r\n"); |
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|
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|
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// set baud on xbee |
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#if (XBEE_BAUD == 115200) |
512 |
xbee_send_string((uint8_t*)"ATBD7\r"); |
513 |
#elif (XBEE_BAUD == 57600) |
514 |
xbee_send_string((uint8_t*)"ATBD6\r"); |
515 |
#elif (XBEE_BAUD == 38400) |
516 |
xbee_send_string((uint8_t*)"ATBD5\r"); |
517 |
#elif (XBEE_BAUD == 19200) |
518 |
xbee_send_string((uint8_t*)"ATBD4\r"); |
519 |
#elif (XBEE_BAUD == 9600) |
520 |
// already at this baud rate |
521 |
xbee_send_string("ATBD3\r\n"); |
522 |
#else |
523 |
WL_DEBUG_PRINT("undefined baud rate\r\n"); |
524 |
return WL_ERROR_BAUD; |
525 |
#endif |
526 |
// exit command mode |
527 |
xbee_wait_for_ok(); |
528 |
WL_DEBUG_PRINT("got ok from baud reset\r\n"); |
529 |
xbee_send_string((uint8_t*)"ATCN\r"); |
530 |
xbee_wait_for_ok(); |
531 |
WL_DEBUG_PRINT("got ok from exiting command mode\r\n"); |
532 |
|
533 |
// set UART baud |
534 |
#ifdef FIREFLY |
535 |
#if (XBEE_BAUD == 115200) |
536 |
UBRR0H = 0x00; |
537 |
UBRR0L = 8; |
538 |
#elif (XBEE_BAUD == 57600) |
539 |
UBRR0H = 0x00; |
540 |
UBRR0L = 16; |
541 |
#elif (XBEE_BAUD == 38400) |
542 |
UBRR0H = 0x00; |
543 |
UBRR0L = 25; |
544 |
#elif (XBEE_BAUD == 19200) |
545 |
UBRR0H = 0x00; |
546 |
UBRR0L = 51; |
547 |
#elif (XBEE_BAUD == 9600) |
548 |
/* this is the default baud rate, so do nothing |
549 |
UBRR0H = 0x00; |
550 |
UBRR0L = 103;*/ |
551 |
#else |
552 |
WL_DEBUG_PRINT("undefined baud rate\r\n"); |
553 |
return WL_ERROR_BUAD; |
554 |
#endif |
555 |
#else // Bayboard or robot |
556 |
#if (XBEE_BAUD == 115200) |
557 |
UBRR1H = 0x00; |
558 |
UBRR1L = 8; |
559 |
#elif (XBEE_BAUD == 57600) |
560 |
UBRR1H = 0x00; |
561 |
UBRR1L = 16; |
562 |
#elif (XBEE_BAUD == 38400) |
563 |
UBRR1H = 0x00; |
564 |
UBRR1L = 25; |
565 |
#elif (XBEE_BAUD == 19200) |
566 |
UBRR1H = 0x00; |
567 |
UBRR1L = 51; |
568 |
#elif (XBEE_BAUD == 9600) |
569 |
/* this is the default baud rate, so do nothing |
570 |
UBRR1H = 0x00; |
571 |
UBRR1L = 103;*/ |
572 |
#else |
573 |
WL_DEBUG_PRINT("undefined baud rate\r\n"); |
574 |
return WL_ERROR_BUAD; |
575 |
#endif |
576 |
#endif |
577 |
// wait half second for the baud change to stabalize |
578 |
delay_ms(500); |
579 |
|
580 |
// enter command mode |
581 |
WL_DEBUG_PRINT("entering command mode 2\r\n"); |
582 |
xbee_send_string((uint8_t*)"+++"); |
583 |
xbee_wait_for_ok(); |
584 |
WL_DEBUG_PRINT("entered command mode 2\r\n"); |
585 |
|
586 |
if (xbee_enter_api_mode() != 0) { |
587 |
WL_DEBUG_PRINT("can't enter api mode\r\n"); |
588 |
return -1; |
589 |
} |
590 |
/*xbee_send_string((uint8_t*)"ATAP 1\r"); |
591 |
xbee_wait_for_ok();*/ |
592 |
|
593 |
/*WL_DEBUG_PRINT("Entered api mode.\r\n"); |
594 |
|
595 |
if (xbee_exit_command_mode() != 0) { |
596 |
WL_DEBUG_PRINT("can't exit command mode\r\n"); |
597 |
return -1; |
598 |
} |
599 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status |
600 |
|
601 |
WL_DEBUG_PRINT("Left command mode.\r\n"); |
602 |
|
603 |
WL_DEBUG_PRINT("before status="); |
604 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF)); |
605 |
WL_DEBUG_PRINT("\r\n"); |
606 |
|
607 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status to API_ON (API mode 1)*/ |
608 |
|
609 |
#ifdef WL_DEBUG |
610 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
611 |
WL_DEBUG_PRINT("|API OFF|"); |
612 |
} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
613 |
WL_DEBUG_PRINT("|API ON|"); |
614 |
} else { |
615 |
WL_DEBUG_PRINT("|API ERROR|"); |
616 |
} |
617 |
#endif |
618 |
|
619 |
|
620 |
// TODO: we should set the MY address to the robot address from eeprom |
621 |
uint16_t i=0; |
622 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
623 |
uint16_t newmy = 0x9876; |
624 |
if (xbee_send_modify_at_command((uint8_t*)"MY",&newmy,2) != WL_SUCCESS) { |
625 |
WL_DEBUG_PRINT("setting MY address failed\r\n"); |
626 |
} |
627 |
// wait for up to 30 ms |
628 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
629 |
delay_us(1); // wait 3us |
630 |
} |
631 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
632 |
WL_DEBUG_PRINT("setting MY address successful\r\n"); |
633 |
} else |
634 |
WL_DEBUG_PRINT("setting MY address failed\r\n"); |
635 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
636 |
|
637 |
|
638 |
uint16_t address = xbee_get_address(); |
639 |
if (address == WL_ERROR_XBEE_COMMAND_16BIT) { |
640 |
WL_DEBUG_PRINT("getting MY address failed\r\n"); |
641 |
} |
642 |
WL_DEBUG_PRINT("MY address:"); |
643 |
WL_DEBUG_PRINT_HEX((uint8_t)(address>>8)); |
644 |
WL_DEBUG_PRINT_HEX((uint8_t)(address&0xFF)); |
645 |
WL_DEBUG_PRINT("\r\n"); |
646 |
|
647 |
return WL_SUCCESS; |
648 |
} |
649 |
|
650 |
/** |
651 |
* Call when finished using the XBee library. |
652 |
**/ |
653 |
int8_t xbee_terminate() |
654 |
{ |
655 |
int ret=xbee_exit_api_mode(); |
656 |
if (ret != WL_SUCCESS) { |
657 |
WL_DEBUG_PRINT("xbee termination failed\r\n"); |
658 |
WL_DEBUG_PRINT_INT(ret); |
659 |
WL_DEBUG_PRINT("|\r\n"); |
660 |
return WL_ERROR_TERMINATION_FAILED; |
661 |
} |
662 |
setStatus(XBEE_NOT_INITD,XBEE_NOT_INITD); // clean initd status |
663 |
return WL_SUCCESS; |
664 |
} |
665 |
|
666 |
/** |
667 |
* Sends a character to the XBee. |
668 |
* |
669 |
* @param c the byte to send |
670 |
* @return 0 for success, nonzero for failure |
671 |
**/ |
672 |
int8_t xbee_putc(uint8_t c) { |
673 |
|
674 |
// Wait until buffer is clear for sending |
675 |
// Then load buffer with your character |
676 |
|
677 |
/*WL_DEBUG_PRINT("xbee_putc:"); |
678 |
WL_DEBUG_PRINT_HEX(c); |
679 |
WL_DEBUG_PRINT("|\r\n");*/ |
680 |
|
681 |
#ifdef FIREFLY |
682 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
683 |
UDR0 = c; |
684 |
#else |
685 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
686 |
UDR1 = c; |
687 |
#endif |
688 |
|
689 |
return WL_SUCCESS; |
690 |
} |
691 |
|
692 |
/** |
693 |
* Returns the first byte in the buffer received from xbee. |
694 |
* This function blocks execution until a character has been |
695 |
* received. xbee_init must be called before this function |
696 |
* may be used. |
697 |
* |
698 |
* @return the first character in the xbee buffer, -1 on error |
699 |
* |
700 |
* @see xbee_init, xbee_getc_nb |
701 |
**/ |
702 |
int16_t xbee_getc(void) { |
703 |
|
704 |
// Wait for the receive buffer to be filled |
705 |
// Then read the receive buffer |
706 |
#ifdef FIREFLY |
707 |
loop_until_bit_is_set(UCSR0A, RXC0); |
708 |
return UDR0; |
709 |
#else |
710 |
loop_until_bit_is_set(UCSR1A, RXC1); |
711 |
return UDR1; |
712 |
#endif |
713 |
} |
714 |
|
715 |
/** |
716 |
* Non blocking version of xbee_getc. If a byte is present in the buffer, |
717 |
* it is returned, otherwise -1 is returned immediately. xbee_init |
718 |
* must be called before this function can be used. |
719 |
* |
720 |
* @param c The received byte. This will be set if a byte has been received. |
721 |
* |
722 |
* @return -1 If no byte is available, 0 otherwise, positive for error |
723 |
* |
724 |
* @see xbee_getc |
725 |
**/ |
726 |
int8_t xbee_getc_nb(uint8_t *c) { |
727 |
|
728 |
// check if the receive buffer is filled |
729 |
#ifdef FIREFLY |
730 |
if (UCSR0A & (1<<RXC0)) { |
731 |
(*c) = UDR0; |
732 |
#else |
733 |
if (UCSR1A & (1<<RXC1)) { |
734 |
(*c) = UDR1; |
735 |
#endif |
736 |
return WL_SUCCESS; |
737 |
} |
738 |
return -1; // Return empty |
739 |
} |
740 |
|
741 |
/** |
742 |
* Send a buffer buf of size bytes to the XBee. |
743 |
* |
744 |
* @param buf the buffer of data to send |
745 |
* @param size the number of bytes to send |
746 |
**/ |
747 |
int8_t xbee_send(uint8_t* buf, uint16_t size) |
748 |
{ |
749 |
uint16_t i=0; // check if we need this variable |
750 |
while(i<size) { |
751 |
if (xbee_putc(buf[i++]) != WL_SUCCESS) |
752 |
return WL_ERROR_SEND; |
753 |
} |
754 |
|
755 |
return WL_SUCCESS; |
756 |
} |
757 |
|
758 |
/** |
759 |
* Sends a string to the XBee. |
760 |
* |
761 |
* @param c the string to send to the XBEE |
762 |
**/ |
763 |
static int8_t xbee_send_string(uint8_t* c) |
764 |
{ |
765 |
return xbee_send(c, strlen((char*)c)); |
766 |
} |
767 |
|
768 |
|
769 |
/** |
770 |
* Enter into command mode. |
771 |
**/ |
772 |
static int8_t xbee_enter_command_mode(void) |
773 |
{ |
774 |
if (xbee_send_string((uint8_t*)"+++") != WL_SUCCESS) { |
775 |
return WL_ERROR_XBEE_COMMAND; |
776 |
} |
777 |
WL_DEBUG_PRINT("sent command +++|"); |
778 |
|
779 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
780 |
return WL_ERROR_XBEE_COMMAND; |
781 |
} |
782 |
WL_DEBUG_PRINT("got OK\r\n"); |
783 |
|
784 |
return WL_SUCCESS; |
785 |
} |
786 |
|
787 |
/** |
788 |
* Exit from command mode. |
789 |
**/ |
790 |
static int8_t xbee_exit_command_mode() |
791 |
{ |
792 |
if (xbee_send_string((uint8_t*)"ATCN\r") != 0) { |
793 |
return WL_ERROR_SEND; |
794 |
} |
795 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
796 |
WL_DEBUG_PRINT("failed to exit command mode\r\n"); |
797 |
return WL_ERROR_SEND; |
798 |
} |
799 |
|
800 |
return WL_SUCCESS; |
801 |
} |
802 |
|
803 |
/** |
804 |
* Enter API mode. |
805 |
**/ |
806 |
static int8_t xbee_enter_api_mode(void) { |
807 |
if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) { |
808 |
return WL_ERROR_SEND; |
809 |
} |
810 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
811 |
WL_DEBUG_PRINT("failed to enter API mode\r\n"); |
812 |
return WL_ERROR_SEND; |
813 |
} |
814 |
if (xbee_exit_command_mode() != WL_SUCCESS) { |
815 |
WL_DEBUG_PRINT("failed to enter API mode\r\n"); |
816 |
return WL_ERROR_SEND; |
817 |
} |
818 |
WL_DEBUG_PRINT("got OK after entering API mode\r\n"); |
819 |
|
820 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status |
821 |
|
822 |
return WL_SUCCESS; |
823 |
} |
824 |
|
825 |
/** |
826 |
* Enter API mode 2. |
827 |
**/ |
828 |
static int8_t xbee_enter_api_mode2(void) { |
829 |
if (xbee_send_string((uint8_t*)"ATAP 2\r") != 0) { |
830 |
return WL_ERROR_SEND; |
831 |
} |
832 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
833 |
WL_DEBUG_PRINT("failed to enter API mode2\r\n"); |
834 |
return WL_ERROR_SEND; |
835 |
} |
836 |
if (xbee_exit_command_mode() != WL_SUCCESS) { |
837 |
WL_DEBUG_PRINT("failed to enter API mode2\r\n"); |
838 |
return WL_ERROR_SEND; |
839 |
} |
840 |
WL_DEBUG_PRINT("got OK after entering API mode2\r\n"); |
841 |
|
842 |
setStatus(XBEE_API_MASK,XBEE_API_ESCAPE); // set status |
843 |
|
844 |
return WL_SUCCESS; |
845 |
} |
846 |
|
847 |
/** |
848 |
* Exit API mode. |
849 |
**/ |
850 |
static int8_t xbee_exit_api_mode() |
851 |
{ |
852 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
853 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
854 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
855 |
WL_DEBUG_PRINT("now exiting API mode\r\n"); |
856 |
|
857 |
int16_t i=0; |
858 |
// change status to command wait |
859 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
860 |
if (xbee_send_modify_at_command((uint8_t*)"AP",(uint8_t*)(&i),1) != WL_SUCCESS) { // send command |
861 |
WL_DEBUG_PRINT("error sending AP 0 command\r\n"); |
862 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
863 |
return WL_ERROR_XBEE_COMMAND; |
864 |
} |
865 |
// wait for up to 30 ms |
866 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
867 |
delay_us(1); // wait 3us |
868 |
} |
869 |
if (i < 1000 && xbee_command[0] == 'A' && xbee_command[1] == 'P') { |
870 |
WL_DEBUG_PRINT("done exiting API mode\r\n"); |
871 |
i = WL_SUCCESS; |
872 |
} else { |
873 |
WL_DEBUG_PRINT("failed to exit API mode\r\n"); |
874 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
875 |
} |
876 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
877 |
setStatus(XBEE_API_MASK,XBEE_API_OFF); |
878 |
|
879 |
return (int8_t)i; // return |
880 |
} |
881 |
|
882 |
/** |
883 |
* Wait until the string "OK\r" is received from the XBee. |
884 |
**/ |
885 |
static int8_t xbee_wait_for_ok() |
886 |
{ |
887 |
//delay_ms(1000); |
888 |
//return WL_SUCCESS; |
889 |
return xbee_wait_for_string((uint8_t*)"OK", 2); |
890 |
} |
891 |
|
892 |
/** |
893 |
* Delay until the specified string is received from |
894 |
* the XBee. |
895 |
* |
896 |
* Only works when not in API mode |
897 |
* |
898 |
* @param s the string to receive |
899 |
* @param len the length of the string |
900 |
**/ |
901 |
static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len) |
902 |
{ |
903 |
uint8_t i=0; |
904 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); // set status flag |
905 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
906 |
// wait until the response is received (only wait 1 second) |
907 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
908 |
delay_us(1); |
909 |
} |
910 |
// check response |
911 |
if (i >= 1000 || memcmp(s,xbee_basic_buf,len) != 0) { |
912 |
// bad response |
913 |
WL_DEBUG_PRINT("Bad response when waiting for string "); |
914 |
WL_DEBUG_PRINT(s); |
915 |
WL_DEBUG_PRINT("\r\n"); |
916 |
return -1; |
917 |
} |
918 |
|
919 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status |
920 |
} |
921 |
|
922 |
WL_DEBUG_PRINT("done waiting for string.\r\n"); |
923 |
|
924 |
return 0; |
925 |
} |
926 |
|
927 |
/** |
928 |
* Delay until we receive a command response. |
929 |
* Then copy the response to S and set the len |
930 |
* |
931 |
* Only works when not in API mode |
932 |
* |
933 |
* @param s the string to store the response in |
934 |
* @param len the length of the string |
935 |
*/ |
936 |
static int8_t xbee_wait_for_response(uint8_t* s, int16_t len) { |
937 |
uint8_t i=0; |
938 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
939 |
// wait until the response is received (only wait 1 second) |
940 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
941 |
delay_us(1); |
942 |
} |
943 |
// check response |
944 |
if (i >= 1000) { |
945 |
return -1; |
946 |
} else { |
947 |
i=strcspn((char*)xbee_basic_buf,"\r"); |
948 |
if (i<PACKET_BUFFER_SIZE) { |
949 |
memcpy(s,xbee_basic_buf,i); |
950 |
len = i; |
951 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear response |
952 |
return 0; |
953 |
} |
954 |
else |
955 |
return -1; |
956 |
} |
957 |
} |
958 |
// TODO: do something for API mode |
959 |
|
960 |
return 0; |
961 |
} |
962 |
|
963 |
/** TODO: since we don't use this, do we need it? |
964 |
* |
965 |
* Verifies that the packets checksum is correct. |
966 |
* (If the checksum is correct, the sum of the bytes |
967 |
* is 0xFF.) |
968 |
* |
969 |
* @param packet the packet received. This includes the first |
970 |
* three bytes, which are header information from the XBee. |
971 |
* |
972 |
* @param len The length of the packet received from the XBee |
973 |
* |
974 |
* @return 0 if the checksum is incorrect, nonzero |
975 |
* otherwise |
976 |
**/ |
977 |
int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len) |
978 |
{ |
979 |
uint8_t sum = 0; |
980 |
while(--len > 0) { |
981 |
sum += packet[len]; |
982 |
} |
983 |
sum += packet[0]; |
984 |
return (sum == 0xFF); |
985 |
} |
986 |
|
987 |
/** |
988 |
* Returns the checksum of the given packet. |
989 |
* |
990 |
* @param buf the data for the packet to send |
991 |
* @param len the length of the packet in bytes |
992 |
* |
993 |
* @return the checksum of the packet, which will |
994 |
* become the last byte sent in the packet |
995 |
**/ |
996 |
uint8_t xbee_compute_checksum(uint8_t* buf, uint16_t len) |
997 |
{ |
998 |
uint8_t sum = 0; |
999 |
while(--len > 0) { |
1000 |
sum += buf[len]; |
1001 |
} |
1002 |
sum += buf[0]; |
1003 |
return 0xFF - sum; |
1004 |
} |
1005 |
|
1006 |
/** |
1007 |
* Adds buf to the previous checksum total |
1008 |
* |
1009 |
* @param buf a byte buffer to add to the checksum |
1010 |
* @param len the length of the buffer |
1011 |
* @param sum the previous sum |
1012 |
* |
1013 |
* @return error code |
1014 |
**/ |
1015 |
int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum) { |
1016 |
if (buf == NULL || sum == NULL) |
1017 |
return WL_ERROR_ARGUMENT; |
1018 |
while(--len > 0) { |
1019 |
*sum += buf[len]; |
1020 |
} |
1021 |
*sum += buf[0]; |
1022 |
return WL_SUCCESS; |
1023 |
} |
1024 |
|
1025 |
|
1026 |
/** |
1027 |
* Sends header information. Header information includes |
1028 |
* XBEE_FRAME_START and the packet length, as two bytes. |
1029 |
* |
1030 |
* @param type the packet type |
1031 |
* @param len the size in bytes of the packet data |
1032 |
* |
1033 |
**/ |
1034 |
int8_t xbee_send_header(uint16_t len) |
1035 |
{ |
1036 |
//packet prefix |
1037 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS) |
1038 |
return WL_ERROR_SEND; |
1039 |
if (xbee_putc((uint8_t)((len & 0xFF00) >> 8)) != WL_SUCCESS) |
1040 |
return WL_ERROR_SEND; |
1041 |
if (xbee_putc((uint8_t)(len & 0x00FF)) != WL_SUCCESS) |
1042 |
return WL_ERROR_SEND; |
1043 |
|
1044 |
return WL_SUCCESS; |
1045 |
} |
1046 |
|
1047 |
/** |
1048 |
* Adds header information and checksum to the given |
1049 |
* packet and sends it. Header information includes |
1050 |
* XBEE_FRAME_START and the packet length, as two bytes. |
1051 |
* |
1052 |
* @param buf the packet data |
1053 |
* @param len the size in bytes of the packet data |
1054 |
* |
1055 |
**/ |
1056 |
static int8_t xbee_send_frame(uint8_t* buf, uint16_t len) |
1057 |
{ |
1058 |
uint8_t checksum = xbee_compute_checksum(buf, len); |
1059 |
|
1060 |
//packet prefix |
1061 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS) |
1062 |
return WL_ERROR_SEND; |
1063 |
if (xbee_putc((uint8_t)(len>>8)) != WL_SUCCESS) |
1064 |
return WL_ERROR_SEND; |
1065 |
if (xbee_putc((uint8_t)(len&0xFF)) != WL_SUCCESS) |
1066 |
return WL_ERROR_SEND; |
1067 |
|
1068 |
if (xbee_send(buf, len) != WL_SUCCESS) |
1069 |
return WL_ERROR_SEND; |
1070 |
|
1071 |
if (xbee_putc(checksum) != WL_SUCCESS) |
1072 |
return WL_ERROR_SEND; |
1073 |
|
1074 |
return WL_SUCCESS; |
1075 |
} |
1076 |
|
1077 |
/** |
1078 |
* Sends an AT command to read a parameter. |
1079 |
* |
1080 |
* @param command the AT command to send. For exmaple, |
1081 |
* use ID to read the PAN ID and MY to return the XBee ID. |
1082 |
* See the XBee reference guide for a complete listing. |
1083 |
**/ |
1084 |
int8_t xbee_send_read_at_command(uint8_t* command) |
1085 |
{ |
1086 |
return xbee_send_modify_at_command(command, NULL, 0); |
1087 |
} |
1088 |
|
1089 |
/** |
1090 |
* Sends the given AT command. |
1091 |
* |
1092 |
* @param command the AT command to send (e.g., MY, ID) |
1093 |
* @param value the value to pass as a parameter |
1094 |
* (or NULL if there is no parameter) |
1095 |
**/ |
1096 |
static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len) |
1097 |
{ |
1098 |
uint8_t buf[12]; |
1099 |
|
1100 |
buf[0] = XBEE_FRAME_AT_COMMAND; |
1101 |
buf[1] = 1; |
1102 |
buf[2] = command[0]; |
1103 |
buf[3] = command[1]; |
1104 |
if (value != NULL) |
1105 |
{ |
1106 |
if (len > 8) |
1107 |
{ |
1108 |
WL_DEBUG_PRINT("AT Command too large.\r\n"); |
1109 |
return WL_ERROR_ARGUMENT; |
1110 |
} |
1111 |
memcpy(buf+4,value,len); |
1112 |
} |
1113 |
|
1114 |
return xbee_send_frame(buf, 4 + len); |
1115 |
} |
1116 |
|
1117 |
/** |
1118 |
* Send the specified packet. |
1119 |
* |
1120 |
* @param packet the packet data to send |
1121 |
* @param len the number of bytes in the packet |
1122 |
* |
1123 |
* @param dest the ID of the XBee to send the packet to, |
1124 |
* or XBEE_BROADCAST to send the message to all robots |
1125 |
* in the PAN. |
1126 |
* |
1127 |
* @param options a combination of the flags |
1128 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and |
1129 |
* XBEE_OPTIONS_BROADCAST_ALL_PANS |
1130 |
* |
1131 |
* @param frame the frame number to associate this packet |
1132 |
* with. This will be used to identify the response when |
1133 |
* the XBee alerts us as to whether or not our message |
1134 |
* was received. |
1135 |
**/ |
1136 |
int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame) |
1137 |
{ |
1138 |
uint8_t sum = XBEE_FRAME_TX_REQUEST_16; |
1139 |
uint8_t i = 0; |
1140 |
|
1141 |
if (len > 100) |
1142 |
{ |
1143 |
WL_DEBUG_PRINT("Packet is too large.\r\n"); |
1144 |
return WL_ERROR_ARGUMENT; |
1145 |
} |
1146 |
|
1147 |
// calculate checksum |
1148 |
for(;i<len;i++) |
1149 |
sum += packet[len]; |
1150 |
sum += frame; |
1151 |
sum += (dest&0xFF00) >> 8; |
1152 |
sum += dest&0x00FF; |
1153 |
sum += options; |
1154 |
sum = 0xFF - sum; |
1155 |
|
1156 |
//packet prefix |
1157 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS) |
1158 |
return WL_ERROR_SEND; |
1159 |
if (xbee_putc(0x00) != WL_SUCCESS) |
1160 |
return WL_ERROR_SEND; |
1161 |
if (xbee_putc(len+5) != WL_SUCCESS) |
1162 |
return WL_ERROR_SEND; |
1163 |
|
1164 |
//send header for TX request |
1165 |
if (xbee_putc(XBEE_FRAME_TX_REQUEST_16) != WL_SUCCESS) |
1166 |
return WL_ERROR_SEND; |
1167 |
if (xbee_putc(frame) != WL_SUCCESS) |
1168 |
return WL_ERROR_SEND; |
1169 |
if (xbee_putc((uint8_t)((dest&0xFF00) >> 8)) != WL_SUCCESS) |
1170 |
return WL_ERROR_SEND; |
1171 |
if (xbee_putc((uint8_t)(dest&0x00FF)) != WL_SUCCESS) |
1172 |
return WL_ERROR_SEND; |
1173 |
if (xbee_putc(options) != WL_SUCCESS) |
1174 |
return WL_ERROR_SEND; |
1175 |
|
1176 |
// send packet |
1177 |
if (xbee_send(packet, len) != WL_SUCCESS) |
1178 |
return WL_ERROR_SEND; |
1179 |
|
1180 |
// send checksum |
1181 |
if (xbee_putc(sum) != WL_SUCCESS) |
1182 |
return WL_ERROR_SEND; |
1183 |
|
1184 |
return WL_SUCCESS; |
1185 |
} |
1186 |
|
1187 |
/** |
1188 |
* Handles modem status packets. |
1189 |
* |
1190 |
* @param status the type of status packet received. |
1191 |
**/ |
1192 |
void xbee_handle_status(uint8_t status) |
1193 |
{ |
1194 |
switch (status) |
1195 |
{ |
1196 |
case 0: |
1197 |
WL_DEBUG_PRINT("XBee hardware reset.\r\n"); |
1198 |
break; |
1199 |
case 1: |
1200 |
WL_DEBUG_PRINT("Watchdog timer reset.\r\n"); |
1201 |
break; |
1202 |
case 2: |
1203 |
WL_DEBUG_PRINT("Associated.\r\n"); |
1204 |
break; |
1205 |
case 3: |
1206 |
WL_DEBUG_PRINT("Disassociated.\r\n"); |
1207 |
break; |
1208 |
case 4: |
1209 |
WL_DEBUG_PRINT("Synchronization lost.\r\n"); |
1210 |
break; |
1211 |
case 5: |
1212 |
WL_DEBUG_PRINT("Coordinator realignment.\r\n"); |
1213 |
break; |
1214 |
case 6: |
1215 |
WL_DEBUG_PRINT("Coordinator started.\r\n"); |
1216 |
break; |
1217 |
} |
1218 |
} |
1219 |
|
1220 |
/** |
1221 |
* Handles AT command response packets. |
1222 |
* @param command the two character AT command, e.g. MY or ID |
1223 |
* @param result 0 for success, 1 for an error |
1224 |
* @param len the length in bytes of extra |
1225 |
**/ |
1226 |
static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t status, uint8_t len) |
1227 |
{ |
1228 |
WL_DEBUG_PRINT("HANDLE AT COMMAND\r\n"); |
1229 |
if (status != 0) |
1230 |
{ |
1231 |
WL_DEBUG_PRINT("Error with AT"); |
1232 |
WL_DEBUG_PRINT(command); |
1233 |
WL_DEBUG_PRINT(" packet. Result = "); |
1234 |
switch(status) { |
1235 |
case 1: |
1236 |
WL_DEBUG_PRINT("ERROR\r\n"); |
1237 |
break; |
1238 |
case 2: |
1239 |
WL_DEBUG_PRINT("Invalid Command\r\n"); |
1240 |
break; |
1241 |
case 3: |
1242 |
WL_DEBUG_PRINT("Invalid Parameter\r\n"); |
1243 |
break; |
1244 |
} |
1245 |
return WL_SUCCESS; |
1246 |
} |
1247 |
WL_DEBUG_PRINT("AT"); |
1248 |
WL_DEBUG_PRINT_CHAR((uint8_t)(command>>8)); |
1249 |
WL_DEBUG_PRINT_CHAR((uint8_t)(command)); |
1250 |
WL_DEBUG_PRINT(" command is being handled\r\n"); |
1251 |
|
1252 |
// TODO: program more command responses here (ND, etc) |
1253 |
switch(command) { |
1254 |
case ('I'<<8)+'D': // PAN |
1255 |
case ('C'<<8)+'H': // channel |
1256 |
case ('M'<<8)+'Y': // address |
1257 |
case ('A'<<8)+'P': // api mode |
1258 |
// copy command to handler |
1259 |
xbee_command[0] = (command&0xFF00)>>8; |
1260 |
xbee_command[1] = command&0x00FF; |
1261 |
uint8_t ptr = basic_buf_last; |
1262 |
for(command=2;command<len+2;command++) { |
1263 |
xbee_command[command] = xbee_basic_buf_get(&ptr); |
1264 |
if (xbee_command[command] == '\r') |
1265 |
break; // done with command |
1266 |
WL_DEBUG_PRINT_HEX(xbee_command[command]); |
1267 |
} |
1268 |
xbee_command[command] = '\0'; |
1269 |
WL_DEBUG_PRINT("len="); |
1270 |
WL_DEBUG_PRINT_INT(len); |
1271 |
WL_DEBUG_PRINT("ID,CH,or MY command result:"); |
1272 |
WL_DEBUG_PRINT(xbee_command); |
1273 |
WL_DEBUG_PRINT("\r\n"); |
1274 |
break; |
1275 |
default: |
1276 |
WL_DEBUG_PRINT("unknown AT command"); |
1277 |
} |
1278 |
|
1279 |
// signal handler that command response is done |
1280 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
1281 |
|
1282 |
return WL_SUCCESS; |
1283 |
} |
1284 |
|
1285 |
/** |
1286 |
* Sets the personal area network id. |
1287 |
* |
1288 |
* @param id the new personal area network (PAN) id |
1289 |
**/ |
1290 |
int8_t xbee_set_pan(uint16_t id) |
1291 |
{ |
1292 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
1293 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1294 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1295 |
|
1296 |
int16_t i=0; |
1297 |
// change status to command wait |
1298 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1299 |
xbee_send_modify_at_command((uint8_t*)"ID",(uint8_t*)(&id),2); // send command to set the channel |
1300 |
// wait for up to 30 ms |
1301 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1302 |
delay_us(1); // wait 3us |
1303 |
} |
1304 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
1305 |
i = WL_SUCCESS; |
1306 |
else |
1307 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
1308 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
1309 |
return (int8_t)i; // return |
1310 |
} |
1311 |
|
1312 |
/** |
1313 |
* Get the PAN ID for the XBee. |
1314 |
* |
1315 |
* @return the personal area network id, or |
1316 |
* XBEE_PAN_DEFAULT if it has not yet been set. |
1317 |
**/ |
1318 |
uint16_t xbee_get_pan() |
1319 |
{ |
1320 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
1321 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1322 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
1323 |
|
1324 |
uint16_t i=0; |
1325 |
// change status to command wait |
1326 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1327 |
xbee_send_read_at_command((uint8_t*)"ID"); // send command to get the PAN |
1328 |
// wait for up to 30 ms |
1329 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1330 |
delay_us(1); // wait 3us |
1331 |
} |
1332 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
1333 |
i = xbee_command[2]|(xbee_command[3]<<8); // do ntoh16 coversion |
1334 |
else |
1335 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code |
1336 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
1337 |
return i; // return |
1338 |
} |
1339 |
|
1340 |
/** |
1341 |
* Set the channel the XBee is using. |
1342 |
* |
1343 |
* @param channel the channel the XBee will not use, |
1344 |
* between 0x0B and 0x1A |
1345 |
* |
1346 |
* @see xbee_get_channel |
1347 |
**/ |
1348 |
int8_t xbee_set_channel(uint8_t channel) |
1349 |
{ |
1350 |
if (channel < 0x0B || channel > 0x1A) |
1351 |
{ |
1352 |
WL_DEBUG_PRINT("Channel out of range.\r\n"); |
1353 |
return WL_ERROR_ARGUMENT; |
1354 |
} |
1355 |
|
1356 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
1357 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1358 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1359 |
|
1360 |
int16_t i=0; |
1361 |
// change status to command wait |
1362 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1363 |
xbee_send_modify_at_command((uint8_t*)"CH",&channel,1); // send command to set the channel |
1364 |
// wait for up to 30 ms |
1365 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1366 |
delay_us(1); // wait 3us |
1367 |
} |
1368 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
1369 |
i = WL_SUCCESS; |
1370 |
else |
1371 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
1372 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
1373 |
return (int8_t)i; // return |
1374 |
} |
1375 |
|
1376 |
/** |
1377 |
* Returns the channel which the XBee is currently using. |
1378 |
* |
1379 |
* @return the channel the XBee is using |
1380 |
* |
1381 |
* @see xbee_set_channel |
1382 |
**/ |
1383 |
int8_t xbee_get_channel(void) |
1384 |
{ |
1385 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
1386 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1387 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1388 |
|
1389 |
int16_t i=0; |
1390 |
// change status to command wait |
1391 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1392 |
xbee_send_read_at_command((uint8_t*)"CH"); // send command to get the channel |
1393 |
// wait for up to 30 ms |
1394 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1395 |
delay_us(1); // wait 3us |
1396 |
} |
1397 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
1398 |
i = (int8_t)xbee_command[2]; // get channel |
1399 |
else |
1400 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
1401 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
1402 |
return i; // return |
1403 |
} |
1404 |
|
1405 |
/** |
1406 |
* Get the 16-bit address of the XBee. |
1407 |
* This is used to specify who to send messages to |
1408 |
* and who messages are from. |
1409 |
* |
1410 |
* @return the 16-bit address of the XBee. |
1411 |
**/ |
1412 |
uint16_t xbee_get_address(void) |
1413 |
{ |
1414 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
1415 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1416 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
1417 |
|
1418 |
uint16_t i=0; |
1419 |
// change status to command wait |
1420 |
/*WL_DEBUG_PRINT("\r\nbefore status="); |
1421 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF)); |
1422 |
WL_DEBUG_PRINT("\r\n");*/ |
1423 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1424 |
/*if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
1425 |
WL_DEBUG_PRINT("|API OFF|"); |
1426 |
} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
1427 |
WL_DEBUG_PRINT("|API ON|"); |
1428 |
} else { |
1429 |
WL_DEBUG_PRINT("|API ERROR|"); |
1430 |
} |
1431 |
WL_DEBUG_PRINT("after status="); |
1432 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF)); |
1433 |
WL_DEBUG_PRINT("\r\n");*/ |
1434 |
xbee_send_read_at_command((uint8_t*)"MY"); // send command to get the address |
1435 |
// wait for up to 30 ms |
1436 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1437 |
delay_us(1); // wait 3us |
1438 |
} |
1439 |
|
1440 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
1441 |
i = xbee_command[2]|(xbee_command[3]<<8); // do ntoh16 coversion |
1442 |
} else |
1443 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code |
1444 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
1445 |
WL_DEBUG_PRINT("get MY address\r\n"); |
1446 |
return i; // return |
1447 |
} |
1448 |
|
1449 |
/**@} **/ // end xbee group |
1450 |
|