root / branches / wireless / code / projects / unit_tests / test_wireless2.c @ 1788
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#include <wl_defs.h> |
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#include <string.h> |
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#include <wireless.h> |
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#include <lights.h> |
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#include <dragonfly_lib.h> |
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#include <xbee.h> |
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|
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|
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void group_1_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_2_function(uint8_t* data,uint8_t length,uint8_t source);
|
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void group_3_function(uint8_t* data,uint8_t length,uint8_t source);
|
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void group_4_function(uint8_t* data,uint8_t length,uint8_t source);
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void test_function_1(void); |
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void test_sending();
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void test_receiving();
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|
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uint16_t friendAddress = 0;
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|
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/* This function tests out the full functionality of the new wireless library.
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* It must be run on two colony bots simultaneously to properly test all funtions.
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*/
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void testwireless2(void) |
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{ |
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orb_init(); |
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usb_init(); |
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int status = 0; |
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|
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WL_DEBUG_PRINT_P("New Wireless Library Test Suite\r\n");
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|
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/*Initialize the wirelss library*/
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WL_DEBUG_PRINT_P("Initializing library...\r\n");
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orb1_set_color(BLUE); |
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status = wl_init(); |
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switch(status){
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case 0: |
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WL_DEBUG_PRINT_P("Library initialization successful\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
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case -1: |
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WL_DEBUG_PRINT_P("Initialization failed: already initialized\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
|
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case -2: |
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WL_DEBUG_PRINT_P("Initialization failed: XBEE initialization failed\r\n\r\n");
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orb1_set_color(RED); |
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break;
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default:
|
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WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P("\r\n\r\n");
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orb1_set_color(RED); |
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break;
|
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} |
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while((status!=0) && 1); |
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|
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/*Test all constants defined correctly*/
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status = 0;
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WL_DEBUG_PRINT_P("Testing constants...");
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orb2_set_color(GREEN); |
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if(GLOBAL!=0){ |
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WL_DEBUG_PRINT_P("\r\nGLOBAL defined as ");
|
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usb_puti(GLOBAL); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(PAN!=1){ |
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WL_DEBUG_PRINT_P("\r\nPAN defined as ");
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usb_puti(PAN); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(BROADCAST!=0xFFFF){ |
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WL_DEBUG_PRINT_P("\r\nBROADCAST defined as ");
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usb_puti(BROADCAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(RELIABLE!=0){ |
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WL_DEBUG_PRINT_P("\r\nRELIABLE defined as ");
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usb_puti(RELIABLE); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(FAST!=1){ |
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WL_DEBUG_PRINT_P("\r\nFAST defined as ");
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usb_puti(FAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(NORMAL_PRIORITY!=0){ |
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WL_DEBUG_PRINT_P("\r\nNORMAL_PRIORITY defined as ");
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usb_puti(NORMAL_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(HIGH_PRIORITY!=1){ |
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WL_DEBUG_PRINT_P("\r\nHIGH_PRIORITY defined as ");
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usb_puti(HIGH_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".\r\nConstant test complete. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
|
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if(status!=0){ |
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orb2_set_color(ORANGE); |
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delay_ms(500);
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} |
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/*Tests function registration*/
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WL_DEBUG_PRINT_P("\r\nTesting function registration");
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int registers[8], count; |
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status = 0;
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orb2_set_color(GREEN); |
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registers[0] = wl_register_handler(1, group_1_function, 0); |
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registers[1] = wl_register_handler(2, group_2_function, 1); |
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registers[2] = wl_register_handler(3, group_3_function, 0); |
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registers[3] = wl_register_handler(4, group_4_function, 1); |
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registers[4] = wl_register_handler(0, group_1_function, 0); |
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registers[5] = wl_register_handler(6, NULL, 0); |
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registers[6] = wl_register_handler(30, group_3_function, 0); |
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registers[7] = wl_register_handler(-1, group_4_function, 0); |
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for(count=0; count<=3; count++){ |
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if(registers[count] != 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of success\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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for(count=4; count<=6; count++){ |
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if(registers[count] == 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" succeeded instead of failing\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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if(registers[count] != 0 && registers[count] != -5){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of -5\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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if(registers[7] == 0){ |
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WL_DEBUG_PRINT_P("\r\nCongrats, you let an array write to index -1\r\n");
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orb2_set_color(RED); |
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status++; |
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} |
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WL_DEBUG_PRINT_P("Registration test completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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delay_ms(500);
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|
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/*Tests XBee functions*/
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WL_DEBUG_PRINT_P("\r\nTesting XBee fuctions...\r\n");
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status = 0;
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orb2_set_color(GREEN); |
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uint16_t pan = xbee_get_pan(); |
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("Pan error: defaulted to non-default Pan id (0):");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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status = xbee_set_pan(0x2B7D);
|
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if(status != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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usb_puth16(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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pan = xbee_get_pan(); |
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if(pan != 0x2B7D){ |
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 0x2B7D: ");
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usb_puth16(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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status = xbee_set_pan(0);
|
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if(status != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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pan = xbee_get_pan(); |
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 0: ");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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int chanCount;
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for(chanCount = 0x0B; chanCount <= 0x1A; chanCount++){ |
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xbee_set_channel(0x10);
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WL_DEBUG_PRINT_P("\r\nChannel: ");
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WL_DEBUG_PRINT_HEX(xbee_get_channel()); |
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} |
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uint16_t data = xbee_get_address(); |
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uint8_t sendBuffer[2];
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uint16_t address = 0;
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sendBuffer[0] = (data& 0xFF00) >> 8; |
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sendBuffer[1] = (data& 0x00FF); |
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|
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|
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WL_DEBUG_PRINT_P("\r\n\r\nXBee tests completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors.\r\n");
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|
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/*Tests sending in fast mode*/
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WL_DEBUG_PRINT_P("\r\nTests sending basic packets in fast mode...\r\n");
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status = 0;
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status = wl_send(sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("Global fast broadcast basic send exit code ");
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usb_puti(status); |
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char bigbuf[10]; |
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int8_t ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16(bigbuf); |
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} |
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status = wl_send(sendBuffer, 2, 0, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16(bigbuf); |
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} |
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status = wl_send(sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast basic send exit code ");
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16(bigbuf); |
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} |
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status = wl_send(sendBuffer, 2, 0, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
|
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16(bigbuf); |
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} |
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status = wl_send(sendBuffer, 2, 1, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 1 send exit code ");
|
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
|
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
|
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16(bigbuf); |
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} |
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status = wl_send(sendBuffer, 2, 2, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 2 exit code ");
|
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
|
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
|
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} else {
|
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WL_DEBUG_PRINT_P("get returned:");
|
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usb_puth16(bigbuf); |
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} |
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status = wl_send(sendBuffer, 2, 1, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 3 send exit code ");
|
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
|
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if (ret < 0) { |
297 |
WL_DEBUG_PRINT_P("error in wl_get:");
|
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WL_DEBUG_PRINT_INT(ret); |
299 |
WL_DEBUG_PRINT_P("\r\n");
|
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} else {
|
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WL_DEBUG_PRINT_P("get returned:");
|
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usb_puth16(bigbuf); |
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} |
304 |
status = wl_send(sendBuffer, 2, 2, GLOBAL, PAN, FAST); |
305 |
WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 4 exit code ");
|
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usb_puti(status); |
307 |
ret = wl_get(bigbuf,10);
|
308 |
if (ret < 0) { |
309 |
WL_DEBUG_PRINT_P("error in wl_get:");
|
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WL_DEBUG_PRINT_INT(ret); |
311 |
WL_DEBUG_PRINT_P("\r\n");
|
312 |
} else {
|
313 |
WL_DEBUG_PRINT_P("get returned:");
|
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usb_puth16(bigbuf); |
315 |
} |
316 |
WL_DEBUG_PRINT_P("\r\nFast send tests successful\r\n");
|
317 |
|
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/*Sends packets in fast mode until other robot responds*/
|
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status = 0;
|
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int len = 0; |
321 |
uint8_t buffer[10];
|
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// uint8_t sendBuffer[2];
|
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//uint16_t address = 0;
|
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orb2_set_color(BLUE); |
325 |
while(1){ |
326 |
WL_DEBUG_PRINT_P("\r\nMy address: ");
|
327 |
usb_puti(data); |
328 |
usb_puti(xbee_get_address()); |
329 |
sendBuffer[0] = (data& 0xFF00) >> 8; |
330 |
sendBuffer[1] = (data& 0x00FF); |
331 |
wl_send((uint8_t*)sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST); |
332 |
delay_ms(1000);
|
333 |
len = wl_get(buffer, 10);
|
334 |
if(len != 0){ |
335 |
address = (buffer[0] << 8) + buffer[1]; |
336 |
orb2_set_color(GREEN); |
337 |
WL_DEBUG_PRINT_P("\r\nLength: ");
|
338 |
WL_DEBUG_PRINT_INT(len); |
339 |
WL_DEBUG_PRINT_P("\r\nFriend address: ");
|
340 |
usb_puth16(address); |
341 |
friendAddress = address; |
342 |
} |
343 |
if(button1_read()){
|
344 |
test_sending(); |
345 |
break;
|
346 |
} |
347 |
if(button2_read()){
|
348 |
test_receiving(); |
349 |
break;
|
350 |
} |
351 |
} |
352 |
|
353 |
|
354 |
/*Terminates wireless functions*/
|
355 |
WL_DEBUG_PRINT_P("\r\n\r\nTerminating wireless...\r\n");
|
356 |
status = wl_terminate(); |
357 |
switch(status){
|
358 |
case 0: |
359 |
WL_DEBUG_PRINT_P("Wireless termination successful\r\n\r\n");
|
360 |
orb1_set_color(BLUE); |
361 |
break;
|
362 |
case -3: |
363 |
WL_DEBUG_PRINT_P("Termination failed: library not initialized\r\n\r\n");
|
364 |
orb1_set_color(BLUE); |
365 |
break;
|
366 |
case -5: |
367 |
WL_DEBUG_PRINT_P("Termination failed\r\n\r\n");
|
368 |
orb1_set_color(RED); |
369 |
break;
|
370 |
case -6: |
371 |
WL_DEBUG_PRINT_P("Termination failed: function unregistration failed\r\n\r\n");
|
372 |
orb1_set_color(ORANGE); |
373 |
break;
|
374 |
default:
|
375 |
WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
|
376 |
usb_puti(status); |
377 |
orb1_set_color(RED); |
378 |
break;
|
379 |
} |
380 |
|
381 |
WL_DEBUG_PRINT_P("\r\n\r\nWireless Library tests completed");
|
382 |
while(1){} |
383 |
} |
384 |
|
385 |
void test_sending(){
|
386 |
uint8_t count; |
387 |
//Testing all wrappers for FAST mode
|
388 |
for(count = 0; count < 5; count++){ |
389 |
usb_puti(count); |
390 |
usb_puti(wl_send_basic(&count, 1));
|
391 |
delay_ms(300);
|
392 |
} |
393 |
for(count = 5; count < 10; count++){ |
394 |
usb_puti(count); |
395 |
usb_puti(wl_send_global(&count, 1, 0)); |
396 |
delay_ms(300);
|
397 |
} |
398 |
for(count = 10; count < 15; count++){ |
399 |
usb_puti(count); |
400 |
usb_puti(wl_send_pan(&count, 1, xbee_get_pan()));
|
401 |
delay_ms(300);
|
402 |
} |
403 |
for(count = 15; count < 20; count++){ |
404 |
usb_puti(count); |
405 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress, FAST)); |
406 |
delay_ms(300);
|
407 |
} |
408 |
for(count = 20; count < 25; count++){ |
409 |
usb_puti(count); |
410 |
usb_puti(wl_send_global(&count, 1, 1)); |
411 |
delay_ms(300);
|
412 |
} |
413 |
for(count = 25; count < 30; count++){ |
414 |
usb_puti(count); |
415 |
usb_puti(wl_send_global(&count, 1, 2)); |
416 |
delay_ms(300);
|
417 |
} |
418 |
for(count = 30; count < 35; count++){ |
419 |
usb_puti(count); |
420 |
usb_puti(wl_send_global(&count, 1, 3)); |
421 |
delay_ms(300);
|
422 |
} |
423 |
for(count = 35; count < 40; count++){ |
424 |
usb_puti(count); |
425 |
usb_puti(wl_send_global(&count, 1, 4)); |
426 |
delay_ms(300);
|
427 |
} |
428 |
//FAST mode tests completed. Now testing ACK system
|
429 |
/* for(count = 40; count < 45; count++){
|
430 |
usb_puti(count);
|
431 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress, RELIABLE));
|
432 |
delay_ms(1000);
|
433 |
}
|
434 |
for(count = 45; count < 50; count++){
|
435 |
usb_puti(count);
|
436 |
usb_puti(wl_send_robot(&count, 1, 1, friendAddress, RELIABLE));
|
437 |
delay_ms(1000);
|
438 |
}
|
439 |
for(count = 50; count < 55; count++){
|
440 |
usb_puti(count);
|
441 |
usb_puti(wl_send_robot(&count, 1, 2, friendAddress, RELIABLE));
|
442 |
delay_ms(1000);
|
443 |
}
|
444 |
for(count = 55; count < 60; count++){
|
445 |
usb_puti(count);
|
446 |
usb_puti(wl_send_robot(&count, 1, 3, friendAddress, RELIABLE));
|
447 |
delay_ms(1000);
|
448 |
}
|
449 |
for(count = 60; count < 65; count++){
|
450 |
usb_puti(count);
|
451 |
usb_puti(wl_send_robot(&count, 1, 4, friendAddress, RELIABLE));
|
452 |
delay_ms(1000);
|
453 |
}
|
454 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
455 |
usb_puti(wl_ack_error());
|
456 |
wl_ack_reset();
|
457 |
usb_puti(wl_ack_error());
|
458 |
for(count = 65; count < 70; count++){//changed friendAddress, all should fail
|
459 |
usb_puti(count);
|
460 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress + 1, RELIABLE));
|
461 |
delay_ms(count * 10);
|
462 |
}
|
463 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
464 |
usb_puti(wl_ack_error());
|
465 |
*/}
|
466 |
|
467 |
void test_receiving(){
|
468 |
int8_t result, length = 8;
|
469 |
char* data[8]; |
470 |
while(1){ |
471 |
result = wl_get_basic(data, length); |
472 |
if(result){
|
473 |
WL_DEBUG_PRINT_P("\r\nData length: ");
|
474 |
WL_DEBUG_PRINT_INT(result); |
475 |
WL_DEBUG_PRINT_P("\r\nData: ");
|
476 |
WL_DEBUG_PRINT_HEX(*data); |
477 |
}else{
|
478 |
delay_ms(100);
|
479 |
} |
480 |
} |
481 |
} |
482 |
|
483 |
void group_1_function(uint8_t* data,uint8_t length,uint8_t source){
|
484 |
WL_DEBUG_PRINT_P("\r\nFunction 1 called");
|
485 |
return 0; |
486 |
} |
487 |
void group_2_function(uint8_t* data,uint8_t length,uint8_t source){
|
488 |
WL_DEBUG_PRINT_P("\r\nFunction 2 called");
|
489 |
return 0; |
490 |
} |
491 |
void group_3_function(uint8_t* data,uint8_t length,uint8_t source){
|
492 |
WL_DEBUG_PRINT_P("\r\nFunction 3 called. Length: ");
|
493 |
WL_DEBUG_PRINT_INT(length); |
494 |
WL_DEBUG_PRINT_P(" Soucre: ");
|
495 |
WL_DEBUG_PRINT_HEX(source); |
496 |
return 0; |
497 |
} |
498 |
void group_4_function(uint8_t* data,uint8_t length,uint8_t source){
|
499 |
WL_DEBUG_PRINT_P("\r\nFunction 4 called");
|
500 |
return 0; |
501 |
} |
502 |
//The first robot to receive the address of another robot will trigger this function.
|
503 |
void test_function_1(void){ |
504 |
uint16_t myAddress = xbee_get_address(); |
505 |
usb_puti(myAddress); |
506 |
|
507 |
return 0; |
508 |
} |
509 |
|