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<title>libwireless: Xbee Functions</title>
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<h1>Xbee Functions<br/>
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<small>
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[<a class="el" href="group__xbee.html">XBee</a>]</small>
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</h1>
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<p>These are the public xbee functions.  
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<a href="#_details">More...</a></p>
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<table border="0" cellpadding="0" cellspacing="0">
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<tr><td colspan="2"><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga35f6f209aee59fad0490a961587e014a">xbee_init</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the XBee library.  <a href="#ga35f6f209aee59fad0490a961587e014a"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga0b4c25c76efbe397decacefced00e06c">xbee_terminate</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Uninitialize the XBee library.  <a href="#ga0b4c25c76efbe397decacefced00e06c"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga5805e267e3b6f4b7bdad7aa6dc65ee04">xbee_send</a> (uint8_t *buf, uint16_t size)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send an array of bytes to the xbee in API mode.  <a href="#ga5805e267e3b6f4b7bdad7aa6dc65ee04"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#gae75ee9a54a5811b8bc302dc2d70f0215">xbee_sendc</a> (uint8_t byte)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send byte to the xbee in API mode.  <a href="#gae75ee9a54a5811b8bc302dc2d70f0215"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga2eb96c49811a1d9f2ccd1e1186915077">xbee_checksum_add</a> (uint8_t *buf, uint8_t len, uint8_t *sum)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add a buffer to the checksum value.  <a href="#ga2eb96c49811a1d9f2ccd1e1186915077"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga2a39ffce83d65d22aeefb41dfce2112f">xbee_send_header</a> (uint16_t len)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a frame header to the xbee.  <a href="#ga2a39ffce83d65d22aeefb41dfce2112f"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#gaae54f7208cfa786cb56d4d78ab3ceffe">xbee_send_packet</a> (uint8_t *packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a packet to the XBee.  <a href="#gaae54f7208cfa786cb56d4d78ab3ceffe"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#gadbcb9cc8cf6afa28e6de8defb33f8196">xbee_set_pan</a> (uint16_t id)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the PAN ID for the XBee.  <a href="#gadbcb9cc8cf6afa28e6de8defb33f8196"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">uint16_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga76e60575b236342945b6a69bbe42df9f">xbee_get_pan</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the XBee's PAN ID.  <a href="#ga76e60575b236342945b6a69bbe42df9f"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga4f67630ca81e5eae064bb58c3818d3fd">xbee_set_channel</a> (uint8_t channel)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the channel the XBee is currently using.  <a href="#ga4f67630ca81e5eae064bb58c3818d3fd"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga319d4bccd5e6b09d2f377d2170104817">xbee_get_channel</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the channel the XBee is currently using.  <a href="#ga319d4bccd5e6b09d2f377d2170104817"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">uint16_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#ga24d751120f5cded06a70d156c29261fc">xbee_get_address</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the XBee's 16-bit address.  <a href="#ga24d751120f5cded06a70d156c29261fc"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gacf9354ba8b49419b6286e1318e87aa41"></a><!-- doxytag: member="xbee_funcs::xbee_reset" ref="gacf9354ba8b49419b6286e1318e87aa41" args="(void)" -->
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int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee__funcs.html#gacf9354ba8b49419b6286e1318e87aa41">xbee_reset</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset XBee. <br/></td></tr>
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</table>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
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<p>These are the public xbee functions. </p>
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<hr/><h2>Function Documentation</h2>
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<a class="anchor" id="ga2eb96c49811a1d9f2ccd1e1186915077"></a><!-- doxytag: member="xbee.h::xbee_checksum_add" ref="ga2eb96c49811a1d9f2ccd1e1186915077" args="(uint8_t *buf, uint8_t len, uint8_t *sum)" -->
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          <td class="memname">int8_t xbee_checksum_add </td>
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          <td>(</td>
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          <td class="paramtype">uint8_t *&nbsp;</td>
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          <td class="paramname"> <em>buf</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramkey"></td>
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          <td class="paramtype">uint8_t *&nbsp;</td>
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          <td class="paramname"> <em>sum</em></td><td>&nbsp;</td>
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          <td>)</td>
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<p>Add a buffer to the checksum value. </p>
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<p>Adds buf to the previous checksum total</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>buf</em>&nbsp;</td><td>a byte buffer to add to the checksum </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>len</em>&nbsp;</td><td>the length of the buffer </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>sum</em>&nbsp;</td><td>the previous sum</td></tr>
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<dl class="return"><dt><b>Returns:</b></dt><dd>error code </dd></dl>
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<p>References <a class="el" href="wl__defs_8h_source.html#l00090">WL_ERROR_ARGUMENT</a>, and <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>.</p>
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<p>Referenced by <a class="el" href="wireless__send_8c_source.html#l00091">wl_send()</a>.</p>
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<a class="anchor" id="ga24d751120f5cded06a70d156c29261fc"></a><!-- doxytag: member="xbee.h::xbee_get_address" ref="ga24d751120f5cded06a70d156c29261fc" args="(void)" -->
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          <td class="memname">uint16_t xbee_get_address </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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          <td>&nbsp;)&nbsp;</td>
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<p>Get the XBee's 16-bit address. </p>
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<p>Get the 16-bit address of the XBee. This is used to specify who to send messages to and who messages are from.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the 16-bit address of the XBee. </dd></dl>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, <a class="el" href="wl__defs_8h_source.html#l00117">WL_ERROR_XBEE_COMMAND_16BIT</a>, and <a class="el" href="xbee_8c_source.html#l01380">xbee_send_read_at_command()</a>.</p>
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<p>Referenced by <a class="el" href="xbee_8c_source.html#l00729">xbee_init()</a>.</p>
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<a class="anchor" id="ga319d4bccd5e6b09d2f377d2170104817"></a><!-- doxytag: member="xbee.h::xbee_get_channel" ref="ga319d4bccd5e6b09d2f377d2170104817" args="(void)" -->
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          <td class="memname">int8_t xbee_get_channel </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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<p>Get the channel the XBee is currently using. </p>
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<p>Returns the channel which the XBee is currently using.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the channel the XBee is using</dd></dl>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__xbee__funcs.html#ga4f67630ca81e5eae064bb58c3818d3fd" title="Set the channel the XBee is currently using.">xbee_set_channel</a> </dd></dl>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, <a class="el" href="wl__defs_8h_source.html#l00114">WL_ERROR_XBEE_COMMAND</a>, and <a class="el" href="xbee_8c_source.html#l01380">xbee_send_read_at_command()</a>.</p>
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<a class="anchor" id="ga76e60575b236342945b6a69bbe42df9f"></a><!-- doxytag: member="xbee.h::xbee_get_pan" ref="ga76e60575b236342945b6a69bbe42df9f" args="(void)" -->
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          <td>(</td>
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<p>Get the XBee's PAN ID. </p>
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<p>Get the PAN ID for the XBee.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the personal area network id, or XBEE_PAN_DEFAULT if it has not yet been set. </dd></dl>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, <a class="el" href="wl__defs_8h_source.html#l00117">WL_ERROR_XBEE_COMMAND_16BIT</a>, and <a class="el" href="xbee_8c_source.html#l01380">xbee_send_read_at_command()</a>.</p>
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<a class="anchor" id="ga35f6f209aee59fad0490a961587e014a"></a><!-- doxytag: member="xbee.h::xbee_init" ref="ga35f6f209aee59fad0490a961587e014a" args="(void)" -->
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          <td>(</td>
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<p>Initialize the XBee library. </p>
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<p>Initializes the XBee library so that other functions may be used. </p>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, <a class="el" href="wl__defs_8h_source.html#l00120">WL_ERROR_BAUD</a>, <a class="el" href="wl__defs_8h_source.html#l00075">WL_ERROR_INIT_ALREADY_INITD</a>, <a class="el" href="wl__defs_8h_source.html#l00117">WL_ERROR_XBEE_COMMAND_16BIT</a>, <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>, <a class="el" href="xbee_8c_source.html#l00087">xbee_basic_buf</a>, <a class="el" href="xbee_8c_source.html#l01725">xbee_get_address()</a>, and <a class="el" href="xbee_8c_source.html#l01586">xbee_set_pan()</a>.</p>
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<p>Referenced by <a class="el" href="wireless_8c_source.html#l00057">wl_init()</a>.</p>
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<a class="anchor" id="ga5805e267e3b6f4b7bdad7aa6dc65ee04"></a><!-- doxytag: member="xbee.h::xbee_send" ref="ga5805e267e3b6f4b7bdad7aa6dc65ee04" args="(uint8_t *buf, uint16_t size)" -->
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          <td>(</td>
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          <td class="paramtype">uint8_t *&nbsp;</td>
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          <td class="paramname"> <em>buf</em>, </td>
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          <td class="paramtype">uint16_t&nbsp;</td>
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          <td>)</td>
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<p>Send an array of bytes to the xbee in API mode. </p>
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<p>Send a buffer buf of size bytes to the XBee in API mode</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>buf</em>&nbsp;</td><td>the buffer of data to send </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>size</em>&nbsp;</td><td>the number of bytes to send </td></tr>
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<p>References <a class="el" href="wl__defs_8h_source.html#l00093">WL_ERROR_SEND</a>, <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>, and <a class="el" href="xbee_8c_source.html#l01015">xbee_sendc()</a>.</p>
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<p>Referenced by <a class="el" href="wireless__send_8c_source.html#l00091">wl_send()</a>, and <a class="el" href="xbee_8c_source.html#l01432">xbee_send_packet()</a>.</p>
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<a class="anchor" id="ga2a39ffce83d65d22aeefb41dfce2112f"></a><!-- doxytag: member="xbee.h::xbee_send_header" ref="ga2a39ffce83d65d22aeefb41dfce2112f" args="(uint16_t len)" -->
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          <td>(</td>
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          <td class="paramtype">uint16_t&nbsp;</td>
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          <td>&nbsp;)&nbsp;</td>
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<p>Send a frame header to the xbee. </p>
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<p>Sends header information. Header information includes XBEE_FRAME_START and the packet length, as two bytes.</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>type</em>&nbsp;</td><td>the packet type </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>len</em>&nbsp;</td><td>the size in bytes of the packet data </td></tr>
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<p>References <a class="el" href="wl__defs_8h_source.html#l00093">WL_ERROR_SEND</a>, <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>, <a class="el" href="xbee_8c_source.html#l00945">xbee_putc()</a>, and <a class="el" href="xbee_8c_source.html#l01015">xbee_sendc()</a>.</p>
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<p>Referenced by <a class="el" href="wireless__send_8c_source.html#l00091">wl_send()</a>.</p>
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<a class="anchor" id="gaae54f7208cfa786cb56d4d78ab3ceffe"></a><!-- doxytag: member="xbee.h::xbee_send_packet" ref="gaae54f7208cfa786cb56d4d78ab3ceffe" args="(uint8_t *packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame)" -->
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          <td>(</td>
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          <td class="paramtype">uint8_t *&nbsp;</td>
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          <td class="paramtype">uint16_t&nbsp;</td>
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          <td class="paramname"> <em>dest</em>, </td>
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        <tr>
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          <td class="paramkey"></td>
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          <td></td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramname"> <em>options</em>, </td>
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        </tr>
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        <tr>
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          <td class="paramkey"></td>
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          <td></td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramname"> <em>frame</em></td><td>&nbsp;</td>
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          <td></td>
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          <td>)</td>
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          <td></td><td></td><td></td>
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<p>Send a packet to the XBee. </p>
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<p>Send the specified packet.</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>packet</em>&nbsp;</td><td>the packet data to send </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>len</em>&nbsp;</td><td>the number of bytes in the packet</td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>dest</em>&nbsp;</td><td>the ID of the XBee to send the packet to, or XBEE_BROADCAST to send the message to all robots in the PAN.</td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>options</em>&nbsp;</td><td>a combination of the flags XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and XBEE_OPTIONS_BROADCAST_ALL_PANS</td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>frame</em>&nbsp;</td><td>the frame number to associate this packet with. This will be used to identify the response when the XBee alerts us as to whether or not our message was received. </td></tr>
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<p>References <a class="el" href="wl__defs_8h_source.html#l00090">WL_ERROR_ARGUMENT</a>, <a class="el" href="wl__defs_8h_source.html#l00093">WL_ERROR_SEND</a>, <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>, <a class="el" href="xbee_8c_source.html#l00945">xbee_putc()</a>, <a class="el" href="xbee_8c_source.html#l01038">xbee_send()</a>, and <a class="el" href="xbee_8c_source.html#l01015">xbee_sendc()</a>.</p>
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<a class="anchor" id="gae75ee9a54a5811b8bc302dc2d70f0215"></a><!-- doxytag: member="xbee.h::xbee_sendc" ref="gae75ee9a54a5811b8bc302dc2d70f0215" args="(uint8_t byte)" -->
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          <td class="memname">int8_t xbee_sendc </td>
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          <td>(</td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramname"> <em>byte</em></td>
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          <td>&nbsp;)&nbsp;</td>
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<p>Send byte to the xbee in API mode. </p>
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<p>Send byte to the xbee in API mode.</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>byte</em>&nbsp;</td><td>the byte to be sent </td></tr>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, and <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>.</p>
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<p>Referenced by <a class="el" href="wireless__send_8c_source.html#l00091">wl_send()</a>, <a class="el" href="xbee_8c_source.html#l01038">xbee_send()</a>, <a class="el" href="xbee_8c_source.html#l01332">xbee_send_header()</a>, and <a class="el" href="xbee_8c_source.html#l01432">xbee_send_packet()</a>.</p>
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<a class="anchor" id="ga4f67630ca81e5eae064bb58c3818d3fd"></a><!-- doxytag: member="xbee.h::xbee_set_channel" ref="ga4f67630ca81e5eae064bb58c3818d3fd" args="(uint8_t channel)" -->
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          <td class="memname">int8_t xbee_set_channel </td>
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          <td>(</td>
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          <td class="paramtype">uint8_t&nbsp;</td>
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          <td class="paramname"> <em>channel</em></td>
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          <td>&nbsp;)&nbsp;</td>
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          <td></td>
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<p>Set the channel the XBee is currently using. </p>
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<p>Set the channel the XBee is using.</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>channel</em>&nbsp;</td><td>the channel the XBee will not use, between 0x0B and 0x1A</td></tr>
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  </dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__xbee__funcs.html#ga319d4bccd5e6b09d2f377d2170104817" title="Get the channel the XBee is currently using.">xbee_get_channel</a> </dd></dl>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, <a class="el" href="wl__defs_8h_source.html#l00090">WL_ERROR_ARGUMENT</a>, <a class="el" href="wl__defs_8h_source.html#l00114">WL_ERROR_XBEE_COMMAND</a>, and <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>.</p>
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<a class="anchor" id="gadbcb9cc8cf6afa28e6de8defb33f8196"></a><!-- doxytag: member="xbee.h::xbee_set_pan" ref="gadbcb9cc8cf6afa28e6de8defb33f8196" args="(uint16_t id)" -->
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          <td class="memname">int8_t xbee_set_pan </td>
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          <td>(</td>
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          <td class="paramtype">uint16_t&nbsp;</td>
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          <td class="paramname"> <em>id</em></td>
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          <td>&nbsp;)&nbsp;</td>
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          <td></td>
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<p>Set the PAN ID for the XBee. </p>
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<p>Sets the personal area network id.</p>
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<dl><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>id</em>&nbsp;</td><td>the new personal area network (PAN) id </td></tr>
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<p>References <a class="el" href="xbee_8c_source.html#l00722">getStatus()</a>, <a class="el" href="wl__defs_8h_source.html#l00114">WL_ERROR_XBEE_COMMAND</a>, and <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>.</p>
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<p>Referenced by <a class="el" href="xbee_8c_source.html#l00729">xbee_init()</a>.</p>
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<a class="anchor" id="ga0b4c25c76efbe397decacefced00e06c"></a><!-- doxytag: member="xbee.h::xbee_terminate" ref="ga0b4c25c76efbe397decacefced00e06c" args="(void)" -->
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          <td class="memname">int8_t xbee_terminate </td>
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          <td>(</td>
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          <td class="paramtype">void&nbsp;</td>
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          <td class="paramname"></td>
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          <td>&nbsp;)&nbsp;</td>
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          <td></td>
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<p>Uninitialize the XBee library. </p>
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<p>Call when finished using the XBee library. </p>
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<p>References <a class="el" href="wl__defs_8h_source.html#l00081">WL_ERROR_TERMINATION_FAILED</a>, and <a class="el" href="wl__defs_8h_source.html#l00069">WL_SUCCESS</a>.</p>
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<p>Referenced by <a class="el" href="wireless_8c_source.html#l00087">wl_terminate()</a>.</p>
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<hr class="footer"/><address style="text-align: right;"><small>Generated on Thu May 6 13:17:00 2010 for libwireless by&nbsp;
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<a href="http://www.doxygen.org/index.html">
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.6.3 </small></address>
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