XBee

Interface with the XBee module. More...

Modules
	xbee constants
	These are constants used for the xbee module.
	Xbee Functions
	These are the public xbee functions.
Defines
#define	PORT UDR1
#define	FLAG (UCSR1A & (1<<RXC1))
Functions
	ISR (USART1_RX_vect)
int8_t	xbee_basic_buf_add (uint8_t *ptr, uint8_t byte)
uint8_t	xbee_basic_buf_get (uint8_t *ptr)
int8_t	xbee_other_buf_add (uint8_t *ptr, uint8_t byte)
uint8_t	xbee_other_buf_get (uint8_t *ptr)
int8_t	check_last_receive (uint16_t source, uint8_t framenum)
uint8_t	getStatus (uint8_t mask)
void	setStatus (uint8_t mask, uint8_t value)
int8_t	xbee_init ()
	Initialize the XBee library.
int8_t	xbee_terminate ()
	Uninitialize the XBee library.
int8_t	xbee_putc (uint8_t c)
int16_t	xbee_getc (void)
int8_t	xbee_getc_nb (uint8_t *c)
int8_t	xbee_sendc (uint8_t byte)
	Send byte to the xbee in API mode.
int8_t	xbee_send (uint8_t *buf, uint16_t size)
	Send an array of bytes to the xbee in API mode.
int8_t	xbee_checksum_add (uint8_t buf, uint8_t len, uint8_t sum)
	Add a buffer to the checksum value.
int8_t	xbee_send_header (uint16_t len)
	Send a frame header to the xbee.
int8_t	xbee_send_read_at_command (uint8_t *command)
int8_t	xbee_send_packet (uint8_t *packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame)
	Send a packet to the XBee.
int8_t	xbee_set_pan (uint16_t id)
	Set the PAN ID for the XBee.
uint16_t	xbee_get_pan ()
	Get the XBee's PAN ID.
int8_t	xbee_set_channel (uint8_t channel)
	Set the channel the XBee is currently using.
int8_t	xbee_get_channel (void)
	Get the channel the XBee is currently using.
uint16_t	xbee_get_address (void)
	Get the XBee's 16-bit address.

Detailed Description

Interface with the XBee module.

Define Documentation

#define PORT UDR1

Interrupt for the robot. Adds bytes received from the xbee to the buffer.

Function Documentation

int8_t check_last_receive	(	uint16_t	source,
		uint8_t	framenum
	)

Checks if packet is a duplicate

References getStatus(), and WL_SUCCESS.

uint8_t getStatus ( uint8_t mask ) [inline]

status functions

Referenced by check_last_receive(), xbee_get_address(), xbee_get_channel(), xbee_get_pan(), xbee_init(), xbee_sendc(), xbee_set_channel(), and xbee_set_pan().

int8_t xbee_checksum_add	(	uint8_t *	buf,
		uint8_t	len,
		uint8_t *	sum
	)

Add a buffer to the checksum value.

Adds buf to the previous checksum total

Parameters:

	buf	a byte buffer to add to the checksum
	len	the length of the buffer
	sum	the previous sum

Returns:: error code

References WL_ERROR_ARGUMENT, and WL_SUCCESS.

Referenced by wl_send().

uint16_t xbee_get_address ( void )

Get the XBee's 16-bit address.

Get the 16-bit address of the XBee. This is used to specify who to send messages to and who messages are from.

Returns:: the 16-bit address of the XBee.

References getStatus(), WL_ERROR_XBEE_COMMAND_16BIT, and xbee_send_read_at_command().

Referenced by xbee_init().

int8_t xbee_get_channel ( void )

Get the channel the XBee is currently using.

Returns the channel which the XBee is currently using.

Returns:: the channel the XBee is using

See also:: xbee_set_channel

References getStatus(), WL_ERROR_XBEE_COMMAND, and xbee_send_read_at_command().

uint16_t xbee_get_pan ( void )

Get the XBee's PAN ID.

Get the PAN ID for the XBee.

Returns:: the personal area network id, or XBEE_PAN_DEFAULT if it has not yet been set.

References getStatus(), WL_ERROR_XBEE_COMMAND_16BIT, and xbee_send_read_at_command().

int16_t xbee_getc ( void )

Returns the first byte in the buffer received from xbee. This function blocks execution until a character has been received. xbee_init must be called before this function may be used.

Returns:: the first character in the xbee buffer, -1 on error

See also:: xbee_init, xbee_getc_nb

int8_t xbee_getc_nb ( uint8_t * c )

Non blocking version of xbee_getc. If a byte is present in the buffer, it is returned, otherwise -1 is returned immediately. xbee_init must be called before this function can be used.

Parameters:

c

The received byte. This will be set if a byte has been received.

Returns:: -1 If no byte is available, 0 otherwise, positive for error

See also:: xbee_getc

References WL_SUCCESS.

int8_t xbee_init ( void )

Initialize the XBee library.

Initializes the XBee library so that other functions may be used.

References getStatus(), WL_ERROR_BAUD, WL_ERROR_INIT_ALREADY_INITD, WL_ERROR_XBEE_COMMAND_16BIT, WL_SUCCESS, xbee_basic_buf, xbee_get_address(), and xbee_set_pan().

Referenced by wl_init().

int8_t xbee_putc ( uint8_t c )

Sends a character to the XBee.

Parameters:

c

the byte to send

Returns:: 0 for success, nonzero for failure

References WL_SUCCESS.

Referenced by xbee_send_header(), and xbee_send_packet().

int8_t xbee_send	(	uint8_t *	buf,
		uint16_t	size
	)

Send an array of bytes to the xbee in API mode.

Send a buffer buf of size bytes to the XBee in API mode

Parameters:

	buf	the buffer of data to send
	size	the number of bytes to send

References WL_ERROR_SEND, WL_SUCCESS, and xbee_sendc().

Referenced by wl_send(), and xbee_send_packet().

int8_t xbee_send_header ( uint16_t len )

Send a frame header to the xbee.

Sends header information. Header information includes XBEE_FRAME_START and the packet length, as two bytes.

Parameters:

	type	the packet type
	len	the size in bytes of the packet data

References WL_ERROR_SEND, WL_SUCCESS, xbee_putc(), and xbee_sendc().

Referenced by wl_send().

int8_t xbee_send_packet	(	uint8_t *	packet,
		uint8_t	len,
		uint16_t	dest,
		uint8_t	options,
		uint8_t	frame
	)

Send a packet to the XBee.

Send the specified packet.

Parameters:

	packet	the packet data to send
	len	the number of bytes in the packet
	dest	the ID of the XBee to send the packet to, or XBEE_BROADCAST to send the message to all robots in the PAN.
	options	a combination of the flags XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and XBEE_OPTIONS_BROADCAST_ALL_PANS
	frame	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.