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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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* @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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// TODO Why are we including lights? Because lights are awesome. No, really, figure this out.
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#include <lights.h> |
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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 <eeprom.h> |
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#include "xbee.h" |
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/* Internal Function Prototypes */
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/* I/O Functions */
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static int8_t xbee_send_string(uint8_t* c);
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int8_t xbee_putc(uint8_t c); |
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int16_t xbee_getc(void);
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int8_t xbee_getc_nb(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_enter_api_mode2(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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/* 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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/* 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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//uint8_t xbee_other_buf_get(uint8_t *ptr);
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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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/*Global Variables*/
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// array for basic packets
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uint8_t xbee_basic_buf[PACKET_BUFFER_SIZE]; |
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// beginning of first packet in basic buffer
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uint8_t basic_buf_first = (PACKET_BUFFER_SIZE-1);
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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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uint8_t basic_buf_last = 0;
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// array for other packets
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uint8_t xbee_other_buf[PACKET_BUFFER_SIZE]; |
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// beginning of first packet in other buffer
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uint8_t other_buf_first = (PACKET_BUFFER_SIZE-1);
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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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uint8_t other_buf_last = 0;
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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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// 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; //This is the super-byte
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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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// external ack handler (wireless_send.c)
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extern void ackhandle(uint8_t num,uint8_t val); |
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// define escaped bytes in API mode 2
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#define ESCAPE_MARKER 0x7D |
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#define ESCAPE_XOR 0x20 |
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#define ESCAPE1 0x7E |
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#define ESCAPE2 0x7D |
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#define ESCAPE3 0x11 |
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#define ESCAPE4 0x13 |
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/**@addtogroup xbee
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* @{ **/
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/*Function Implementations*/
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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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#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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// 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_P("|api off branch");
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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_P("got packet, len=");
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT_P("str=");
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WL_DEBUG_PRINT((char*)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_P("return\r\n");
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return;
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} |
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//WL_DEBUG_PRINT_P("|api on branch");
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// get length and type
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while(i<3) { |
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if (FLAG) { //if there is a byte to read //checks for escape characters in API mode 2. This repeats below (should be a function) |
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if (i==0) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE && apitype == ESCAPE_MARKER) //apitype is used here as dummy var |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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len |= apitype<<8; // get len hi byte |
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} else if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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len |= apitype; // get len lo byte
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} else if (i==2) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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// get api type
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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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// 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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{ WL_DEBUG_PRINT_P("ERROR: SOMETHING STRANGE HAS OCCURRED. THE ROBOT WILL SELF DESTRUCT IN 5 MINUTES!\r\n");//We better get rid of this sometime...
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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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uint8_t status=0;
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while(i<len) {
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if (FLAG) { //more escape characters |
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if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; // get frame id, and ignore
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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apitype = PORT; // get frame id, but ignore it
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} else if (i==2) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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atcommand |= apitype<<8; // get command char1 |
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} else if (i==3) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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atcommand |= apitype; // get command char2
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} else if (i==4) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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status = apitype; // get status
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} else {
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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// put the command response on the basic buf temporarily
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if (xbee_basic_buf_add(&ptr,apitype) != 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_P("|XBEE_FRAME_AT_COMMAND_RESPONSE");
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WL_DEBUG_PRINT_P("|i=");
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT_P("|len=");
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WL_DEBUG_PRINT_INT(len); |
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WL_DEBUG_PRINT_P("|status:");
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WL_DEBUG_PRINT_INT(status); |
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WL_DEBUG_PRINT_P("|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_P("|first=");
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WL_DEBUG_PRINT_INT(basic_buf_first); |
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WL_DEBUG_PRINT_P("|last=");
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WL_DEBUG_PRINT_INT(basic_buf_last); |
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WL_DEBUG_PRINT_P("|buf=");
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uint8_t ptr2 = basic_buf_last; |
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for(uint8_t j=0;j<(len-5);j++) |
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WL_DEBUG_PRINT_HEX(xbee_basic_buf_get(&ptr2)); |
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WL_DEBUG_PRINT_P("|\r\n");
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//end of DEBUG_PRINT
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xbee_handle_at_command_response(atcommand,status,len-5);
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break; }
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case XBEE_FRAME_STATUS: {
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// modem status
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while(1) { |
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if (FLAG) {
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) {
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apitype = PORT ^ ESCAPE_XOR; |
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break;
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} else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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break;
|
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} |
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} |
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} |
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xbee_handle_status(apitype); // handle the modem status
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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<3) { |
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if (FLAG) {
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if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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frame_id = apitype; |
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} else {
|
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
| 379 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
| 382 |
} |
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ackhandle(frame_id,apitype); // handle the status (stored in apitype)
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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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WL_DEBUG_PRINT_P("|XBEE_FRAME_TX_STATUS framenum:");
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WL_DEBUG_PRINT_HEX(frame_id); |
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WL_DEBUG_PRINT_P(",status=");
|
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WL_DEBUG_PRINT_HEX(apitype); |
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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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WL_DEBUG_PRINT_P("|XBEE_FRAME_RX_64");
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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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WL_DEBUG_PRINT_P("|B_last=");
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WL_DEBUG_PRINT_INT(basic_buf_last); |
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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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WL_DEBUG_PRINT_P("|*i=");
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT_P("|ptr=");
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WL_DEBUG_PRINT_INT(ptr); |
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if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; // get options, and ignore
|
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
| 422 |
source |= apitype<<8; // get source hi byte |
| 423 |
} else if (i==2) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; // get options, and ignore
|
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else {
|
| 428 |
apitype = PORT; |
| 429 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 430 |
&& apitype == ESCAPE_MARKER) |
| 431 |
continue; // get escaped character |
| 432 |
} |
| 433 |
source |= apitype; // get source lo byte
|
| 434 |
} else if (i==3) { |
| 435 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 436 |
&& apitype == ESCAPE_MARKER) |
| 437 |
apitype = PORT ^ ESCAPE_XOR; // get RSSI, and ignore
|
| 438 |
else {
|
| 439 |
apitype = PORT; |
| 440 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 441 |
&& apitype == ESCAPE_MARKER) |
| 442 |
continue; // get escaped character |
| 443 |
} |
| 444 |
} else if (i==4) { |
| 445 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 446 |
&& apitype == ESCAPE_MARKER) |
| 447 |
apitype = PORT ^ ESCAPE_XOR; // get options, and ignore
|
| 448 |
else {
|
| 449 |
apitype = PORT; |
| 450 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 451 |
&& apitype == ESCAPE_MARKER) |
| 452 |
continue; // get escaped character |
| 453 |
} |
| 454 |
} else if (i==5) { |
| 455 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 456 |
&& apitype == ESCAPE_MARKER) |
| 457 |
apitype = PORT ^ ESCAPE_XOR; |
| 458 |
else {
|
| 459 |
apitype = PORT; |
| 460 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 461 |
&& apitype == ESCAPE_MARKER) |
| 462 |
continue; // get escaped character |
| 463 |
} |
| 464 |
framenum = apitype; // get the frame number
|
| 465 |
/* if (check_last_receive(source,framenum) != WL_SUCCESS) {
|
| 466 |
// we've already received this frame
|
| 467 |
ptr = 0xFF; // signal to skip processing
|
| 468 |
break;
|
| 469 |
}
|
| 470 |
*/ }
|
| 471 |
else if (i==6) { |
| 472 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 473 |
&& apitype == ESCAPE_MARKER) |
| 474 |
apitype = PORT ^ ESCAPE_XOR; |
| 475 |
else {
|
| 476 |
apitype = PORT; |
| 477 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 478 |
&& apitype == ESCAPE_MARKER) |
| 479 |
continue; // get escaped character |
| 480 |
} |
| 481 |
group = apitype; // get group number
|
| 482 |
WL_DEBUG_PRINT_P("|ptr2=");
|
| 483 |
WL_DEBUG_PRINT_INT(ptr); |
| 484 |
|
| 485 |
if (group == 0) { //writes the packet to the buffer |
| 486 |
WL_DEBUG_PRINT_P("|last1=");
|
| 487 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
| 488 |
WL_DEBUG_PRINT_P("|ptr1=");
|
| 489 |
WL_DEBUG_PRINT_INT(ptr); |
| 490 |
ptr = basic_buf_last; |
| 491 |
WL_DEBUG_PRINT_P("|last2=");
|
| 492 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
| 493 |
WL_DEBUG_PRINT_P("|ptr2=");
|
| 494 |
WL_DEBUG_PRINT_INT(ptr); |
| 495 |
if (xbee_basic_buf_add(&ptr,0x00) != 0) { |
| 496 |
WL_DEBUG_PRINT_P("failed to write to buffer1");
|
| 497 |
break;
|
| 498 |
} |
| 499 |
WL_DEBUG_PRINT_P("|ptr3=");
|
| 500 |
WL_DEBUG_PRINT_INT(ptr); |
| 501 |
// add source to basic buffer
|
| 502 |
if (xbee_basic_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) { |
| 503 |
WL_DEBUG_PRINT_P("failed to write to buffer2");
|
| 504 |
break;
|
| 505 |
} |
| 506 |
WL_DEBUG_PRINT_P("|ptr4=");
|
| 507 |
WL_DEBUG_PRINT_INT(ptr); |
| 508 |
if (xbee_basic_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) { |
| 509 |
WL_DEBUG_PRINT_P("failed to write to buffer3");
|
| 510 |
break;
|
| 511 |
} |
| 512 |
WL_DEBUG_PRINT_P("|ptr5=");
|
| 513 |
WL_DEBUG_PRINT_INT(ptr); |
| 514 |
} else {
|
| 515 |
ptr = other_buf_last; |
| 516 |
// add source and group to other buffer
|
| 517 |
if (xbee_other_buf_add(&ptr,0x00) != 0) { |
| 518 |
WL_DEBUG_PRINT_P("failed to write to buffer3.5");
|
| 519 |
break;
|
| 520 |
} |
| 521 |
if (xbee_other_buf_add(&ptr,group) != 0) { |
| 522 |
WL_DEBUG_PRINT_P("failed to write to buffer4");
|
| 523 |
break;
|
| 524 |
} |
| 525 |
if (xbee_other_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) { |
| 526 |
WL_DEBUG_PRINT_P("failed to write to buffer5");
|
| 527 |
break;
|
| 528 |
} |
| 529 |
if (xbee_other_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) { |
| 530 |
WL_DEBUG_PRINT_P("failed to write to buffer6");
|
| 531 |
break;
|
| 532 |
} |
| 533 |
} |
| 534 |
} |
| 535 |
else {
|
| 536 |
// put packet data on the correct buffer
|
| 537 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 538 |
&& apitype == ESCAPE_MARKER) |
| 539 |
apitype = PORT ^ ESCAPE_XOR; |
| 540 |
else {
|
| 541 |
apitype = PORT; |
| 542 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
| 543 |
&& apitype == ESCAPE_MARKER) |
| 544 |
continue; // get escaped character |
| 545 |
} |
| 546 |
if (group == 0) { |
| 547 |
if (xbee_basic_buf_add(&ptr,apitype) != 0) { |
| 548 |
WL_DEBUG_PRINT_P("failed to write to buffer7");
|
| 549 |
break;
|
| 550 |
} |
| 551 |
} else {
|
| 552 |
if (xbee_other_buf_add(&ptr,apitype) != 0) { |
| 553 |
WL_DEBUG_PRINT_P("failed to write to buffer8");
|
| 554 |
break;
|
| 555 |
} |
| 556 |
} |
| 557 |
} |
| 558 |
i++; |
| 559 |
} |
| 560 |
} |
| 561 |
WL_DEBUG_PRINT_P("before_last=");
|
| 562 |
if (group == 0) |
| 563 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
| 564 |
else
|
| 565 |
WL_DEBUG_PRINT_INT(other_buf_last); |
| 566 |
if (ptr != 0xFF && i > 6) { |
| 567 |
if (group == 0) { |
| 568 |
xbee_basic_buf[basic_buf_last] = i-5; // set length |
| 569 |
basic_buf_last = ptr; |
| 570 |
} |
| 571 |
else {
|
| 572 |
xbee_other_buf[other_buf_last] = i-4; // set length ** TODO: check this number |
| 573 |
// check if we have a high priority group
|
| 574 |
/*for(;;)
|
| 575 |
if (HIGH_PRIORITY) {
|
| 576 |
// handle receive now
|
| 577 |
ptr = 0xFF;
|
| 578 |
break;
|
| 579 |
}*/
|
| 580 |
//if (ptr != 0xFF) {
|
| 581 |
// handle receive later
|
| 582 |
other_buf_last = ptr; |
| 583 |
//}
|
| 584 |
} |
| 585 |
} |
| 586 |
WL_DEBUG_PRINT_P("|XBEE_FRAME_RX_16|len=");
|
| 587 |
WL_DEBUG_PRINT_INT(len); |
| 588 |
WL_DEBUG_PRINT_P("|i=");
|
| 589 |
WL_DEBUG_PRINT_INT(i); |
| 590 |
WL_DEBUG_PRINT_P("|source=");
|
| 591 |
WL_DEBUG_PRINT_INT(source); |
| 592 |
WL_DEBUG_PRINT_P("|framenum=");
|
| 593 |
WL_DEBUG_PRINT_INT(framenum); |
| 594 |
WL_DEBUG_PRINT_P("group=");
|
| 595 |
WL_DEBUG_PRINT_INT(group); |
| 596 |
WL_DEBUG_PRINT_P("|ptr=");
|
| 597 |
WL_DEBUG_PRINT_HEX(ptr); |
| 598 |
WL_DEBUG_PRINT_P("|first=");
|
| 599 |
if (group == 0) |
| 600 |
WL_DEBUG_PRINT_INT(basic_buf_first); |
| 601 |
else
|
| 602 |
WL_DEBUG_PRINT_INT(other_buf_first); |
| 603 |
WL_DEBUG_PRINT_P("|last=");
|
| 604 |
if (group == 0) |
| 605 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
| 606 |
else
|
| 607 |
WL_DEBUG_PRINT_INT(other_buf_last); |
| 608 |
WL_DEBUG_PRINT_P("|buffer=");
|
| 609 |
if (group == 0) { |
| 610 |
for(uint8_t i=0;i<ptr;i++) |
| 611 |
WL_DEBUG_PRINT_HEX(xbee_basic_buf[i]); |
| 612 |
} else {
|
| 613 |
for(uint8_t i=0;i<ptr;i++) |
| 614 |
WL_DEBUG_PRINT_HEX(xbee_other_buf[i]); |
| 615 |
} |
| 616 |
WL_DEBUG_PRINT_P("|\r\n");
|
| 617 |
break; }
|
| 618 |
default:
|
| 619 |
WL_DEBUG_PRINT_P("|BAD APITYPE:");
|
| 620 |
WL_DEBUG_PRINT_HEX(apitype); |
| 621 |
WL_DEBUG_PRINT_P("\r\n");
|
| 622 |
} // end of switch statement
|
| 623 |
while (1) { |
| 624 |
if (FLAG) {
|
| 625 |
apitype = PORT; // get checksum, and ignore
|
| 626 |
break;
|
| 627 |
} |
| 628 |
} |
| 629 |
WL_DEBUG_PRINT_P("|interrupt - return\r\n");
|
| 630 |
} // end of interrupt
|
| 631 |
|
| 632 |
|
| 633 |
/* adds a byte to the basic buffer */
|
| 634 |
int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte) {
|
| 635 |
if (*ptr == basic_buf_first) {
|
| 636 |
// buffer full
|
| 637 |
WL_DEBUG_PRINT_P("basic buffer full\r\n");
|
| 638 |
WL_DEBUG_PRINT_P("ptr=");
|
| 639 |
WL_DEBUG_PRINT_INT(*ptr); |
| 640 |
WL_DEBUG_PRINT_P("|basic_buf_first=");
|
| 641 |
WL_DEBUG_PRINT_INT(basic_buf_first); |
| 642 |
WL_DEBUG_PRINT_P("|basic_buf_last=");
|
| 643 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
| 644 |
WL_DEBUG_PRINT_P("\r\n");
|
| 645 |
return -1; |
| 646 |
} |
| 647 |
WL_DEBUG_PRINT_P("|add_ptr1=");
|
| 648 |
WL_DEBUG_PRINT_INT(*ptr); |
| 649 |
xbee_basic_buf[(*ptr)++] = byte; |
| 650 |
if (*ptr == PACKET_BUFFER_SIZE)
|
| 651 |
*ptr = 0;
|
| 652 |
WL_DEBUG_PRINT_P("|add_ptr2=");
|
| 653 |
WL_DEBUG_PRINT_INT(*ptr); |
| 654 |
return 0; |
| 655 |
} |
| 656 |
/* gets a byte from the basic buffer */
|
| 657 |
uint8_t xbee_basic_buf_get(uint8_t *ptr) {
|
| 658 |
uint8_t byte = xbee_basic_buf[(*ptr)++]; |
| 659 |
if (*ptr == PACKET_BUFFER_SIZE)
|
| 660 |
*ptr = 0;
|
| 661 |
return byte;
|
| 662 |
} |
| 663 |
/* adds a byte to the other buffer */
|
| 664 |
int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte) {
|
| 665 |
if (*ptr == other_buf_first) {
|
| 666 |
// buffer full
|
| 667 |
WL_DEBUG_PRINT_P("other buffer full\r\n");
|
| 668 |
return -1; |
| 669 |
} |
| 670 |
xbee_other_buf[(*ptr)++] = byte; |
| 671 |
if (*ptr == PACKET_BUFFER_SIZE)
|
| 672 |
*ptr = 0;
|
| 673 |
return 0; |
| 674 |
} |
| 675 |
/* gets a byte from the other buffer */
|
| 676 |
uint8_t xbee_other_buf_get(uint8_t *ptr) {
|
| 677 |
uint8_t byte = xbee_other_buf[(*ptr)++]; |
| 678 |
if (*ptr == PACKET_BUFFER_SIZE)
|
| 679 |
*ptr = 0;
|
| 680 |
return byte;
|
| 681 |
} |
| 682 |
|
| 683 |
/**
|
| 684 |
* Checks if packet is a duplicate
|
| 685 |
**/
|
| 686 |
int8_t check_last_receive(uint16_t source,uint8_t framenum) {
|
| 687 |
uint8_t i=0;
|
| 688 |
for(;i<NUM_LAST_PACKETS;i++) {
|
| 689 |
if (lastPacket[i].source == source && lastPacket[i].framenum == framenum) {
|
| 690 |
WL_DEBUG_PRINT_P("Duplicate Packet: LP.src=");
|
| 691 |
WL_DEBUG_PRINT_INT(lastPacket[i].source); |
| 692 |
WL_DEBUG_PRINT_P("|GET.src=");
|
| 693 |
WL_DEBUG_PRINT_INT(source); |
| 694 |
WL_DEBUG_PRINT_P("|LP.framenum=");
|
| 695 |
WL_DEBUG_PRINT_INT(lastPacket[i].framenum); |
| 696 |
WL_DEBUG_PRINT_P("|GET.framenum=");
|
| 697 |
WL_DEBUG_PRINT_INT(framenum); |
| 698 |
WL_DEBUG_PRINT_P("\r\n");
|
| 699 |
return -1; // duplicate packet, so return error |
| 700 |
} |
| 701 |
} |
| 702 |
// save packet source and framenum
|
| 703 |
i=getStatus(LAST_PACKET_MASK); |
| 704 |
lastPacket[i].source = source; |
| 705 |
lastPacket[i].framenum = framenum; |
| 706 |
if (++i>=NUM_LAST_PACKETS)
|
| 707 |
i = 0;
|
| 708 |
|
| 709 |
setStatus(LAST_PACKET_MASK,i); |
| 710 |
WL_DEBUG_PRINT_P("check last receive: LP.src=");
|
| 711 |
WL_DEBUG_PRINT_INT(lastPacket[i].source); |
| 712 |
WL_DEBUG_PRINT_P("|GET.src=");
|
| 713 |
WL_DEBUG_PRINT_INT(source); |
| 714 |
WL_DEBUG_PRINT_P("|LP.framenum=");
|
| 715 |
WL_DEBUG_PRINT_INT(lastPacket[i].framenum); |
| 716 |
WL_DEBUG_PRINT_P("|GET.framenum=");
|
| 717 |
WL_DEBUG_PRINT_INT(framenum); |
| 718 |
WL_DEBUG_PRINT_P("\r\n");
|
| 719 |
return WL_SUCCESS;
|
| 720 |
} |
| 721 |
|
| 722 |
/** status functions **/
|
| 723 |
inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; } |
| 724 |
void setStatus(uint8_t mask,uint8_t value) {
|
| 725 |
xbee_status = ((xbee_status&(~mask))|value); //xbee is the super-byte
|
| 726 |
} |
| 727 |
|
| 728 |
|
| 729 |
/**
|
| 730 |
* Initializes the XBee library so that other functions may be used.
|
| 731 |
**/
|
| 732 |
int8_t xbee_init() {
|
| 733 |
WL_DEBUG_PRINT_P("in xbee_init\r\n");
|
| 734 |
|
| 735 |
if(getStatus(XBEE_NOT_INITD) != XBEE_NOT_INITD) {
|
| 736 |
return WL_ERROR_INIT_ALREADY_INITD;
|
| 737 |
} |
| 738 |
|
| 739 |
// set status
|
| 740 |
setStatus(XBEE_NOT_INITD,XBEE_COMMAND_NONE); |
| 741 |
|
| 742 |
// clear last packet buffer
|
| 743 |
int i=0; |
| 744 |
for(;i<NUM_LAST_PACKETS;i++)
|
| 745 |
lastPacket[i].source = lastPacket[i].framenum = 0;
|
| 746 |
|
| 747 |
// clear basic and other buffers
|
| 748 |
//uint8_t j=0;
|
| 749 |
i=0;
|
| 750 |
while(i<PACKET_BUFFER_SIZE) { xbee_basic_buf[i++] = 0xFF; } |
| 751 |
i=0;
|
| 752 |
while(i<PACKET_BUFFER_SIZE) { xbee_other_buf[i++] = 0xFF; } |
| 753 |
|
| 754 |
// Set startup baud rate of 9600
|
| 755 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode
|
| 756 |
// Enable receiver and transmitter and the receiving interrupt
|
| 757 |
// DO NOT TOUCH
|
| 758 |
#ifdef FIREFLY
|
| 759 |
UBRR0H = 0x00;
|
| 760 |
UBRR0L = 103;
|
| 761 |
UCSR0A |= (1<<U2X0);
|
| 762 |
UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
| 763 |
UCSR0B |= (1<<RXEN0) | (1<<TXEN0) | (1<<RXCIE); |
| 764 |
#else
|
| 765 |
// Bayboard or robot
|
| 766 |
UBRR1H = 0x00; // baud rate |
| 767 |
UBRR1L = 103; // baud rate |
| 768 |
UCSR1A |= (1<<U2X1); // double transmit speed |
| 769 |
//Enable receiver and transmitter on USART1
|
| 770 |
UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
| 771 |
|
| 772 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode
|
| 773 |
UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
| 774 |
|
| 775 |
UCSR1B |= (1<<RXCIE1); // enable receive, transmit (1<<RXCIE) |
| 776 |
#endif
|
| 777 |
sei(); |
| 778 |
|
| 779 |
// enter command mode
|
| 780 |
WL_DEBUG_PRINT_P("entering command mode\r\n");
|
| 781 |
xbee_send_string((uint8_t*)"+++");
|
| 782 |
xbee_wait_for_ok(); |
| 783 |
WL_DEBUG_PRINT_P("entered command mode\r\n");
|
| 784 |
|
| 785 |
|
| 786 |
// set baud on xbee
|
| 787 |
#if (XBEE_BAUD == 115200) |
| 788 |
xbee_send_string((uint8_t*)"ATBD7\r");
|
| 789 |
#elif (XBEE_BAUD == 57600) |
| 790 |
xbee_send_string((uint8_t*)"ATBD6\r");
|
| 791 |
#elif (XBEE_BAUD == 38400) |
| 792 |
xbee_send_string((uint8_t*)"ATBD5\r");
|
| 793 |
#elif (XBEE_BAUD == 19200) |
| 794 |
xbee_send_string((uint8_t*)"ATBD4\r");
|
| 795 |
#elif (XBEE_BAUD == 9600) |
| 796 |
// already at this baud rate
|
| 797 |
xbee_send_string((uint8_t*)"ATBD3\r\n");
|
| 798 |
#else
|
| 799 |
WL_DEBUG_PRINT_P("undefined baud rate\r\n");
|
| 800 |
return WL_ERROR_BAUD;
|
| 801 |
#endif
|
| 802 |
// exit command mode
|
| 803 |
xbee_wait_for_ok(); |
| 804 |
WL_DEBUG_PRINT_P("got ok from baud reset\r\n");
|
| 805 |
xbee_send_string((uint8_t*)"ATCN\r");
|
| 806 |
xbee_wait_for_ok(); |
| 807 |
WL_DEBUG_PRINT_P("got ok from exiting command mode\r\n");
|
| 808 |
|
| 809 |
// set UART baud
|
| 810 |
#ifdef FIREFLY
|
| 811 |
#if (XBEE_BAUD == 115200) |
| 812 |
UBRR0H = 0x00;
|
| 813 |
UBRR0L = 8;
|
| 814 |
#elif (XBEE_BAUD == 57600) |
| 815 |
UBRR0H = 0x00;
|
| 816 |
UBRR0L = 16;
|
| 817 |
#elif (XBEE_BAUD == 38400) |
| 818 |
UBRR0H = 0x00;
|
| 819 |
UBRR0L = 25;
|
| 820 |
#elif (XBEE_BAUD == 19200) |
| 821 |
UBRR0H = 0x00;
|
| 822 |
UBRR0L = 51;
|
| 823 |
#elif (XBEE_BAUD == 9600) |
| 824 |
/* this is the default baud rate, so do nothing
|
| 825 |
UBRR0H = 0x00;
|
| 826 |
UBRR0L = 103;*/
|
| 827 |
#else
|
| 828 |
WL_DEBUG_PRINT_P("undefined baud rate\r\n");
|
| 829 |
return WL_ERROR_BUAD;
|
| 830 |
#endif
|
| 831 |
#else // Bayboard or robot |
| 832 |
#if (XBEE_BAUD == 115200) |
| 833 |
UBRR1H = 0x00;
|
| 834 |
UBRR1L = 8;
|
| 835 |
#elif (XBEE_BAUD == 57600) |
| 836 |
UBRR1H = 0x00;
|
| 837 |
UBRR1L = 16;
|
| 838 |
#elif (XBEE_BAUD == 38400) |
| 839 |
UBRR1H = 0x00;
|
| 840 |
UBRR1L = 25;
|
| 841 |
#elif (XBEE_BAUD == 19200) |
| 842 |
UBRR1H = 0x00;
|
| 843 |
UBRR1L = 51;
|
| 844 |
#elif (XBEE_BAUD == 9600) |
| 845 |
/* this is the default baud rate, so do nothing
|
| 846 |
UBRR1H = 0x00;
|
| 847 |
UBRR1L = 103;*/
|
| 848 |
#else
|
| 849 |
WL_DEBUG_PRINT_P("undefined baud rate\r\n");
|
| 850 |
return WL_ERROR_BUAD;
|
| 851 |
#endif
|
| 852 |
#endif
|
| 853 |
// wait half second for the baud change to stabalize
|
| 854 |
delay_ms(500);
|
| 855 |
|
| 856 |
// enter command mode
|
| 857 |
WL_DEBUG_PRINT_P("entering command mode 2\r\n");
|
| 858 |
xbee_send_string((uint8_t*)"+++");
|
| 859 |
xbee_wait_for_ok(); |
| 860 |
WL_DEBUG_PRINT_P("entered command mode 2\r\n");
|
| 861 |
|
| 862 |
if (xbee_enter_api_mode2() != 0) { |
| 863 |
WL_DEBUG_PRINT_P("can't enter api mode 2\r\n");
|
| 864 |
return -1; |
| 865 |
} |
| 866 |
|
| 867 |
#ifdef WL_DEBUG
|
| 868 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
| 869 |
WL_DEBUG_PRINT_P("|API OFF|");
|
| 870 |
} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
| 871 |
WL_DEBUG_PRINT_P("|API ON|");
|
| 872 |
} else {
|
| 873 |
WL_DEBUG_PRINT_P("|API ERROR|");
|
| 874 |
} |
| 875 |
#endif
|
| 876 |
|
| 877 |
// set MY address
|
| 878 |
uint8_t newmy = get_robotid(); |
| 879 |
uint8_t newmyarr[2] = {0x00,newmy}; |
| 880 |
if (newmy == 0xFF) { |
| 881 |
WL_DEBUG_PRINT_P("can't get MY address from EEPROM\r\n");
|
| 882 |
} else {
|
| 883 |
WL_DEBUG_PRINT_P("MY address from eeprom:");
|
| 884 |
WL_DEBUG_PRINT_HEX(newmyarr[0]);
|
| 885 |
WL_DEBUG_PRINT_HEX(newmyarr[1]);
|
| 886 |
WL_DEBUG_PRINT_P("\r\n");
|
| 887 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 888 |
if (xbee_send_modify_at_command((uint8_t*)"MY",newmyarr,2) != WL_SUCCESS) { |
| 889 |
WL_DEBUG_PRINT_P("setting MY address failed\r\n");
|
| 890 |
} |
| 891 |
// wait for up to 30 ms
|
| 892 |
newmy = 0;
|
| 893 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && newmy++ < 10000) { |
| 894 |
delay_us(1); // wait 3us |
| 895 |
} |
| 896 |
if (newmy < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
| 897 |
WL_DEBUG_PRINT_P("setting MY address successful\r\n");
|
| 898 |
} else
|
| 899 |
WL_DEBUG_PRINT_P("setting MY address failed\r\n");
|
| 900 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 901 |
} |
| 902 |
|
| 903 |
// get MY address
|
| 904 |
uint16_t address = xbee_get_address(); |
| 905 |
if (address == WL_ERROR_XBEE_COMMAND_16BIT) {
|
| 906 |
WL_DEBUG_PRINT_P("getting MY address failed\r\n");
|
| 907 |
} |
| 908 |
WL_DEBUG_PRINT_P("MY address:");
|
| 909 |
WL_DEBUG_PRINT_HEX((uint8_t)((address&0xFF00)>>8)); |
| 910 |
WL_DEBUG_PRINT_HEX((uint8_t)(address&0x00FF));
|
| 911 |
WL_DEBUG_PRINT_P("\r\n");
|
| 912 |
|
| 913 |
// set PAN
|
| 914 |
xbee_set_pan(0);
|
| 915 |
|
| 916 |
return WL_SUCCESS;
|
| 917 |
} |
| 918 |
|
| 919 |
/**
|
| 920 |
* Call when finished using the XBee library.
|
| 921 |
**/
|
| 922 |
int8_t xbee_terminate() |
| 923 |
{
|
| 924 |
int ret=xbee_exit_api_mode();
|
| 925 |
if (ret != WL_SUCCESS) {
|
| 926 |
WL_DEBUG_PRINT_P("xbee termination failed\r\n");
|
| 927 |
WL_DEBUG_PRINT_INT(ret); |
| 928 |
WL_DEBUG_PRINT_P("|\r\n");
|
| 929 |
return WL_ERROR_TERMINATION_FAILED;
|
| 930 |
} |
| 931 |
delay_ms(1000);
|
| 932 |
// reset baud to defaults
|
| 933 |
xbee_enter_command_mode(); |
| 934 |
xbee_send_string((uint8_t*)"ATBD 3\r");
|
| 935 |
xbee_wait_for_ok(); |
| 936 |
xbee_exit_command_mode(); |
| 937 |
UBRR1H = 0x00;
|
| 938 |
UBRR1L = 103;
|
| 939 |
setStatus(XBEE_NOT_INITD,XBEE_NOT_INITD); // clean initd status
|
| 940 |
return WL_SUCCESS;
|
| 941 |
} |
| 942 |
|
| 943 |
/**
|
| 944 |
* Sends a character to the XBee.
|
| 945 |
*
|
| 946 |
* @param c the byte to send
|
| 947 |
* @return 0 for success, nonzero for failure
|
| 948 |
**/
|
| 949 |
int8_t xbee_putc(uint8_t c) {
|
| 950 |
|
| 951 |
// Wait until buffer is clear for sending
|
| 952 |
// Then load buffer with your character
|
| 953 |
|
| 954 |
#ifdef FIREFLY
|
| 955 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
| 956 |
UDR0 = c; |
| 957 |
#else
|
| 958 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
| 959 |
UDR1 = c; |
| 960 |
#endif
|
| 961 |
|
| 962 |
return WL_SUCCESS;
|
| 963 |
} |
| 964 |
|
| 965 |
/**
|
| 966 |
* Returns the first byte in the buffer received from xbee.
|
| 967 |
* This function blocks execution until a character has been
|
| 968 |
* received. xbee_init must be called before this function
|
| 969 |
* may be used.
|
| 970 |
*
|
| 971 |
* @return the first character in the xbee buffer, -1 on error
|
| 972 |
*
|
| 973 |
* @see xbee_init, xbee_getc_nb
|
| 974 |
**/
|
| 975 |
int16_t xbee_getc(void) {
|
| 976 |
|
| 977 |
// Wait for the receive buffer to be filled
|
| 978 |
// Then read the receive buffer
|
| 979 |
#ifdef FIREFLY
|
| 980 |
loop_until_bit_is_set(UCSR0A, RXC0); |
| 981 |
return UDR0;
|
| 982 |
#else
|
| 983 |
loop_until_bit_is_set(UCSR1A, RXC1); |
| 984 |
return UDR1;
|
| 985 |
#endif
|
| 986 |
} |
| 987 |
|
| 988 |
/**
|
| 989 |
* Non blocking version of xbee_getc. If a byte is present in the buffer,
|
| 990 |
* it is returned, otherwise -1 is returned immediately. xbee_init
|
| 991 |
* must be called before this function can be used.
|
| 992 |
*
|
| 993 |
* @param c The received byte. This will be set if a byte has been received.
|
| 994 |
*
|
| 995 |
* @return -1 If no byte is available, 0 otherwise, positive for error
|
| 996 |
*
|
| 997 |
* @see xbee_getc
|
| 998 |
**/
|
| 999 |
int8_t xbee_getc_nb(uint8_t *c) {
|
| 1000 |
|
| 1001 |
// check if the receive buffer is filled
|
| 1002 |
#ifdef FIREFLY
|
| 1003 |
if (UCSR0A & (1<<RXC0)) { |
| 1004 |
(*c) = UDR0; |
| 1005 |
#else
|
| 1006 |
if (UCSR1A & (1<<RXC1)) { |
| 1007 |
(*c) = UDR1; |
| 1008 |
#endif
|
| 1009 |
return WL_SUCCESS;
|
| 1010 |
} |
| 1011 |
return -1; // Return empty |
| 1012 |
} |
| 1013 |
|
| 1014 |
/**
|
| 1015 |
* Send byte to the xbee in API mode.
|
| 1016 |
*
|
| 1017 |
* @param byte the byte to be sent
|
| 1018 |
**/
|
| 1019 |
int8_t xbee_sendc(uint8_t byte) {
|
| 1020 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE &&
|
| 1021 |
(byte == ESCAPE1 || byte == ESCAPE2 || byte == ESCAPE3 || byte == ESCAPE4)) |
| 1022 |
byte ^= ESCAPE_XOR; |
| 1023 |
|
| 1024 |
#ifdef FIREFLY
|
| 1025 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
| 1026 |
UDR0 = byte; |
| 1027 |
#else
|
| 1028 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
| 1029 |
UDR1 = byte; |
| 1030 |
#endif
|
| 1031 |
|
| 1032 |
return WL_SUCCESS;
|
| 1033 |
} |
| 1034 |
|
| 1035 |
|
| 1036 |
/**
|
| 1037 |
* Send a buffer buf of size bytes to the XBee in API mode
|
| 1038 |
*
|
| 1039 |
* @param buf the buffer of data to send
|
| 1040 |
* @param size the number of bytes to send
|
| 1041 |
**/
|
| 1042 |
int8_t xbee_send(uint8_t* buf, uint16_t size) |
| 1043 |
{
|
| 1044 |
uint16_t i=0; // check if we need this variable |
| 1045 |
while(i<size) {
|
| 1046 |
if (xbee_sendc(buf[i++]) != WL_SUCCESS)
|
| 1047 |
return WL_ERROR_SEND;
|
| 1048 |
} |
| 1049 |
|
| 1050 |
return WL_SUCCESS;
|
| 1051 |
} |
| 1052 |
|
| 1053 |
/**
|
| 1054 |
* Sends a string direct to the XBee.
|
| 1055 |
*
|
| 1056 |
* @param c the string to send to the XBEE
|
| 1057 |
**/
|
| 1058 |
static int8_t xbee_send_string(uint8_t* c)
|
| 1059 |
{
|
| 1060 |
uint16_t size = strlen((char*)c);
|
| 1061 |
uint16_t i=0; // check if we need this variable |
| 1062 |
while(i<size) {
|
| 1063 |
if (xbee_putc(c[i++]) != WL_SUCCESS)
|
| 1064 |
return WL_ERROR_SEND;
|
| 1065 |
} |
| 1066 |
|
| 1067 |
return WL_SUCCESS;
|
| 1068 |
} |
| 1069 |
|
| 1070 |
|
| 1071 |
/**
|
| 1072 |
* Enter into command mode.
|
| 1073 |
**/
|
| 1074 |
static int8_t xbee_enter_command_mode(void) |
| 1075 |
{
|
| 1076 |
if (xbee_send_string((uint8_t*)"+++") != WL_SUCCESS) { |
| 1077 |
return WL_ERROR_XBEE_COMMAND;
|
| 1078 |
} |
| 1079 |
WL_DEBUG_PRINT_P("sent command +++|");
|
| 1080 |
|
| 1081 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
| 1082 |
return WL_ERROR_XBEE_COMMAND;
|
| 1083 |
} |
| 1084 |
WL_DEBUG_PRINT_P("got OK\r\n");
|
| 1085 |
|
| 1086 |
return WL_SUCCESS;
|
| 1087 |
} |
| 1088 |
|
| 1089 |
/**
|
| 1090 |
* Exit from command mode.
|
| 1091 |
**/
|
| 1092 |
static int8_t xbee_exit_command_mode()
|
| 1093 |
{
|
| 1094 |
if (xbee_send_string((uint8_t*)"ATCN\r") != 0) { |
| 1095 |
return WL_ERROR_SEND;
|
| 1096 |
} |
| 1097 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
| 1098 |
WL_DEBUG_PRINT_P("failed to exit command mode\r\n");
|
| 1099 |
return WL_ERROR_SEND;
|
| 1100 |
} |
| 1101 |
|
| 1102 |
return WL_SUCCESS;
|
| 1103 |
} |
| 1104 |
|
| 1105 |
/**
|
| 1106 |
* Enter API mode 1.
|
| 1107 |
**/
|
| 1108 |
static int8_t xbee_enter_api_mode(void) { |
| 1109 |
if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) { |
| 1110 |
return WL_ERROR_SEND;
|
| 1111 |
} |
| 1112 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
| 1113 |
WL_DEBUG_PRINT_P("failed to enter API mode\r\n");
|
| 1114 |
return WL_ERROR_SEND;
|
| 1115 |
} |
| 1116 |
if (xbee_exit_command_mode() != WL_SUCCESS) {
|
| 1117 |
WL_DEBUG_PRINT_P("failed to enter API mode\r\n");
|
| 1118 |
return WL_ERROR_SEND;
|
| 1119 |
} |
| 1120 |
WL_DEBUG_PRINT_P("got OK after entering API mode\r\n");
|
| 1121 |
|
| 1122 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status
|
| 1123 |
|
| 1124 |
return WL_SUCCESS;
|
| 1125 |
} |
| 1126 |
|
| 1127 |
/**
|
| 1128 |
* Enter API mode 2.
|
| 1129 |
**/
|
| 1130 |
static int8_t xbee_enter_api_mode2(void) { |
| 1131 |
if (xbee_send_string((uint8_t*)"ATAP 2\r") != 0) { |
| 1132 |
return WL_ERROR_SEND;
|
| 1133 |
} |
| 1134 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
| 1135 |
WL_DEBUG_PRINT_P("failed to enter API mode2\r\n");
|
| 1136 |
return WL_ERROR_SEND;
|
| 1137 |
} |
| 1138 |
if (xbee_exit_command_mode() != WL_SUCCESS) {
|
| 1139 |
WL_DEBUG_PRINT_P("failed to enter API mode2\r\n");
|
| 1140 |
return WL_ERROR_SEND;
|
| 1141 |
} |
| 1142 |
WL_DEBUG_PRINT_P("got OK after entering API mode2\r\n");
|
| 1143 |
|
| 1144 |
setStatus(XBEE_API_MASK,XBEE_API_ESCAPE); // set status
|
| 1145 |
|
| 1146 |
return WL_SUCCESS;
|
| 1147 |
} |
| 1148 |
|
| 1149 |
/**
|
| 1150 |
* Exit API mode.
|
| 1151 |
**/
|
| 1152 |
static int8_t xbee_exit_api_mode()
|
| 1153 |
{
|
| 1154 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
| 1155 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| 1156 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
| 1157 |
WL_DEBUG_PRINT_P("now exiting API mode\r\n");
|
| 1158 |
|
| 1159 |
int16_t i=0;
|
| 1160 |
// change status to command wait
|
| 1161 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1162 |
if (xbee_send_modify_at_command((uint8_t*)"AP",(uint8_t*)(&i),1) != WL_SUCCESS) { // send command |
| 1163 |
WL_DEBUG_PRINT_P("error sending AP 0 command\r\n");
|
| 1164 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1165 |
return WL_ERROR_XBEE_COMMAND;
|
| 1166 |
} |
| 1167 |
// wait for up to 30 ms
|
| 1168 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
| 1169 |
delay_us(1); // wait 3us |
| 1170 |
} |
| 1171 |
if (i < 1000 && xbee_command[0] == 'A' && xbee_command[1] == 'P') { |
| 1172 |
WL_DEBUG_PRINT_P("done exiting API mode\r\n");
|
| 1173 |
i = WL_SUCCESS; |
| 1174 |
} else {
|
| 1175 |
WL_DEBUG_PRINT_P("failed to exit API mode\r\n");
|
| 1176 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
| 1177 |
} |
| 1178 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1179 |
setStatus(XBEE_API_MASK,XBEE_API_OFF); |
| 1180 |
|
| 1181 |
return (int8_t)i; // return |
| 1182 |
} |
| 1183 |
|
| 1184 |
/**
|
| 1185 |
* Wait until the string "OK\r" is received from the XBee.
|
| 1186 |
**/
|
| 1187 |
static int8_t xbee_wait_for_ok()
|
| 1188 |
{
|
| 1189 |
//delay_ms(1000);
|
| 1190 |
//return WL_SUCCESS;
|
| 1191 |
return xbee_wait_for_string((uint8_t*)"OK", 2); |
| 1192 |
} |
| 1193 |
|
| 1194 |
/**
|
| 1195 |
* Delay until the specified string is received from
|
| 1196 |
* the XBee.
|
| 1197 |
*
|
| 1198 |
* Only works when not in API mode
|
| 1199 |
*
|
| 1200 |
* @param s the string to receive
|
| 1201 |
* @param len the length of the string
|
| 1202 |
**/
|
| 1203 |
static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len)
|
| 1204 |
{
|
| 1205 |
uint8_t i=0;
|
| 1206 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); // set status flag
|
| 1207 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
| 1208 |
// wait until the response is received (only wait 1 second)
|
| 1209 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
| 1210 |
delay_us(1);
|
| 1211 |
} |
| 1212 |
// check response
|
| 1213 |
if (i >= 1000 || memcmp(s,xbee_basic_buf,len) != 0) { |
| 1214 |
// bad response
|
| 1215 |
WL_DEBUG_PRINT_P("Bad response when waiting for string ");
|
| 1216 |
WL_DEBUG_PRINT((char*)s);
|
| 1217 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1218 |
return -1; |
| 1219 |
} |
| 1220 |
|
| 1221 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status
|
| 1222 |
} |
| 1223 |
|
| 1224 |
WL_DEBUG_PRINT_P("done waiting for string.\r\n");
|
| 1225 |
|
| 1226 |
return 0; |
| 1227 |
} |
| 1228 |
|
| 1229 |
/**
|
| 1230 |
* Delay until we receive a command response.
|
| 1231 |
* Then copy the response to S and set the len
|
| 1232 |
*
|
| 1233 |
* Only works when not in API mode
|
| 1234 |
*
|
| 1235 |
* @param s the string to store the response in
|
| 1236 |
* @param len the length of the string
|
| 1237 |
*/
|
| 1238 |
static int8_t xbee_wait_for_response(uint8_t* s, int16_t len) {
|
| 1239 |
uint8_t i=0;
|
| 1240 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
| 1241 |
// wait until the response is received (only wait 1 second)
|
| 1242 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
| 1243 |
delay_us(1); //3 us |
| 1244 |
} |
| 1245 |
// check response
|
| 1246 |
if (i >= 1000) { |
| 1247 |
return -1; |
| 1248 |
} else {
|
| 1249 |
i=strcspn((char*)xbee_basic_buf,"\r"); |
| 1250 |
if (i<PACKET_BUFFER_SIZE) {
|
| 1251 |
memcpy(s,xbee_basic_buf,i); |
| 1252 |
len = i; |
| 1253 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear response
|
| 1254 |
return 0; |
| 1255 |
} |
| 1256 |
else
|
| 1257 |
return -1; |
| 1258 |
} |
| 1259 |
} |
| 1260 |
// TODO: do something for API mode
|
| 1261 |
|
| 1262 |
return 0; |
| 1263 |
} |
| 1264 |
|
| 1265 |
/** TODO: since we don't use this, do we need it?
|
| 1266 |
*
|
| 1267 |
* Verifies that the packets checksum is correct.
|
| 1268 |
* (If the checksum is correct, the sum of the bytes
|
| 1269 |
* is 0xFF.)
|
| 1270 |
*
|
| 1271 |
* @param packet the packet received. This includes the first
|
| 1272 |
* three bytes, which are header information from the XBee.
|
| 1273 |
*
|
| 1274 |
* @param len The length of the packet received from the XBee
|
| 1275 |
*
|
| 1276 |
* @return 0 if the checksum is incorrect, nonzero
|
| 1277 |
* otherwise
|
| 1278 |
**/
|
| 1279 |
int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len) |
| 1280 |
{
|
| 1281 |
uint8_t sum = 0;
|
| 1282 |
while(--len > 0) { |
| 1283 |
sum += packet[len]; |
| 1284 |
} |
| 1285 |
sum += packet[0];
|
| 1286 |
return (sum == 0xFF); |
| 1287 |
} |
| 1288 |
|
| 1289 |
/**
|
| 1290 |
* Returns the checksum of the given packet.
|
| 1291 |
*
|
| 1292 |
* @param buf the data for the packet to send
|
| 1293 |
* @param len the length of the packet in bytes
|
| 1294 |
*
|
| 1295 |
* @return the checksum of the packet, which will
|
| 1296 |
* become the last byte sent in the packet
|
| 1297 |
**/
|
| 1298 |
uint8_t xbee_compute_checksum(uint8_t* buf, uint16_t len) |
| 1299 |
{
|
| 1300 |
uint8_t sum = 0;
|
| 1301 |
while(--len > 0) { |
| 1302 |
sum += buf[len]; |
| 1303 |
} |
| 1304 |
sum += buf[0];
|
| 1305 |
return 0xFF - sum; |
| 1306 |
} |
| 1307 |
|
| 1308 |
/**
|
| 1309 |
* Adds buf to the previous checksum total
|
| 1310 |
*
|
| 1311 |
* @param buf a byte buffer to add to the checksum
|
| 1312 |
* @param len the length of the buffer
|
| 1313 |
* @param sum the previous sum
|
| 1314 |
*
|
| 1315 |
* @return error code
|
| 1316 |
**/
|
| 1317 |
int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum) {
|
| 1318 |
if (buf == NULL || sum == NULL) |
| 1319 |
return WL_ERROR_ARGUMENT;
|
| 1320 |
while(--len > 0) { |
| 1321 |
*sum += buf[len]; |
| 1322 |
} |
| 1323 |
*sum += buf[0];
|
| 1324 |
return WL_SUCCESS;
|
| 1325 |
} |
| 1326 |
|
| 1327 |
|
| 1328 |
/**
|
| 1329 |
* Sends header information. Header information includes
|
| 1330 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
| 1331 |
*
|
| 1332 |
* @param type the packet type
|
| 1333 |
* @param len the size in bytes of the packet data
|
| 1334 |
*
|
| 1335 |
**/
|
| 1336 |
int8_t xbee_send_header(uint16_t len) |
| 1337 |
{
|
| 1338 |
//packet prefix
|
| 1339 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
| 1340 |
return WL_ERROR_SEND;
|
| 1341 |
if (xbee_sendc((uint8_t)((len&0xFF00)>>8)) != WL_SUCCESS) |
| 1342 |
return WL_ERROR_SEND;
|
| 1343 |
if (xbee_sendc((uint8_t)(len&0x00FF)) != WL_SUCCESS) |
| 1344 |
return WL_ERROR_SEND;
|
| 1345 |
|
| 1346 |
return WL_SUCCESS;
|
| 1347 |
} |
| 1348 |
|
| 1349 |
/**
|
| 1350 |
* Adds header information and checksum to the given
|
| 1351 |
* packet and sends it. Header information includes
|
| 1352 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
| 1353 |
*
|
| 1354 |
* @param buf the packet data
|
| 1355 |
* @param len the size in bytes of the packet data
|
| 1356 |
*
|
| 1357 |
**/
|
| 1358 |
static int8_t xbee_send_frame(uint8_t* buf, uint16_t len)
|
| 1359 |
{
|
| 1360 |
uint8_t checksum = xbee_compute_checksum(buf, len); |
| 1361 |
|
| 1362 |
// send header
|
| 1363 |
if (xbee_send_header(len) != WL_SUCCESS)
|
| 1364 |
return WL_ERROR_SEND;
|
| 1365 |
|
| 1366 |
// send body
|
| 1367 |
if (xbee_send(buf, len) != WL_SUCCESS)
|
| 1368 |
return WL_ERROR_SEND;
|
| 1369 |
|
| 1370 |
// send checksum
|
| 1371 |
if (xbee_sendc(checksum) != WL_SUCCESS)
|
| 1372 |
return WL_ERROR_SEND;
|
| 1373 |
|
| 1374 |
return WL_SUCCESS;
|
| 1375 |
} |
| 1376 |
|
| 1377 |
/**
|
| 1378 |
* Sends an AT command to read a parameter.
|
| 1379 |
*
|
| 1380 |
* @param command the AT command to send. For exmaple,
|
| 1381 |
* use ID to read the PAN ID and MY to return the XBee ID.
|
| 1382 |
* See the XBee reference guide for a complete listing.
|
| 1383 |
**/
|
| 1384 |
int8_t xbee_send_read_at_command(uint8_t* command) |
| 1385 |
{
|
| 1386 |
return xbee_send_modify_at_command(command, NULL, 0); |
| 1387 |
} |
| 1388 |
|
| 1389 |
/**
|
| 1390 |
* Sends the given AT command.
|
| 1391 |
*
|
| 1392 |
* @param command the AT command to send (e.g., MY, ID)
|
| 1393 |
* @param value the value to pass as a parameter
|
| 1394 |
* (or NULL if there is no parameter)
|
| 1395 |
**/
|
| 1396 |
static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len)
|
| 1397 |
{
|
| 1398 |
uint8_t buf[12];
|
| 1399 |
|
| 1400 |
buf[0] = XBEE_FRAME_AT_COMMAND;
|
| 1401 |
buf[1] = 1; |
| 1402 |
buf[2] = command[0]; |
| 1403 |
buf[3] = command[1]; |
| 1404 |
if (value != NULL) |
| 1405 |
{
|
| 1406 |
if (len > 8) |
| 1407 |
{
|
| 1408 |
WL_DEBUG_PRINT_P("AT Command too large.\r\n");
|
| 1409 |
return WL_ERROR_ARGUMENT;
|
| 1410 |
} |
| 1411 |
memcpy(buf+4,value,len);
|
| 1412 |
} |
| 1413 |
|
| 1414 |
return xbee_send_frame(buf, 4 + len); |
| 1415 |
} |
| 1416 |
|
| 1417 |
/**
|
| 1418 |
* Send the specified packet. (wl_send depreciates this)
|
| 1419 |
*
|
| 1420 |
* @param packet the packet data to send
|
| 1421 |
* @param len the number of bytes in the packet
|
| 1422 |
*
|
| 1423 |
* @param dest the ID of the XBee to send the packet to,
|
| 1424 |
* or XBEE_BROADCAST to send the message to all robots
|
| 1425 |
* in the PAN.
|
| 1426 |
*
|
| 1427 |
* @param options a combination of the flags
|
| 1428 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
|
| 1429 |
* XBEE_OPTIONS_BROADCAST_ALL_PANS
|
| 1430 |
*
|
| 1431 |
* @param frame the frame number to associate this packet
|
| 1432 |
* with. This will be used to identify the response when
|
| 1433 |
* the XBee alerts us as to whether or not our message
|
| 1434 |
* was received.
|
| 1435 |
**/
|
| 1436 |
int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame) |
| 1437 |
{
|
| 1438 |
uint8_t sum = XBEE_FRAME_TX_REQUEST_16; |
| 1439 |
uint8_t i = 0;
|
| 1440 |
|
| 1441 |
if (len > 100) |
| 1442 |
{
|
| 1443 |
WL_DEBUG_PRINT_P("Packet is too large.\r\n");
|
| 1444 |
return WL_ERROR_ARGUMENT;
|
| 1445 |
} |
| 1446 |
|
| 1447 |
// calculate checksum
|
| 1448 |
for(;i<len;i++)
|
| 1449 |
sum += packet[len]; |
| 1450 |
sum += frame; |
| 1451 |
sum += (dest&0xFF00) >> 8; |
| 1452 |
sum += dest&0x00FF;
|
| 1453 |
sum += options; |
| 1454 |
sum = 0xFF - sum;
|
| 1455 |
|
| 1456 |
//packet prefix
|
| 1457 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
| 1458 |
return WL_ERROR_SEND;
|
| 1459 |
if (xbee_sendc(0x00) != WL_SUCCESS) |
| 1460 |
return WL_ERROR_SEND;
|
| 1461 |
if (xbee_sendc(len+5) != WL_SUCCESS) |
| 1462 |
return WL_ERROR_SEND;
|
| 1463 |
|
| 1464 |
//send header for TX request
|
| 1465 |
if (xbee_sendc(XBEE_FRAME_TX_REQUEST_16) != WL_SUCCESS)
|
| 1466 |
return WL_ERROR_SEND;
|
| 1467 |
if (xbee_sendc(frame) != WL_SUCCESS)
|
| 1468 |
return WL_ERROR_SEND;
|
| 1469 |
if (xbee_sendc((uint8_t)((dest&0xFF00) >> 8)) != WL_SUCCESS) |
| 1470 |
return WL_ERROR_SEND;
|
| 1471 |
if (xbee_sendc((uint8_t)(dest&0x00FF)) != WL_SUCCESS) |
| 1472 |
return WL_ERROR_SEND;
|
| 1473 |
if (xbee_sendc(options) != WL_SUCCESS)
|
| 1474 |
return WL_ERROR_SEND;
|
| 1475 |
|
| 1476 |
// send packet
|
| 1477 |
if (xbee_send(packet, len) != WL_SUCCESS)
|
| 1478 |
return WL_ERROR_SEND;
|
| 1479 |
|
| 1480 |
// send checksum
|
| 1481 |
if (xbee_sendc(sum) != WL_SUCCESS)
|
| 1482 |
return WL_ERROR_SEND;
|
| 1483 |
|
| 1484 |
return WL_SUCCESS;
|
| 1485 |
} |
| 1486 |
|
| 1487 |
/**
|
| 1488 |
* Handles modem status packets.
|
| 1489 |
*
|
| 1490 |
* @param status the type of status packet received.
|
| 1491 |
**/
|
| 1492 |
void xbee_handle_status(uint8_t status)
|
| 1493 |
{
|
| 1494 |
switch (status)
|
| 1495 |
{
|
| 1496 |
case 0: |
| 1497 |
WL_DEBUG_PRINT_P("XBee hardware reset.\r\n");
|
| 1498 |
break;
|
| 1499 |
case 1: |
| 1500 |
WL_DEBUG_PRINT_P("Watchdog timer reset.\r\n");
|
| 1501 |
break;
|
| 1502 |
case 2: |
| 1503 |
WL_DEBUG_PRINT_P("Associated.\r\n");
|
| 1504 |
break;
|
| 1505 |
case 3: |
| 1506 |
WL_DEBUG_PRINT_P("Disassociated.\r\n");
|
| 1507 |
break;
|
| 1508 |
case 4: |
| 1509 |
WL_DEBUG_PRINT_P("Synchronization lost.\r\n");
|
| 1510 |
break;
|
| 1511 |
case 5: |
| 1512 |
WL_DEBUG_PRINT_P("Coordinator realignment.\r\n");
|
| 1513 |
break;
|
| 1514 |
case 6: |
| 1515 |
WL_DEBUG_PRINT_P("Coordinator started.\r\n");
|
| 1516 |
break;
|
| 1517 |
} |
| 1518 |
} |
| 1519 |
|
| 1520 |
/**
|
| 1521 |
* Handles AT command response packets.
|
| 1522 |
* @param command the two character AT command, e.g. MY or ID
|
| 1523 |
* @param result 0 for success, 1 for an error
|
| 1524 |
* @param len the length in bytes of extra
|
| 1525 |
**/
|
| 1526 |
static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t status, uint8_t len)
|
| 1527 |
{
|
| 1528 |
WL_DEBUG_PRINT_P("HANDLE AT COMMAND\r\n");
|
| 1529 |
if (status != 0) |
| 1530 |
{
|
| 1531 |
WL_DEBUG_PRINT_P("Error with AT");
|
| 1532 |
WL_DEBUG_PRINT((char*)command);
|
| 1533 |
WL_DEBUG_PRINT_P(" packet. Result = ");
|
| 1534 |
switch(status) {
|
| 1535 |
case 1: |
| 1536 |
WL_DEBUG_PRINT_P("ERROR\r\n");
|
| 1537 |
break;
|
| 1538 |
case 2: |
| 1539 |
WL_DEBUG_PRINT_P("Invalid Command\r\n");
|
| 1540 |
break;
|
| 1541 |
case 3: |
| 1542 |
WL_DEBUG_PRINT_P("Invalid Parameter\r\n");
|
| 1543 |
break;
|
| 1544 |
} |
| 1545 |
return WL_SUCCESS;
|
| 1546 |
} |
| 1547 |
WL_DEBUG_PRINT_P("AT");
|
| 1548 |
WL_DEBUG_PRINT_CHAR((uint8_t)(command>>8));
|
| 1549 |
WL_DEBUG_PRINT_CHAR((uint8_t)(command)); |
| 1550 |
WL_DEBUG_PRINT_P(" command is being handled\r\n");
|
| 1551 |
|
| 1552 |
// TODO: program more command responses here (ND, etc)
|
| 1553 |
switch(command) {
|
| 1554 |
case ('I'<<8)+'D': // PAN |
| 1555 |
case ('C'<<8)+'H': // channel |
| 1556 |
case ('M'<<8)+'Y': // address |
| 1557 |
case ('A'<<8)+'P': // api mode |
| 1558 |
// copy command to handler
|
| 1559 |
xbee_command[0] = (command&0xFF00)>>8; |
| 1560 |
xbee_command[1] = command&0x00FF; |
| 1561 |
uint8_t ptr = basic_buf_last; |
| 1562 |
for(command=2;command<len+2;command++) { |
| 1563 |
xbee_command[command] = xbee_basic_buf_get(&ptr); |
| 1564 |
if (xbee_command[command] == '\r') |
| 1565 |
break; // done with command |
| 1566 |
WL_DEBUG_PRINT_HEX(xbee_command[command]); |
| 1567 |
} |
| 1568 |
xbee_command[command] = '\0';
|
| 1569 |
WL_DEBUG_PRINT_P("len=");
|
| 1570 |
WL_DEBUG_PRINT_INT(len); |
| 1571 |
WL_DEBUG_PRINT_P("ID,CH,or MY command result:");
|
| 1572 |
WL_DEBUG_PRINT((char*)xbee_command);
|
| 1573 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1574 |
break;
|
| 1575 |
default:
|
| 1576 |
WL_DEBUG_PRINT_P("unknown AT command");
|
| 1577 |
} |
| 1578 |
|
| 1579 |
// signal handler that command response is done
|
| 1580 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
| 1581 |
|
| 1582 |
return WL_SUCCESS;
|
| 1583 |
} |
| 1584 |
|
| 1585 |
/**
|
| 1586 |
* Sets the personal area network id.
|
| 1587 |
*
|
| 1588 |
* @param id the new personal area network (PAN) id
|
| 1589 |
**/
|
| 1590 |
int8_t xbee_set_pan(uint16_t id) |
| 1591 |
{
|
| 1592 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
| 1593 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| 1594 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
| 1595 |
|
| 1596 |
|
| 1597 |
uint8_t arr[2] = {(id&0xFF00)>>8,(id&0x00FF)}; |
| 1598 |
WL_DEBUG_PRINT_P("setting PAN address:");
|
| 1599 |
WL_DEBUG_PRINT_HEX(arr[0]);
|
| 1600 |
WL_DEBUG_PRINT_HEX(arr[1]);
|
| 1601 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1602 |
|
| 1603 |
// change status to command wait
|
| 1604 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1605 |
xbee_send_modify_at_command((uint8_t*)"ID",arr,2); // send command to set the channel |
| 1606 |
// wait for up to 30 ms
|
| 1607 |
uint16_t i=0;
|
| 1608 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
| 1609 |
delay_us(1); // wait 3us |
| 1610 |
} |
| 1611 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
| 1612 |
i = WL_SUCCESS; |
| 1613 |
else
|
| 1614 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
| 1615 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1616 |
return (int8_t)i; // return |
| 1617 |
} |
| 1618 |
|
| 1619 |
/**
|
| 1620 |
* Get the PAN ID for the XBee.
|
| 1621 |
*
|
| 1622 |
* @return the personal area network id, or
|
| 1623 |
* XBEE_PAN_DEFAULT if it has not yet been set.
|
| 1624 |
**/
|
| 1625 |
uint16_t xbee_get_pan() |
| 1626 |
{
|
| 1627 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
| 1628 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| 1629 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
| 1630 |
|
| 1631 |
uint16_t i=0;
|
| 1632 |
// change status to command wait
|
| 1633 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1634 |
xbee_send_read_at_command((uint8_t*)"ID"); // send command to get the PAN |
| 1635 |
// wait for up to 30 ms
|
| 1636 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
| 1637 |
delay_us(1); // wait 3us |
| 1638 |
} |
| 1639 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
| 1640 |
i = (xbee_command[2]<<8)|xbee_command[3]; // do ntoh16 coversion |
| 1641 |
else
|
| 1642 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code
|
| 1643 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1644 |
WL_DEBUG_PRINT_P("got PAN address:");
|
| 1645 |
WL_DEBUG_PRINT_HEX((i&0xFF00)>>8); |
| 1646 |
WL_DEBUG_PRINT_HEX((i&0x00FF));
|
| 1647 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1648 |
return i; // return |
| 1649 |
} |
| 1650 |
|
| 1651 |
/**
|
| 1652 |
* Set the channel the XBee is using.
|
| 1653 |
*
|
| 1654 |
* @param channel the channel the XBee will use,
|
| 1655 |
* between 0x0B and 0x1A
|
| 1656 |
*
|
| 1657 |
* @reutrn success or error code
|
| 1658 |
*
|
| 1659 |
* @see xbee_get_channel
|
| 1660 |
**/
|
| 1661 |
int8_t xbee_set_channel(uint8_t channel) |
| 1662 |
{
|
| 1663 |
if (channel < 0x0B || channel > 0x1A) |
| 1664 |
{
|
| 1665 |
WL_DEBUG_PRINT_P("Channel out of range.\r\n");
|
| 1666 |
return WL_ERROR_ARGUMENT;
|
| 1667 |
} |
| 1668 |
|
| 1669 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
| 1670 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| 1671 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
| 1672 |
|
| 1673 |
WL_DEBUG_PRINT_P("setting channel:");
|
| 1674 |
WL_DEBUG_PRINT_HEX(channel); |
| 1675 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1676 |
int16_t i=0;
|
| 1677 |
// change status to command wait
|
| 1678 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1679 |
xbee_send_modify_at_command((uint8_t*)"CH",&channel,1); // send command to set the channel |
| 1680 |
// wait for up to 30 ms
|
| 1681 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
| 1682 |
delay_us(1); // wait 3us |
| 1683 |
} |
| 1684 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
| 1685 |
i = WL_SUCCESS; |
| 1686 |
else
|
| 1687 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
| 1688 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1689 |
return (int8_t)i; // return |
| 1690 |
} |
| 1691 |
|
| 1692 |
/**
|
| 1693 |
* Returns the channel which the XBee is currently using.
|
| 1694 |
*
|
| 1695 |
* @return the channel the XBee is using
|
| 1696 |
*
|
| 1697 |
* @see xbee_set_channel
|
| 1698 |
**/
|
| 1699 |
int8_t xbee_get_channel(void)
|
| 1700 |
{
|
| 1701 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
| 1702 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| 1703 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
| 1704 |
|
| 1705 |
int16_t i=0;
|
| 1706 |
// change status to command wait
|
| 1707 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1708 |
xbee_send_read_at_command((uint8_t*)"CH"); // send command to get the channel |
| 1709 |
// wait for up to 30 ms
|
| 1710 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
| 1711 |
delay_us(1); // wait 3us |
| 1712 |
} |
| 1713 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
| 1714 |
i = (int8_t)xbee_command[2]; // get channel |
| 1715 |
else
|
| 1716 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
| 1717 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1718 |
WL_DEBUG_PRINT_P("got channel:");
|
| 1719 |
WL_DEBUG_PRINT_HEX((uint8_t)i); |
| 1720 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1721 |
return i; // return |
| 1722 |
} |
| 1723 |
|
| 1724 |
/**
|
| 1725 |
* Get the 16-bit address of the XBee.
|
| 1726 |
* This is used to specify who to send messages to
|
| 1727 |
* and who messages are from.
|
| 1728 |
*
|
| 1729 |
* @return the 16-bit address of the XBee.
|
| 1730 |
**/
|
| 1731 |
uint16_t xbee_get_address(void)
|
| 1732 |
{
|
| 1733 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
| 1734 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
| 1735 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
| 1736 |
|
| 1737 |
uint16_t i=0;
|
| 1738 |
// change status to command wait
|
| 1739 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
| 1740 |
xbee_send_read_at_command((uint8_t*)"MY"); // send command to get the address |
| 1741 |
// wait for up to 30 ms
|
| 1742 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
| 1743 |
delay_us(1); // wait 3us |
| 1744 |
} |
| 1745 |
|
| 1746 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
| 1747 |
i = (xbee_command[2]<<8)|xbee_command[3]; // do ntoh16 coversion |
| 1748 |
} else
|
| 1749 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code
|
| 1750 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
| 1751 |
WL_DEBUG_PRINT_P("got MY address:");
|
| 1752 |
WL_DEBUG_PRINT_HEX((i&0xFF00)>>8); |
| 1753 |
WL_DEBUG_PRINT_HEX((i&0x00FF));
|
| 1754 |
WL_DEBUG_PRINT_P("\r\n");
|
| 1755 |
return i; // return |
| 1756 |
} |
| 1757 |
|
| 1758 |
/**@} **/ // end xbee group |
| 1759 |
|