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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.h
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 * @brief Contains definitions for using the XBee
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 *
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 * Contains definitions for interfacing with the 
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 * XBee module, from either a robot or a computer.
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 * To use a robot, define ROBOT in wl_defs.h, and
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 * to use a computer, don't define ROBOT.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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#ifndef XBEE_H
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#define XBEE_H
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// need this for C99 int types
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#ifndef STDINT_H
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#define STDINT_H
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#include <stdint.h>
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#endif
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/**
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 * @defgroup xbee XBee
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 * @brief Interface with the XBee module
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 *
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 * Interface with the XBee module.
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 *
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 * @{
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 **/
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 /**@defgroup xbee_const xbee constants 
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  * @brief These are constants used for the xbee module.
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  * @{ **/
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#ifndef XBEE_BAUD
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/** @brief The XBee baud rate **/
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#define XBEE_BAUD 9600 //115200
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#endif
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/**@name xbee options
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 * @{ **/
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/**@brief Unset PAN, uses XBee default **/
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#define XBEE_PAN_DEFAULT 0xFFFF
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/**@brief Unset channel, uses XBee default **/
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#define XBEE_CHANNEL_DEFAULT 0
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/**@brief Broadcast to all robots in the PAN **/
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#define XBEE_BROADCAST 0xFFFF
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/**@brief No special options **/
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#define XBEE_OPTIONS_NONE 0x00
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/**@brief Do not receive a TX_STATUS message from this packet **/
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#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01
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/**@brief Send the packet to all PANS **/
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#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04
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/**@brief A transmit status packet **/
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#define XBEE_TX_STATUS 0x89
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/**@brief A packet received from another XBee **/
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#define XBEE_RX 0x81
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/**@}
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 * @name xbee frame types
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 * @{ **/
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// TODO: add doxygen comments for all of these definitions
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/*Frame Types*/
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#define XBEE_FRAME_START 0x7E
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#define XBEE_FRAME_STATUS 0x8A
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#define XBEE_FRAME_AT_COMMAND 0x08
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#define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88
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#define XBEE_FRAME_TX_REQUEST_64 0x00
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#define XBEE_FRAME_TX_REQUEST_16 0x01
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#define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
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#define XBEE_FRAME_RX_64 0x80
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#define XBEE_FRAME_RX_16 XBEE_RX
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/** @} **/
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/**@} **/ // end const group
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/**
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 * @defgroup xbee_funcs Xbee Functions
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 * @brief These are the public xbee functions.
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 * @{
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 **/
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/**@brief Initialize the XBee library **/
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int8_t xbee_init(void);
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/**@brief Uninitialize the XBee library **/
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int8_t xbee_terminate(void);
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/**@brief Send an array of bytes to the xbee in API mode **/
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int8_t xbee_send(uint8_t* buf, uint16_t size);
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/**@brief Send byte to the xbee in API mode **/
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int8_t xbee_sendc(uint8_t byte);
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/**@brief Add a buffer to the checksum value **/
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int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum);
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/**@brief Send a frame header to the xbee **/
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int8_t xbee_send_header(uint16_t len);
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/**@brief Send a packet to the XBee **/
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int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame);
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/**@brief Set the PAN ID for the XBee **/
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int8_t xbee_set_pan(uint16_t id);
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/**@brief Get the XBee's PAN ID **/
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uint16_t xbee_get_pan(void);
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/**@brief Set the channel the XBee is currently using **/
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int8_t xbee_set_channel(uint8_t channel);
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/**@brief Get the channel the XBee is currently using **/
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int8_t xbee_get_channel(void);
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/**@brief Get the XBee's 16-bit address **/
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uint16_t xbee_get_address(void);
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/**@brief Reset XBee **/
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int8_t xbee_reset(void); // TODO: implement this function
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/**@} **/ //end xbee_funcs group
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/**@} **/ //end defgroup
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#endif