Revision 732
New stuff works, fixed bugs, removed malloc.
| xbee.c | ||
|---|---|---|
| 106 | 106 |
#endif |
| 107 | 107 |
|
| 108 | 108 |
// TODO: is this a good size? |
| 109 |
#define XBEE_BUFFER_SIZE 256 |
|
| 109 |
#define XBEE_BUFFER_SIZE 128 |
|
| 110 |
#define PACKET_BUFFER_SIZE 108 |
|
| 110 | 111 |
// a buffer for data received from the XBee |
| 111 | 112 |
char arrival_buf[XBEE_BUFFER_SIZE]; |
| 112 | 113 |
// location of last unread byte in buffer |
| ... | ... | |
| 116 | 117 |
|
| 117 | 118 |
|
| 118 | 119 |
//used to store packets as they are read |
| 119 |
static char xbee_buf[128];
|
|
| 120 |
static char xbee_buf[PACKET_BUFFER_SIZE];
|
|
| 120 | 121 |
static int currentBufPos = 0; |
| 121 | 122 |
|
| 122 | 123 |
//XBee status |
| ... | ... | |
| 177 | 178 |
while (1) |
| 178 | 179 |
{
|
| 179 | 180 |
if (xbee_read(&c, 1) != 0) {
|
| 180 |
fprintf(stderr, "xbee_read failed.\n");
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|
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WL_DEBUG_PRINT("xbee_read failed.\n");
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|
| 181 | 182 |
return NULL; |
| 182 | 183 |
} |
| 183 | 184 |
|
| ... | ... | |
| 204 | 205 |
**/ |
| 205 | 206 |
int xbee_lib_init() |
| 206 | 207 |
{
|
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arrival_buf[0] = 'A'; |
|
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arrival_buf[1] = 'A'; |
|
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arrival_buf[2] = 'A'; |
|
| 210 | 208 |
#ifdef ROBOT |
| 211 | 209 |
|
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//enable the receiving interrupt |
| ... | ... | |
| 404 | 402 |
} |
| 405 | 403 |
|
| 406 | 404 |
/** |
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* Exit API mode. (warning - does not check for response) |
|
| 408 |
**/ |
|
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static int xbee_exit_api_mode() |
|
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{
|
|
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return xbee_send_string("ATAP 0\r");
|
|
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} |
|
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|
|
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/** |
|
| 415 | 405 |
* Wait until the string "OK\r" is received from the XBee. |
| 416 | 406 |
**/ |
| 417 | 407 |
static void xbee_wait_for_ok() |
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