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1 | 85 | bcoltin | #include "wireless.h" |
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2 | #include "xbee.h" |
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3 | #include <stdlib.h> |
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4 | #include <stdio.h> |
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5 | |||
6 | #include "wl_defs.h" |
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7 | |||
8 | #ifndef ROBOT
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9 | #include <time.h> |
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10 | #include <signal.h> |
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11 | #else
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12 | #include <time.h> |
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13 | #ifndef FIREFLY
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14 | #include <bom.h> |
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15 | #endif
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16 | #endif
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17 | |||
18 | /*Function Prototypes*/
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19 | |||
20 | void wl_do_timeout(void); |
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21 | |||
22 | //Note: the actual frame sent has group as the first four bits and
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23 | //frame as the last four.
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24 | void wl_send_packet(char group, char type, char* data, int len, |
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25 | int dest, char options, char frame); |
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26 | |||
27 | /*Data Members*/
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28 | |||
29 | //used to store incoming and outgoing packets
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30 | unsigned char wl_buf[128]; |
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31 | //1 if we have timed out since we last checked, 0 otherwise.
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32 | int wl_timeout = 0; |
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33 | |||
34 | PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
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35 | |||
36 | #ifndef ROBOT
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37 | timer_t wl_timeout_timer; |
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38 | |||
39 | //called when we time out, or receive interrupt
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40 | void sig_handler(int signo) |
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41 | { |
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42 | switch (signo)
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43 | { |
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44 | case SIGALRM:
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45 | wl_timeout = 1;
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46 | break;
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47 | case SIGINT:
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48 | wl_terminate(); |
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49 | exit(1);
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50 | break;
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51 | } |
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52 | return;
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53 | } |
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54 | #endif
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55 | |||
56 | /**
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57 | * Initializes the wireless library. Must be called before any
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58 | * other function.
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59 | **/
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60 | void wl_init()
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61 | { |
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62 | int i;
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63 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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64 | wl_packet_groups[i] = NULL;
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65 | |||
66 | xbee_lib_init(); |
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67 | |||
68 | //begin timeout timer
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69 | #ifdef ROBOT
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70 | #ifdef FIREFLY
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71 | rtc_init(PRESCALE_DIV_128, 32, &wl_do_timeout);
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72 | #else
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73 | rtc_init(HALF_SECOND, &wl_do_timeout); |
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74 | #endif
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75 | #else
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76 | //create a timer to trigger every half second
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77 | struct sigevent evp;
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78 | evp.sigev_signo = SIGALRM; |
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79 | evp.sigev_notify = SIGEV_SIGNAL; |
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80 | if (timer_create(CLOCK_REALTIME, &evp, &wl_timeout_timer) == -1) |
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81 | { |
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82 | WL_DEBUG_PRINT("Error creating a timer.\r\n");
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83 | exit(1);
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84 | } |
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85 | struct sigaction wl_sig_act;
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86 | wl_sig_act.sa_handler = (void *)sig_handler;
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87 | wl_sig_act.sa_flags = 0;
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88 | sigemptyset(&wl_sig_act.sa_mask); |
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89 | sigaction(SIGALRM, &wl_sig_act, 0);
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90 | sigaction(SIGINT, &wl_sig_act, 0);
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91 | struct itimerspec wl_timeout_time;
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92 | wl_timeout_time.it_interval.tv_sec = 0;
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93 | wl_timeout_time.it_interval.tv_nsec = 500000000;
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94 | wl_timeout_time.it_value.tv_sec = 0;
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95 | wl_timeout_time.it_value.tv_nsec = 500000000;
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96 | timer_settime(wl_timeout_timer, 0,
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97 | &wl_timeout_time, NULL);
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98 | #endif
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99 | } |
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100 | |||
101 | /**
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102 | * Uninitializes the wireless library.
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103 | **/
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104 | void wl_terminate()
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105 | { |
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106 | #ifndef ROBOT
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107 | timer_delete(wl_timeout_timer); |
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108 | #endif
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109 | |||
110 | int i;
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111 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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112 | if (wl_packet_groups[i] != NULL && |
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113 | wl_packet_groups[i]->unregister != NULL)
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114 | wl_packet_groups[i]->unregister(); |
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115 | |||
116 | xbee_terminate(); |
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117 | } |
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118 | |||
119 | /**
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120 | * Set the PAN for the XBee to join.
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121 | *
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122 | * @param pan the new PAN
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123 | *
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124 | * @see wl_get_pan
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125 | **/
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126 | void wl_set_pan(int pan) |
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127 | { |
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128 | xbee_set_pan_id(pan); |
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129 | } |
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130 | |||
131 | /**
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132 | * Get the PAN the XBee is currently part of.
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133 | *
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134 | * @return the PAN of the XBee
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135 | *
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136 | * @see wl_set_pan
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137 | **/
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138 | int wl_get_pan(void) |
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139 | { |
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140 | return xbee_get_pan_id();
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141 | } |
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142 | |||
143 | /**
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144 | * Set the channel the XBee is listening to.
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145 | *
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146 | * @param channel the new channel to join
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147 | *
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148 | * @see wl_get_channel
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149 | **/
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150 | void wl_set_channel(int channel) |
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151 | { |
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152 | xbee_set_channel(channel); |
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153 | } |
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154 | |||
155 | /**
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156 | * Get the channel the XBee is part of.
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157 | *
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158 | * @return the channel the XBee is part of
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159 | *
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160 | * @see wl_set_channel
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161 | **/
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162 | int wl_get_channel(void) |
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163 | { |
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164 | return xbee_get_channel();
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165 | } |
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166 | |||
167 | /**
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168 | * Returns the 16-bit address of the XBee module.
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169 | *
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170 | * @return the 16-bit address of the XBee module.
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171 | **/
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172 | unsigned int wl_get_xbee_id() |
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173 | { |
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174 | return xbee_get_address();
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175 | } |
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176 | |||
177 | /**
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178 | * Send a packet to a specific XBee without specifying a PAN.
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179 | *
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180 | * @param group the packet group
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181 | * @param type the packet type
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182 | * @param data the packet data
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183 | * @param len the packet length in bytes
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184 | * @param dest the 16-bit address of the XBee to send the packet to
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185 | * @param frame the frame number to see with a TX_STATUS response
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186 | **/
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187 | void wl_send_robot_to_robot_global_packet(char group, char type, |
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188 | char* data, int len, int dest, char frame) |
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189 | { |
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190 | wl_send_packet(group, type, data, len, dest, |
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191 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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192 | } |
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193 | |||
194 | /**
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195 | * Send a packet to a specific XBee in the same PAN.
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196 | *
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197 | * @param group the packet group
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198 | * @param type the packet type
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199 | * @param data the packet data
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200 | * @param len the packet length in bytes
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201 | * @param dest the 16-bit address of the XBee to send the packet to
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202 | * @param frame the frame number to see with a TX_STATUS response
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203 | **/
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204 | void wl_send_robot_to_robot_packet(char group, char type, |
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205 | char* data, int len, int dest, char frame) |
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206 | { |
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207 | wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, |
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208 | frame); |
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209 | } |
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210 | |||
211 | /**
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212 | * Send a packet to all XBees in all PANs.
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213 | *
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214 | * @param group the packet group
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215 | * @param type the packet type
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216 | * @param data the packet data
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217 | * @param len the packet length in bytes
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218 | * @param frame the frame number to see with a TX_STATUS response
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219 | **/
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220 | void wl_send_global_packet(char group, char type, |
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221 | char* data, int len, char frame) |
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222 | { |
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223 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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224 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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225 | } |
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226 | |||
227 | /**
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228 | * Send a packet to all XBee's in the same PAN.
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229 | *
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230 | * @param group the packet group
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231 | * @param type the packet type
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232 | * @param data the packet data
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233 | * @param len the packet length in bytes
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234 | * @param frame the frame number to see with a TX_STATUS response
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235 | **/
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236 | void wl_send_pan_packet(char group, char type, |
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237 | char* data, int len, char frame) |
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238 | { |
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239 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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240 | XBEE_OPTIONS_NONE, frame); |
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241 | } |
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242 | |||
243 | /**
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244 | * Send a packet.
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245 | *
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246 | * @param group the packet group
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247 | * @param type the packet type
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248 | * @param data the packet data
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249 | * @param len the packet length in bytes
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250 | * @param dest the destination of the packet
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251 | * @param options the options for sending the packet
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252 | * @param frame the frame number to see with a TX_STATUS response
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253 | **/
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254 | void wl_send_packet(char group, char type, char* data, int len, |
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255 | int dest, char options, char frame) |
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256 | { |
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257 | char buf[128]; |
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258 | int i;
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259 | if (frame != 0) |
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260 | frame = (frame & 0x0F) | ((group & 0x0F) << 4); |
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261 | buf[0] = group;
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262 | buf[1] = type;
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263 | for (i = 0; i < len; i++) |
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264 | buf[2 + i] = data[i];
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265 | xbee_send_packet(buf, len + 2, dest, options, frame);
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266 | } |
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267 | |||
268 | /**
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269 | * Register a packet group with the wireless library. The event
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270 | * handlers in the packet group will be called whenever an
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271 | * event dealing with the packet group's group code occurs.
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272 | *
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273 | * @param h the PacketGroupHandler to register
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274 | **/
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275 | void wl_register_packet_group(PacketGroupHandler* h)
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276 | { |
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277 | if (h->groupCode >= WL_MAX_PACKET_GROUPS)
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278 | { |
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279 | WL_DEBUG_PRINT("Packet group code too large.\r\n");
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280 | return;
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281 | } |
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282 | if (wl_packet_groups[h->groupCode] != NULL) |
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283 | { |
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284 | WL_DEBUG_PRINT("Packet group code already registered.\r\n");
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285 | return;
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286 | } |
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287 | wl_packet_groups[h->groupCode] = h; |
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288 | } |
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289 | |||
290 | /**
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291 | * Unregister a packet group from the wireless library.
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292 | *
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293 | * @param h the packet group to remove
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294 | **/
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295 | void wl_unregister_packet_group(PacketGroupHandler* h)
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296 | { |
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297 | unsigned int groupCode = h->groupCode; |
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298 | PacketGroupHandler* p = wl_packet_groups[groupCode]; |
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299 | if (p != NULL && p->unregister != NULL) |
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300 | p->unregister(); |
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301 | wl_packet_groups[groupCode] = NULL;
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302 | } |
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303 | |||
304 | /**
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305 | * Called when the timer is triggered. This calls the timeout
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306 | * handlers of all the registered packet groups.
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307 | **/
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308 | void wl_do_timeout()
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309 | { |
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310 | int i;
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311 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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312 | if (wl_packet_groups[i] != NULL && |
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313 | wl_packet_groups[i]->timeout_handler != NULL)
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314 | wl_packet_groups[i]->timeout_handler(); |
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315 | } |
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316 | |||
317 | /**
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318 | * Performs wireless library functionality. This function must
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319 | * be called frequently for wireless to perform effectively.
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320 | * This function will call timeout handlers, as well as
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321 | * received packet and transmit status handlers.
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322 | **/
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323 | void wl_do()
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324 | { |
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325 | if (wl_timeout)
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326 | { |
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327 | wl_do_timeout(); |
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328 | wl_timeout = 0;
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329 | } |
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330 | |||
331 | int len = xbee_get_packet(wl_buf);
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332 | if (len < 0)//no packet received |
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333 | return;
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334 | |||
335 | if (wl_buf[0] == XBEE_TX_STATUS) |
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336 | { |
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337 | if (len != 3) |
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338 | { |
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339 | WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
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340 | return;
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341 | } |
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342 | |||
343 | //the first four bits are the packet group
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344 | //this only works with under 16 groups
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345 | int group = (int)(wl_buf[1] >> 4); |
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346 | int success = 0; |
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347 | if (wl_buf[2] == 0) |
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348 | success = 1;
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349 | else
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350 | { |
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351 | WL_DEBUG_PRINT("No response received.\r\n");
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352 | if (wl_buf[2] == 2) |
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353 | WL_DEBUG_PRINT("CCA Failure\r\n");
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354 | if (wl_buf[2] == 3) |
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355 | WL_DEBUG_PRINT("Purged\r\n");
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356 | } |
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357 | |||
358 | if (wl_packet_groups[group] != NULL && |
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359 | wl_packet_groups[group]->handle_response != NULL)
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360 | wl_packet_groups[group]->handle_response( |
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361 | (int)wl_buf[1] & 0x0F, success); |
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362 | return;
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363 | } |
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364 | |||
365 | if (wl_buf[0] == XBEE_RX) |
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366 | { |
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367 | if (len < 7) |
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368 | { |
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369 | WL_DEBUG_PRINT("Packet is too small.\r\n");
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370 | return;
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371 | } |
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372 | |||
373 | int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]); |
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374 | |||
375 | /*
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376 | //unused for now
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377 | int signalStrength = wl_buf[3];
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378 | //1 for Address broadcast, 2 for PAN broadcast
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379 | int options = wl_buf[4];
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380 | */
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381 | |||
382 | int group = wl_buf[5]; |
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383 | int type = wl_buf[6]; |
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384 | int packetLen = len - 7; |
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385 | |||
386 | if (wl_packet_groups[group] != NULL |
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387 | && wl_packet_groups[group]->handle_receive != NULL)
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388 | wl_packet_groups[group]->handle_receive(type, source, |
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389 | wl_buf + 7, packetLen);
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390 | return;
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391 | } |
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392 | |||
393 | 120 | bcoltin | usb_puts("Unexpected packet received.\n");
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394 | //WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
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395 | 85 | bcoltin | return;
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396 | } |