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<title>libwireless: xbee.c File Reference</title>
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<h1>xbee.c File Reference</h1>
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<p>XBee Interface.
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<a href="#_details">More...</a></p>
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<code>#include &quot;<a class="el" href="xbee_8h_source.html">xbee.h</a>&quot;</code><br/>
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<code>#include &quot;<a class="el" href="wl__defs_8h_source.html">wl_defs.h</a>&quot;</code><br/>
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<code>#include &lt;fcntl.h&gt;</code><br/>
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<code>#include &lt;unistd.h&gt;</code><br/>
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<code>#include &lt;pthread.h&gt;</code><br/>
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<code>#include &lt;errno.h&gt;</code><br/>
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<code>#include &lt;termios.h&gt;</code><br/>
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<code>#include &lt;stdio.h&gt;</code><br/>
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<code>#include &lt;stdlib.h&gt;</code><br/>
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<code>#include &lt;string.h&gt;</code><br/>
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<table border="0" cellpadding="0" cellspacing="0">
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<tr><td colspan="2"><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72aa42b35714e06ac26df31b06a8bf39"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_START" ref="a72aa42b35714e06ac26df31b06a8bf39" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_START</b>&nbsp;&nbsp;&nbsp;0x7E</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abe7468473089e3cdd2ed85cac2244d49"></a><!-- doxytag: member="xbee.c::XBEE_GET_PACKET_TIMEOUT" ref="abe7468473089e3cdd2ed85cac2244d49" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_GET_PACKET_TIMEOUT</b>&nbsp;&nbsp;&nbsp;1000</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae0fc9d7b1078703227c91e1352b708c5"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_STATUS" ref="ae0fc9d7b1078703227c91e1352b708c5" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_STATUS</b>&nbsp;&nbsp;&nbsp;0x8A</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a106780ab66c38464e90af25ae3cc73de"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_AT_COMMAND" ref="a106780ab66c38464e90af25ae3cc73de" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_AT_COMMAND</b>&nbsp;&nbsp;&nbsp;0x08</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aac9e8cc2d9fdda49b77aed7d9380bfde"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_AT_COMMAND_RESPONSE" ref="aac9e8cc2d9fdda49b77aed7d9380bfde" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_AT_COMMAND_RESPONSE</b>&nbsp;&nbsp;&nbsp;0x88</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a31af21123fe9b33803cdf96626776d32"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_TX_REQUEST_64" ref="a31af21123fe9b33803cdf96626776d32" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_TX_REQUEST_64</b>&nbsp;&nbsp;&nbsp;0x00</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a30aa14f9ad880c0bdcd15d7b6dfe4e84"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_TX_REQUEST_16" ref="a30aa14f9ad880c0bdcd15d7b6dfe4e84" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_TX_REQUEST_16</b>&nbsp;&nbsp;&nbsp;0x01</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a301ee4ce1fc94e5c6ccd160a0bfa83a7"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_TX_STATUS" ref="a301ee4ce1fc94e5c6ccd160a0bfa83a7" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_TX_STATUS</b>&nbsp;&nbsp;&nbsp;XBEE_TX_STATUS</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aba621d0a00f41acc7e059b5abf4802ad"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_RX_64" ref="aba621d0a00f41acc7e059b5abf4802ad" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_RX_64</b>&nbsp;&nbsp;&nbsp;0x80</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5b80e57bcad9ccaa20022e8d4968ec66"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_RX_16" ref="a5b80e57bcad9ccaa20022e8d4968ec66" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_RX_16</b>&nbsp;&nbsp;&nbsp;XBEE_RX</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a63d0ecb125d464ea34524e090648f70f"></a><!-- doxytag: member="xbee.c::XBEE_BUFFER_SIZE" ref="a63d0ecb125d464ea34524e090648f70f" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>XBEE_BUFFER_SIZE</b>&nbsp;&nbsp;&nbsp;128</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab30af815d6e9494361629440f14e3716"></a><!-- doxytag: member="xbee.c::PACKET_BUFFER_SIZE" ref="ab30af815d6e9494361629440f14e3716" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>PACKET_BUFFER_SIZE</b>&nbsp;&nbsp;&nbsp;108</td></tr>
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<tr><td colspan="2"><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga3d5fbb6aae8dda99240ec38108a645af">xbee_lib_init</a> ()</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the XBee library.  <a href="group__xbee.html#ga3d5fbb6aae8dda99240ec38108a645af"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga9334ac71dca1ddd697b1a35a361ade6a">xbee_terminate</a> ()</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Uninitialize the XBee library.  <a href="group__xbee.html#ga9334ac71dca1ddd697b1a35a361ade6a"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga7c44bc25fda954efde574ee8d735073c">xbee_send_packet</a> (char *packet, int len, int dest, char options, char frame)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send a packet to the XBee.  <a href="group__xbee.html#ga7c44bc25fda954efde574ee8d735073c"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga00fbdd9d849171588df736f8b608589d">xbee_get_packet</a> (unsigned char *dest)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get a packet from the XBee.  <a href="group__xbee.html#ga00fbdd9d849171588df736f8b608589d"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gade50cbefd7ba8d7361ce2654a298748b">xbee_set_pan_id</a> (int id)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the PAN ID for the XBee.  <a href="group__xbee.html#gade50cbefd7ba8d7361ce2654a298748b"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga7755cd8db87703c9e9943153660b8052">xbee_get_pan_id</a> ()</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the XBee's PAN ID.  <a href="group__xbee.html#ga7755cd8db87703c9e9943153660b8052"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gab93170c493c5cdfd43a7b640c6ed1d14">xbee_set_channel</a> (int channel)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the channel the XBee is currently using.  <a href="group__xbee.html#gab93170c493c5cdfd43a7b640c6ed1d14"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga133706db81f69ba0a3c169b7a3f42d2a">xbee_get_channel</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the channel the XBee is currently using.  <a href="group__xbee.html#ga133706db81f69ba0a3c169b7a3f42d2a"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga7c53e8a8492494a61ca306875d633309">xbee_get_address</a> ()</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the XBee's 16-bit address.  <a href="group__xbee.html#ga7c53e8a8492494a61ca306875d633309"></a><br/></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga1e9e3c2abf0ff683ca8e591c3851cf0a"></a><!-- doxytag: member="xbee.c::xbee_set_com_port" ref="ga1e9e3c2abf0ff683ca8e591c3851cf0a" args="(char *port)" -->
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void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ga1e9e3c2abf0ff683ca8e591c3851cf0a">xbee_set_com_port</a> (char *port)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the com port on a computer, undefined on the robot. <br/></td></tr>
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<tr><td colspan="2"><h2>Variables</h2></td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65685824a9cbbc9da05be520d0d80d12"></a><!-- doxytag: member="xbee.c::arrival_buf" ref="a65685824a9cbbc9da05be520d0d80d12" args="[XBEE_BUFFER_SIZE]" -->
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char&nbsp;</td><td class="memItemRight" valign="bottom"><b>arrival_buf</b> [XBEE_BUFFER_SIZE]</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab7ae7d59f0f2dabc258c678996b59b22"></a><!-- doxytag: member="xbee.c::buffer_last" ref="ab7ae7d59f0f2dabc258c678996b59b22" args="" -->
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volatile int&nbsp;</td><td class="memItemRight" valign="bottom"><b>buffer_last</b> = 0</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa38080e2a4d6f0497f3c2faf487a0952"></a><!-- doxytag: member="xbee.c::buffer_first" ref="aa38080e2a4d6f0497f3c2faf487a0952" args="" -->
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volatile int&nbsp;</td><td class="memItemRight" valign="bottom"><b>buffer_first</b> = 0</td></tr>
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</table>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
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<p>XBee Interface. </p>
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<p>Copyright (c) 2007 Colony Project</p>
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<p>Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:</p>
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<p>The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.</p>
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<p>THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.</p>
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<p>Implementation of low level communication with the XBee in API mode.</p>
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<dl class="author"><dt><b>Author:</b></dt><dd>Brian Coltin, Colony Project, CMU Robotics Club </dd></dl>
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</div>
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