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Added by David Schultz over 14 years ago

added doxygen info for wireless branch

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<h1>xbee.c File Reference</h1>XBee Interface.
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<a href="#_details">More...</a>
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<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;time.h&gt;</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></td></tr>
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#fd0466c206d7e1f82ee407d114468e96">XBEE_PORT_DEFAULT</a>&nbsp;&nbsp;&nbsp;&quot;/dev/ttyUSB1&quot;</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e6bb9bb274d6750f954762454807a5a7"></a><!-- doxytag: member="xbee.c::XBEE_PAN_DEFAULT" ref="e6bb9bb274d6750f954762454807a5a7" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#e6bb9bb274d6750f954762454807a5a7">XBEE_PAN_DEFAULT</a>&nbsp;&nbsp;&nbsp;0xFFFF</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Unset PAN, uses XBee default. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="35f8b9d8e01e788f1e29928cba29f215"></a><!-- doxytag: member="xbee.c::XBEE_CHANNEL_DEFAULT" ref="35f8b9d8e01e788f1e29928cba29f215" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#35f8b9d8e01e788f1e29928cba29f215">XBEE_CHANNEL_DEFAULT</a>&nbsp;&nbsp;&nbsp;0</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Unset channel, uses XBee default. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="93bbd21f7965e1697350f950cedff5c4"></a><!-- doxytag: member="xbee.c::XBEE_BROADCAST" ref="93bbd21f7965e1697350f950cedff5c4" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#93bbd21f7965e1697350f950cedff5c4">XBEE_BROADCAST</a>&nbsp;&nbsp;&nbsp;0xFFFF</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Broadcast to all robots in the PAN. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bca7356c2b8183fd41b5ca9a82dd962b"></a><!-- doxytag: member="xbee.c::XBEE_OPTIONS_NONE" ref="bca7356c2b8183fd41b5ca9a82dd962b" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#bca7356c2b8183fd41b5ca9a82dd962b">XBEE_OPTIONS_NONE</a>&nbsp;&nbsp;&nbsp;0x00</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">No special options. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="cf9509013302590dca5ce3db63c64609"></a><!-- doxytag: member="xbee.c::XBEE_OPTIONS_DISABLE_RESPONSE" ref="cf9509013302590dca5ce3db63c64609" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#cf9509013302590dca5ce3db63c64609">XBEE_OPTIONS_DISABLE_RESPONSE</a>&nbsp;&nbsp;&nbsp;0x01</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Do not receive a TX_STATUS message from this packet. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="57382f888360b5b19f0de3b6f1f7c5a3"></a><!-- doxytag: member="xbee.c::XBEE_OPTIONS_BROADCAST_ALL_PANS" ref="57382f888360b5b19f0de3b6f1f7c5a3" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#57382f888360b5b19f0de3b6f1f7c5a3">XBEE_OPTIONS_BROADCAST_ALL_PANS</a>&nbsp;&nbsp;&nbsp;0x04</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Send the packet to all PANS. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7840d8b64c8bec12d8b8d32e845a638a"></a><!-- doxytag: member="xbee.c::XBEE_TX_STATUS" ref="7840d8b64c8bec12d8b8d32e845a638a" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#7840d8b64c8bec12d8b8d32e845a638a">XBEE_TX_STATUS</a>&nbsp;&nbsp;&nbsp;0x89</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">A transmit status packet. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c2b1262a3a1eb4a9f7ead366af71c32c"></a><!-- doxytag: member="xbee.c::XBEE_RX" ref="c2b1262a3a1eb4a9f7ead366af71c32c" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#c2b1262a3a1eb4a9f7ead366af71c32c">XBEE_RX</a>&nbsp;&nbsp;&nbsp;0x81</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">A packet received from another XBee. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="72aa42b35714e06ac26df31b06a8bf39"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_START" ref="72aa42b35714e06ac26df31b06a8bf39" 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" nowrap align="right" valign="top"><a class="anchor" name="be7468473089e3cdd2ed85cac2244d49"></a><!-- doxytag: member="xbee.c::XBEE_GET_PACKET_TIMEOUT" ref="be7468473089e3cdd2ed85cac2244d49" 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" nowrap align="right" valign="top"><a class="anchor" name="e0fc9d7b1078703227c91e1352b708c5"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_STATUS" ref="e0fc9d7b1078703227c91e1352b708c5" 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" nowrap align="right" valign="top"><a class="anchor" name="106780ab66c38464e90af25ae3cc73de"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_AT_COMMAND" ref="106780ab66c38464e90af25ae3cc73de" 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" nowrap align="right" valign="top"><a class="anchor" name="ac9e8cc2d9fdda49b77aed7d9380bfde"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_AT_COMMAND_RESPONSE" ref="ac9e8cc2d9fdda49b77aed7d9380bfde" 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" nowrap align="right" valign="top"><a class="anchor" name="31af21123fe9b33803cdf96626776d32"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_TX_REQUEST_64" ref="31af21123fe9b33803cdf96626776d32" 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" nowrap align="right" valign="top"><a class="anchor" name="30aa14f9ad880c0bdcd15d7b6dfe4e84"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_TX_REQUEST_16" ref="30aa14f9ad880c0bdcd15d7b6dfe4e84" 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" nowrap align="right" valign="top"><a class="anchor" name="301ee4ce1fc94e5c6ccd160a0bfa83a7"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_TX_STATUS" ref="301ee4ce1fc94e5c6ccd160a0bfa83a7" 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" nowrap align="right" valign="top"><a class="anchor" name="ba621d0a00f41acc7e059b5abf4802ad"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_RX_64" ref="ba621d0a00f41acc7e059b5abf4802ad" 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" nowrap align="right" valign="top"><a class="anchor" name="5b80e57bcad9ccaa20022e8d4968ec66"></a><!-- doxytag: member="xbee.c::XBEE_FRAME_RX_16" ref="5b80e57bcad9ccaa20022e8d4968ec66" 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" nowrap align="right" valign="top"><a class="anchor" name="63d0ecb125d464ea34524e090648f70f"></a><!-- doxytag: member="xbee.c::XBEE_BUFFER_SIZE" ref="63d0ecb125d464ea34524e090648f70f" 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" nowrap align="right" valign="top"><a class="anchor" name="b30af815d6e9494361629440f14e3716"></a><!-- doxytag: member="xbee.c::PACKET_BUFFER_SIZE" ref="b30af815d6e9494361629440f14e3716" 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"><br><h2>Functions</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#2fbd69862a11b6bcc5cfdb9f182bcdb9">xbee_send_read_at_command</a> (char *command)</td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af">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#g3d5fbb6aae8dda99240ec38108a645af"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g9334ac71dca1ddd697b1a35a361ade6a">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#g9334ac71dca1ddd697b1a35a361ade6a"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c44bc25fda954efde574ee8d735073c">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#g7c44bc25fda954efde574ee8d735073c"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d">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#g00fbdd9d849171588df736f8b608589d"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gde50cbefd7ba8d7361ce2654a298748b">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#gde50cbefd7ba8d7361ce2654a298748b"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052">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#g7755cd8db87703c9e9943153660b8052"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gb93170c493c5cdfd43a7b640c6ed1d14">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#gb93170c493c5cdfd43a7b640c6ed1d14"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a">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#g133706db81f69ba0a3c169b7a3f42d2a"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309">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#g7c53e8a8492494a61ca306875d633309"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1e9e3c2abf0ff683ca8e591c3851cf0a"></a><!-- doxytag: member="xbee.c::xbee_set_com_port" ref="g1e9e3c2abf0ff683ca8e591c3851cf0a" args="(char *port)" -->


  		




  
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void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g1e9e3c2abf0ff683ca8e591c3851cf0a">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"><br><h2>Variables</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="65685824a9cbbc9da05be520d0d80d12"></a><!-- doxytag: member="xbee.c::arrival_buf" ref="65685824a9cbbc9da05be520d0d80d12" 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" nowrap align="right" valign="top"><a class="anchor" name="b7ae7d59f0f2dabc258c678996b59b22"></a><!-- doxytag: member="xbee.c::buffer_last" ref="b7ae7d59f0f2dabc258c678996b59b22" 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" nowrap align="right" valign="top"><a class="anchor" name="a38080e2a4d6f0497f3c2faf487a0952"></a><!-- doxytag: member="xbee.c::buffer_first" ref="a38080e2a4d6f0497f3c2faf487a0952" 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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XBee Interface. 


  		




  
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<p>


  		




  
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Copyright (c) 2009 Colony Project<p>


  		




  
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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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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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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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Implementation of low level communication with the XBee in API mode.<p>


  		




  
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


  		




  
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<hr><h2>Define Documentation</h2>


  		




  
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<a class="anchor" name="fd0466c206d7e1f82ee407d114468e96"></a><!-- doxytag: member="xbee.c::XBEE_PORT_DEFAULT" ref="fd0466c206d7e1f82ee407d114468e96" args="" -->


  		




  
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<div class="memitem">


  		




  
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<div class="memproto">


  		




  
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      <table class="memname">


  		




  
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        <tr>


  		




  
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          <td class="memname">#define XBEE_PORT_DEFAULT&nbsp;&nbsp;&nbsp;&quot;/dev/ttyUSB1&quot;          </td>


  		




  
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        </tr>


  		




  
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      </table>


  		




  
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<div class="memdoc">


  		




  
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<p>


  		




  
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The port to use the XBee from on the computer. Also, a backup port if the other is used. 


  		




  
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</div>


  		




  
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</div><p>


  		




  
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<hr><h2>Function Documentation</h2>


  		




  
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<a class="anchor" name="2fbd69862a11b6bcc5cfdb9f182bcdb9"></a><!-- doxytag: member="xbee.c::xbee_send_read_at_command" ref="2fbd69862a11b6bcc5cfdb9f182bcdb9" args="(char *command)" -->


  		




  
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        <tr>


  		




  
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          <td class="memname">int xbee_send_read_at_command           </td>


  		




  
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          <td>(</td>


  		




  
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          <td class="paramtype">char *&nbsp;</td>


  		




  
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          <td class="paramname"> <em>command</em>          </td>


  		




  
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          <td>&nbsp;)&nbsp;</td>


  		




  
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          <td></td>


  		




  
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<div class="memdoc">


  		




  
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<p>


  		




  
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Sends an AT command to read a parameter.<p>


  		




  
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<dl compact><dt><b>Parameters:</b></dt><dd>


  		




  
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  <table border="0" cellspacing="2" cellpadding="0">


  		




  
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    <tr><td valign="top"></td><td valign="top"><em>command</em>&nbsp;</td><td>the AT command to send. For exmaple, use ID to read the PAN ID and MY to return the XBee ID. See the XBee reference guide for a complete listing. </td></tr>


  		




  
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  </table>


  		




  
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:16 2009 for Colony by&nbsp;


  		




  
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>


  		




  
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<h1>wl_defs.h</h1><a href="wl__defs_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 


  		




  
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<a name="l00035"></a>00035 <span class="preprocessor">#ifndef WL_DEFS_H</span>


  		




  
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<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEFS_H</span>


  		




  
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<a name="l00037"></a>00037 <span class="preprocessor"></span>


  		




  
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<a name="l00038"></a>00038 <span class="comment">// need this for C99 int types</span>


  		




  
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<a name="l00039"></a>00039 <span class="preprocessor">#ifndef STDINT_H</span>


  		




  
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<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>


  		




  
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<a name="l00043"></a>00043 <span class="preprocessor"></span>


  		




  
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<a name="l00044"></a>00044 <span class="comment">// ***** TODO: these next two defines should be moved to makefile options</span>


  		




  
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<a name="l00045"></a>00045 


  		




  
  34
  
    
<a name="l00046"></a>00046 <span class="comment">//comment out this line if using a computer hooked up to an xbee</span>


  		




  
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<a name="l00047"></a>00047 <span class="comment">//#define ROBOT</span>


  		




  
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<a name="l00048"></a>00048 


  		




  
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<a name="l00049"></a>00049 <span class="comment">//uncomment this line for debug information</span>


  		




  
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<a name="l00050"></a>00050 <span class="comment">//#define WL_DEBUG</span>


  		




  
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<a name="l00052"></a>00052 


  		




  
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<a name="l00053"></a>00053 <span class="comment">// Error Codes</span>


  		




  
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<a name="l00054"></a>00054 


  		




  
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<a name="l00056"></a><a class="code" href="wl__defs_8h.html#798466231ef137f248b55dbfbce36fd7">00056</a> <span class="preprocessor">#define WL_ERROR_INIT_FAILED INT8_C(-1) </span>


  		




  
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<a name="l00058"></a><a class="code" href="wl__defs_8h.html#63e64a790913362ecf505e1a7e8347b8">00058</a> <span class="preprocessor">#define WL_ERROR_INIT_ALREADY_INITD INT8_C(-2) </span>


  		




  
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<a name="l00060"></a><a class="code" href="wl__defs_8h.html#099f03f9edae294ce4989433f73c141e">00060</a> <span class="preprocessor">#define WL_ERROR_LIBRARY_NOT_INITD INT8_C(-3) </span>


  		




  
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<a name="l00061"></a>00061 <span class="preprocessor"></span>


  		




  
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<a name="l00062"></a>00062 


  		




  
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<a name="l00063"></a>00063 <span class="preprocessor">#ifdef WL_DEBUG</span>


  		




  
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<a name="l00064"></a>00064 <span class="preprocessor"></span>


  		




  
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<a name="l00065"></a>00065 <span class="preprocessor">#ifdef ROBOT</span>


  		




  
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<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#include &lt;serial.h&gt;</span>


  		




  
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<a name="l00067"></a>00067 <span class="preprocessor">#define WL_DEBUG_PRINT( s ) usb_puts( s )</span>


  		




  
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<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)</span>


  		




  
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<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">#else</span>


  		




  
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<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEBUG_PRINT( s ) printf( s )</span>


  		




  
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<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c)</span>


  		




  
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<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)</span>


  		




  
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<a name="l00078"></a>00078 <span class="preprocessor">#define WL_DEBUG_PRINT( s )</span>


  		




  
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<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEBUG_PRINT_CHAR( c )</span>


  		




  
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<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define WL_DEBUG_PRINT_INT( i )</span>


  		




  
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<a name="l00083"></a>00083 <span class="preprocessor"></span>


  		




  
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<h1>xbee.h</h1><a href="xbee_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 


  		




  
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<a name="l00038"></a>00038 <span class="preprocessor">#ifndef XBEE_H</span>


  		




  
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<a name="l00041"></a>00041 <span class="comment">// need this for C99 int types</span>


  		




  
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<a name="l00042"></a>00042 <span class="preprocessor">#ifndef STDINT_H</span>


  		




  
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<a name="l00058"></a>00058 <span class="comment">// TODO: convert all int references to int16_t syntax (see stdint.h)</span>


  		




  
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<a name="l00061"></a>00061 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af" title="Initialize the XBee library.">xbee_lib_init</a>(<span class="keywordtype">void</span>);


  		




  
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<a name="l00063"></a>00063 <span class="keywordtype">void</span> <a class="code" href="group__xbee.html#g9334ac71dca1ddd697b1a35a361ade6a" title="Uninitialize the XBee library.">xbee_terminate</a>(<span class="keywordtype">void</span>);


  		




  
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<a name="l00065"></a>00065 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d" title="Get a packet from the XBee.">xbee_get_packet</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* packet);


  		




  
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<a name="l00067"></a>00067 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g7c44bc25fda954efde574ee8d735073c" title="Send a packet to the XBee.">xbee_send_packet</a>(<span class="keywordtype">char</span>* packet, <span class="keywordtype">int</span> len, <span class="keywordtype">int</span> dest, <span class="keywordtype">char</span> options, <span class="keywordtype">char</span> frame);


  		




  
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<a name="l00069"></a>00069 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#gde50cbefd7ba8d7361ce2654a298748b" title="Set the PAN ID for the XBee.">xbee_set_pan_id</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>);


  		




  
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<a name="l00071"></a>00071 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052" title="Get the XBee&amp;#39;s PAN ID.">xbee_get_pan_id</a>(<span class="keywordtype">void</span>);


  		




  
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<a name="l00073"></a>00073 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#gb93170c493c5cdfd43a7b640c6ed1d14" title="Set the channel the XBee is currently using.">xbee_set_channel</a>(<span class="keywordtype">int</span> channel);


  		




  
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<a name="l00075"></a>00075 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a" title="Get the channel the XBee is currently using.">xbee_get_channel</a>(<span class="keywordtype">void</span>);


  		




  
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<a name="l00077"></a>00077 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309" title="Get the XBee&amp;#39;s 16-bit address.">xbee_get_address</a>(<span class="keywordtype">void</span>);


  		




  
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<a name="l00079"></a>00079 <span class="keywordtype">void</span> <a class="code" href="group__xbee.html#g1e9e3c2abf0ff683ca8e591c3851cf0a" title="Set the com port on a computer, undefined on the robot.">xbee_set_com_port</a>(<span class="keywordtype">char</span>* port);


  		




  
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<a name="l00081"></a>00081 <span class="keywordtype">int</span> <a class="code" href="group__xbee.html#gfcfccfa7323041108202275eba913be7" title="Reset XBee.">xbee_reset</a>(<span class="keywordtype">void</span>);


  		




  
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<a name="l00082"></a>00082  <span class="comment">//end defgroup</span>


  		




  
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<a name="l00084"></a>00084 


  		




  
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<h1>wl_defs.h File Reference</h1>Definitions for Wireless.  


  		




  
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<a href="#_details">More...</a>


  		




  
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<p>


  		




  
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<code>#include &lt;stdint.h&gt;</code><br>


  		




  
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<a href="wl__defs_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">


  		




  
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<tr><td></td></tr>


  		




  
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="798466231ef137f248b55dbfbce36fd7"></a><!-- doxytag: member="wl_defs.h::WL_ERROR_INIT_FAILED" ref="798466231ef137f248b55dbfbce36fd7" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="wl__defs_8h.html#798466231ef137f248b55dbfbce36fd7">WL_ERROR_INIT_FAILED</a>&nbsp;&nbsp;&nbsp;INT8_C(-1)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Error code for init failure. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="63e64a790913362ecf505e1a7e8347b8"></a><!-- doxytag: member="wl_defs.h::WL_ERROR_INIT_ALREADY_INITD" ref="63e64a790913362ecf505e1a7e8347b8" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="wl__defs_8h.html#63e64a790913362ecf505e1a7e8347b8">WL_ERROR_INIT_ALREADY_INITD</a>&nbsp;&nbsp;&nbsp;INT8_C(-2)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Error code for duplicate init calls. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="099f03f9edae294ce4989433f73c141e"></a><!-- doxytag: member="wl_defs.h::WL_ERROR_LIBRARY_NOT_INITD" ref="099f03f9edae294ce4989433f73c141e" args="" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="wl__defs_8h.html#099f03f9edae294ce4989433f73c141e">WL_ERROR_LIBRARY_NOT_INITD</a>&nbsp;&nbsp;&nbsp;INT8_C(-3)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Error code for not calling init. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="eaadbf5f5646a5b3ec10510b93ce2968"></a><!-- doxytag: member="wl_defs.h::WL_DEBUG_PRINT" ref="eaadbf5f5646a5b3ec10510b93ce2968" args="(s)" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>WL_DEBUG_PRINT</b>(s)</td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="29bb4a52f41ee104dbc7dc1db4d14695"></a><!-- doxytag: member="wl_defs.h::WL_DEBUG_PRINT_CHAR" ref="29bb4a52f41ee104dbc7dc1db4d14695" args="(c)" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>WL_DEBUG_PRINT_CHAR</b>(c)</td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5376a3f9ed20dca1ca62ab0082b17886"></a><!-- doxytag: member="wl_defs.h::WL_DEBUG_PRINT_INT" ref="5376a3f9ed20dca1ca62ab0082b17886" args="(i)" -->


  		




  
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>WL_DEBUG_PRINT_INT</b>(i)</td></tr>


  		




  
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<hr><a name="_details"></a><h2>Detailed Description</h2>


  		




  
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Definitions for Wireless. 


  		




  
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<p>


  		




  
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Copyright (c) 2009 Colony Project<p>


  		




  
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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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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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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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Contains definitions for wireless, debugging information, etc.<p>


  		




  
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


  		




  
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:16 2009 for Colony by&nbsp;


  		




  
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      branches/wireless/docs/libwireless/html/xbee_8h.html
    
  





  
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<h1>xbee.h File Reference</h1>Contains definitions for using the XBee.  


  		




  
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af">xbee_lib_init</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the XBee library.  <a href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g9334ac71dca1ddd697b1a35a361ade6a">xbee_terminate</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Uninitialize the XBee library.  <a href="group__xbee.html#g9334ac71dca1ddd697b1a35a361ade6a"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d">xbee_get_packet</a> (unsigned char *packet)</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#g00fbdd9d849171588df736f8b608589d"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c44bc25fda954efde574ee8d735073c">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#g7c44bc25fda954efde574ee8d735073c"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gde50cbefd7ba8d7361ce2654a298748b">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#gde50cbefd7ba8d7361ce2654a298748b"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052">xbee_get_pan_id</a> (void)</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#g7755cd8db87703c9e9943153660b8052"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gb93170c493c5cdfd43a7b640c6ed1d14">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#gb93170c493c5cdfd43a7b640c6ed1d14"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a">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#g133706db81f69ba0a3c169b7a3f42d2a"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309">xbee_get_address</a> (void)</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#g7c53e8a8492494a61ca306875d633309"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1e9e3c2abf0ff683ca8e591c3851cf0a"></a><!-- doxytag: member="xbee.h::xbee_set_com_port" ref="g1e9e3c2abf0ff683ca8e591c3851cf0a" args="(char *port)" -->


  		




  
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void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g1e9e3c2abf0ff683ca8e591c3851cf0a">xbee_set_com_port</a> (char *port)</td></tr>


  		




  
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int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gfcfccfa7323041108202275eba913be7">xbee_reset</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset XBee. <br></td></tr>


  		




  
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</table>


  		




  
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<hr><a name="_details"></a><h2>Detailed Description</h2>


  		




  
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Contains definitions for using the XBee. 


  		




  
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<p>


  		




  
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Copyright (c) 2009 Colony Project<p>


  		




  
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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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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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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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Contains definitions for interfacing with the XBee module, from either a robot or a computer. To use a robot, define ROBOT in <a class="el" href="wl__defs_8h.html" title="Definitions for Wireless.">wl_defs.h</a>, and to use a computer, don't define ROBOT.<p>


  		




  
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


  		




  
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</div>


  		




  
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:16 2009 for Colony by&nbsp;


  		




  
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      <li><a href="globals_defs.html"><span>Defines</span></a></li>


  		




  
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</div>


  		




  
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Here is a list of all documented functions, variables, defines, enums, and typedefs with links to the documentation:


  		




  
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<p>


  		




  
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<h3><a class="anchor" name="index_w">- w -</a></h3><ul>


  		




  
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<li>wl_ack_error()


  		




  
  41
  
    
: <a class="el" href="group__wireless.html#g11aeeac54834f0357794ae60a7513acf">wireless.h</a>


  		




  
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<li>wl_dispatch()


  		




  
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: <a class="el" href="group__wireless.html#ge91c1e1940dfbbd063fdcfb86049c64a">wireless.h</a>


  		




  
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<li>WL_ERROR_INIT_ALREADY_INITD


  		




  
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: <a class="el" href="wl__defs_8h.html#63e64a790913362ecf505e1a7e8347b8">wl_defs.h</a>


  		




  
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<li>WL_ERROR_INIT_FAILED


  		




  
  47
  
    
: <a class="el" href="wl__defs_8h.html#798466231ef137f248b55dbfbce36fd7">wl_defs.h</a>


  		




  
  48
  
    
<li>WL_ERROR_LIBRARY_NOT_INITD


  		




  
  49
  
    
: <a class="el" href="wl__defs_8h.html#099f03f9edae294ce4989433f73c141e">wl_defs.h</a>


  		




  
  50
  
    
<li>wl_get()


  		




  
  51
  
    
: <a class="el" href="group__wireless.html#ga5a965e3443e4b2b60243225c50ecca7">wireless.h</a>


  		




  
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<li>wl_get_basic()


  		




  
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: <a class="el" href="group__wireless.html#ge2509e2b6bc61faa26d87b1d87881817">wireless.h</a>


  		




  
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<li>wl_init()


  		




  
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: <a class="el" href="group__wireless.html#g6a8d6179b1fe27f762937f0b47af2009">wireless.c</a>


  		




  
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<li>wl_register_handler()


  		




  
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: <a class="el" href="group__wireless.html#g8af34a6265a5d6af3a1525bb51e61d54">wireless.c</a>


  		




  
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<li>wl_send()


  		




  
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: <a class="el" href="group__wireless.html#gaa4e0d7014a74d0d59c08f9fbbf40bd7">wireless.h</a>


  		




  
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<li>wl_send_basic()


  		




  
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: <a class="el" href="group__wireless.html#ga8fb657e4d3bf7cb396f36e99fdd01a0">wireless.h</a>


  		




  
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<li>wl_send_global()


  		




  
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: <a class="el" href="group__wireless.html#gd92093466d82f3f0c732ffe8323228d2">wireless.h</a>


  		




  
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<li>wl_send_pan()


  		




  
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: <a class="el" href="group__wireless.html#g7886c2a37b7350211699dcabe48ff076">wireless.h</a>


  		




  
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<li>wl_send_robot()


  		




  
  67
  
    
: <a class="el" href="group__wireless.html#gbb08f7957bd0256c51f424fa770d3e60">wireless.h</a>


  		




  
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<li>wl_terminate()


  		




  
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: <a class="el" href="group__wireless.html#g223f437c2bc8ab8a3ac2e0e06841120f">wireless.c</a>


  		




  
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</ul>


  		




  
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<h3><a class="anchor" name="index_x">- x -</a></h3><ul>


  		




  
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<li>XBEE_BROADCAST


  		




  
  73
  
    
: <a class="el" href="xbee_8c.html#93bbd21f7965e1697350f950cedff5c4">xbee.c</a>


  		




  
  74
  
    
<li>XBEE_CHANNEL_DEFAULT


  		




  
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: <a class="el" href="xbee_8c.html#35f8b9d8e01e788f1e29928cba29f215">xbee.c</a>


  		




  
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<li>xbee_get_address()


  		




  
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: <a class="el" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309">xbee.h</a>


  		




  
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, <a class="el" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309">xbee.c</a>


  		




  
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<li>xbee_get_channel()


  		




  
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: <a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a">xbee.c</a>


  		




  
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, <a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a">xbee.h</a>


  		




  
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<li>xbee_get_packet()


  		




  
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: <a class="el" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d">xbee.h</a>


  		




  
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, <a class="el" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d">xbee.c</a>


  		




  
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<li>xbee_get_pan_id()


  		




  
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: <a class="el" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052">xbee.c</a>


  		




  
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, <a class="el" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052">xbee.h</a>


  		




  
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<li>xbee_lib_init()


  		




  
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: <a class="el" href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af">xbee.c</a>


  		




  
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, <a class="el" href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af">xbee.h</a>


  		




  
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<li>XBEE_OPTIONS_BROADCAST_ALL_PANS


  		




  
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: <a class="el" href="xbee_8c.html#57382f888360b5b19f0de3b6f1f7c5a3">xbee.c</a>


  		




  
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<li>XBEE_OPTIONS_DISABLE_RESPONSE


  		




  
  94
  
    
: <a class="el" href="xbee_8c.html#cf9509013302590dca5ce3db63c64609">xbee.c</a>


  		




  
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<li>XBEE_OPTIONS_NONE


  		




  
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: <a class="el" href="xbee_8c.html#bca7356c2b8183fd41b5ca9a82dd962b">xbee.c</a>


  		




  
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<li>XBEE_PAN_DEFAULT


  		




  
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: <a class="el" href="xbee_8c.html#e6bb9bb274d6750f954762454807a5a7">xbee.c</a>


  		




  
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<li>XBEE_PORT_DEFAULT


  		




  
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: <a class="el" href="xbee_8c.html#fd0466c206d7e1f82ee407d114468e96">xbee.c</a>


  		




  
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<li>xbee_reset()


  		




  
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: <a class="el" href="group__xbee.html#gfcfccfa7323041108202275eba913be7">xbee.h</a>


  		




  
  103
  
    
<li>XBEE_RX


  		




  
  104
  
    
: <a class="el" href="xbee_8c.html#c2b1262a3a1eb4a9f7ead366af71c32c">xbee.c</a>


  		




  
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<li>xbee_send_packet()


  		




  
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: <a class="el" href="group__xbee.html#g7c44bc25fda954efde574ee8d735073c">xbee.c</a>


  		




  
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, <a class="el" href="group__xbee.html#g7c44bc25fda954efde574ee8d735073c">xbee.h</a>


  		




  
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<li>xbee_send_read_at_command()


  		




  
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: <a class="el" href="xbee_8c.html#2fbd69862a11b6bcc5cfdb9f182bcdb9">xbee.c</a>


  		




  
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<li>xbee_set_channel()


  		




  
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<li>xbee_set_com_port()


  		




  
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, <a class="el" href="group__xbee.html#g1e9e3c2abf0ff683ca8e591c3851cf0a">xbee.c</a>


  		




  
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<li>xbee_set_pan_id()


  		




  
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<li>xbee_terminate()


  		




  
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<li>XBEE_TX_STATUS


  		




  
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: <a class="el" href="xbee_8c.html#7840d8b64c8bec12d8b8d32e845a638a">xbee.c</a>


  		




  
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      <li><a href="modules.html"><span>Modules</span></a></li>


  		




  
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      <li class="current"><a href="globals.html"><span>Globals</span></a></li>


  		




  
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&nbsp;


  		




  
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<li>WL_ERROR_INIT_ALREADY_INITD


  		




  
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: <a class="el" href="wl__defs_8h.html#63e64a790913362ecf505e1a7e8347b8">wl_defs.h</a>


  		




  
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<li>WL_ERROR_INIT_FAILED


  		




  
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: <a class="el" href="wl__defs_8h.html#798466231ef137f248b55dbfbce36fd7">wl_defs.h</a>


  		




  
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<li>WL_ERROR_LIBRARY_NOT_INITD


  		




  
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: <a class="el" href="wl__defs_8h.html#099f03f9edae294ce4989433f73c141e">wl_defs.h</a>


  		




  
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<li>XBEE_BROADCAST


  		




  
  41
  
    
: <a class="el" href="xbee_8c.html#93bbd21f7965e1697350f950cedff5c4">xbee.c</a>


  		




  
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<li>XBEE_CHANNEL_DEFAULT


  		




  
  43
  
    
: <a class="el" href="xbee_8c.html#35f8b9d8e01e788f1e29928cba29f215">xbee.c</a>


  		




  
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<li>XBEE_OPTIONS_BROADCAST_ALL_PANS


  		




  
  45
  
    
: <a class="el" href="xbee_8c.html#57382f888360b5b19f0de3b6f1f7c5a3">xbee.c</a>


  		




  
  46
  
    
<li>XBEE_OPTIONS_DISABLE_RESPONSE


  		




  
  47
  
    
: <a class="el" href="xbee_8c.html#cf9509013302590dca5ce3db63c64609">xbee.c</a>


  		




  
  48
  
    
<li>XBEE_OPTIONS_NONE


  		




  
  49
  
    
: <a class="el" href="xbee_8c.html#bca7356c2b8183fd41b5ca9a82dd962b">xbee.c</a>


  		




  
  50
  
    
<li>XBEE_PAN_DEFAULT


  		




  
  51
  
    
: <a class="el" href="xbee_8c.html#e6bb9bb274d6750f954762454807a5a7">xbee.c</a>


  		




  
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<li>XBEE_PORT_DEFAULT


  		




  
  53
  
    
: <a class="el" href="xbee_8c.html#fd0466c206d7e1f82ee407d114468e96">xbee.c</a>


  		




  
  54
  
    
<li>XBEE_RX


  		




  
  55
  
    
: <a class="el" href="xbee_8c.html#c2b1262a3a1eb4a9f7ead366af71c32c">xbee.c</a>


  		




  
  56
  
    
<li>XBEE_TX_STATUS


  		




  
  57
  
    
: <a class="el" href="xbee_8c.html#7840d8b64c8bec12d8b8d32e845a638a">xbee.c</a>


  		




  
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<h1>wireless.c File Reference</h1>Wireless library.  


  		




  
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<a href="#_details">More...</a>


  		




  
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<p>


  		




  
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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 &quot;<a class="el" href="wireless_8h-source.html">wireless.h</a>&quot;</code><br>


  		




  
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g6a8d6179b1fe27f762937f0b47af2009">wl_init</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize wireless.  <a href="group__wireless.html#g6a8d6179b1fe27f762937f0b47af2009"></a><br></td></tr>


  		




  
  35
  
    
<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g223f437c2bc8ab8a3ac2e0e06841120f">wl_terminate</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Terminate wireless.  <a href="group__wireless.html#g223f437c2bc8ab8a3ac2e0e06841120f"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g8af34a6265a5d6af3a1525bb51e61d54">wl_register_handler</a> (uint8_t group, void(*func)(void), uint8_t priority)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function to register new packet handlers (for non-default groups only).  <a href="group__wireless.html#g8af34a6265a5d6af3a1525bb51e61d54"></a><br></td></tr>


  		




  
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</table>


  		




  
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<hr><a name="_details"></a><h2>Detailed Description</h2>


  		




  
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Wireless library. 


  		




  
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<p>


  		




  
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Copyright (c) 2009 Colony Project<p>


  		




  
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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>


  		




  
  47
  
    
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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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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Implementation of high level wireless communication.<p>


  		




  
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


  		




  
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<h1>wireless_receive.c File Reference</h1>Wireless library receive functions.  


  		




  
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<a href="#_details">More...</a>


  		




  
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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 &quot;<a class="el" href="wireless_8h-source.html">wireless.h</a>&quot;</code><br>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ga5a965e3443e4b2b60243225c50ecca7">wl_get</a> (char *data, uint8_t length)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The main receive function. Dispatches packets for registered handlers and returns next basic packet if available.  <a href="group__wireless.html#ga5a965e3443e4b2b60243225c50ecca7"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ge2509e2b6bc61faa26d87b1d87881817">wl_get_basic</a> (char *data, uint8_t length)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the next basic packet if available.  <a href="group__wireless.html#ge2509e2b6bc61faa26d87b1d87881817"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ge91c1e1940dfbbd063fdcfb86049c64a"></a><!-- doxytag: member="wireless_receive.c::wl_dispatch" ref="ge91c1e1940dfbbd063fdcfb86049c64a" args="(void)" -->


  		




  
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int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ge91c1e1940dfbbd063fdcfb86049c64a">wl_dispatch</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Dispatches packets for registered handlers. <br></td></tr>


  		




  
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</table>


  		




  
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<hr><a name="_details"></a><h2>Detailed Description</h2>


  		




  
  44
  
    
Wireless library receive functions. 


  		




  
  45
  
    
<p>


  		




  
  46
  
    
Copyright (c) 2009 Colony Project<p>


  		




  
  47
  
    
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>


  		




  
  48
  
    
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.<p>


  		




  
  49
  
    
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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Implementation of high level wireless communication. This is the receive functions portion of the library.<p>


  		




  
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


  		




  
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:16 2009 for Colony by&nbsp;


  		




  
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<h1>wireless.h</h1><a href="wireless_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 


  		




  
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<a name="l00036"></a>00036 <span class="preprocessor">#ifndef WIRELESS_H</span>


  		




  
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<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define WIRELESS_H</span>


  		




  
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<a name="l00038"></a>00038 <span class="preprocessor"></span>


  		




  
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<a name="l00039"></a>00039 <span class="comment">// need this for C99 int types</span>


  		




  
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<a name="l00040"></a>00040 <span class="preprocessor">#ifndef STDINT_H</span>


  		




  
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<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#define STDINT_H</span>


  		




  
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<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#include &lt;stdint.h&gt;</span>


  		




  
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<a name="l00043"></a>00043 <span class="preprocessor">#endif</span>


  		




  
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<a name="l00044"></a>00044 <span class="preprocessor"></span>


  		




  
  32
  
    
<a name="l00045"></a>00045 


  		




  
  33
  
    
<a name="l00056"></a>00056 <span class="comment">// the init function</span>


  		




  
  34
  
    
<a name="l00057"></a>00057 


  		




  
  35
  
    
<a name="l00059"></a>00059 int8_t <a class="code" href="group__wireless.html#g6a8d6179b1fe27f762937f0b47af2009" title="Initialize wireless.">wl_init</a>(<span class="keywordtype">void</span>);


  		




  
  36
  
    
<a name="l00060"></a>00060 


  		




  
  37
  
    
<a name="l00062"></a>00062 int8_t <a class="code" href="group__wireless.html#g223f437c2bc8ab8a3ac2e0e06841120f" title="Terminate wireless.">wl_terminate</a>(<span class="keywordtype">void</span>);


  		




  
  38
  
    
<a name="l00063"></a>00063 


  		




  
  39
  
    
<a name="l00064"></a>00064 


  		




  
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<a name="l00065"></a>00065 <span class="comment">// the send functions</span>


  		




  
  41
  
    
<a name="l00066"></a>00066 


  		




  
  42
  
    
<a name="l00068"></a>00068 int8_t <a class="code" href="group__wireless.html#gaa4e0d7014a74d0d59c08f9fbbf40bd7" title="The core send function. This will take all possible arguments and send all types...">wl_send</a>(<span class="keywordtype">char</span> *data, uint8_t length, uint8_t group, uint8_t scope, uint8_t dest, uint8_t mode);


  		




  
  43
  
    
<a name="l00069"></a>00069 


  		




  
  44
  
    
<a name="l00071"></a>00071 int8_t <a class="code" href="group__wireless.html#gd92093466d82f3f0c732ffe8323228d2" title="Wrapper for core send function that will send a global packet across the current...">wl_send_global</a>(<span class="keywordtype">char</span> *data, uint8_t length, uint8_t group);


  		




  
  45
  
    
<a name="l00072"></a>00072 


  		




  
  46
  
    
<a name="l00074"></a>00074 int8_t <a class="code" href="group__wireless.html#g7886c2a37b7350211699dcabe48ff076" title="Wrapper for core send function that will send a packet across the current channel...">wl_send_pan</a>(<span class="keywordtype">char</span> *data, uint8_t length, uint8_t group);


  		




  
  47
  
    
<a name="l00075"></a>00075 


  		




  
  48
  
    
<a name="l00077"></a>00077 int8_t <a class="code" href="group__wireless.html#gbb08f7957bd0256c51f424fa770d3e60" title="Wrapper for core send function that will send a packet across the current channel...">wl_send_robot</a>(<span class="keywordtype">char</span> *data, uint8_t length, uint8_t group, uint8_t dest, uint8_t mode);


  		




  
  49
  
    
<a name="l00078"></a>00078 


  		




  
  50
  
    
<a name="l00080"></a>00080 int8_t <a class="code" href="group__wireless.html#ga8fb657e4d3bf7cb396f36e99fdd01a0" title="Default (i.e. basic) send wrapper.">wl_send_basic</a>(<span class="keywordtype">char</span> *data, uint8_t length);


  		




  
  51
  
    
<a name="l00081"></a>00081 


  		




  
  52
  
    
<a name="l00082"></a>00082 


  		




  
  53
  
    
<a name="l00083"></a>00083 <span class="comment">// the ack function</span>


  		




  
  54
  
    
<a name="l00084"></a>00084 


  		




  
  55
  
    
<a name="l00086"></a>00086 int8_t <a class="code" href="group__wireless.html#g11aeeac54834f0357794ae60a7513acf" title="Returns the number of acknowledgment errors, and resets number to zero.">wl_ack_error</a>(<span class="keywordtype">void</span>);


  		




  
  56
  
    
<a name="l00087"></a>00087 


  		




  
  57
  
    
<a name="l00088"></a>00088 


  		




  
  58
  
    
<a name="l00089"></a>00089 <span class="comment">// the receive functions</span>


  		




  
  59
  
    
<a name="l00090"></a>00090 


  		




  
  60
  
    
<a name="l00092"></a>00092 int8_t <a class="code" href="group__wireless.html#ga5a965e3443e4b2b60243225c50ecca7" title="The main receive function. Dispatches packets for registered handlers and returns...">wl_get</a>(<span class="keywordtype">char</span> *data, uint8_t length);


  		




  
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<a name="l00093"></a>00093 


  		




  
  62
  
    
<a name="l00095"></a>00095 int8_t <a class="code" href="group__wireless.html#ge2509e2b6bc61faa26d87b1d87881817" title="Returns the next basic packet if available.">wl_get_basic</a>(<span class="keywordtype">char</span> *data, uint8_t length);


  		




  
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<a name="l00096"></a>00096 


  		




  
  64
  
    
<a name="l00098"></a>00098 int8_t <a class="code" href="group__wireless.html#ge91c1e1940dfbbd063fdcfb86049c64a" title="Dispatches packets for registered handlers.">wl_dispatch</a>(<span class="keywordtype">void</span>);


  		




  
  65
  
    
<a name="l00099"></a>00099 


  		




  
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<a name="l00100"></a>00100 


  		




  
  67
  
    
<a name="l00101"></a>00101 <span class="comment">// the group register function</span>


  		




  
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<a name="l00102"></a>00102 


  		




  
  69
  
    
<a name="l00104"></a>00104 int8_t <a class="code" href="group__wireless.html#g8af34a6265a5d6af3a1525bb51e61d54" title="Function to register new packet handlers (for non-default groups only).">wl_register_handler</a>(uint8_t group, <span class="keywordtype">void</span> (*func)(<span class="keywordtype">void</span>), uint8_t priority);


  		




  
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<a name="l00105"></a>00105 


  		




  
  71
  
    
<a name="l00106"></a>00106  <span class="comment">//end defgroup</span>


  		




  
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<a name="l00108"></a>00108 


  		




  
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<a name="l00109"></a>00109 <span class="preprocessor">#endif</span>


  		




  
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      <li><a href="index.html"><span>Main&nbsp;Page</span></a></li>


  		




  
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<h1>wireless.h File Reference</h1>Contains definitions for using the wireless library.  


  		




  
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<code>#include &lt;stdint.h&gt;</code><br>


  		




  
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<p>


  		




  
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<a href="wireless_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">


  		




  
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<tr><td></td></tr>


  		




  
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g6a8d6179b1fe27f762937f0b47af2009">wl_init</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize wireless.  <a href="group__wireless.html#g6a8d6179b1fe27f762937f0b47af2009"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g223f437c2bc8ab8a3ac2e0e06841120f">wl_terminate</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Terminate wireless.  <a href="group__wireless.html#g223f437c2bc8ab8a3ac2e0e06841120f"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#gaa4e0d7014a74d0d59c08f9fbbf40bd7">wl_send</a> (char *data, uint8_t length, uint8_t group, uint8_t scope, uint8_t dest, uint8_t mode)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The core send function. This will take all possible arguments and send all types of packets.  <a href="group__wireless.html#gaa4e0d7014a74d0d59c08f9fbbf40bd7"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#gd92093466d82f3f0c732ffe8323228d2">wl_send_global</a> (char *data, uint8_t length, uint8_t group)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Wrapper for core send function that will send a global packet across the current channel.  <a href="group__wireless.html#gd92093466d82f3f0c732ffe8323228d2"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g7886c2a37b7350211699dcabe48ff076">wl_send_pan</a> (char *data, uint8_t length, uint8_t group)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Wrapper for core send function that will send a packet across the current channel on the current pan.  <a href="group__wireless.html#g7886c2a37b7350211699dcabe48ff076"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#gbb08f7957bd0256c51f424fa770d3e60">wl_send_robot</a> (char *data, uint8_t length, uint8_t group, uint8_t dest, uint8_t mode)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Wrapper for core send function that will send a packet across the current channel to a specific robot.  <a href="group__wireless.html#gbb08f7957bd0256c51f424fa770d3e60"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ga8fb657e4d3bf7cb396f36e99fdd01a0">wl_send_basic</a> (char *data, uint8_t length)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default (i.e. basic) send wrapper.  <a href="group__wireless.html#ga8fb657e4d3bf7cb396f36e99fdd01a0"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g11aeeac54834f0357794ae60a7513acf">wl_ack_error</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the number of acknowledgment errors, and resets number to zero.  <a href="group__wireless.html#g11aeeac54834f0357794ae60a7513acf"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ga5a965e3443e4b2b60243225c50ecca7">wl_get</a> (char *data, uint8_t length)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The main receive function. Dispatches packets for registered handlers and returns next basic packet if available.  <a href="group__wireless.html#ga5a965e3443e4b2b60243225c50ecca7"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ge2509e2b6bc61faa26d87b1d87881817">wl_get_basic</a> (char *data, uint8_t length)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the next basic packet if available.  <a href="group__wireless.html#ge2509e2b6bc61faa26d87b1d87881817"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ge91c1e1940dfbbd063fdcfb86049c64a"></a><!-- doxytag: member="wireless.h::wl_dispatch" ref="ge91c1e1940dfbbd063fdcfb86049c64a" args="(void)" -->


  		




  
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int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#ge91c1e1940dfbbd063fdcfb86049c64a">wl_dispatch</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Dispatches packets for registered handlers. <br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__wireless.html#g8af34a6265a5d6af3a1525bb51e61d54">wl_register_handler</a> (uint8_t group, void(*func)(void), uint8_t priority)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function to register new packet handlers (for non-default groups only).  <a href="group__wireless.html#g8af34a6265a5d6af3a1525bb51e61d54"></a><br></td></tr>


  		




  
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<hr><a name="_details"></a><h2>Detailed Description</h2>


  		




  
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Contains definitions for using the wireless library. 


  		




  
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<p>


  		




  
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Copyright (c) 2009 Colony Project<p>


  		




  
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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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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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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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Contains definitions for interfacing with the wireless library.<p>


  		




  
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>


  		




  
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:16 2009 for Colony by&nbsp;


  		




  
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>


  		




  
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      branches/wireless/docs/libwireless/html/group__xbee.html
    
  





  
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<title>Colony: XBee</title>


  		




  
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<h1>XBee</h1>Interface with the XBee module.  


  		




  
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<a href="#_details">More...</a>


  		




  
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<p>


  		




  
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g3d5fbb6aae8dda99240ec38108a645af">xbee_lib_init</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the XBee library.  <a href="#g3d5fbb6aae8dda99240ec38108a645af"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g9334ac71dca1ddd697b1a35a361ade6a">xbee_terminate</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Uninitialize the XBee library.  <a href="#g9334ac71dca1ddd697b1a35a361ade6a"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d">xbee_get_packet</a> (unsigned char *packet)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get a packet from the XBee.  <a href="#g00fbdd9d849171588df736f8b608589d"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c44bc25fda954efde574ee8d735073c">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="#g7c44bc25fda954efde574ee8d735073c"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gde50cbefd7ba8d7361ce2654a298748b">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="#gde50cbefd7ba8d7361ce2654a298748b"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052">xbee_get_pan_id</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the XBee's PAN ID.  <a href="#g7755cd8db87703c9e9943153660b8052"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gb93170c493c5cdfd43a7b640c6ed1d14">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="#gb93170c493c5cdfd43a7b640c6ed1d14"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a">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="#g133706db81f69ba0a3c169b7a3f42d2a"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309">xbee_get_address</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the XBee's 16-bit address.  <a href="#g7c53e8a8492494a61ca306875d633309"></a><br></td></tr>


  		




  
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1e9e3c2abf0ff683ca8e591c3851cf0a"></a><!-- doxytag: member="xbee::xbee_set_com_port" ref="g1e9e3c2abf0ff683ca8e591c3851cf0a" args="(char *port)" -->


  		




  
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void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g1e9e3c2abf0ff683ca8e591c3851cf0a">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 class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gfcfccfa7323041108202275eba913be7"></a><!-- doxytag: member="xbee::xbee_reset" ref="gfcfccfa7323041108202275eba913be7" args="(void)" -->


  		




  
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int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gfcfccfa7323041108202275eba913be7">xbee_reset</a> (void)</td></tr>


  		




  
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset XBee. <br></td></tr>


  		




  
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<hr><a name="_details"></a><h2>Detailed Description</h2>


  		




  
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Interface with the XBee module. 


  		




  
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Interface with the XBee module. <hr><h2>Function Documentation</h2>


  		




  
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<a class="anchor" name="g7c53e8a8492494a61ca306875d633309"></a><!-- doxytag: member="xbee.h::xbee_get_address" ref="g7c53e8a8492494a61ca306875d633309" args="(void)" -->


  		




  
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          <td class="memname">unsigned int xbee_get_address           </td>


  		




  
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          <td>(</td>


  		




  
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          <td class="paramtype">void&nbsp;</td>


  		




  
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Get the XBee's 16-bit address. 


  		




  
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Get the 16-bit address of the XBee. This is used to specify who to send messages to and who messages are from.<p>


  		




  
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the 16-bit address of the XBee. </dd></dl>


  		




  
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<a class="anchor" name="g133706db81f69ba0a3c169b7a3f42d2a"></a><!-- doxytag: member="xbee.h::xbee_get_channel" ref="g133706db81f69ba0a3c169b7a3f42d2a" args="(void)" -->


  		




  
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          <td>&nbsp;)&nbsp;</td>


  		




  
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          <td></td>


  		




  
  99
  
    
        </tr>


  		




  
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      </table>


  		




  
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</div>


  		




  
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<div class="memdoc">


  		




  
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<p>


  		




  
  105
  
    
Get the channel the XBee is currently using. 


  		




  
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<p>


  		




  
  107
  
    
Returns the channel which the XBee is currently using.<p>


  		




  
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the channel the XBee is using</dd></dl>


  		




  
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__xbee.html#gb93170c493c5cdfd43a7b640c6ed1d14" title="Set the channel the XBee is currently using.">xbee_set_channel</a> </dd></dl>


  		




  
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</div>


  		




  
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</div><p>


  		




  
  113
  
    
<a class="anchor" name="g00fbdd9d849171588df736f8b608589d"></a><!-- doxytag: member="xbee.h::xbee_get_packet" ref="g00fbdd9d849171588df736f8b608589d" args="(unsigned char *packet)" -->


  		




  
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<div class="memitem">


  		




  
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      <table class="memname">


  		




  
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        <tr>


  		




  
  118
  
    
          <td class="memname">int xbee_get_packet           </td>


  		




  
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          <td>(</td>


  		




  
  120
  
    
          <td class="paramtype">unsigned char *&nbsp;</td>


  		




  
  121
  
    
          <td class="paramname"> <em>dest</em>          </td>


  		




  
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          <td>&nbsp;)&nbsp;</td>


  		




  
  123
  
    
          <td></td>


  		




  
  124
  
    
        </tr>


  		




  
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      </table>


  		




  
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</div>


  		




  
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<div class="memdoc">


  		




  
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<p>


  		




  
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Get a packet from the XBee. 


  		




  
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<p>


  		




  
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Reads a packet received from the XBee. This function is non-blocking. The resulting packet is stored in dest. Only returns transmission response packets and received packets. The returned packet does not include header information or the checksum. This method also handles special packets dealt with by the XBee library, and so should be called frequently while the XBee is in use.<br>


  		




  
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<br>


  		




  
  134
  
    
<p>


  		




  
  135
  
    
The first byte of the packet will be either XBEE_TX_STATUS or XBEE_RX to indicated a response to a sent message or a received message, respectively.<br>


  		




  
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<br>


  		




  
  137
  
    
<p>


  		




  
  138
  
    
For a status response packet:<br>


  		




  
  139
  
    
 The first byte will be XBEE_TX_STATUS.<br>


  		




  
  140
  
    
 The second byte will be the frame number.<br>


  		




  
  141
  
    
 The third byte will be the result. 0 indicates success, and nonzero indicates that an error ocurred in transmitting the packet.<br>


  		




  
  142
  
    
<br>


  		




  
  143
  
    
<p>


  		




  
  144
  
    
For a received packet:<br>


  		




  
  145
  
    
 The first byte will be XBEE_RX.<br>


  		




  
  146
  
    
 The second and third bytes will be the 16-bit address of the packet's sender.<br>


  		




  
  147
  
    
 The fourth byte is the signal strength.<br>


  		




  
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 The fifth byte is 1 if the packet were sent to a specific address, and 2 if it is a broadcast packet.<br>


  		




  
  149
  
    
<br>


  		




  
  150
  
    
<p>


  		




  
  151
  
    
<dl compact><dt><b>Parameters:</b></dt><dd>


  		




  
  152
  
    
  <table border="0" cellspacing="2" cellpadding="0">


  		




  
  153
  
    
    <tr><td valign="top"></td><td valign="top"><em>dest</em>&nbsp;</td><td>set to the packet data </td></tr>


  		




  
  154
  
    
  </table>


  		




  
  155
  
    
</dl>


  		




  
  156
  
    
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the length of the packet, or -1 if no packet is available </dd></dl>


  		




  
  157
  
    

  		




  
  158
  
    
</div>


  		




  
  159
  
    
</div><p>


  		




  
  160
  
    
<a class="anchor" name="g7755cd8db87703c9e9943153660b8052"></a><!-- doxytag: member="xbee.h::xbee_get_pan_id" ref="g7755cd8db87703c9e9943153660b8052" args="(void)" -->


  		




  
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      <table class="memname">


  		




  
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        <tr>


  		




  
  165
  
    
          <td class="memname">unsigned int xbee_get_pan_id           </td>


  		




  
  166
  
    
          <td>(</td>


  		




  
  167
  
    
          <td class="paramtype">void&nbsp;</td>


  		




  
  168
  
    
          <td class="paramname">          </td>


  		




  
  169
  
    
          <td>&nbsp;)&nbsp;</td>


  		




  
  170
  
    
          <td></td>


  		




  
  171
  
    
        </tr>


  		




  
  172
  
    
      </table>


  		




  
  173
  
    
</div>


  		




  
  174
  
    
<div class="memdoc">


  		




  
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  176
  
    
<p>


  		




  
  177
  
    
Get the XBee's PAN ID. 


  		




  
  178
  
    
<p>


  		




  
  179
  
    
Get the PAN ID for the XBee.<p>


  		




  
  180
  
    
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the personal area network id, or XBEE_PAN_DEFAULT if it has not yet been set. </dd></dl>


  		




  
  181
  
    

  		




  
  182
  
    
</div>


  		




  
  183
  
    
</div><p>


  		




  
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<a class="anchor" name="g3d5fbb6aae8dda99240ec38108a645af"></a><!-- doxytag: member="xbee.h::xbee_lib_init" ref="g3d5fbb6aae8dda99240ec38108a645af" args="(void)" -->


  		




  
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<div class="memitem">


  		




  
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      <table class="memname">


  		




  
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        <tr>


  		




  
  189
  
    
          <td class="memname">int xbee_lib_init           </td>


  		




  
  190
  
    
          <td>(</td>


  		




  
  191
  
    
          <td class="paramtype">void&nbsp;</td>


  		




  
  192
  
    
          <td class="paramname">          </td>


  		




  
  193
  
    
          <td>&nbsp;)&nbsp;</td>


  		




  
  194
  
    
          <td></td>


  		




  
  195
  
    
        </tr>


  		




  
  196
  
    
      </table>


  		




  
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</div>


  		




  
  198
  
    
<div class="memdoc">


  		




  
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  200
  
    
<p>


  		




  
  201
  
    
Initialize the XBee library. 


  		




  
  202
  
    
<p>


  		




  
  203
  
    
Initializes the XBee library so that other functions may be used. 


  		




  
  204
  
    
</div>


  		




  
  205
  
    
</div><p>


  		




  
  206
  
    
<a class="anchor" name="g7c44bc25fda954efde574ee8d735073c"></a><!-- doxytag: member="xbee.h::xbee_send_packet" ref="g7c44bc25fda954efde574ee8d735073c" args="(char *packet, int len, int dest, char options, char frame)" -->


  		




  
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  211
  
    
          <td class="memname">int xbee_send_packet           </td>


  		




  
  212
  
    
          <td>(</td>


  		




  
  213
  
    
          <td class="paramtype">char *&nbsp;</td>


  		




  
  214
  
    
          <td class="paramname"> <em>packet</em>, </td>


  		




  
  215
  
    
        </tr>


  		




  
  216
  
    
        <tr>


  		




  
  217
  
    
          <td class="paramkey"></td>


  		




  
  218
  
    
          <td></td>


  		




  
  219
  
    
          <td class="paramtype">int&nbsp;</td>


  		




  
  220
  
    
          <td class="paramname"> <em>len</em>, </td>


  		




  
  221
  
    
        </tr>


  		




  
  222
  
    
        <tr>


  		




  
  223
  
    
          <td class="paramkey"></td>


  		




  
  224
  
    
          <td></td>


  		




  
  225
  
    
          <td class="paramtype">int&nbsp;</td>


  		




  
  226
  
    
          <td class="paramname"> <em>dest</em>, </td>


  		




  
  227
  
    
        </tr>


  		




  
  228
  
    
        <tr>


  		




  
  229
  
    
          <td class="paramkey"></td>


  		




  
  230
  
    
          <td></td>


  		




  
  231
  
    
          <td class="paramtype">char&nbsp;</td>


  		




  
  232
  
    
          <td class="paramname"> <em>options</em>, </td>


  		




  
  233
  
    
        </tr>


  		




  
  234
  
    
        <tr>


  		




  
  235
  
    
          <td class="paramkey"></td>


  		




  
  236
  
    
          <td></td>


  		




  
  237
  
    
          <td class="paramtype">char&nbsp;</td>


  		




  
  238
  
    
          <td class="paramname"> <em>frame</em></td><td>&nbsp;</td>


  		




  
  239
  
    
        </tr>


  		




  
  240
  
    
        <tr>


  		




  
  241
  
    
          <td></td>


  		




  
  242
  
    
          <td>)</td>


  		




  
  243
  
    
          <td></td><td></td><td></td>


  		




  
  244
  
    
        </tr>


  		




  
  245
  
    
      </table>


  		




  
  246
  
    
</div>


  		




  
  247
  
    
<div class="memdoc">


  		




  
  248
  
    

  		




  
  249
  
    
<p>


  		




  
  250
  
    
Send a packet to the XBee. 


  		




  
  251
  
    
<p>


  		




  
  252
  
    
Send the specified packet.<p>


  		




  
  253
  
    
<dl compact><dt><b>Parameters:</b></dt><dd>


  		




  
  254
  
    
  <table border="0" cellspacing="2" cellpadding="0">


  		




  
  255
  
    
    <tr><td valign="top"></td><td valign="top"><em>packet</em>&nbsp;</td><td>the packet data to send </td></tr>


  		




  
  256
  
    
    <tr><td valign="top"></td><td valign="top"><em>len</em>&nbsp;</td><td>the number of bytes in the packet</td></tr>


  		




  
  257
  
    
    <tr><td valign="top"></td><td valign="top"><em>dest</em>&nbsp;</td><td>the ID of the XBee to send the packet to, or XBEE_BROADCAST to send the message to all robots in the PAN.</td></tr>


  		




  
  258
  
    
    <tr><td valign="top"></td><td valign="top"><em>options</em>&nbsp;</td><td>a combination of the flags XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and XBEE_OPTIONS_BROADCAST_ALL_PANS</td></tr>


  		




  
  259
  
    
    <tr><td valign="top"></td><td valign="top"><em>frame</em>&nbsp;</td><td>the frame number to associate this packet with. This will be used to identify the response when the XBee alerts us as to whether or not our message was received. </td></tr>


  		




  
  260
  
    
  </table>


  		




  
  261
  
    
</dl>


  		




  
  262
  
    

  		




  
  263
  
    
</div>


  		




  
  264
  
    
</div><p>


  		




  
  265
  
    
<a class="anchor" name="gb93170c493c5cdfd43a7b640c6ed1d14"></a><!-- doxytag: member="xbee.h::xbee_set_channel" ref="gb93170c493c5cdfd43a7b640c6ed1d14" args="(int channel)" -->


  		




  
  266
  
    
<div class="memitem">


  		




  
  267
  
    
<div class="memproto">


  		




  
  268
  
    
      <table class="memname">


  		




  
  269
  
    
        <tr>


  		




  
  270
  
    
          <td class="memname">int xbee_set_channel           </td>


  		




  
  271
  
    
          <td>(</td>


  		




  
  272
  
    
          <td class="paramtype">int&nbsp;</td>


  		




  
  273
  
    
          <td class="paramname"> <em>channel</em>          </td>


  		




  
  274
  
    
          <td>&nbsp;)&nbsp;</td>


  		




  
  275
  
    
          <td></td>


  		




  
  276
  
    
        </tr>


  		




  
  277
  
    
      </table>


  		




  
  278
  
    
</div>


  		




  
  279
  
    
<div class="memdoc">


  		




  
  280
  
    

  		




  
  281
  
    
<p>


  		




  
  282
  
    
Set the channel the XBee is currently using. 


  		




  
  283
  
    
<p>


  		




  
  284
  
    
Set the channel the XBee is using.<p>


  		




  
  285
  
    
<dl compact><dt><b>Parameters:</b></dt><dd>


  		




  
  286
  
    
  <table border="0" cellspacing="2" cellpadding="0">


  		




  
  287
  
    
    <tr><td valign="top"></td><td valign="top"><em>channel</em>&nbsp;</td><td>the channel the XBee will not use, between 0x0B and 0x1A</td></tr>


  		




  
  288
  
    
  </table>


  		




  
  289
  
    
</dl>


  		




  
  290
  
    
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a" title="Get the channel the XBee is currently using.">xbee_get_channel</a> </dd></dl>


  		




  
  291
  
    

  		




  
  292
  
    
</div>


  		




  
  293
  
    
</div><p>


  		




  
  294
  
    
<a class="anchor" name="gde50cbefd7ba8d7361ce2654a298748b"></a><!-- doxytag: member="xbee.h::xbee_set_pan_id" ref="gde50cbefd7ba8d7361ce2654a298748b" args="(int id)" -->


  		




  
  295
  
    
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  296
  
    
<div class="memproto">


  		




  
  297
  
    
      <table class="memname">


  		




  
  298
  
    
        <tr>


  		




  
  299
  
    
          <td class="memname">int xbee_set_pan_id           </td>


  		




  
  300
  
    
          <td>(</td>


  		




  
  301
  
    
          <td class="paramtype">int&nbsp;</td>


  		




  
  302
  
    
          <td class="paramname"> <em>id</em>          </td>


  		




  
  303
  
    
          <td>&nbsp;)&nbsp;</td>


  		




  
  304
  
    
          <td></td>


  		




  
  305
  
    
        </tr>


  		




  
  306
  
    
      </table>


  		




  
  307
  
    
</div>


  		




  
  308
  
    
<div class="memdoc">


  		




  
  309
  
    

  		




  
  310
  
    
<p>


  		




  
  311
  
    
Set the PAN ID for the XBee. 


  		




  
  312
  
    
<p>


  		




  
  313
  
    
Sets the personal area network id.<p>


  		




  
  314
  
    
<dl compact><dt><b>Parameters:</b></dt><dd>


  		




  
  315
  
    
  <table border="0" cellspacing="2" cellpadding="0">


  		




  
  316
  
    
    <tr><td valign="top"></td><td valign="top"><em>id</em>&nbsp;</td><td>the new personal area network (PAN) id </td></tr>


  		




  
  317
  
    
  </table>


  		




  
  318
  
    
</dl>


  		




  
  319
  
    

  		








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