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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 "<a class="el" href="xbee_8h-source.html">xbee.h</a>"</code><br> |
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<code>#include "<a class="el" href="wl__defs_8h-source.html">wl_defs.h</a>"</code><br> |
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<code>#include <time.h></code><br> |
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<code>#include <fcntl.h></code><br> |
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<code>#include <unistd.h></code><br> |
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<code>#include <pthread.h></code><br> |
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<code>#include <errno.h></code><br> |
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<code>#include <termios.h></code><br> |
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<code>#include <stdio.h></code><br> |
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<code>#include <stdlib.h></code><br> |
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<code>#include <string.h></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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#fd0466c206d7e1f82ee407d114468e96">XBEE_PORT_DEFAULT</a> "/dev/ttyUSB1"</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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#e6bb9bb274d6750f954762454807a5a7">XBEE_PAN_DEFAULT</a> 0xFFFF</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#35f8b9d8e01e788f1e29928cba29f215">XBEE_CHANNEL_DEFAULT</a> 0</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#93bbd21f7965e1697350f950cedff5c4">XBEE_BROADCAST</a> 0xFFFF</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#bca7356c2b8183fd41b5ca9a82dd962b">XBEE_OPTIONS_NONE</a> 0x00</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#cf9509013302590dca5ce3db63c64609">XBEE_OPTIONS_DISABLE_RESPONSE</a> 0x01</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#57382f888360b5b19f0de3b6f1f7c5a3">XBEE_OPTIONS_BROADCAST_ALL_PANS</a> 0x04</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#7840d8b64c8bec12d8b8d32e845a638a">XBEE_TX_STATUS</a> 0x89</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><a class="el" href="xbee_8c.html#c2b1262a3a1eb4a9f7ead366af71c32c">XBEE_RX</a> 0x81</td></tr> |
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<tr><td class="mdescLeft"> </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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_START</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_GET_PACKET_TIMEOUT</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_STATUS</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_AT_COMMAND</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_AT_COMMAND_RESPONSE</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_TX_REQUEST_64</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_TX_REQUEST_16</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_TX_STATUS</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_RX_64</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_FRAME_RX_16</b> 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 </td><td class="memItemRight" valign="bottom"><b>XBEE_BUFFER_SIZE</b> 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 </td><td class="memItemRight" valign="bottom"><b>PACKET_BUFFER_SIZE</b> 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 </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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"> </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 </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 </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 </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 "/dev/ttyUSB1" </td> |
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</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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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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<td class="memname">int xbee_send_read_at_command </td> |
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<td>(</td> |
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<td class="paramtype">char * </td> |
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<td class="paramname"> <em>command</em> </td> |
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<td> ) </td> |
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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> </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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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:16 2009 for Colony by |
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<a href="http://www.doxygen.org/index.html"> |
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address> |
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