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Revision 1589

Added by Abraham Levkoy over 14 years ago

Wrote basic receive function in wireless_receive.c. Added an error code for
having too short of a packet destination for basic receive function (maybe can
also be used by other packet handlers) in wl_defs.h. Added packet buffers for
basic packets and other types of packets in xbee.c.

View differences:

branches/wireless/code/projects/libwireless/wireless_receive.c
33 33 
 * @author Colony Project, CMU Robotics Club
34 34 
 **/
35 35 

  		




  
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#include <string.h>


  		




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#include "wl_defs.h"


  		




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#include "wireless.h"


  		




  
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#include "xbee.h"


  		




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// the receive functions


  		




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/**


  		




  ......




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 * @{


  		




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 **/


  		




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extern uint8_t xbee_basic_buf[PACKET_BUFFER_SIZE];  // buffer for basic-group packets


  		




  
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extern uint8_t xbee_other_buf[PACKET_BUFFER_SIZE];  // buffer for non-basic-group packets


  		




  
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extern uint8_t basic_buf_first;	// beginning of first packet in basic buffer


  		




  
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extern uint8_t basic_buf_last;	// end of last packet in basic buffer


  		




  
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extern uint8_t other_buf_first; // beginning of first packet in other buffer


  		




  
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extern uint8_t other_buf_last;  // end of last packet in other buffer


  		




  
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/**


  		




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 * the main receive function (similar to wl_do)


  		




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 * 


  		




  ......




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  int8_t return_code = wl_dispatch(); // run dispatch of other packet groups


  		




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  if (return_code != 0)


  		




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    return return_code; // error, so end early


  		




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  return wl_get_basic(data,length); // get a basic packet


  		




  
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  return wl_get_basic(data, length); // get a basic packet


  		




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}


  		




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/**


  		




  ......




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 * @return the length of the used portion of data array or error (<0)


  		




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 **/


  		




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int8_t wl_get_basic(char *data, uint8_t length) {


  		




  
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    uint8_t buf_pos = basic_buf_first;	// start at beginning of first (oldest) basic packet


  		




  
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    uint8_t data_length = xbee_basic_buf[buf_pos];  // get packet length


  		




  
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    uint8_t packet_num;	// number of packet (may eventually be used to weed out duplicates)


  		




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  return 0;


  		




  
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    if (data_length > length)	// not enough room for packet in destination


  		




  
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	return WL_ERROR_TOO_SMALL;


  		




  
  89
  
    
    


  		




  
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    buf_pos++;


  		




  
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    packet_num = xbee_basic_buf[buf_pos];   // get packet number


  		




  
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    buf_pos++;


  		




  
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    buf_pos++;	// ignore the group code. it will always be the same.


  		




  
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    memcpy(data, xbee_basic_buf + buf_pos, data_length);    // get the data


  		




  
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    basic_buf_first += data_length; // "free up" this packet's buffer space


  		




  
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    return 0;


  		




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}


  		




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/*


  		












  

    
      branches/wireless/code/projects/libwireless/xbee.c
    
  





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//used to store packets as they are read


  		




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static char xbee_buf[PACKET_BUFFER_SIZE];


  		




  
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static uint8_t xbee_basic_buf[PACKET_BUFFER_SIZE];


  		




  
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static uint8_t xbee_other_buf[PACKET_BUFFER_SIZE];


  		




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static int currentBufPos = 0;


  		




  
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static uint8_t basic_buf_first = 0;	// beginning of first packet in basic buffer


  		




  
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static uint8_t basic_buf_last = 0;	// end of last packet in basic buffer


  		




  
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static uint8_t other_buf_first = 0; // beginning of first packet in other buffer


  		




  
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static uint8_t other_buf_last = 0;  // end of last packet in other buffer


  		




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//XBee status


  		




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static unsigned int xbee_panID = XBEE_PAN_DEFAULT;


  		












  

    
      branches/wireless/code/projects/libwireless/wl_defs.h
    
  





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/** @brief Error code for a bad mode **/


  		




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#define WL_ERROR_MODE INT8_C(-14)


  		




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/** @brief Error code for received paacket destination too small for received packet **/


  		




  
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#define WL_ERROR_TOO_SMALL INT8_C(-15)


  		




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/**@} */ // end error group


  		




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/**@} */ // end wireless group


  		












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