Colony

/**

 * Copyright (c) 2009 Colony Project

 * 

 * 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:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * 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.

 **/

/**

 * @file xbee.h

 * @brief Contains definitions for using the XBee

 *

 * Contains definitions for interfacing with the 

 * XBee module, from either a robot or a computer.

 * To use a robot, define ROBOT in wl_defs.h, and

 * to use a computer, don't define ROBOT.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef XBEE_H

#define XBEE_H

// need this for C99 int types

#ifndef STDINT_H

#define STDINT_H

#include <stdint.h>

#endif

/**

 * @defgroup xbee XBee

 * @brief Interface with the XBee module

 *

 * Interface with the XBee module.

 *

 * @{

 **/

 /**@defgroup xbee_const xbee constants 

  * @brief These are constants used for the xbee module.

  * @{ **/

// TODO: move constants to xbee.h so they can be used publicly

/**@brief The port to use the XBee from on the computer. **/

#ifndef ROBOT

#define XBEE_PORT_DEFAULT "/dev/ttyUSB1"

#endif

/**@name xbee options

 * @{ **/

/**@brief Unset PAN, uses XBee default **/

#define XBEE_PAN_DEFAULT 0xFFFF

/**@brief Unset channel, uses XBee default **/

#define XBEE_CHANNEL_DEFAULT 0

/**@brief Broadcast to all robots in the PAN **/

#define XBEE_BROADCAST 0xFFFF

/**@brief No special options **/

#define XBEE_OPTIONS_NONE 0x00

/**@brief Do not receive a TX_STATUS message from this packet **/

#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01

/**@brief Send the packet to all PANS **/

#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04

/**@brief A transmit status packet **/

#define XBEE_TX_STATUS 0x89

/**@brief A packet received from another XBee **/

#define XBEE_RX 0x81

/**@}

 * @name xbee frame types

 * @{ **/

// TODO: add comments for all of these definitions

#define XBEE_FRAME_START 0x7E

#define XBEE_GET_PACKET_TIMEOUT 1000

/*Frame Types*/

#define XBEE_FRAME_STATUS 0x8A

#define XBEE_FRAME_AT_COMMAND 0x08

#define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88

#define XBEE_FRAME_TX_REQUEST_64 0x00

#define XBEE_FRAME_TX_REQUEST_16 0x01

#define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS

#define XBEE_FRAME_RX_64 0x80

#define XBEE_FRAME_RX_16 XBEE_RX

/** @} **/

// TODO: is this a good size?

/*Buffer sizes*/

#define XBEE_BUFFER_SIZE        128

#define PACKET_BUFFER_SIZE        108

/**@} **/ // end const group

/**

 * @defgroup xbee_funcs Xbee Functions

 * @brief These are the public xbee functions.

 * @{

 **/

// TODO: convert all int references to int16_t syntax (see stdint.h)

/**@brief Initialize the XBee library **/

int xbee_lib_init(void);

/**@brief Uninitialize the XBee library **/

void xbee_terminate(void);

/**@brief Get a packet from the XBee **/

int xbee_get_packet(unsigned char* packet);

/**@brief Send a packet to the XBee **/

int xbee_send_packet(char* packet, int len, int dest, char options, char frame);

/**@brief Set the PAN ID for the XBee **/

int xbee_set_pan_id(int id);

/**@brief Get the XBee's PAN ID **/

unsigned int xbee_get_pan_id(void);

/**@brief Set the channel the XBee is currently using **/

int xbee_set_channel(int channel);

/**@brief Get the channel the XBee is currently using **/

int xbee_get_channel(void);

/**@brief Get the XBee's 16-bit address **/

unsigned int xbee_get_address(void);

/**@brief Set the com port on a computer, undefined on the robot**/

void xbee_set_com_port(char* port);

/**@brief Reset XBee **/

int xbee_reset(void);

/**@} **/ //end xbee_funcs group

/**@} **/ //end defgroup

#endif