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1 | 1600 | dsschult | // this is all the xbee.c computer code |
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2 | |||
3 | 1601 | dsschult | #include <stdio.h> |
4 | #include <stdlib.h> |
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5 | 1600 | dsschult | |
6 | 1601 | dsschult | #ifndef ROBOT |
7 | |||
8 | #include <fcntl.h> |
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9 | #include <unistd.h> |
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10 | #include <pthread.h> |
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11 | #include <errno.h> |
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12 | #include <termios.h> |
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13 | |||
14 | #endif |
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15 | |||
16 | 1604 | dsschult | #ifdef USE_STDIO |
17 | 1601 | dsschult | |
18 | 1604 | dsschult | #include <stdio.h> |
19 | |||
20 | /** |
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21 | * For use with fprintf() and related stdio functions |
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22 | **/ |
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23 | FILE *xbee_fd; |
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24 | |||
25 | #endif |
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26 | |||
27 | uint8_t xbee_initd=0; |
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28 | |||
29 | /** |
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30 | * Initializes communication over the XBee. |
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31 | * This must be called before any other xbee function |
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32 | * may be used. |
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33 | **/ |
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34 | int xbee_init() { |
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35 | |||
36 | if(xbee_initd) { |
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37 | return ERROR_INIT_ALREADY_INITD; |
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38 | } |
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39 | |||
40 | //Set baud rate |
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41 | // - 115200 (both wired and wireless) is UBRR=8, U2X=1 |
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42 | // - 9600 is U2X =1, UBRR = 107. |
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43 | #if (XBEE_BAUD == 115200) |
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44 | UBRR1H = 0x00; |
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45 | UBRR1L = 8; |
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46 | UCSR1A |= _BV(U2X1); |
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47 | #elif (XBEE_BAUD == 9600) |
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48 | UBRR1H = 0x00; |
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49 | UBRR1L = 103; |
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50 | UCSR1A |= _BV(U2X1); |
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51 | #else //Baud rate is defined in the header file, we should not get here |
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52 | return 0; |
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53 | #endif |
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54 | |||
55 | //Enable receiver and transmitter |
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56 | UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
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57 | |||
58 | // Set frame format: 8data, 1stop bit, asynchronous normal mode |
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59 | UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
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60 | |||
61 | // if we have enabled the stdio stuff, then we init it here |
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62 | #ifdef USE_STDIO |
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63 | /* Open the stdio stream corresponding to this port */ |
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64 | xbee_fd = fdevopen(xbee_putc, xbee_getc); |
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65 | #endif |
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66 | |||
67 | xbee_initd = 1; |
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68 | return 0; |
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69 | |||
70 | } |
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71 | |||
72 | |||
73 | /**@brief The port to use the XBee from on the computer. **/ |
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74 | #ifndef ROBOT |
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75 | #define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
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76 | #endif |
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77 | |||
78 | |||
79 | /**@brief Set the com port on a computer, undefined on the robot**/ |
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80 | void xbee_set_com_port(char* port); |
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81 | |||
82 | 1601 | dsschult | #define XBEE_GET_PACKET_TIMEOUT 1000 |
83 | |||
84 | #ifndef ROBOT |
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85 | static int xbee_read(char* buf, int size); |
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86 | #endif |
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87 | |||
88 | #ifndef ROBOT |
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89 | static char* xbee_com_port = XBEE_PORT_DEFAULT; |
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90 | static int xbee_stream; |
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91 | static pthread_t* xbee_listen_thread; |
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92 | #endif |
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93 | |||
94 | #ifndef ROBOT |
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95 | |||
96 | // Computer code |
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97 | |||
98 | /** |
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99 | * Thread that listens to the xbee. |
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100 | **/ |
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101 | static void* listen_to_xbee(void* x) |
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102 | { |
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103 | char c; |
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104 | while (1) |
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105 | { |
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106 | if (xbee_read(&c, 1) != 0) { |
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107 | WL_DEBUG_PRINT("xbee_read failed.\n"); |
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108 | return NULL; |
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109 | } |
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110 | |||
111 | arrival_buf[buffer_last] = c; |
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112 | int t = buffer_last + 1; |
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113 | if (t == XBEE_BUFFER_SIZE) |
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114 | t = 0; |
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115 | if (t == buffer_first) |
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116 | { |
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117 | WL_DEBUG_PRINT("Out of space in buffer.\n"); |
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118 | } |
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119 | buffer_last = t; |
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120 | |||
121 | usleep(1000); |
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122 | } |
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123 | |||
124 | return NULL; |
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125 | } |
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126 | |||
127 | #endif |
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128 | |||
129 | /** |
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130 | * Initializes the XBee library so that other functions may be used. |
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131 | **/ |
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132 | int8_t xbee_lib_init() |
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133 | { |
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134 | // do serial.c xbee init TODO: merge this into xbee.c |
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135 | if (xbee_init() != 0) { |
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136 | usb_puts("xbee_init error"); |
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137 | return WL_ERROR_INIT_FAILED; |
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138 | } |
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139 | |||
140 | WL_DEBUG_PRINT("in xbee_init\n"); |
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141 | #ifdef ROBOT |
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142 | |||
143 | //enable the receiving interrupt |
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144 | #ifdef FIREFLY |
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145 | UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
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146 | 1600 | dsschult | #else |
147 | 1601 | dsschult | #ifdef BAYBOARD |
148 | UCSR1B |= _BV(RXCIE1); |
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149 | #else |
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150 | UCSR1B |= _BV(RXCIE); |
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151 | #endif |
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152 | #endif |
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153 | sei(); |
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154 | #else |
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155 | xbee_stream = open(xbee_com_port, O_RDWR); |
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156 | if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) |
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157 | { |
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158 | WL_DEBUG_PRINT("Failed to open connection to XBee on port "); |
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159 | WL_DEBUG_PRINT_INT(xbee_com_port); |
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160 | WL_DEBUG_PRINT(".\n"); |
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161 | return -1; |
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162 | } else { |
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163 | WL_DEBUG_PRINT("Successfully opened connection to XBee on port "); |
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164 | WL_DEBUG_PRINT_INT(xbee_com_port); |
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165 | WL_DEBUG_PRINT(".\n"); |
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166 | } |
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167 | 1600 | dsschult | |
168 | 1601 | dsschult | // set baud rate, etc. correctly |
169 | struct termios options; |
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170 | |||
171 | tcgetattr(xbee_stream, &options); |
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172 | cfsetispeed(&options, B9600); |
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173 | cfsetospeed(&options, B9600); |
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174 | options.c_iflag &= ~ICRNL; |
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175 | options.c_oflag &= ~OCRNL; |
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176 | options.c_cflag |= (CLOCAL | CREAD); |
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177 | options.c_cflag &= ~PARENB; |
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178 | options.c_cflag &= ~CSTOPB; |
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179 | options.c_cflag &= ~CSIZE; |
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180 | options.c_cflag |= CS8; |
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181 | options.c_lflag &= ~ICANON; |
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182 | options.c_cc[VMIN] = 1; |
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183 | options.c_cc[VTIME] = 50; |
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184 | |||
185 | if (tcsetattr(xbee_stream, TCSANOW, &options)) |
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186 | { |
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187 | WL_DEBUG_PRINT("Error setting attributes.\n"); |
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188 | return -1; |
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189 | } |
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190 | |||
191 | xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t)); |
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192 | if (xbee_listen_thread == NULL) |
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193 | { |
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194 | WL_DEBUG_PRINT("Malloc failed.\n"); |
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195 | return -1; |
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196 | } |
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197 | |||
198 | int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL); |
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199 | if (ret) |
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200 | { |
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201 | WL_DEBUG_PRINT("Failed to create listener thread.\n"); |
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202 | return -1; |
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203 | } |
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204 | #endif |
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205 | |||
206 | WL_DEBUG_PRINT("Entering command mode.\r\n"); |
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207 | |||
208 | if (xbee_enter_command_mode() != 0) { |
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209 | usb_puts("error entering command mode\r\n"); |
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210 | return -1; |
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211 | } |
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212 | |||
213 | WL_DEBUG_PRINT("Entered command mode.\r\n"); |
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214 | |||
215 | // reset baud rate |
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216 | WL_DEBUG_PRINT("Resetting Baud to "); |
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217 | WL_DEBUG_PRINT(XBEE_BAUD_STR); |
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218 | WL_DEBUG_PRINT("\r\n"); |
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219 | |||
220 | // set baud on xbee |
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221 | //#if (XBEE_BAUD == 250000) |
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222 | #if (XBEE_BAUD == 115200) |
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223 | xbee_send_string("ATBD7\r\n"); |
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224 | #elif (XBEE_BAUD == 57600) |
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225 | xbee_send_string("ATBD6\r\n"); |
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226 | #elif (XBEE_BAUD == 38400) |
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227 | xbee_send_string("ATBD5\r\n"); |
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228 | #elif (XBEE_BAUD == 19200) |
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229 | xbee_send_string("ATBD4\r\n"); |
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230 | #elif (XBEE_BAUD == 9600) |
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231 | // already at this baud rate |
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232 | //xbee_send_string("ATBD3\r\n"); |
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233 | #else |
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234 | WL_DEBUG_PRINT("undefined baud rate\r\n"); |
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235 | #endif |
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236 | // exit command mode |
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237 | xbee_wait_for_ok(); |
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238 | WL_DEBUG_PRINT("got ok from baud reset\r\n"); |
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239 | xbee_send_string("ATCN\r\n"); |
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240 | xbee_wait_for_ok(); |
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241 | WL_DEBUG_PRINT("got ok from exiting command mode\r\n"); |
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242 | |||
243 | // set UART baud |
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244 | #if (XBEE_BAUD == 250000) |
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245 | UBRR1H = 0x00; |
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246 | UBRR1L = 3; |
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247 | UCSR1A |= _BV(U2X1); |
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248 | #elif (XBEE_BAUD == 115200) |
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249 | UBRR1H = 0x00; |
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250 | UBRR1L = 8; |
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251 | UCSR1A |= _BV(U2X1); |
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252 | #elif (XBEE_BAUD == 57600) |
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253 | UBRR1H = 0x00; |
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254 | UBRR1L = 16; |
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255 | UCSR1A |= _BV(U2X1); |
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256 | #elif (XBEE_BAUD == 38400) |
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257 | UBRR1H = 0x00; |
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258 | UBRR1L = 25; |
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259 | UCSR1A |= _BV(U2X1); |
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260 | #elif (XBEE_BAUD == 19200) |
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261 | UBRR1H = 0x00; |
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262 | UBRR1L = 51; |
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263 | UCSR1A |= _BV(U2X1); |
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264 | #elif (XBEE_BAUD == 9600) |
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265 | /* this is the default baud rate, so do nothing |
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266 | UBRR1H = 0x00; |
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267 | UBRR1L = 103; |
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268 | UCSR1A |= _BV(U2X1);*/ |
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269 | #else //Baud rate is defined in the header file, we should not get here |
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270 | return 0; |
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271 | #endif |
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272 | delay_ms(50); |
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273 | |||
274 | // enter command mode |
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275 | WL_DEBUG_PRINT("entering command mode 2\r\n"); |
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276 | xbee_send_string("+++"); |
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277 | xbee_wait_for_ok(); |
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278 | WL_DEBUG_PRINT("entered command mode 2\r\n"); |
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279 | |||
280 | if (xbee_enter_api_mode() != 0) { |
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281 | WL_DEBUG_PRINT("can't enter api mode\r\n"); |
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282 | return -1; |
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283 | } |
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284 | |||
285 | WL_DEBUG_PRINT("Entered api mode.\r\n"); |
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286 | |||
287 | if (xbee_exit_command_mode() != 0) { |
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288 | WL_DEBUG_PRINT("can't exit command mode\r\n"); |
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289 | return -1; |
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290 | } |
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291 | |||
292 | WL_DEBUG_PRINT("Left command mode.\r\n"); |
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293 | |||
294 | // get baud rate |
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295 | if (xbee_send_read_at_command("BD")) { |
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296 | WL_DEBUG_PRINT("can't send BD command\r\n"); |
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297 | return -1; |
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298 | } |
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299 | WL_DEBUG_PRINT("Getting ATBD rate.\n"); |
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300 | |||
301 | // get MY address |
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302 | if (xbee_send_read_at_command("MY")) { |
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303 | WL_DEBUG_PRINT("can't send my command\r\n"); |
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304 | return -1; |
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305 | } |
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306 | WL_DEBUG_PRINT("Getting ATMY address.\n"); |
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307 | |||
308 | #ifndef ROBOT |
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309 | int i; |
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310 | for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) { |
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311 | ret = xbee_get_packet(NULL); |
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312 | |||
313 | usleep(1000); |
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314 | |||
315 | /* if (ret == -1) { */ |
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316 | /* WL_DEBUG_PRINT("xbee_get_packet(NULL) failed.\n"); */ |
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317 | /* return -1; */ |
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318 | /* } */ |
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319 | } |
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320 | #else |
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321 | //wait to return until the address is set |
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322 | //TODO: this shouldn't wait indefinitely. There should be some sort of reasonable timeout |
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323 | // so if the address is never set right, an error can be returned instead of having the |
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324 | // robot hang forever |
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325 | while (xbee_address == 0) { |
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326 | xbee_get_packet(NULL); |
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327 | } |
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328 | #endif |
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329 | WL_DEBUG_PRINT("Got ATMY address.\n"); |
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330 | |||
331 | #ifndef ROBOT |
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332 | if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out. |
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333 | |||
334 | WL_DEBUG_PRINT("xbee_get_packet timed out.\n"); |
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335 | return -1; |
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336 | } else { |
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337 | return 0; |
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338 | } |
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339 | #else |
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340 | return 0; |
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341 | #endif |
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342 | } |
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343 | |||
344 | void xbee_terminate() |
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345 | { |
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346 | #ifndef ROBOT |
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347 | pthread_cancel(*xbee_listen_thread); |
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348 | pthread_join(*xbee_listen_thread, NULL); |
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349 | free(xbee_listen_thread); |
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350 | lockf(xbee_stream, F_ULOCK, 0); |
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351 | close(xbee_stream); |
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352 | #else |
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353 | xbee_exit_api_mode(); |
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354 | #endif |
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355 | } |
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356 | |||
357 | |||
358 | |||
359 | static int xbee_send(char* buf, int size) |
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360 | #ifndef ROBOT |
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361 | |||
362 | 1600 | dsschult | int ret = write(xbee_stream, buf, size); |
363 | //success |
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364 | if (ret == size) |
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365 | return 0; |
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366 | if (ret == -1) |
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367 | { |
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368 | //interrupted by system signal, probably timer interrupt. |
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369 | //just try again |
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370 | if (errno == 4) |
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371 | { |
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372 | return xbee_send(buf, size); |
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373 | } |
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374 | WL_DEBUG_PRINT("Failed to write to xbee\r\n"); |
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375 | return -1; |
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376 | } |
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377 | |||
378 | //write was interrupted after writing ret bytes |
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379 | return xbee_send(buf + ret, size - ret); |
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380 | #endif |
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381 | |||
382 | |||
383 | #ifndef ROBOT |
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384 | static int xbee_read(char* buf, int size) |
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385 | { |
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386 | if (read(xbee_stream, buf, size) == -1) { |
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387 | WL_DEBUG_PRINT("Failed to read from xbee.\r\n"); |
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388 | return -1; |
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389 | } |
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390 | |||
391 | return 0; |
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392 | } |
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393 | #endif |
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394 | |||
395 | |||
396 | #ifndef ROBOT |
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397 | void xbee_set_com_port(char* port) |
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398 | { |
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399 | xbee_com_port = port; |
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400 | } |
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401 | #endif |