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// this is all the xbee.c computer code |
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#include <stdio.h> |
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#include <stdlib.h> |
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|
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#ifndef ROBOT |
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|
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <pthread.h> |
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#include <errno.h> |
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#include <termios.h> |
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|
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#endif |
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|
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#ifdef USE_STDIO |
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|
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#include <stdio.h> |
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|
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/** |
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* For use with fprintf() and related stdio functions |
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**/ |
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FILE *xbee_fd; |
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|
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#endif |
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|
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uint8_t xbee_initd=0; |
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|
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/** |
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* Initializes communication over the XBee. |
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* This must be called before any other xbee function |
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* may be used. |
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**/ |
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int xbee_init() { |
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|
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if(xbee_initd) { |
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return ERROR_INIT_ALREADY_INITD; |
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} |
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|
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//Set baud rate |
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// - 115200 (both wired and wireless) is UBRR=8, U2X=1 |
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// - 9600 is U2X =1, UBRR = 107. |
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#if (XBEE_BAUD == 115200) |
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UBRR1H = 0x00; |
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UBRR1L = 8; |
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UCSR1A |= _BV(U2X1); |
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#elif (XBEE_BAUD == 9600) |
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UBRR1H = 0x00; |
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UBRR1L = 103; |
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UCSR1A |= _BV(U2X1); |
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#else //Baud rate is defined in the header file, we should not get here |
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return 0; |
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#endif |
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|
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//Enable receiver and transmitter |
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UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
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|
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// Set frame format: 8data, 1stop bit, asynchronous normal mode |
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UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
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|
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// if we have enabled the stdio stuff, then we init it here |
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#ifdef USE_STDIO |
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/* Open the stdio stream corresponding to this port */ |
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xbee_fd = fdevopen(xbee_putc, xbee_getc); |
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#endif |
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|
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xbee_initd = 1; |
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return 0; |
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|
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} |
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|
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|
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/**@brief The port to use the XBee from on the computer. **/ |
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#ifndef ROBOT |
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#define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
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#endif |
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|
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|
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/**@brief Set the com port on a computer, undefined on the robot**/ |
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void xbee_set_com_port(char* port); |
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|
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#define XBEE_GET_PACKET_TIMEOUT 1000 |
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|
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#ifndef ROBOT |
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static int xbee_read(char* buf, int size); |
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#endif |
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|
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#ifndef ROBOT |
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static char* xbee_com_port = XBEE_PORT_DEFAULT; |
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static int xbee_stream; |
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static pthread_t* xbee_listen_thread; |
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#endif |
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|
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#ifndef ROBOT |
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|
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// Computer code |
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|
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/** |
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* Thread that listens to the xbee. |
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**/ |
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static void* listen_to_xbee(void* x) |
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{ |
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char c; |
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while (1) |
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{ |
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if (xbee_read(&c, 1) != 0) { |
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WL_DEBUG_PRINT("xbee_read failed.\n"); |
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return NULL; |
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} |
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|
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arrival_buf[buffer_last] = c; |
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int t = buffer_last + 1; |
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if (t == XBEE_BUFFER_SIZE) |
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t = 0; |
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if (t == buffer_first) |
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{ |
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WL_DEBUG_PRINT("Out of space in buffer.\n"); |
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} |
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buffer_last = t; |
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|
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usleep(1000); |
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} |
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|
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return NULL; |
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} |
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|
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#endif |
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|
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/** |
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* Initializes the XBee library so that other functions may be used. |
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**/ |
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int8_t xbee_lib_init() |
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{ |
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// do serial.c xbee init TODO: merge this into xbee.c |
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if (xbee_init() != 0) { |
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usb_puts("xbee_init error"); |
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return WL_ERROR_INIT_FAILED; |
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} |
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|
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WL_DEBUG_PRINT("in xbee_init\n"); |
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#ifdef ROBOT |
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|
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//enable the receiving interrupt |
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#ifdef FIREFLY |
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UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
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#else |
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#ifdef BAYBOARD |
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UCSR1B |= _BV(RXCIE1); |
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#else |
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UCSR1B |= _BV(RXCIE); |
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#endif |
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#endif |
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sei(); |
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#else |
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xbee_stream = open(xbee_com_port, O_RDWR); |
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if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) |
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{ |
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WL_DEBUG_PRINT("Failed to open connection to XBee on port "); |
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WL_DEBUG_PRINT_INT(xbee_com_port); |
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WL_DEBUG_PRINT(".\n"); |
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return -1; |
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} else { |
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WL_DEBUG_PRINT("Successfully opened connection to XBee on port "); |
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WL_DEBUG_PRINT_INT(xbee_com_port); |
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WL_DEBUG_PRINT(".\n"); |
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} |
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|
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// set baud rate, etc. correctly |
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struct termios options; |
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|
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tcgetattr(xbee_stream, &options); |
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cfsetispeed(&options, B9600); |
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cfsetospeed(&options, B9600); |
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options.c_iflag &= ~ICRNL; |
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options.c_oflag &= ~OCRNL; |
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options.c_cflag |= (CLOCAL | CREAD); |
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options.c_cflag &= ~PARENB; |
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options.c_cflag &= ~CSTOPB; |
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options.c_cflag &= ~CSIZE; |
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options.c_cflag |= CS8; |
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options.c_lflag &= ~ICANON; |
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options.c_cc[VMIN] = 1; |
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options.c_cc[VTIME] = 50; |
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|
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if (tcsetattr(xbee_stream, TCSANOW, &options)) |
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{ |
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WL_DEBUG_PRINT("Error setting attributes.\n"); |
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return -1; |
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} |
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|
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xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t)); |
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if (xbee_listen_thread == NULL) |
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{ |
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WL_DEBUG_PRINT("Malloc failed.\n"); |
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return -1; |
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} |
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|
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int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL); |
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if (ret) |
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{ |
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WL_DEBUG_PRINT("Failed to create listener thread.\n"); |
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return -1; |
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} |
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#endif |
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|
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WL_DEBUG_PRINT("Entering command mode.\r\n"); |
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|
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if (xbee_enter_command_mode() != 0) { |
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usb_puts("error entering command mode\r\n"); |
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return -1; |
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} |
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|
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WL_DEBUG_PRINT("Entered command mode.\r\n"); |
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|
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// reset baud rate |
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WL_DEBUG_PRINT("Resetting Baud to "); |
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WL_DEBUG_PRINT(XBEE_BAUD_STR); |
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WL_DEBUG_PRINT("\r\n"); |
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|
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// set baud on xbee |
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//#if (XBEE_BAUD == 250000) |
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#if (XBEE_BAUD == 115200) |
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xbee_send_string("ATBD7\r\n"); |
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#elif (XBEE_BAUD == 57600) |
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xbee_send_string("ATBD6\r\n"); |
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#elif (XBEE_BAUD == 38400) |
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xbee_send_string("ATBD5\r\n"); |
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#elif (XBEE_BAUD == 19200) |
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xbee_send_string("ATBD4\r\n"); |
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#elif (XBEE_BAUD == 9600) |
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// already at this baud rate |
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//xbee_send_string("ATBD3\r\n"); |
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#else |
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WL_DEBUG_PRINT("undefined baud rate\r\n"); |
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#endif |
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// exit command mode |
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xbee_wait_for_ok(); |
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WL_DEBUG_PRINT("got ok from baud reset\r\n"); |
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xbee_send_string("ATCN\r\n"); |
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xbee_wait_for_ok(); |
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WL_DEBUG_PRINT("got ok from exiting command mode\r\n"); |
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|
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// set UART baud |
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#if (XBEE_BAUD == 250000) |
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UBRR1H = 0x00; |
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UBRR1L = 3; |
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UCSR1A |= _BV(U2X1); |
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#elif (XBEE_BAUD == 115200) |
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UBRR1H = 0x00; |
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UBRR1L = 8; |
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UCSR1A |= _BV(U2X1); |
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#elif (XBEE_BAUD == 57600) |
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UBRR1H = 0x00; |
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UBRR1L = 16; |
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UCSR1A |= _BV(U2X1); |
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#elif (XBEE_BAUD == 38400) |
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UBRR1H = 0x00; |
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UBRR1L = 25; |
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UCSR1A |= _BV(U2X1); |
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#elif (XBEE_BAUD == 19200) |
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UBRR1H = 0x00; |
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UBRR1L = 51; |
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UCSR1A |= _BV(U2X1); |
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#elif (XBEE_BAUD == 9600) |
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/* this is the default baud rate, so do nothing |
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UBRR1H = 0x00; |
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UBRR1L = 103; |
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UCSR1A |= _BV(U2X1);*/ |
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#else //Baud rate is defined in the header file, we should not get here |
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return 0; |
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#endif |
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delay_ms(50); |
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|
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// enter command mode |
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WL_DEBUG_PRINT("entering command mode 2\r\n"); |
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xbee_send_string("+++"); |
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xbee_wait_for_ok(); |
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WL_DEBUG_PRINT("entered command mode 2\r\n"); |
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|
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if (xbee_enter_api_mode() != 0) { |
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WL_DEBUG_PRINT("can't enter api mode\r\n"); |
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return -1; |
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} |
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|
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WL_DEBUG_PRINT("Entered api mode.\r\n"); |
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|
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if (xbee_exit_command_mode() != 0) { |
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WL_DEBUG_PRINT("can't exit command mode\r\n"); |
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return -1; |
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} |
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|
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WL_DEBUG_PRINT("Left command mode.\r\n"); |
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|
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// get baud rate |
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if (xbee_send_read_at_command("BD")) { |
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WL_DEBUG_PRINT("can't send BD command\r\n"); |
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return -1; |
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} |
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WL_DEBUG_PRINT("Getting ATBD rate.\n"); |
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|
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// get MY address |
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if (xbee_send_read_at_command("MY")) { |
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WL_DEBUG_PRINT("can't send my command\r\n"); |
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return -1; |
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} |
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WL_DEBUG_PRINT("Getting ATMY address.\n"); |
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|
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#ifndef ROBOT |
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int i; |
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for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) { |
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ret = xbee_get_packet(NULL); |
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|
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usleep(1000); |
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|
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/* if (ret == -1) { */ |
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/* WL_DEBUG_PRINT("xbee_get_packet(NULL) failed.\n"); */ |
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/* return -1; */ |
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/* } */ |
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} |
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#else |
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//wait to return until the address is set |
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//TODO: this shouldn't wait indefinitely. There should be some sort of reasonable timeout |
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// so if the address is never set right, an error can be returned instead of having the |
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// robot hang forever |
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while (xbee_address == 0) { |
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xbee_get_packet(NULL); |
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} |
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#endif |
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WL_DEBUG_PRINT("Got ATMY address.\n"); |
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|
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#ifndef ROBOT |
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if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out. |
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|
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WL_DEBUG_PRINT("xbee_get_packet timed out.\n"); |
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return -1; |
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} else { |
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return 0; |
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} |
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#else |
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return 0; |
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#endif |
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} |
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|
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void xbee_terminate() |
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{ |
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#ifndef ROBOT |
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pthread_cancel(*xbee_listen_thread); |
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pthread_join(*xbee_listen_thread, NULL); |
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free(xbee_listen_thread); |
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lockf(xbee_stream, F_ULOCK, 0); |
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close(xbee_stream); |
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#else |
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xbee_exit_api_mode(); |
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#endif |
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} |
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|
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|
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|
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static int xbee_send(char* buf, int size) |
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#ifndef ROBOT |
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|
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int ret = write(xbee_stream, buf, size); |
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//success |
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if (ret == size) |
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return 0; |
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if (ret == -1) |
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{ |
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//interrupted by system signal, probably timer interrupt. |
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//just try again |
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if (errno == 4) |
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{ |
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return xbee_send(buf, size); |
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} |
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WL_DEBUG_PRINT("Failed to write to xbee\r\n"); |
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return -1; |
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} |
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|
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//write was interrupted after writing ret bytes |
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return xbee_send(buf + ret, size - ret); |
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#endif |
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|
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|
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#ifndef ROBOT |
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static int xbee_read(char* buf, int size) |
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{ |
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if (read(xbee_stream, buf, size) == -1) { |
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WL_DEBUG_PRINT("Failed to read from xbee.\r\n"); |
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return -1; |
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} |
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|
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return 0; |
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} |
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#endif |
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|
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|
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#ifndef ROBOT |
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void xbee_set_com_port(char* port) |
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{ |
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xbee_com_port = port; |
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} |
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#endif |
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