Revision 1617
wl: clean up unit tests
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/** |
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* Copyright (c) 2007 Colony Project
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* Copyright (c) 2009 Colony Project
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* To use a robot, define ROBOT in wl_defs.h, and |
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* to use a computer, don't define ROBOT. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef XBEE_H |
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#define XBEE_H |
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/** |
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* The port to use the XBee from on the computer. |
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* Also, a backup port if the other is used. |
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**/ |
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#ifndef ROBOT |
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#define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
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// need this for C99 int types |
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#ifndef STDINT_H |
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#define STDINT_H |
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#include <stdint.h> |
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#endif |
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/** |
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* @defgroup xbee XBee |
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* @brief Interface with the XBee module |
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* |
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* @{
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**/ |
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/*Definitions*/ |
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/**@defgroup xbee_const xbee constants |
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* @brief These are constants used for the xbee module. |
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* @{ **/
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#ifndef XBEE_BAUD |
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/** @brief The XBee baud rate **/ |
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#define XBEE_BAUD 115200 |
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#endif |
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/**@name xbee options |
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* @{ **/
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/**@brief Unset PAN, uses XBee default **/ |
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#define XBEE_PAN_DEFAULT 0xFFFF |
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/**@brief Unset channel, uses XBee default **/ |
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/**@brief A packet received from another XBee **/ |
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#define XBEE_RX 0x81 |
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/**@} |
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* @name xbee frame types |
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* @{ **/
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// TODO: add comments for all of these definitions |
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/*Frame Types*/ |
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#define XBEE_FRAME_START 0x7E |
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#define XBEE_FRAME_STATUS 0x8A |
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#define XBEE_FRAME_AT_COMMAND 0x08 |
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#define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88 |
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#define XBEE_FRAME_TX_REQUEST_64 0x00 |
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#define XBEE_FRAME_TX_REQUEST_16 0x01 |
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#define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS |
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#define XBEE_FRAME_RX_64 0x80 |
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#define XBEE_FRAME_RX_16 XBEE_RX |
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/** @} **/ |
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/**@} **/ // end const group |
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/** |
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* @defgroup xbee_funcs Xbee Functions |
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* @brief These are the public xbee functions. |
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* @{
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**/ |
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/**@brief Initialize the XBee library **/ |
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int xbee_lib_init(void);
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int8_t xbee_init(void);
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/**@brief Uninitialize the XBee library **/ |
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void xbee_terminate(void); |
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/**@brief Get a packet from the XBee **/ |
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int xbee_get_packet(unsigned char* packet); |
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int8_t xbee_terminate(void); |
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/**@brief Send a byte to the xbee **/ |
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int8_t xbee_putc(uint8_t c); |
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/**@brief Read a byte form the xbee **/ |
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int16_t xbee_getc(void); |
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/**@brief Read a byte from the xbee (nonblocking) **/ |
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int8_t xbee_getc_nb(uint8_t *c); |
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/**@brief Send an array of bytes to the xbee **/ |
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int8_t xbee_send(uint8_t* buf, uint16_t size); |
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/**@brief Add a buffer to the checksum value **/ |
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int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum); |
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/**@brief Send a frame header to the xbee **/ |
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int8_t xbee_send_header(uint8_t type, uint16_t len); |
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/**@brief Send a packet to the XBee **/ |
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int xbee_send_packet(char* packet, int len, int dest, char options, char frame);
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int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame);
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/**@brief Set the PAN ID for the XBee **/ |
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int xbee_set_pan_id(int id);
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int8_t xbee_set_pan_id(uint16_t id);
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/**@brief Get the XBee's PAN ID **/ |
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unsigned int xbee_get_pan_id(void);
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uint16_t xbee_get_pan_id(void);
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/**@brief Set the channel the XBee is currently using **/ |
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int xbee_set_channel(int channel);
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int8_t xbee_set_channel(uint8_t channel);
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/**@brief Get the channel the XBee is currently using **/ |
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int xbee_get_channel(void); |
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int8_t xbee_get_channel(void);
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/**@brief Get the XBee's 16-bit address **/ |
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unsigned int xbee_get_address(void); |
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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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uint16_t xbee_get_address(void); |
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/**@brief Reset XBee **/ |
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int xbee_reset(void);
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int8_t xbee_reset(void); // TODO: implement this function
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/**@}**/ //end defgroup
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/**@} **/ //end xbee_funcs group
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/**@} **/ //end defgroup |
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#endif |
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