root / branches / wireless / code / projects / unit_tests / xbee.c @ 1628
History | View | Annotate | Download (35.8 KB)
1 |
/**
|
---|---|
2 |
* Copyright (c) 2009 Colony Project
|
3 |
*
|
4 |
* Permission is hereby granted, free of charge, to any person
|
5 |
* obtaining a copy of this software and associated documentation
|
6 |
* files (the "Software"), to deal in the Software without
|
7 |
* restriction, including without limitation the rights to use,
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
9 |
* copies of the Software, and to permit persons to whom the
|
10 |
* Software is furnished to do so, subject to the following
|
11 |
* conditions:
|
12 |
*
|
13 |
* The above copyright notice and this permission notice shall be
|
14 |
* included in all copies or substantial portions of the Software.
|
15 |
*
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
23 |
* OTHER DEALINGS IN THE SOFTWARE.
|
24 |
**/
|
25 |
|
26 |
/**
|
27 |
* @file xbee.c
|
28 |
* @brief XBee Interface
|
29 |
*
|
30 |
* Implementation of low level communication with the XBee in API mode.
|
31 |
*
|
32 |
* @author Colony Project, CMU Robotics Club
|
33 |
**/
|
34 |
#include <lights.h> |
35 |
|
36 |
#include <string.h> |
37 |
#include <avr/io.h> |
38 |
#include <avr/interrupt.h> |
39 |
#include <time.h> |
40 |
#include <wl_defs.h> |
41 |
#include <wireless.h> |
42 |
#include "xbee.h" |
43 |
|
44 |
|
45 |
/* Internal Function Prototypes */
|
46 |
|
47 |
/* I/O Functions */
|
48 |
static int8_t xbee_send_string(uint8_t* c);
|
49 |
|
50 |
/* Command Mode Functions */
|
51 |
static int8_t xbee_enter_command_mode(void); |
52 |
static int8_t xbee_exit_command_mode(void); |
53 |
static int8_t xbee_enter_api_mode(void); |
54 |
static int8_t xbee_exit_api_mode(void); |
55 |
static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len);
|
56 |
static int8_t xbee_wait_for_ok(void); |
57 |
|
58 |
/* API Mode Functions */
|
59 |
//TODO: does this exist? static int8_t xbee_handle_packet(uint8_t* packet, uint16_t len);
|
60 |
static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t result, uint8_t len);
|
61 |
static void xbee_handle_status(uint8_t status); |
62 |
static int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len);
|
63 |
static uint8_t xbee_compute_checksum(uint8_t* packet, uint16_t len);
|
64 |
static int8_t xbee_send_frame(uint8_t* buf, uint16_t len);
|
65 |
int8_t xbee_send_read_at_command(uint8_t* command); |
66 |
static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len);
|
67 |
|
68 |
/* Buffer Manipulation Functions */
|
69 |
int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte); |
70 |
uint8_t xbee_basic_buf_get(uint8_t *ptr); |
71 |
int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte); |
72 |
|
73 |
/* private functions */
|
74 |
int8_t check_last_receive(uint16_t source,uint8_t framenum); |
75 |
inline uint8_t getStatus(uint8_t mask);
|
76 |
inline void setStatus(uint8_t mask,uint8_t value); |
77 |
|
78 |
/*Global Variables*/
|
79 |
|
80 |
// last few packet sources and frame nums
|
81 |
#define NUM_LAST_PACKETS 10 |
82 |
struct {
|
83 |
uint16_t source; |
84 |
uint8_t framenum; |
85 |
} lastPacket[NUM_LAST_PACKETS]; |
86 |
|
87 |
// array for basic packets
|
88 |
static uint8_t xbee_basic_buf[PACKET_BUFFER_SIZE];
|
89 |
|
90 |
// beginning of first packet in basic buffer
|
91 |
static uint8_t basic_buf_first = 0; |
92 |
|
93 |
// byte after end of last packet in basic buffer (only access < basic_buf_last)
|
94 |
// aka, the first free byte in basic buffer
|
95 |
static uint8_t basic_buf_last = 0; |
96 |
|
97 |
// array for other packets
|
98 |
static uint8_t xbee_other_buf[PACKET_BUFFER_SIZE];
|
99 |
|
100 |
// beginning of first packet in other buffer
|
101 |
static uint8_t other_buf_first = 0; |
102 |
|
103 |
// byte after end of last packet in other buffer (only access < other_buf_last)
|
104 |
// aka, the first free byte in other buffer
|
105 |
static uint8_t other_buf_last = 0; |
106 |
|
107 |
// xbee status
|
108 |
#define XBEE_API_OFF 0x00 |
109 |
#define XBEE_API_ON 0x10 |
110 |
#define XBEE_API_ESCAPE 0x20 |
111 |
#define XBEE_API_MASK 0x30 |
112 |
#define XBEE_COMMAND_WAIT 0x80 |
113 |
#define XBEE_COMMAND_RESPONSE 0xC0 |
114 |
#define XBEE_COMMAND_NONE 0x00 |
115 |
#define XBEE_COMMAND_MASK 0xC0 |
116 |
#define XBEE_NOT_INITD 0xF0 |
117 |
#define LAST_PACKET_MASK 0x0F |
118 |
uint8_t xbee_status = XBEE_NOT_INITD; |
119 |
|
120 |
// xbee command response (for PAN, channel, address, etc)
|
121 |
static uint8_t xbee_command[4]; |
122 |
|
123 |
// external ack handler (wireless_send.c)
|
124 |
void ackhandle(uint8_t num,uint8_t val) { return; } // disabled |
125 |
|
126 |
// message buffer
|
127 |
uint8_t step=99;
|
128 |
uint8_t message[100];
|
129 |
|
130 |
|
131 |
/**@addtogroup xbee
|
132 |
* @{ **/
|
133 |
|
134 |
/*Function Implementations*/
|
135 |
|
136 |
/**
|
137 |
* Interrupt for the robot. Adds bytes received from the xbee
|
138 |
* to the buffer.
|
139 |
**/
|
140 |
|
141 |
|
142 |
//#ifndef FIREFLY
|
143 |
#define PORT UDR1
|
144 |
#define FLAG RXC1
|
145 |
ISR(USART1_RX_vect) { |
146 |
//#else
|
147 |
//#define PORT UDR0
|
148 |
//#define FLAG RXC0
|
149 |
//SIGNAL(SIG_USART0_RECV)
|
150 |
//#endif
|
151 |
step=0;
|
152 |
// start of frame
|
153 |
uint8_t apitype = PORT; // get frame start byte
|
154 |
uint16_t i=0;
|
155 |
uint16_t len=0;
|
156 |
|
157 |
usb_puts("xbee_interrupt");
|
158 |
step=0;
|
159 |
|
160 |
WL_DEBUG_PRINT("in interrupt|status=");
|
161 |
WL_DEBUG_PRINT_HEX(xbee_status); |
162 |
WL_DEBUG_PRINT("|frame_start=");
|
163 |
WL_DEBUG_PRINT_HEX(apitype); |
164 |
|
165 |
// check that we're in API mode
|
166 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF || apitype != XBEE_FRAME_START) {
|
167 |
// not in API mode
|
168 |
WL_DEBUG_PRINT("|API OFF");
|
169 |
step=1;
|
170 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT) {
|
171 |
// get rest of command and put in basic buf
|
172 |
xbee_basic_buf[i] = apitype; |
173 |
if (xbee_basic_buf[i++] != '\r') { |
174 |
while(i < PACKET_BUFFER_SIZE) {
|
175 |
if (FLAG) {
|
176 |
xbee_basic_buf[i] = PORT; |
177 |
if (xbee_basic_buf[i] == '\r') |
178 |
break;
|
179 |
} |
180 |
i++; |
181 |
} |
182 |
} |
183 |
WL_DEBUG_PRINT("got packet, len=");
|
184 |
WL_DEBUG_PRINT_INT(i); |
185 |
WL_DEBUG_PRINT("str=");
|
186 |
WL_DEBUG_PRINT(xbee_basic_buf); |
187 |
step=2;
|
188 |
// signal handler that command response is done
|
189 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
190 |
} |
191 |
WL_DEBUG_PRINT("return\r\n");
|
192 |
step=3;
|
193 |
return;
|
194 |
} |
195 |
WL_DEBUG_PRINT("|API ON");
|
196 |
step=10;
|
197 |
|
198 |
// get length and type
|
199 |
//apitype = 0;
|
200 |
while(i<3) { |
201 |
if (FLAG) {
|
202 |
if (i==0) |
203 |
len |= PORT<<8;
|
204 |
else if (i==1) |
205 |
len |= PORT; |
206 |
else if (i==2) { |
207 |
apitype = PORT; |
208 |
WL_DEBUG_PRINT("|GOT APITYPE");
|
209 |
} |
210 |
i++; |
211 |
} |
212 |
} |
213 |
WL_DEBUG_PRINT("|len=");
|
214 |
WL_DEBUG_PRINT_INT(len); |
215 |
WL_DEBUG_PRINT("|apitype=");
|
216 |
WL_DEBUG_PRINT_HEX(apitype); |
217 |
WL_DEBUG_PRINT("\r\n");
|
218 |
step=11;
|
219 |
|
220 |
// do something based on the type
|
221 |
i=1;
|
222 |
switch(apitype) {
|
223 |
case XBEE_FRAME_AT_COMMAND_RESPONSE: {
|
224 |
// AT command response
|
225 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE)
|
226 |
return; // we're currently processing a command, so drop the incoming one |
227 |
uint16_t atcommand=0;
|
228 |
uint8_t ptr=basic_buf_last; |
229 |
while(i<len) {
|
230 |
if (FLAG) {
|
231 |
if (i==1) |
232 |
apitype = PORT; // get frame id, but ignore it
|
233 |
else if (i==2) |
234 |
atcommand |= PORT<<8; // get command char1 |
235 |
else if (i==3) |
236 |
atcommand |= PORT; // get command char2
|
237 |
else if (i==4) |
238 |
apitype = PORT; // get status
|
239 |
else {
|
240 |
// put the command response on the basic buf temporarily
|
241 |
if (xbee_basic_buf_add(&ptr,PORT) != 0) |
242 |
break;
|
243 |
} |
244 |
i++; |
245 |
} |
246 |
} |
247 |
// handle AT command
|
248 |
xbee_handle_at_command_response(atcommand,apitype,i-5); // TODO: rewrite function |
249 |
break; }
|
250 |
case XBEE_FRAME_TX_STATUS: {
|
251 |
// TX status
|
252 |
uint8_t frame_id = 0;
|
253 |
while(i<len) {
|
254 |
if (FLAG) {
|
255 |
if (i==1) |
256 |
frame_id = PORT; |
257 |
else {
|
258 |
ackhandle(frame_id,PORT); // handle the status
|
259 |
break;
|
260 |
} |
261 |
i++; |
262 |
} |
263 |
} |
264 |
break; }
|
265 |
case XBEE_FRAME_RX_64: {
|
266 |
// receive a packet with 64bit address
|
267 |
break; } // TODO: implement this (even if we don't use it) |
268 |
case XBEE_FRAME_RX_16: {
|
269 |
// receive a packet with 16bit address
|
270 |
uint16_t source = 0;
|
271 |
uint8_t framenum = 0;
|
272 |
uint8_t group = 0;
|
273 |
uint8_t ptr=basic_buf_last; |
274 |
while(i<len) {
|
275 |
if (FLAG) {
|
276 |
if (i==1) |
277 |
source |= PORT<<8; // get source hi byte |
278 |
else if (i==2) |
279 |
source |= PORT; // get source lo byte
|
280 |
else if (i==3) |
281 |
apitype = PORT; // get RSSI, and ignore
|
282 |
else if (i==4) |
283 |
apitype = PORT; // get options, and ignore
|
284 |
else if (i==5) { |
285 |
framenum = PORT; // get the frame number
|
286 |
if (check_last_receive(source,framenum) != WL_SUCCESS) {
|
287 |
// we've already received this frame
|
288 |
ptr = 0xFF; // signal to skip processing |
289 |
break;
|
290 |
} |
291 |
} |
292 |
else if (i==6) { |
293 |
group = PORT; // get group number
|
294 |
if (group == 0) { |
295 |
ptr = basic_buf_last+1;
|
296 |
// add source to buffer
|
297 |
if (xbee_basic_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) |
298 |
break;
|
299 |
if (xbee_basic_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) |
300 |
break;
|
301 |
} else {
|
302 |
ptr = other_buf_last+1;
|
303 |
// add source and group to buffer
|
304 |
if (xbee_other_buf_add(&ptr,group) != 0) |
305 |
break;
|
306 |
if (xbee_other_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) |
307 |
break;
|
308 |
if (xbee_other_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) |
309 |
break;
|
310 |
} |
311 |
} |
312 |
else { // TODO: handle escaped characters supported by APIv2 |
313 |
// put packet data on the correct buffer
|
314 |
if (group == 0 && xbee_basic_buf_add(&ptr,PORT) != 0) |
315 |
break;
|
316 |
else if (xbee_other_buf_add(&ptr,PORT) != 0) |
317 |
break;
|
318 |
} |
319 |
i++; |
320 |
} |
321 |
} |
322 |
if (ptr != 0xFF && i > 6) { |
323 |
if (group == 0) { |
324 |
xbee_basic_buf[basic_buf_last] = i-6; // set length |
325 |
basic_buf_last = ptr; |
326 |
} |
327 |
else {
|
328 |
xbee_other_buf[other_buf_last] = i-6; // set length |
329 |
// check if we have a high priority group
|
330 |
for(;;)
|
331 |
if (HIGH_PRIORITY) {
|
332 |
// handle receive now
|
333 |
ptr = 0xFF;
|
334 |
break;
|
335 |
} |
336 |
if (ptr != 0xFF) { |
337 |
// handle receive later
|
338 |
other_buf_last = ptr; |
339 |
} |
340 |
} |
341 |
} |
342 |
break; }
|
343 |
default:
|
344 |
WL_DEBUG_PRINT("|BAD APITYPE");
|
345 |
} // end of switch statement
|
346 |
while (1) { |
347 |
if (FLAG) {
|
348 |
apitype = PORT; // get checksum, and ignore
|
349 |
break;
|
350 |
} |
351 |
} |
352 |
WL_DEBUG_PRINT("return\r\n");
|
353 |
step=255;
|
354 |
} // end of interrupt
|
355 |
|
356 |
|
357 |
/* adds a byte to the basic buffer */
|
358 |
int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte) { |
359 |
if (*ptr == basic_buf_first) {
|
360 |
// buffer full
|
361 |
WL_DEBUG_PRINT("basic buffer full\r\n");
|
362 |
return -1; |
363 |
} |
364 |
xbee_basic_buf[(*ptr)++] = byte; |
365 |
if (*ptr == PACKET_BUFFER_SIZE)
|
366 |
*ptr = 0;
|
367 |
return 0; |
368 |
} |
369 |
/* gets a byte from the basic buffer */
|
370 |
uint8_t xbee_basic_buf_get(uint8_t *ptr) { |
371 |
uint8_t byte = xbee_basic_buf[(*ptr)++]; |
372 |
if (*ptr == PACKET_BUFFER_SIZE)
|
373 |
*ptr = 0;
|
374 |
return byte;
|
375 |
} |
376 |
/* adds a byte to the other buffer */
|
377 |
int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte) { |
378 |
if (*ptr == other_buf_first) {
|
379 |
// buffer full
|
380 |
WL_DEBUG_PRINT("other buffer full\r\n");
|
381 |
return -1; |
382 |
} |
383 |
xbee_other_buf[(*ptr)++] = byte; |
384 |
if (*ptr == PACKET_BUFFER_SIZE)
|
385 |
*ptr = 0;
|
386 |
return 0; |
387 |
} |
388 |
|
389 |
/**
|
390 |
* Checks if packet is a duplicate
|
391 |
**/
|
392 |
int8_t check_last_receive(uint16_t source,uint8_t framenum) { |
393 |
uint8_t i=0;
|
394 |
for(;i<NUM_LAST_PACKETS;i++) {
|
395 |
if (lastPacket[i].source == source && lastPacket[i].framenum == framenum)
|
396 |
return -1; // duplicate packet, so return error |
397 |
} |
398 |
// save packet source and framenum
|
399 |
i=getStatus(LAST_PACKET_MASK); |
400 |
lastPacket[i].source = source; |
401 |
lastPacket[i].framenum = framenum; |
402 |
if (++i>=NUM_LAST_PACKETS)
|
403 |
i = 0;
|
404 |
setStatus(LAST_PACKET_MASK,i); |
405 |
return WL_SUCCESS;
|
406 |
} |
407 |
|
408 |
/** status functions **/
|
409 |
inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; } |
410 |
void setStatus(uint8_t mask,uint8_t value) { xbee_status = ((xbee_status&(~mask))|value); }
|
411 |
|
412 |
|
413 |
// test interrupt
|
414 |
/*ISR(USART1_RX_vect) {
|
415 |
WL_DEBUG_PRINT("in interrupt|");
|
416 |
char c = UDR1;
|
417 |
WL_DEBUG_PRINT_HEX(c);
|
418 |
WL_DEBUG_PRINT("|in interrupt");
|
419 |
}*/
|
420 |
|
421 |
|
422 |
|
423 |
/**
|
424 |
* Initializes the XBee library so that other functions may be used.
|
425 |
**/
|
426 |
int8_t xbee_init() |
427 |
{ |
428 |
WL_DEBUG_PRINT("in xbee_init\r\n");
|
429 |
|
430 |
if(getStatus(XBEE_NOT_INITD) != XBEE_NOT_INITD) {
|
431 |
return WL_ERROR_INIT_ALREADY_INITD;
|
432 |
} |
433 |
|
434 |
// set status
|
435 |
setStatus(XBEE_NOT_INITD,XBEE_COMMAND_NONE); |
436 |
|
437 |
// clear last packet buffer
|
438 |
for(int i=0;i<NUM_LAST_PACKETS;i++) |
439 |
lastPacket[i].source = lastPacket[i].framenum = 0;
|
440 |
|
441 |
// Set startup baud rate of 9600
|
442 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode
|
443 |
// Enable receiver and transmitter and the receiving interrupt
|
444 |
/*#ifdef FIREFLY
|
445 |
UCSR0A |= (1<<U2X0);
|
446 |
UBRR0H = 0x00;
|
447 |
UBRR0L = 103;
|
448 |
UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);
|
449 |
UCSR0B |= (1<<RXEN0) | (1<<TXEN0) | (1<<RXCIE);
|
450 |
#else*/
|
451 |
// Bayboard or robot
|
452 |
|
453 |
UBRR1H = 0x00; // baud rate |
454 |
UBRR1L = 103; // baud rate |
455 |
UCSR1A |= (1<<U2X1); // double transmit speed |
456 |
//Enable receiver and transmitter on USART1
|
457 |
UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
458 |
|
459 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode
|
460 |
//UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);
|
461 |
|
462 |
//UCSR1C |= (1<<UMSEL1) | (1<<UCSZ10) | (1<<UCSZ11);
|
463 |
//UCSR1C |= (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1);
|
464 |
UCSR1B |= (1<<RXCIE1); // enable receive, transmit (1<<RXCIE) |
465 |
WL_DEBUG_PRINT("receive interrupt flag=");
|
466 |
WL_DEBUG_PRINT_HEX(UCSR1B&(1<<RXCIE1));
|
467 |
WL_DEBUG_PRINT("|\r\n");
|
468 |
sei(); |
469 |
|
470 |
// enter command mode
|
471 |
WL_DEBUG_PRINT("entering command mode\r\n");
|
472 |
xbee_send_string((uint8_t*)"+++");
|
473 |
xbee_wait_for_ok(); |
474 |
WL_DEBUG_PRINT("entered command mode\r\n");
|
475 |
|
476 |
|
477 |
// set baud on xbee
|
478 |
#if (XBEE_BAUD == 115200) |
479 |
xbee_send_string((uint8_t*)"ATBD7\r");
|
480 |
#elif (XBEE_BAUD == 57600) |
481 |
xbee_send_string((uint8_t*)"ATBD6\r");
|
482 |
#elif (XBEE_BAUD == 38400) |
483 |
xbee_send_string((uint8_t*)"ATBD5\r");
|
484 |
#elif (XBEE_BAUD == 19200) |
485 |
xbee_send_string((uint8_t*)"ATBD4\r");
|
486 |
#elif (XBEE_BAUD == 9600) |
487 |
// already at this baud rate
|
488 |
xbee_send_string("ATBD3\r\n");
|
489 |
#else
|
490 |
WL_DEBUG_PRINT("undefined baud rate\r\n");
|
491 |
return WL_ERROR_BAUD;
|
492 |
#endif
|
493 |
// exit command mode
|
494 |
xbee_wait_for_ok(); |
495 |
WL_DEBUG_PRINT("got ok from baud reset\r\n");
|
496 |
xbee_send_string((uint8_t*)"ATCN\r");
|
497 |
xbee_wait_for_ok(); |
498 |
WL_DEBUG_PRINT("got ok from exiting command mode\r\n");
|
499 |
|
500 |
// set UART baud
|
501 |
#ifdef FIREFLY
|
502 |
#if (XBEE_BAUD == 115200) |
503 |
UBRR0H = 0x00;
|
504 |
UBRR0L = 8;
|
505 |
#elif (XBEE_BAUD == 57600) |
506 |
UBRR0H = 0x00;
|
507 |
UBRR0L = 16;
|
508 |
#elif (XBEE_BAUD == 38400) |
509 |
UBRR0H = 0x00;
|
510 |
UBRR0L = 25;
|
511 |
#elif (XBEE_BAUD == 19200) |
512 |
UBRR0H = 0x00;
|
513 |
UBRR0L = 51;
|
514 |
#elif (XBEE_BAUD == 9600) |
515 |
/* this is the default baud rate, so do nothing
|
516 |
UBRR0H = 0x00;
|
517 |
UBRR0L = 103;*/
|
518 |
#else
|
519 |
WL_DEBUG_PRINT("undefined baud rate\r\n");
|
520 |
return WL_ERROR_BUAD;
|
521 |
#endif
|
522 |
#else // Bayboard or robot |
523 |
#if (XBEE_BAUD == 115200) |
524 |
UBRR1H = 0x00;
|
525 |
UBRR1L = 8;
|
526 |
#elif (XBEE_BAUD == 57600) |
527 |
UBRR1H = 0x00;
|
528 |
UBRR1L = 16;
|
529 |
#elif (XBEE_BAUD == 38400) |
530 |
UBRR1H = 0x00;
|
531 |
UBRR1L = 25;
|
532 |
#elif (XBEE_BAUD == 19200) |
533 |
UBRR1H = 0x00;
|
534 |
UBRR1L = 51;
|
535 |
#elif (XBEE_BAUD == 9600) |
536 |
/* this is the default baud rate, so do nothing
|
537 |
UBRR1H = 0x00;
|
538 |
UBRR1L = 103;*/
|
539 |
#else
|
540 |
WL_DEBUG_PRINT("undefined baud rate\r\n");
|
541 |
return WL_ERROR_BUAD;
|
542 |
#endif
|
543 |
#endif
|
544 |
// wait one second for the baud change to stabalize
|
545 |
delay_ms(1000);
|
546 |
|
547 |
// enter command mode
|
548 |
WL_DEBUG_PRINT("entering command mode 2\r\n");
|
549 |
xbee_send_string((uint8_t*)"+++");
|
550 |
xbee_wait_for_ok(); |
551 |
WL_DEBUG_PRINT("entered command mode 2\r\n");
|
552 |
|
553 |
/*if (xbee_enter_api_mode() != 0) {
|
554 |
WL_DEBUG_PRINT("can't enter api mode\r\n");
|
555 |
return -1;
|
556 |
}*/
|
557 |
xbee_send_string((uint8_t*)"ATAP 1\r");
|
558 |
xbee_wait_for_ok(); |
559 |
|
560 |
WL_DEBUG_PRINT("Entered api mode.\r\n");
|
561 |
|
562 |
if (xbee_exit_command_mode() != 0) { |
563 |
WL_DEBUG_PRINT("can't exit command mode\r\n");
|
564 |
return -1; |
565 |
} |
566 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status
|
567 |
|
568 |
WL_DEBUG_PRINT("Left command mode.\r\n");
|
569 |
|
570 |
// wait one second for the baud change to stabalize
|
571 |
delay_ms(1000);
|
572 |
|
573 |
// enter command mode
|
574 |
WL_DEBUG_PRINT("entering command mode 2\r\n");
|
575 |
xbee_send_string((uint8_t*)"+++");
|
576 |
xbee_wait_for_ok(); |
577 |
WL_DEBUG_PRINT("entered command mode 2\r\n");
|
578 |
|
579 |
WL_DEBUG_PRINT("before status=");
|
580 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF));
|
581 |
WL_DEBUG_PRINT("\r\n");
|
582 |
|
583 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status
|
584 |
|
585 |
WL_DEBUG_PRINT("after status=");
|
586 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF));
|
587 |
WL_DEBUG_PRINT("\r\n");
|
588 |
|
589 |
// TODO: we should set the MY address to the robot address from eeprom
|
590 |
|
591 |
if (xbee_get_address() == WL_ERROR_XBEE_COMMAND_16BIT) {
|
592 |
WL_DEBUG_PRINT("getting MY address failed\r\n");
|
593 |
} |
594 |
WL_DEBUG_PRINT("MY address successful\r\n");
|
595 |
|
596 |
|
597 |
return WL_SUCCESS;
|
598 |
} |
599 |
|
600 |
/**
|
601 |
* Call when finished using the XBee library.
|
602 |
**/
|
603 |
int8_t xbee_terminate() |
604 |
{ |
605 |
int ret=xbee_exit_api_mode();
|
606 |
if (ret != WL_SUCCESS) {
|
607 |
WL_DEBUG_PRINT("xbee termination failed\r\n");
|
608 |
WL_DEBUG_PRINT_INT(ret); |
609 |
WL_DEBUG_PRINT("|\r\n");
|
610 |
return WL_ERROR_TERMINATION_FAILED;
|
611 |
} |
612 |
setStatus(XBEE_NOT_INITD,XBEE_NOT_INITD); // clean initd status
|
613 |
return WL_SUCCESS;
|
614 |
} |
615 |
|
616 |
/**
|
617 |
* Sends a character to the XBee.
|
618 |
*
|
619 |
* @param c the byte to send
|
620 |
* @return 0 for success, nonzero for failure
|
621 |
**/
|
622 |
int8_t xbee_putc(uint8_t c) { |
623 |
|
624 |
// Wait until buffer is clear for sending
|
625 |
// Then load buffer with your character
|
626 |
|
627 |
WL_DEBUG_PRINT("xbee_putc:");
|
628 |
WL_DEBUG_PRINT_HEX(c); |
629 |
WL_DEBUG_PRINT("|\r\n");
|
630 |
|
631 |
/*#ifdef FIREFLY
|
632 |
loop_until_bit_is_set(UCSR0A, UDRE0);
|
633 |
UDR0 = c;
|
634 |
#else*/
|
635 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
636 |
WL_DEBUG_PRINT_HEX(UCSR1A&TXC1); |
637 |
UDR1 = c; |
638 |
//#endif
|
639 |
|
640 |
return WL_SUCCESS;
|
641 |
} |
642 |
|
643 |
/**
|
644 |
* Returns the first byte in the buffer received from xbee.
|
645 |
* This function blocks execution until a character has been
|
646 |
* received. xbee_init must be called before this function
|
647 |
* may be used.
|
648 |
*
|
649 |
* @return the first character in the xbee buffer, -1 on error
|
650 |
*
|
651 |
* @see xbee_init, xbee_getc_nb
|
652 |
**/
|
653 |
int16_t xbee_getc(void) {
|
654 |
|
655 |
// Wait for the receive buffer to be filled
|
656 |
// Then read the receive buffer
|
657 |
#ifdef FIREFLY
|
658 |
loop_until_bit_is_set(UCSR0A, RXC0); |
659 |
return UDR0;
|
660 |
#else
|
661 |
loop_until_bit_is_set(UCSR1A, RXC1); |
662 |
return UDR1;
|
663 |
#endif
|
664 |
} |
665 |
|
666 |
/**
|
667 |
* Non blocking version of xbee_getc. If a byte is present in the buffer,
|
668 |
* it is returned, otherwise -1 is returned immediately. xbee_init
|
669 |
* must be called before this function can be used.
|
670 |
*
|
671 |
* @param c The received byte. This will be set if a byte has been received.
|
672 |
*
|
673 |
* @return -1 If no byte is available, 0 otherwise, positive for error
|
674 |
*
|
675 |
* @see xbee_getc
|
676 |
**/
|
677 |
int8_t xbee_getc_nb(uint8_t *c) { |
678 |
|
679 |
// check if the receive buffer is filled
|
680 |
#ifdef FIREFLY
|
681 |
if (UCSR0A & (1<<RXC0)) { |
682 |
(*c) = UDR0; |
683 |
#else
|
684 |
if (UCSR1A & (1<<RXC1)) { |
685 |
(*c) = UDR1; |
686 |
#endif
|
687 |
return WL_SUCCESS;
|
688 |
} |
689 |
return -1; // Return empty |
690 |
} |
691 |
|
692 |
/**
|
693 |
* Send a buffer buf of size bytes to the XBee.
|
694 |
*
|
695 |
* @param buf the buffer of data to send
|
696 |
* @param size the number of bytes to send
|
697 |
**/
|
698 |
int8_t xbee_send(uint8_t* buf, uint16_t size) |
699 |
{ |
700 |
uint16_t i=0; // check if we need this variable |
701 |
while(i<size) {
|
702 |
if (xbee_putc(buf[i++]) != WL_SUCCESS)
|
703 |
return WL_ERROR_SEND;
|
704 |
} |
705 |
|
706 |
return WL_SUCCESS;
|
707 |
} |
708 |
|
709 |
/**
|
710 |
* Sends a string to the XBee.
|
711 |
*
|
712 |
* @param c the string to send to the XBEE
|
713 |
**/
|
714 |
static int8_t xbee_send_string(uint8_t* c)
|
715 |
{ |
716 |
return xbee_send(c, strlen((char*)c)); |
717 |
} |
718 |
|
719 |
|
720 |
/**
|
721 |
* Enter into command mode.
|
722 |
**/
|
723 |
static int8_t xbee_enter_command_mode(void) |
724 |
{ |
725 |
if (xbee_send_string((uint8_t*)"+++") != WL_SUCCESS) { |
726 |
return WL_ERROR_XBEE_COMMAND;
|
727 |
} |
728 |
WL_DEBUG_PRINT("sent command +++|");
|
729 |
|
730 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
731 |
return WL_ERROR_XBEE_COMMAND;
|
732 |
} |
733 |
WL_DEBUG_PRINT("got OK\r\n");
|
734 |
|
735 |
return WL_SUCCESS;
|
736 |
} |
737 |
|
738 |
/**
|
739 |
* Exit from command mode.
|
740 |
**/
|
741 |
static int8_t xbee_exit_command_mode()
|
742 |
{ |
743 |
if (xbee_send_string((uint8_t*)"ATCN\r") != 0) { |
744 |
return WL_ERROR_SEND;
|
745 |
} |
746 |
xbee_wait_for_ok(); |
747 |
|
748 |
return WL_SUCCESS;
|
749 |
} |
750 |
|
751 |
/**
|
752 |
* Enter API mode.
|
753 |
**/
|
754 |
static int8_t xbee_enter_api_mode(void) { |
755 |
if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) { |
756 |
return WL_ERROR_SEND;
|
757 |
} |
758 |
if (xbee_wait_for_ok() != 0) { |
759 |
WL_DEBUG_PRINT("failed to enter API mode\r\n");
|
760 |
return WL_ERROR_SEND;
|
761 |
} |
762 |
WL_DEBUG_PRINT("got OK after entering API mode\r\n");
|
763 |
|
764 |
return WL_SUCCESS;
|
765 |
} |
766 |
|
767 |
/**
|
768 |
* Enter API mode 2.
|
769 |
**/
|
770 |
static int8_t xbee_enter_api_mode2(void) { |
771 |
if (xbee_send_string((uint8_t*)"ATAP 2\r") != 0) { |
772 |
return WL_ERROR_SEND;
|
773 |
} |
774 |
if (xbee_wait_for_ok() != 0) { |
775 |
WL_DEBUG_PRINT("failed to enter API mode2\r\n");
|
776 |
return WL_ERROR_SEND;
|
777 |
} |
778 |
WL_DEBUG_PRINT("got OK after entering API mode2\r\n");
|
779 |
|
780 |
setStatus(XBEE_API_MASK,XBEE_API_ESCAPE); // set status
|
781 |
|
782 |
return WL_SUCCESS;
|
783 |
} |
784 |
|
785 |
/**
|
786 |
* Exit API mode.
|
787 |
**/
|
788 |
static int8_t xbee_exit_api_mode()
|
789 |
{ |
790 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
791 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
792 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
793 |
WL_DEBUG_PRINT("now exiting API mode\r\n");
|
794 |
|
795 |
int16_t i=0;
|
796 |
// change status to command wait
|
797 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
798 |
xbee_send_modify_at_command((uint8_t*)"AP",(uint8_t*)"0",1); // send command |
799 |
// wait for up to 30 ms
|
800 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
801 |
delay_us(1); // wait 3us |
802 |
} |
803 |
if (i < 1000 && xbee_command[0] == 'A' && xbee_command[1] == 'P') { |
804 |
WL_DEBUG_PRINT("done exiting API mode\r\n");
|
805 |
i = WL_SUCCESS; |
806 |
} else {
|
807 |
WL_DEBUG_PRINT("failed to exit API mode\r\n");
|
808 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
809 |
} |
810 |
setStatus(XBEE_API_MASK,XBEE_API_OFF); // reset status
|
811 |
return (int8_t)i; // return |
812 |
} |
813 |
|
814 |
/**
|
815 |
* Wait until the string "OK\r" is received from the XBee.
|
816 |
**/
|
817 |
static int8_t xbee_wait_for_ok()
|
818 |
{ |
819 |
return xbee_wait_for_string((uint8_t*)"OK\r", 3); |
820 |
} |
821 |
|
822 |
/**
|
823 |
* Delay until the specified string is received from
|
824 |
* the XBee.
|
825 |
*
|
826 |
* Only works when not in API mode
|
827 |
*
|
828 |
* @param s the string to receive
|
829 |
* @param len the length of the string
|
830 |
**/
|
831 |
static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len)
|
832 |
{ |
833 |
uint8_t i=0;
|
834 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); // set status flag
|
835 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
836 |
// wait until the response is received (only wait 1 second)
|
837 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
838 |
delay_us(1);
|
839 |
} |
840 |
// check response
|
841 |
if (i >= 1000 || memcmp(s,xbee_basic_buf,len) != 0) { |
842 |
// bad response
|
843 |
WL_DEBUG_PRINT("Bad response when waiting for string ");
|
844 |
WL_DEBUG_PRINT(s); |
845 |
WL_DEBUG_PRINT("\r\n");
|
846 |
return -1; |
847 |
} |
848 |
|
849 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status
|
850 |
} |
851 |
|
852 |
WL_DEBUG_PRINT("|\r\ndone waiting for string. interrupt status=");
|
853 |
WL_DEBUG_PRINT_INT(step); |
854 |
WL_DEBUG_PRINT("\r\n");
|
855 |
|
856 |
return 0; |
857 |
} |
858 |
|
859 |
/**
|
860 |
* Delay until we receive a command response.
|
861 |
* (either OK\r or some actual value)
|
862 |
*
|
863 |
* Only works when not in API mode
|
864 |
*
|
865 |
* @param s the string to store the response in
|
866 |
* @param len the length of the string
|
867 |
*/
|
868 |
static int8_t xbee_wait_for_response(uint8_t* s, int16_t len) {
|
869 |
uint8_t i=0;
|
870 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
871 |
// wait until the response is received (only wait 1 second)
|
872 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
873 |
delay_us(1);
|
874 |
} |
875 |
// check response
|
876 |
if (i >= 1000) { |
877 |
return -1; |
878 |
} else {
|
879 |
i=strcspn((char*)xbee_basic_buf,"\r"); |
880 |
if (i<PACKET_BUFFER_SIZE) {
|
881 |
memcpy(s,xbee_basic_buf,i); |
882 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear response
|
883 |
return 0; |
884 |
} |
885 |
else
|
886 |
return -1; |
887 |
} |
888 |
} |
889 |
// TODO: do something for API mode
|
890 |
|
891 |
return 0; |
892 |
} |
893 |
|
894 |
/** TODO: since we don't use this, do we need it?
|
895 |
*
|
896 |
* Verifies that the packets checksum is correct.
|
897 |
* (If the checksum is correct, the sum of the bytes
|
898 |
* is 0xFF.)
|
899 |
*
|
900 |
* @param packet the packet received. This includes the first
|
901 |
* three bytes, which are header information from the XBee.
|
902 |
*
|
903 |
* @param len The length of the packet received from the XBee
|
904 |
*
|
905 |
* @return 0 if the checksum is incorrect, nonzero
|
906 |
* otherwise
|
907 |
**/
|
908 |
int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len) |
909 |
{ |
910 |
uint8_t sum = 0;
|
911 |
while(--len > 0) { |
912 |
sum += packet[len]; |
913 |
} |
914 |
sum += packet[0];
|
915 |
return (sum == 0xFF); |
916 |
} |
917 |
|
918 |
/**
|
919 |
* Returns the checksum of the given packet.
|
920 |
*
|
921 |
* @param buf the data for the packet to send
|
922 |
* @param len the length of the packet in bytes
|
923 |
*
|
924 |
* @return the checksum of the packet, which will
|
925 |
* become the last byte sent in the packet
|
926 |
**/
|
927 |
uint8_t xbee_compute_checksum(uint8_t* buf, uint16_t len) |
928 |
{ |
929 |
uint8_t sum = 0;
|
930 |
while(--len > 0) { |
931 |
sum += buf[len]; |
932 |
} |
933 |
sum += buf[0];
|
934 |
return 0xFF - sum; |
935 |
} |
936 |
|
937 |
/**
|
938 |
* Adds buf to the previous checksum total
|
939 |
*
|
940 |
* @param buf a byte buffer to add to the checksum
|
941 |
* @param len the length of the buffer
|
942 |
* @param sum the previous sum
|
943 |
*
|
944 |
* @return error code
|
945 |
**/
|
946 |
int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum) { |
947 |
if (buf == NULL || sum == NULL) |
948 |
return WL_ERROR_ARGUMENT;
|
949 |
while(--len > 0) { |
950 |
*sum += buf[len]; |
951 |
} |
952 |
*sum += buf[0];
|
953 |
return WL_SUCCESS;
|
954 |
} |
955 |
|
956 |
|
957 |
/**
|
958 |
* Sends header information. Header information includes
|
959 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
960 |
*
|
961 |
* @param type the packet type
|
962 |
* @param len the size in bytes of the packet data
|
963 |
*
|
964 |
**/
|
965 |
int8_t xbee_send_header(uint8_t type, uint16_t len) |
966 |
{ |
967 |
//packet prefix
|
968 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
969 |
return WL_ERROR_SEND;
|
970 |
if (xbee_putc((uint8_t)((len & 0xFF00) >> 8)) != WL_SUCCESS) |
971 |
return WL_ERROR_SEND;
|
972 |
if (xbee_putc((uint8_t)(len & 0x00FF)) != WL_SUCCESS) |
973 |
return WL_ERROR_SEND;
|
974 |
|
975 |
return WL_SUCCESS;
|
976 |
} |
977 |
|
978 |
/**
|
979 |
* Adds header information and checksum to the given
|
980 |
* packet and sends it. Header information includes
|
981 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
982 |
*
|
983 |
* @param buf the packet data
|
984 |
* @param len the size in bytes of the packet data
|
985 |
*
|
986 |
**/
|
987 |
static int8_t xbee_send_frame(uint8_t* buf, uint16_t len)
|
988 |
{ |
989 |
uint8_t checksum = xbee_compute_checksum(buf, len); |
990 |
|
991 |
//packet prefix
|
992 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
993 |
return WL_ERROR_SEND;
|
994 |
if (xbee_putc((uint8_t)((len & 0xFF00) >> 8)) != WL_SUCCESS) |
995 |
return WL_ERROR_SEND;
|
996 |
if (xbee_putc((uint8_t)(len & 0x00FF)) != WL_SUCCESS) |
997 |
return WL_ERROR_SEND;
|
998 |
|
999 |
if (xbee_send(buf, len) != WL_SUCCESS)
|
1000 |
return WL_ERROR_SEND;
|
1001 |
|
1002 |
if (xbee_putc(checksum) != WL_SUCCESS)
|
1003 |
return WL_ERROR_SEND;
|
1004 |
|
1005 |
return WL_SUCCESS;
|
1006 |
} |
1007 |
|
1008 |
/**
|
1009 |
* Sends an AT command to read a parameter.
|
1010 |
*
|
1011 |
* @param command the AT command to send. For exmaple,
|
1012 |
* use ID to read the PAN ID and MY to return the XBee ID.
|
1013 |
* See the XBee reference guide for a complete listing.
|
1014 |
**/
|
1015 |
int8_t xbee_send_read_at_command(uint8_t* command) |
1016 |
{ |
1017 |
return xbee_send_modify_at_command(command, NULL, 0); |
1018 |
} |
1019 |
|
1020 |
/**
|
1021 |
* Sends the given AT command.
|
1022 |
*
|
1023 |
* @param command the AT command to send (e.g., MY, ID)
|
1024 |
* @param value the value to pass as a parameter
|
1025 |
* (or NULL if there is no parameter)
|
1026 |
**/
|
1027 |
static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len)
|
1028 |
{ |
1029 |
uint8_t buf[12];
|
1030 |
|
1031 |
buf[0] = XBEE_FRAME_AT_COMMAND;
|
1032 |
buf[1] = 1; |
1033 |
buf[2] = command[0]; |
1034 |
buf[3] = command[1]; |
1035 |
if (value != NULL) |
1036 |
{ |
1037 |
if (len > 8) |
1038 |
{ |
1039 |
WL_DEBUG_PRINT("AT Command too large.\r\n");
|
1040 |
return WL_ERROR_ARGUMENT;
|
1041 |
} |
1042 |
memcpy(buf+4,value,len);
|
1043 |
} |
1044 |
|
1045 |
return xbee_send_frame(buf, 4 + len); |
1046 |
} |
1047 |
|
1048 |
/**
|
1049 |
* Send the specified packet.
|
1050 |
*
|
1051 |
* @param packet the packet data to send
|
1052 |
* @param len the number of bytes in the packet
|
1053 |
*
|
1054 |
* @param dest the ID of the XBee to send the packet to,
|
1055 |
* or XBEE_BROADCAST to send the message to all robots
|
1056 |
* in the PAN.
|
1057 |
*
|
1058 |
* @param options a combination of the flags
|
1059 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
|
1060 |
* XBEE_OPTIONS_BROADCAST_ALL_PANS
|
1061 |
*
|
1062 |
* @param frame the frame number to associate this packet
|
1063 |
* with. This will be used to identify the response when
|
1064 |
* the XBee alerts us as to whether or not our message
|
1065 |
* was received.
|
1066 |
**/
|
1067 |
int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame) |
1068 |
{ |
1069 |
uint8_t sum = XBEE_FRAME_TX_REQUEST_16; |
1070 |
uint8_t i = 0;
|
1071 |
|
1072 |
if (len > 100) |
1073 |
{ |
1074 |
WL_DEBUG_PRINT("Packet is too large.\r\n");
|
1075 |
return WL_ERROR_ARGUMENT;
|
1076 |
} |
1077 |
|
1078 |
// calculate checksum
|
1079 |
for(;i<len;i++)
|
1080 |
sum += packet[len]; |
1081 |
sum += frame; |
1082 |
sum += (dest&0xFF00) >> 8; |
1083 |
sum += dest&0x00FF;
|
1084 |
sum += options; |
1085 |
sum = 0xFF - sum;
|
1086 |
|
1087 |
//packet prefix
|
1088 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
1089 |
return WL_ERROR_SEND;
|
1090 |
if (xbee_putc(0x00) != WL_SUCCESS) |
1091 |
return WL_ERROR_SEND;
|
1092 |
if (xbee_putc(len+5) != WL_SUCCESS) |
1093 |
return WL_ERROR_SEND;
|
1094 |
|
1095 |
//send header for TX request
|
1096 |
if (xbee_putc(XBEE_FRAME_TX_REQUEST_16) != WL_SUCCESS)
|
1097 |
return WL_ERROR_SEND;
|
1098 |
if (xbee_putc(frame) != WL_SUCCESS)
|
1099 |
return WL_ERROR_SEND;
|
1100 |
if (xbee_putc((uint8_t)((dest&0xFF00) >> 8)) != WL_SUCCESS) |
1101 |
return WL_ERROR_SEND;
|
1102 |
if (xbee_putc((uint8_t)(dest&0x00FF)) != WL_SUCCESS) |
1103 |
return WL_ERROR_SEND;
|
1104 |
if (xbee_putc(options) != WL_SUCCESS)
|
1105 |
return WL_ERROR_SEND;
|
1106 |
|
1107 |
// send packet
|
1108 |
if (xbee_send(packet, len) != WL_SUCCESS)
|
1109 |
return WL_ERROR_SEND;
|
1110 |
|
1111 |
// send checksum
|
1112 |
if (xbee_putc(sum) != WL_SUCCESS)
|
1113 |
return WL_ERROR_SEND;
|
1114 |
|
1115 |
return WL_SUCCESS;
|
1116 |
} |
1117 |
|
1118 |
/**
|
1119 |
* Handles modem status packets.
|
1120 |
*
|
1121 |
* @param status the type of status packet received.
|
1122 |
**/
|
1123 |
void xbee_handle_status(uint8_t status)
|
1124 |
{ |
1125 |
switch (status)
|
1126 |
{ |
1127 |
case 0: |
1128 |
WL_DEBUG_PRINT("XBee hardware reset.\r\n");
|
1129 |
break;
|
1130 |
case 1: |
1131 |
WL_DEBUG_PRINT("Watchdog timer reset.\r\n");
|
1132 |
break;
|
1133 |
case 2: |
1134 |
WL_DEBUG_PRINT("Associated.\r\n");
|
1135 |
break;
|
1136 |
case 3: |
1137 |
WL_DEBUG_PRINT("Disassociated.\r\n");
|
1138 |
break;
|
1139 |
case 4: |
1140 |
WL_DEBUG_PRINT("Synchronization lost.\r\n");
|
1141 |
break;
|
1142 |
case 5: |
1143 |
WL_DEBUG_PRINT("Coordinator realignment.\r\n");
|
1144 |
break;
|
1145 |
case 6: |
1146 |
WL_DEBUG_PRINT("Coordinator started.\r\n");
|
1147 |
break;
|
1148 |
} |
1149 |
} |
1150 |
|
1151 |
/**
|
1152 |
* Handles AT command response packets.
|
1153 |
* @param command the two character AT command, e.g. MY or ID
|
1154 |
* @param result 0 for success, 1 for an error
|
1155 |
* @param len the length in bytes of extra
|
1156 |
**/
|
1157 |
static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t result, uint8_t len)
|
1158 |
{ |
1159 |
WL_DEBUG_PRINT("HANDLE AT COMMAND\r\ninterrupt status=");
|
1160 |
WL_DEBUG_PRINT_INT(step); |
1161 |
WL_DEBUG_PRINT("\r\n");
|
1162 |
if (result == 1) |
1163 |
{ |
1164 |
WL_DEBUG_PRINT("Error with AT");
|
1165 |
WL_DEBUG_PRINT(command); |
1166 |
WL_DEBUG_PRINT(" packet. Result = ");
|
1167 |
switch(result) {
|
1168 |
case 1: |
1169 |
WL_DEBUG_PRINT("ERROR\r\n");
|
1170 |
break;
|
1171 |
case 2: |
1172 |
WL_DEBUG_PRINT("Invalid Command\r\n");
|
1173 |
break;
|
1174 |
case 3: |
1175 |
WL_DEBUG_PRINT("Invalid Parameter\r\n");
|
1176 |
break;
|
1177 |
} |
1178 |
return WL_SUCCESS;
|
1179 |
} |
1180 |
WL_DEBUG_PRINT("AT");
|
1181 |
WL_DEBUG_PRINT(command); |
1182 |
WL_DEBUG_PRINT(" command was successful.\r\n");
|
1183 |
|
1184 |
// TODO: program more command responses here (ND, etc)
|
1185 |
switch(command) {
|
1186 |
case ('I'<<8)+'D': // PAN |
1187 |
case ('C'<<8)+'H': // channel |
1188 |
case ('M'<<8)+'Y': // address |
1189 |
// copy command to handler
|
1190 |
xbee_command[0] = (command&0xFF00)>>8; |
1191 |
xbee_command[1] = command&0x00FF; |
1192 |
result = basic_buf_last; |
1193 |
for(command=2;command<len+2;command++) |
1194 |
xbee_command[command] = xbee_basic_buf_get(&result); |
1195 |
break;
|
1196 |
default:
|
1197 |
WL_DEBUG_PRINT("unknown AT command");
|
1198 |
} |
1199 |
|
1200 |
// signal handler that command response is done
|
1201 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); |
1202 |
|
1203 |
return WL_SUCCESS;
|
1204 |
} |
1205 |
|
1206 |
/**
|
1207 |
* Sets the personal area network id.
|
1208 |
*
|
1209 |
* @param id the new personal area network (PAN) id
|
1210 |
**/
|
1211 |
int8_t xbee_set_pan_id(uint16_t id) |
1212 |
{ |
1213 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1214 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1215 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1216 |
|
1217 |
int16_t i=0;
|
1218 |
// change status to command wait
|
1219 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1220 |
xbee_send_modify_at_command((uint8_t*)"ID",(uint8_t*)(&id),2); // send command to set the channel |
1221 |
// wait for up to 30 ms
|
1222 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1223 |
delay_us(1); // wait 3us |
1224 |
} |
1225 |
if (i < 1000 && xbee_command[0] == 'O' && xbee_command[1] == 'K') |
1226 |
i = WL_SUCCESS; |
1227 |
else
|
1228 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1229 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1230 |
return (int8_t)i; // return |
1231 |
} |
1232 |
|
1233 |
/**
|
1234 |
* Get the PAN ID for the XBee.
|
1235 |
*
|
1236 |
* @return the personal area network id, or
|
1237 |
* XBEE_PAN_DEFAULT if it has not yet been set.
|
1238 |
**/
|
1239 |
uint16_t xbee_get_pan_id() |
1240 |
{ |
1241 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1242 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1243 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
1244 |
|
1245 |
uint16_t i=0;
|
1246 |
// change status to command wait
|
1247 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1248 |
xbee_send_read_at_command((uint8_t*)"ID"); // send command to get the PAN |
1249 |
// wait for up to 30 ms
|
1250 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1251 |
delay_us(1); // wait 3us |
1252 |
} |
1253 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
1254 |
i = (xbee_command[2]<<8)|xbee_command[3]; // get PAN |
1255 |
else
|
1256 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code
|
1257 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1258 |
return i; // return |
1259 |
} |
1260 |
|
1261 |
/**
|
1262 |
* Set the channel the XBee is using.
|
1263 |
*
|
1264 |
* @param channel the channel the XBee will not use,
|
1265 |
* between 0x0B and 0x1A
|
1266 |
*
|
1267 |
* @see xbee_get_channel
|
1268 |
**/
|
1269 |
int8_t xbee_set_channel(uint8_t channel) |
1270 |
{ |
1271 |
if (channel < 0x0B || channel > 0x1A) |
1272 |
{ |
1273 |
WL_DEBUG_PRINT("Channel out of range.\r\n");
|
1274 |
return -1; |
1275 |
} |
1276 |
|
1277 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1278 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1279 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1280 |
|
1281 |
int16_t i=0;
|
1282 |
// change status to command wait
|
1283 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1284 |
xbee_send_modify_at_command((uint8_t*)"CH",&channel,1); // send command to set the channel |
1285 |
// wait for up to 30 ms
|
1286 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1287 |
delay_us(1); // wait 3us |
1288 |
} |
1289 |
if (i < 1000 && xbee_command[0] == 'O' && xbee_command[1] == 'K') |
1290 |
i = WL_SUCCESS; |
1291 |
else
|
1292 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1293 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1294 |
return (int8_t)i; // return |
1295 |
} |
1296 |
|
1297 |
/**
|
1298 |
* Returns the channel which the XBee is currently using.
|
1299 |
*
|
1300 |
* @return the channel the XBee is using
|
1301 |
*
|
1302 |
* @see xbee_set_channel
|
1303 |
**/
|
1304 |
int8_t xbee_get_channel(void)
|
1305 |
{ |
1306 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1307 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1308 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1309 |
|
1310 |
int16_t i=0;
|
1311 |
// change status to command wait
|
1312 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1313 |
xbee_send_read_at_command((uint8_t*)"ID"); // send command to get the channel |
1314 |
// wait for up to 30 ms
|
1315 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1316 |
delay_us(1); // wait 3us |
1317 |
} |
1318 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
1319 |
i = xbee_command[2]; // get channel |
1320 |
else
|
1321 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1322 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1323 |
return i; // return |
1324 |
} |
1325 |
|
1326 |
/**
|
1327 |
* Get the 16-bit address of the XBee.
|
1328 |
* This is used to specify who to send messages to
|
1329 |
* and who messages are from.
|
1330 |
*
|
1331 |
* @return the 16-bit address of the XBee.
|
1332 |
**/
|
1333 |
uint16_t xbee_get_address(void)
|
1334 |
{ |
1335 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1336 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1337 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
1338 |
|
1339 |
uint16_t i=0;
|
1340 |
// change status to command wait
|
1341 |
WL_DEBUG_PRINT("\r\nbefore status=");
|
1342 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF));
|
1343 |
WL_DEBUG_PRINT("\r\n");
|
1344 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1345 |
WL_DEBUG_PRINT("after status=");
|
1346 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF));
|
1347 |
WL_DEBUG_PRINT("\r\n");
|
1348 |
xbee_send_read_at_command((uint8_t*)"MY"); // send command to get the address |
1349 |
// wait for up to 30 ms
|
1350 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1351 |
delay_us(1); // wait 3us |
1352 |
} |
1353 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') |
1354 |
i = (xbee_command[2]<<8)+xbee_command[3]; // get address |
1355 |
else
|
1356 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code
|
1357 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1358 |
WL_DEBUG_PRINT("get MY address, interrupt status=");
|
1359 |
WL_DEBUG_PRINT_INT(step); |
1360 |
WL_DEBUG_PRINT("\r\n");
|
1361 |
return i; // return |
1362 |
} |
1363 |
|
1364 |
/**@} **/ // end xbee group |
1365 |
|