Colony

#include <dragonfly_lib.h>

#include <wl_defs.h>

#include "xbee.h"

#define ROBOT

#define WL_DEBUG

/*

 * This function tests the xbee, returning the results to teraterm

 *

 * 

 */

int testxbee(void) {

  unsigned char buf[100];

  int i=0;

        usb_init();

        usb_puts("usb turned on, test starting:\r\n");

  int ret = xbee_init();

  if (ret != WL_SUCCESS) {

    usb_puts("xbee_init() failed\r\n");

    usb_puti(ret);

    usb_puts("|\r\n");

    return -1;

  } else {

    usb_puts("xbee_init successful\r\n");

  }

        usb_puts("\r\n\n");

        delay_ms(1000);

  // check registers

  WL_DEBUG_PRINT("receive interrupt flag(80)=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<RXCIE1));

  WL_DEBUG_PRINT("|\r\nreceive flag(10)=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<RXEN1));

  WL_DEBUG_PRINT("|\r\ntransmit flag(08)=");

  WL_DEBUG_PRINT_HEX(UCSR1B&(1<<TXEN1));

  WL_DEBUG_PRINT("|\r\ncharacter size(06)=");

  WL_DEBUG_PRINT_HEX(UCSR1C&((1<<UCSZ10)|(1<<UCSZ11)));

  WL_DEBUG_PRINT("|\r\ncharacter size2(00)=");

  WL_DEBUG_PRINT_HEX((UCSR1B&(1<<UCSZ12))|(0<<UCSZ12));

  WL_DEBUG_PRINT("|\r\n");

        // try getting xbee address

  uint16_t address = xbee_get_address();

  if(address != WL_ERROR_XBEE_COMMAND_16BIT) {

    usb_puts("MY address:");

    usb_puth8((uint8_t)(address>>8));

    usb_puth8((uint8_t)(address&0xFF)); 

    usb_puts("\r\n");

  } else {

    usb_puts("error getting MY address\r\n");

  }

  // try setting channel

  /*xbee_set_channel(0x0F);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  usb_puts("\r\nxbee set channel works\r\n\r\n");

  wl_set_channel(0x16);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }  

  usb_puts("\r\nwireless set channel works\r\n");*/

  // scan all xbees in network

  /*xbee_send_read_at_command("ND");

  i=0;

  while(i < 1000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      i++;

    }

  }*/

  // end of tests

  if (xbee_terminate() != 0) {

    usb_puts("xbee_terminate error\r\n");

  } else {

    usb_puts("xbee_terminate success\r\n");

  }

  usb_puts("testxbee done\r\n\r\n");

        return 0;

}