root / branches / wireless / code / projects / unit_tests / xbee.h.bak @ 1646
History | View | Annotate | Download (4.4 KB)
1 | 1624 | dsschult | /** |
---|---|---|---|
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.h |
||
28 | * @brief Contains definitions for using the XBee |
||
29 | * |
||
30 | * Contains definitions for interfacing with the |
||
31 | * XBee module, from either a robot or a computer. |
||
32 | * To use a robot, define ROBOT in wl_defs.h, and |
||
33 | * to use a computer, don't define ROBOT. |
||
34 | * |
||
35 | * @author Colony Project, CMU Robotics Club |
||
36 | **/ |
||
37 | |||
38 | #ifndef XBEE_H |
||
39 | #define XBEE_H |
||
40 | |||
41 | // need this for C99 int types |
||
42 | #ifndef STDINT_H |
||
43 | #define STDINT_H |
||
44 | #include <stdint.h> |
||
45 | #endif |
||
46 | |||
47 | |||
48 | /** |
||
49 | * @defgroup xbee XBee |
||
50 | * @brief Interface with the XBee module |
||
51 | * |
||
52 | * Interface with the XBee module. |
||
53 | * |
||
54 | * @{ |
||
55 | **/ |
||
56 | |||
57 | /**@defgroup xbee_const xbee constants |
||
58 | * @brief These are constants used for the xbee module. |
||
59 | * @{ **/ |
||
60 | |||
61 | #ifndef XBEE_BAUD |
||
62 | /** @brief The XBee baud rate **/ |
||
63 | #define XBEE_BAUD 9600 //115200 |
||
64 | #endif |
||
65 | |||
66 | /**@name xbee options |
||
67 | * @{ **/ |
||
68 | |||
69 | /**@brief Unset PAN, uses XBee default **/ |
||
70 | #define XBEE_PAN_DEFAULT 0xFFFF |
||
71 | /**@brief Unset channel, uses XBee default **/ |
||
72 | #define XBEE_CHANNEL_DEFAULT 0 |
||
73 | /**@brief Broadcast to all robots in the PAN **/ |
||
74 | #define XBEE_BROADCAST 0xFFFF |
||
75 | /**@brief No special options **/ |
||
76 | #define XBEE_OPTIONS_NONE 0x00 |
||
77 | /**@brief Do not receive a TX_STATUS message from this packet **/ |
||
78 | #define XBEE_OPTIONS_DISABLE_RESPONSE 0x01 |
||
79 | /**@brief Send the packet to all PANS **/ |
||
80 | #define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04 |
||
81 | /**@brief A transmit status packet **/ |
||
82 | #define XBEE_TX_STATUS 0x89 |
||
83 | /**@brief A packet received from another XBee **/ |
||
84 | #define XBEE_RX 0x81 |
||
85 | |||
86 | /**@} |
||
87 | * @name xbee frame types |
||
88 | * @{ **/ |
||
89 | |||
90 | // TODO: add comments for all of these definitions |
||
91 | |||
92 | /*Frame Types*/ |
||
93 | #define XBEE_FRAME_START 0x7E |
||
94 | #define XBEE_FRAME_STATUS 0x8A |
||
95 | #define XBEE_FRAME_AT_COMMAND 0x08 |
||
96 | #define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88 |
||
97 | #define XBEE_FRAME_TX_REQUEST_64 0x00 |
||
98 | #define XBEE_FRAME_TX_REQUEST_16 0x01 |
||
99 | #define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS |
||
100 | #define XBEE_FRAME_RX_64 0x80 |
||
101 | #define XBEE_FRAME_RX_16 XBEE_RX |
||
102 | |||
103 | /** @} **/ |
||
104 | |||
105 | /**@} **/ // end const group |
||
106 | |||
107 | /** |
||
108 | * @defgroup xbee_funcs Xbee Functions |
||
109 | * @brief These are the public xbee functions. |
||
110 | * @{ |
||
111 | **/ |
||
112 | |||
113 | /**@brief Initialize the XBee library **/ |
||
114 | int8_t xbee_init(void); |
||
115 | /**@brief Uninitialize the XBee library **/ |
||
116 | int8_t xbee_terminate(void); |
||
117 | /**@brief Send a byte to the xbee **/ |
||
118 | int8_t xbee_putc(uint8_t c); |
||
119 | /**@brief Read a byte form the xbee **/ |
||
120 | int16_t xbee_getc(void); |
||
121 | /**@brief Read a byte from the xbee (nonblocking) **/ |
||
122 | int8_t xbee_getc_nb(uint8_t *c); |
||
123 | /**@brief Send an array of bytes to the xbee **/ |
||
124 | int8_t xbee_send(uint8_t* buf, uint16_t size); |
||
125 | /**@brief Add a buffer to the checksum value **/ |
||
126 | int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum); |
||
127 | /**@brief Send a frame header to the xbee **/ |
||
128 | 1642 | dsschult | int8_t xbee_send_header(uint16_t len); |
129 | 1624 | dsschult | /**@brief Send a packet to the XBee **/ |
130 | int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame); |
||
131 | /**@brief Set the PAN ID for the XBee **/ |
||
132 | 1642 | dsschult | int8_t xbee_set_pan(uint16_t id); |
133 | 1624 | dsschult | /**@brief Get the XBee's PAN ID **/ |
134 | 1642 | dsschult | uint16_t xbee_get_pan(void); |
135 | 1624 | dsschult | /**@brief Set the channel the XBee is currently using **/ |
136 | int8_t xbee_set_channel(uint8_t channel); |
||
137 | /**@brief Get the channel the XBee is currently using **/ |
||
138 | int8_t xbee_get_channel(void); |
||
139 | /**@brief Get the XBee's 16-bit address **/ |
||
140 | uint16_t xbee_get_address(void); |
||
141 | /**@brief Reset XBee **/ |
||
142 | int8_t xbee_reset(void); // TODO: implement this function |
||
143 | |||
144 | /**@} **/ //end xbee_funcs group |
||
145 | |||
146 | /**@} **/ //end defgroup |
||
147 | |||
148 | #endif |