Revision 1646
wireless: wireless2.c
branches/wireless/code/projects/unit_tests/xbee.h | ||
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/** |
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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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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file xbee.h |
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* @brief Contains definitions for using the XBee |
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* |
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* Contains definitions for interfacing with the |
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* XBee module, from either a robot or a computer. |
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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 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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// 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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* Interface with the XBee module. |
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* |
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* @{ |
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**/ |
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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 9600 //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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#define XBEE_CHANNEL_DEFAULT 0 |
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/**@brief Broadcast to all robots in the PAN **/ |
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#define XBEE_BROADCAST 0xFFFF |
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/**@brief No special options **/ |
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#define XBEE_OPTIONS_NONE 0x00 |
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/**@brief Do not receive a TX_STATUS message from this packet **/ |
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#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01 |
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/**@brief Send the packet to all PANS **/ |
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#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04 |
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/**@brief A transmit status packet **/ |
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#define XBEE_TX_STATUS 0x89 |
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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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int8_t xbee_init(void); |
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/**@brief Uninitialize the XBee library **/ |
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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(uint16_t len); |
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/**@brief Send a packet to the XBee **/ |
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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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int8_t xbee_set_pan(uint16_t id); |
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/**@brief Get the XBee's PAN ID **/ |
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uint16_t xbee_get_pan(void); |
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/**@brief Set the channel the XBee is currently using **/ |
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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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int8_t xbee_get_channel(void); |
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/**@brief Get the XBee's 16-bit address **/ |
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uint16_t xbee_get_address(void); |
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/**@brief Reset XBee **/ |
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int8_t xbee_reset(void); // TODO: implement this function |
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/**@} **/ //end xbee_funcs group |
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/**@} **/ //end defgroup |
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#endif |
branches/wireless/code/projects/unit_tests/wireless.h | ||
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/** |
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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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* files (the "Software"), to deal in the Software without |
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7 |
* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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9 |
* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file wireless.h |
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* @brief Contains definitions for using the wireless library |
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* |
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* Contains definitions for interfacing with the |
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* wireless library. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef WIRELESS_H |
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#define WIRELESS_H |
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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 wireless Wireless |
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* @brief Interface with the wireless library |
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* |
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* Interface with the wireless library. |
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* |
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* @{ |
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**/ |
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/**@defgroup wl_defines Public Constants |
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* @{ **/ |
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/**@brief basic group code **/ |
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#define BASIC UINT8_C(0) |
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/**@brief global scope **/ |
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#define GLOBAL UINT8_C(0) |
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/**@brief local pan scope **/ |
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#define PAN UINT8_C(1) |
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/**@brief broadcast address **/ |
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#define BROADCAST UINT16_C(0xFFFF) |
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/**@brief reliable (TCP) mode **/ |
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#define RELIABLE UINT8_C(0) |
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/**@brief fast (UDP) mode **/ |
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#define FAST UINT8_C(1) |
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/**@brief standard priority **/ |
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#define NORMAL_PRIORITY UINT8_C(0) |
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/**@brief high priority, handle immediately **/ |
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#define HIGH_PRIORITY UINT8_C(1) |
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/**@brief packet still in sending phase **/ |
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#define SENDING UINT8_C(0) |
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/**@brief packet was send successfully **/ |
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#define ACK_OK UINT8_C(1) |
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/**@brief packet failure - no acknowledgment **/ |
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#define ACK_FAILURE UINT8_C(2) |
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/**@brief packet failure - network too busy **/ |
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#define CCA_FAILURE UINT8_C(3) |
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/**@brief packet handler function pointer type **/ |
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#define FUNC func |
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/**@brief packet handler function pointer type **/ |
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#define FNPTR void (*FUNC)(uint8_t* data,uint8_t length,uint8_t source) |
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// TODO: this max may be too big b/c the packet handler array stores 3*MAX_PACKET_GROUPS bytes |
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/**@brief maximum number of packet groups, size of handler array **/ |
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#define MAX_PACKET_GROUPS UINT8_C(16) |
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/**@brief init_flag when library has not been initialized **/ |
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#define INIT_NO UINT8_C(0) |
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/**@brief init_flag when library has been initialized **/ |
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#define INIT_YES UINT8_C(1) |
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/**@brief numer of reliable sending retries **/ |
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#define NUM_RETRIES UINT8_C(3) |
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/**@} **/ // end defines group |
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/** |
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* @struct PacketGroupHandler |
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* A PacketGroupHandler represents a packet group, and is used to |
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* register a packet group with the wireless library. It contains |
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* a function pointer to the packet handler function and the priority |
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* of the packet group. |
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**/ |
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typedef struct { |
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// function pointer of handler for this packet group |
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FNPTR; |
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// priority for this packet group |
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uint8_t priority; |
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} PacketGroupHandler; |
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static PacketGroupHandler wl_packet_handlers[MAX_PACKET_GROUPS]; |
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/**@defgroup wl_functions Public API Functions |
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* @{ **/ |
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// the init function |
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/**@brief Initialize wireless. **/ |
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int8_t wl_init(void); |
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/**@brief Terminate wireless. **/ |
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int8_t wl_terminate(void); |
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// the send functions |
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/**@brief The core send function. This will take all possible arguments and send all types of packets. **/ |
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int16_t wl_send(uint8_t *data, uint8_t length, uint8_t group, uint8_t scope, uint16_t dest, uint8_t mode); |
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/**@brief Wrapper for core send function that will send a global packet across the current channel. **/ |
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int16_t wl_send_global(uint8_t *data, uint8_t length, uint8_t group); |
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/**@brief Wrapper for core send function that will send a packet across the current channel on the current pan. **/ |
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int16_t wl_send_pan(uint8_t *data, uint8_t length, uint8_t group); |
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/**@brief Wrapper for core send function that will send a packet across the current channel to a specific robot. **/ |
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int16_t wl_send_robot(uint8_t *data, uint8_t length, uint8_t group, uint16_t dest, uint8_t mode); |
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/**@brief Default (i.e. basic) send wrapper. **/ |
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int16_t wl_send_basic(uint8_t *data, uint8_t length); |
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// the ack function |
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/**@brief Returns the number of acknowledgment errors. **/ |
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uint8_t wl_ack_error(void); |
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/**@brief Checks a specific packet for the acknowledgement status. **/ |
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int8_t wl_ack_check(uint8_t packet); |
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/**@brief Resets acknowledgement statistics back to zero. **/ |
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void wl_ack_reset(void); |
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// the receive functions |
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/**@brief The main receive function. Dispatches packets for registered handlers and returns next basic packet if available. **/ |
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int8_t wl_get(char *data, uint8_t length); |
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/**@brief Returns the next basic packet if available. **/ |
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int8_t wl_get_basic(char *data, uint8_t length); |
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/**@brief Dispatches packets for registered handlers. **/ |
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int8_t wl_dispatch(void); |
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// the group register function |
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/**@brief Function to register new packet handlers (for non-default groups only). **/ |
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int8_t wl_register_handler(uint8_t group, FNPTR, uint8_t priority); |
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/**@brief Function to unregister existing packet handlers (for non-default groups only). **/ |
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int8_t wl_unregister_handler(uint8_t group); |
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/**@} **/ //end functions group |
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/**@} **/ //end wireless group |
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#endif |
branches/wireless/code/projects/unit_tests/wl_defs.h | ||
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/** |
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* Copyright (c) 2009 Colony Project |
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* |
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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 |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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/** |
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* @file wl_defs.h |
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* @brief Definitions for Wireless |
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* |
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* Contains definitions for wireless, debugging information, etc. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef WL_DEFS_H |
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#define WL_DEFS_H |
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// create main wireless page documentation |
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/** @mainpage The Wireless Library |
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* |
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* This is the documentation for the Colony wireless library.\n\n |
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* Xbee documentation can be found under @ref xbee \n |
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* Higher level wireless documentation can be found under @ref wireless \n |
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**/ |
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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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// ***** TODO: these next two defines should be moved to makefile options |
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//comment out this line if using a computer hooked up to an xbee |
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#define ROBOT |
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//uncomment this line for debug information |
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#define WL_DEBUG |
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/**@addtogroup wireless |
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* @{ **/ |
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/**@defgroup wl_error Error Codes |
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* @{ **/ |
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/** @brief Success **/ |
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#define WL_SUCCESS INT8_C(0) |
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/** @brief Error code for init failure **/ |
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#define WL_ERROR_INIT_FAILED INT8_C(-1) |
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/** @brief Error code for duplicate init calls **/ |
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#define WL_ERROR_INIT_ALREADY_INITD INT8_C(-2) |
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/** @brief Error code for not calling init **/ |
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#define WL_ERROR_LIBRARY_NOT_INITD INT8_C(-3) |
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/** @brief Error code for failed termination **/ |
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#define WL_ERROR_TERMINATION_FAILED INT8_C(-4) |
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/** @brief Error code for failed packet group registration **/ |
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#define WL_ERROR_FAILED_REGISTRATION INT8_C(-5) |
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/** @brief Error code for failed packet group registration **/ |
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#define WL_ERROR_FAILED_UNREGISTRATION INT8_C(-6) |
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/** @brief Error in arguments **/ |
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#define WL_ERROR_ARGUMENT INT8_C(-7) |
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/** @brief Error code for send failure **/ |
|
93 |
#define WL_ERROR_SEND INT8_C(-10) |
|
94 |
|
|
95 |
/** @brief Error code for a bad group number **/ |
|
96 |
#define WL_ERROR_BAD_GROUP INT8_C(-11) |
|
97 |
|
|
98 |
/** @brief Error code for a bad scope **/ |
|
99 |
#define WL_ERROR_SCOPE INT8_C(-12) |
|
100 |
|
|
101 |
/** @brief Error code for a bad robot address **/ |
|
102 |
#define WL_ERROR_ADDRESS INT8_C(-13) |
|
103 |
|
|
104 |
/** @brief Error code for a bad mode **/ |
|
105 |
#define WL_ERROR_MODE INT8_C(-14) |
|
106 |
|
|
107 |
/** @brief Error code for received paacket destination too small for received packet **/ |
|
108 |
#define WL_ERROR_TOO_SMALL INT8_C(-15) |
|
109 |
|
|
110 |
/** @brief Error code for sending buffer full (the packet was sent, but no retries will be made). **/ |
|
111 |
#define WL_ERROR_SENDING_BUFFER_FULL INT8_C(-16) |
|
112 |
|
|
113 |
/** @brief Error code for failed xbee command **/ |
|
114 |
#define WL_ERROR_XBEE_COMMAND INT8_C(-17) |
|
115 |
|
|
116 |
/** @brief Error code for failed 16bit xbee command **/ |
|
117 |
#define WL_ERROR_XBEE_COMMAND_16BIT 0xFEFE |
|
118 |
|
|
119 |
/** @brief Error code for bad baud rate **/ |
|
120 |
#define WL_ERROR_BAUD INT8_C(-18) |
|
121 |
|
|
122 |
/**@} */ // end error group |
|
123 |
|
|
124 |
// TODO: is this a good size? |
|
125 |
/*Buffer sizes*/ |
|
126 |
#define PACKET_BUFFER_SIZE 128 |
|
127 |
|
|
128 |
/**@} */ // end wireless group |
|
129 |
|
|
130 |
#ifdef WL_DEBUG |
|
131 |
|
|
132 |
#ifdef ROBOT |
|
133 |
#include <serial.h> |
|
134 |
#define WL_DEBUG_PRINT( s ) usb_puts( s ) |
|
135 |
#define WL_DEBUG_PRINT_CHAR( c ) usb_putc( c ) |
|
136 |
#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
|
137 |
#define WL_DEBUG_PRINT_HEX( i ) usb_puth8(i) |
|
138 |
#else |
|
139 |
#define WL_DEBUG_PRINT( s ) printf( s ) |
|
140 |
#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c) |
|
141 |
#define WL_DEBUG_PRINT_INT( i ) printf("%i", i) |
|
142 |
#define WL_DEBUG_PRINT_HEX( i ) printf("%x", i) |
|
143 |
#endif |
|
144 |
|
|
145 |
#else |
|
146 |
|
|
147 |
#define WL_DEBUG_PRINT( s ) |
|
148 |
#define WL_DEBUG_PRINT_CHAR( c ) |
|
149 |
#define WL_DEBUG_PRINT_INT( i ) |
|
150 |
#define WL_DEBUG_PRINT_HEX( i ) |
|
151 |
|
|
152 |
#endif |
|
153 |
|
|
154 |
#endif |
branches/wireless/code/projects/unit_tests/xbee.c | ||
---|---|---|
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 status, 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 = 0xFF; |
|
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 = 0xFF; |
|
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[8]; |
|
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 message[100]; |
|
128 |
|
|
129 |
|
|
130 |
/**@addtogroup xbee |
|
131 |
* @{ **/ |
|
132 |
|
|
133 |
/*Function Implementations*/ |
|
134 |
|
|
135 |
/** |
|
136 |
* Interrupt for the robot. Adds bytes received from the xbee |
|
137 |
* to the buffer. |
|
138 |
**/ |
|
139 |
|
|
140 |
|
|
141 |
#ifndef FIREFLY |
|
142 |
#define PORT UDR1 |
|
143 |
#define FLAG (UCSR1A & (1<<RXC1)) |
|
144 |
ISR(USART1_RX_vect) { |
|
145 |
#else |
|
146 |
#define PORT UDR0 |
|
147 |
#define FLAG (UCSR0A & (1<<RXC0)) |
|
148 |
SIGNAL(SIG_USART0_RECV) |
|
149 |
#endif |
|
150 |
// start of frame |
|
151 |
uint8_t apitype = PORT; // get frame start byte |
|
152 |
uint16_t i=0; |
|
153 |
uint16_t len=0; |
|
154 |
|
|
155 |
/*WL_DEBUG_PRINT("in interrupt|status="); |
|
156 |
WL_DEBUG_PRINT_HEX(xbee_status); |
|
157 |
WL_DEBUG_PRINT("|frame_start="); |
|
158 |
WL_DEBUG_PRINT_HEX(apitype); |
|
159 |
|
|
160 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
|
161 |
WL_DEBUG_PRINT("|API OFF"); |
|
162 |
} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
|
163 |
WL_DEBUG_PRINT("|API ON"); |
|
164 |
} else { |
|
165 |
WL_DEBUG_PRINT("|API ERROR"); |
|
166 |
}*/ |
|
167 |
|
|
168 |
// check that we're in API mode |
|
169 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF || apitype != XBEE_FRAME_START) { |
|
170 |
// not in API mode |
|
171 |
WL_DEBUG_PRINT("|api off branch"); |
|
172 |
|
|
173 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT) { |
|
174 |
// get rest of command and put in basic buf |
|
175 |
xbee_basic_buf[i] = apitype; |
|
176 |
if (xbee_basic_buf[i++] != '\r') { |
|
177 |
while(i < PACKET_BUFFER_SIZE) { |
|
178 |
if (FLAG) { |
|
179 |
xbee_basic_buf[i] = PORT; |
|
180 |
if (xbee_basic_buf[i] == '\r') |
|
181 |
break; |
|
182 |
i++; |
|
183 |
} |
|
184 |
} |
|
185 |
} |
|
186 |
WL_DEBUG_PRINT("got packet, len="); |
|
187 |
WL_DEBUG_PRINT_INT(i); |
|
188 |
WL_DEBUG_PRINT("str="); |
|
189 |
WL_DEBUG_PRINT(xbee_basic_buf); |
|
190 |
// signal handler that command response is done |
|
191 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
|
192 |
} |
|
193 |
WL_DEBUG_PRINT("return\r\n"); |
|
194 |
return; |
|
195 |
} |
|
196 |
//WL_DEBUG_PRINT("|api on branch"); |
|
197 |
|
|
198 |
// get length and type |
|
199 |
char buf[100]; |
|
200 |
uint8_t buf_pos = 18; |
|
201 |
while(i<3) { |
|
202 |
if (FLAG) { |
|
203 |
if (i==0) { |
|
204 |
len |= PORT<<8; |
|
205 |
buf[0] = 'l'; |
|
206 |
buf[1] = 'e'; |
|
207 |
buf[2] = 'n'; |
|
208 |
buf[3] = '_'; |
|
209 |
buf[4] = 'h'; |
|
210 |
buf[5] = 'i'; |
|
211 |
buf[6] = '|'; |
|
212 |
//WL_DEBUG_PRINT("|len_hi"); |
|
213 |
} else if (i==1) { |
|
214 |
len |= PORT; |
|
215 |
buf[7] = 'l'; |
|
216 |
buf[8] = 'e'; |
|
217 |
buf[9] = 'n'; |
|
218 |
buf[10] = '_'; |
|
219 |
buf[11] = 'l'; |
|
220 |
buf[12] = 'o'; |
|
221 |
buf[13] = '|'; |
|
222 |
//WL_DEBUG_PRINT("|len_lo"); |
|
223 |
} else if (i==2) { |
|
224 |
apitype = PORT; |
|
225 |
buf[14] = 'a'; |
|
226 |
buf[15] = 'p'; |
|
227 |
buf[16] = 'i'; |
|
228 |
buf[17] = '|'; |
|
229 |
//WL_DEBUG_PRINT("|GOT APITYPE"); |
|
230 |
} else { |
|
231 |
buf[buf_pos++] = PORT; |
|
232 |
//WL_DEBUG_PRINT("|GOT NEXT"); |
|
233 |
} |
|
234 |
i++; |
|
235 |
} |
|
236 |
} |
|
237 |
|
|
238 |
// do something based on the type |
|
239 |
i=1; |
|
240 |
switch(apitype) { |
|
241 |
case XBEE_FRAME_AT_COMMAND_RESPONSE: { |
|
242 |
// AT command response |
|
243 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
|
244 |
return; // we're currently processing a command, so drop the incoming one ***** TODO: we need to read the whole length of the frame to do this right **** |
|
245 |
uint16_t atcommand=0; |
|
246 |
uint8_t ptr=basic_buf_last; |
|
247 |
while(i<len) { |
|
248 |
if (FLAG) { |
|
249 |
if (i==1) |
|
250 |
apitype = PORT; // get frame id, but ignore it |
|
251 |
else if (i==2) |
|
252 |
atcommand |= PORT<<8; // get command char1 |
|
253 |
else if (i==3) |
|
254 |
atcommand |= PORT; // get command char2 |
|
255 |
else if (i==4) |
|
256 |
apitype = PORT; // get status |
|
257 |
else { |
|
258 |
// put the command response on the basic buf temporarily |
|
259 |
if (xbee_basic_buf_add(&ptr,PORT) != 0) |
|
260 |
break; |
|
261 |
} |
|
262 |
i++; |
|
263 |
} |
|
264 |
} |
|
265 |
// handle AT command |
|
266 |
WL_DEBUG_PRINT("i="); |
|
267 |
WL_DEBUG_PRINT_INT(i); |
|
268 |
WL_DEBUG_PRINT("|len="); |
|
269 |
WL_DEBUG_PRINT_INT(len); |
|
270 |
WL_DEBUG_PRINT("|status:"); |
|
271 |
WL_DEBUG_PRINT_INT(apitype); |
|
272 |
WL_DEBUG_PRINT("|atcommand:"); |
|
273 |
WL_DEBUG_PRINT_CHAR((uint8_t)(atcommand>>8)); |
|
274 |
WL_DEBUG_PRINT_CHAR((uint8_t)(atcommand&0xFF)); |
|
275 |
WL_DEBUG_PRINT("|buf="); |
|
276 |
uint8_t ptr2 = basic_buf_last; |
|
277 |
for(uint8_t j=0;j<i;j++) |
|
278 |
WL_DEBUG_PRINT_HEX(xbee_basic_buf_get(&ptr2)); |
|
279 |
WL_DEBUG_PRINT("|\r\n"); |
|
280 |
xbee_handle_at_command_response(atcommand,apitype,len-5); // TODO: rewrite function |
|
281 |
break; } |
|
282 |
case XBEE_FRAME_TX_STATUS: { |
|
283 |
// TX status |
|
284 |
uint8_t frame_id = 0; |
|
285 |
while(i<len) { |
|
286 |
if (FLAG) { |
|
287 |
if (i==1) |
|
288 |
frame_id = PORT; |
|
289 |
else { |
|
290 |
ackhandle(frame_id,PORT); // handle the status |
|
291 |
break; |
|
292 |
} |
|
293 |
i++; |
|
294 |
} |
|
295 |
} |
|
296 |
break; } |
|
297 |
case XBEE_FRAME_RX_64: { |
|
298 |
// receive a packet with 64bit address |
|
299 |
break; } // TODO: implement this (even if we don't use it) |
|
300 |
case XBEE_FRAME_RX_16: { |
|
301 |
// receive a packet with 16bit address |
|
302 |
uint16_t source = 0; |
|
303 |
uint8_t framenum = 0; |
|
304 |
uint8_t group = 0; |
|
305 |
uint8_t ptr=basic_buf_last; |
|
306 |
while(i<len) { |
|
307 |
if (FLAG) { |
|
308 |
if (i==1) |
|
309 |
source |= PORT<<8; // get source hi byte |
|
310 |
else if (i==2) |
|
311 |
source |= PORT; // get source lo byte |
|
312 |
else if (i==3) |
|
313 |
apitype = PORT; // get RSSI, and ignore |
|
314 |
else if (i==4) |
|
315 |
apitype = PORT; // get options, and ignore |
|
316 |
else if (i==5) { |
|
317 |
framenum = PORT; // get the frame number |
|
318 |
if (check_last_receive(source,framenum) != WL_SUCCESS) { |
|
319 |
// we've already received this frame |
|
320 |
ptr = 0xFF; // signal to skip processing |
|
321 |
break; |
|
322 |
} |
|
323 |
} |
|
324 |
else if (i==6) { |
|
325 |
group = PORT; // get group number |
|
326 |
if (group == 0) { |
|
327 |
ptr = basic_buf_last+1; |
|
328 |
// add source to buffer |
|
329 |
if (xbee_basic_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) |
|
330 |
break; |
|
331 |
if (xbee_basic_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) |
|
332 |
break; |
|
333 |
} else { |
|
334 |
ptr = other_buf_last+1; |
|
335 |
// add source and group to buffer |
|
336 |
if (xbee_other_buf_add(&ptr,group) != 0) |
|
337 |
break; |
|
338 |
if (xbee_other_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) |
|
339 |
break; |
|
340 |
if (xbee_other_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) |
|
341 |
break; |
|
342 |
} |
|
343 |
} |
|
344 |
else { // TODO: handle escaped characters supported by APIv2 |
|
345 |
// put packet data on the correct buffer |
|
346 |
if (group == 0 && xbee_basic_buf_add(&ptr,PORT) != 0) |
|
347 |
break; |
|
348 |
else if (xbee_other_buf_add(&ptr,PORT) != 0) |
|
349 |
break; |
|
350 |
} |
|
351 |
i++; |
|
352 |
} |
|
353 |
} |
|
354 |
if (ptr != 0xFF && i > 6) { |
|
355 |
if (group == 0) { |
|
356 |
xbee_basic_buf[basic_buf_last] = i-6; // set length |
|
357 |
basic_buf_last = ptr; |
|
358 |
} |
|
359 |
else { |
|
360 |
xbee_other_buf[other_buf_last] = i-6; // set length |
|
361 |
// check if we have a high priority group |
|
362 |
for(;;) |
|
363 |
if (HIGH_PRIORITY) { |
|
364 |
// handle receive now |
|
365 |
ptr = 0xFF; |
|
366 |
break; |
|
367 |
} |
|
368 |
if (ptr != 0xFF) { |
|
369 |
// handle receive later |
|
370 |
other_buf_last = ptr; |
|
371 |
} |
|
372 |
} |
|
373 |
} |
|
374 |
break; } |
|
375 |
default: |
|
376 |
WL_DEBUG_PRINT("|BAD APITYPE"); |
|
377 |
} // end of switch statement |
|
378 |
while (1) { |
|
379 |
if (FLAG) { |
|
380 |
apitype = PORT; // get checksum, and ignore |
|
381 |
break; |
|
382 |
} |
|
383 |
} |
|
384 |
buf[buf_pos] = '\0'; |
|
385 |
WL_DEBUG_PRINT("xbee_interrupt_api_mode|"); |
|
386 |
WL_DEBUG_PRINT(buf); |
|
387 |
WL_DEBUG_PRINT("|len="); |
|
388 |
WL_DEBUG_PRINT_INT(len); |
|
389 |
WL_DEBUG_PRINT("|apitype="); |
|
390 |
WL_DEBUG_PRINT_HEX(apitype); |
|
391 |
WL_DEBUG_PRINT("|return\r\n"); |
|
392 |
} // end of interrupt |
|
393 |
|
|
394 |
|
|
395 |
/* adds a byte to the basic buffer */ |
|
396 |
int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte) { |
|
397 |
if (*ptr == basic_buf_first) { |
|
398 |
// buffer full |
|
399 |
WL_DEBUG_PRINT("basic buffer full\r\n"); |
|
400 |
return -1; |
|
401 |
} |
|
402 |
xbee_basic_buf[(*ptr)++] = byte; |
|
403 |
if (*ptr == PACKET_BUFFER_SIZE) |
|
404 |
*ptr = 0; |
|
405 |
return 0; |
|
406 |
} |
|
407 |
/* gets a byte from the basic buffer */ |
|
408 |
uint8_t xbee_basic_buf_get(uint8_t *ptr) { |
|
409 |
uint8_t byte = xbee_basic_buf[(*ptr)++]; |
|
410 |
if (*ptr == PACKET_BUFFER_SIZE) |
|
411 |
*ptr = 0; |
|
412 |
return byte; |
|
413 |
} |
|
414 |
/* adds a byte to the other buffer */ |
|
415 |
int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte) { |
|
416 |
if (*ptr == other_buf_first) { |
|
417 |
// buffer full |
|
418 |
WL_DEBUG_PRINT("other buffer full\r\n"); |
|
419 |
return -1; |
|
420 |
} |
|
421 |
xbee_other_buf[(*ptr)++] = byte; |
|
422 |
if (*ptr == PACKET_BUFFER_SIZE) |
|
423 |
*ptr = 0; |
|
424 |
return 0; |
|
425 |
} |
|
426 |
|
|
427 |
/** |
|
428 |
* Checks if packet is a duplicate |
|
429 |
**/ |
|
430 |
int8_t check_last_receive(uint16_t source,uint8_t framenum) { |
|
431 |
uint8_t i=0; |
|
432 |
for(;i<NUM_LAST_PACKETS;i++) { |
|
433 |
if (lastPacket[i].source == source && lastPacket[i].framenum == framenum) |
|
434 |
return -1; // duplicate packet, so return error |
|
435 |
} |
|
436 |
// save packet source and framenum |
|
437 |
i=getStatus(LAST_PACKET_MASK); |
|
438 |
lastPacket[i].source = source; |
|
439 |
lastPacket[i].framenum = framenum; |
|
440 |
if (++i>=NUM_LAST_PACKETS) |
|
441 |
i = 0; |
|
442 |
setStatus(LAST_PACKET_MASK,i); |
|
443 |
return WL_SUCCESS; |
|
444 |
} |
|
445 |
|
|
446 |
/** status functions **/ |
|
447 |
inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; } |
|
448 |
void setStatus(uint8_t mask,uint8_t value) { xbee_status = ((xbee_status&(~mask))|value); } |
|
449 |
|
|
450 |
|
|
451 |
// test interrupt |
|
452 |
/*ISR(USART1_RX_vect) { |
|
453 |
WL_DEBUG_PRINT("in interrupt|"); |
|
454 |
char c = UDR1; |
|
455 |
WL_DEBUG_PRINT_HEX(c); |
|
456 |
WL_DEBUG_PRINT("|in interrupt"); |
|
457 |
}*/ |
|
458 |
|
|
459 |
|
|
460 |
|
|
461 |
/** |
|
462 |
* Initializes the XBee library so that other functions may be used. |
|
463 |
**/ |
|
464 |
int8_t xbee_init() |
|
465 |
{ |
|
466 |
WL_DEBUG_PRINT("in xbee_init\r\n"); |
|
467 |
|
|
468 |
if(getStatus(XBEE_NOT_INITD) != XBEE_NOT_INITD) { |
|
469 |
return WL_ERROR_INIT_ALREADY_INITD; |
|
470 |
} |
|
471 |
|
|
472 |
// set status |
|
473 |
setStatus(XBEE_NOT_INITD,XBEE_COMMAND_NONE); |
|
474 |
|
|
475 |
// clear last packet buffer |
|
476 |
for(int i=0;i<NUM_LAST_PACKETS;i++) |
|
477 |
lastPacket[i].source = lastPacket[i].framenum = 0; |
|
478 |
|
|
479 |
// Set startup baud rate of 9600 |
|
480 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode |
|
481 |
// Enable receiver and transmitter and the receiving interrupt |
|
482 |
#ifdef FIREFLY |
|
483 |
UBRR0H = 0x00; |
|
484 |
UBRR0L = 103; |
|
485 |
UCSR0A |= (1<<U2X0); |
|
486 |
UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
|
487 |
UCSR0B |= (1<<RXEN0) | (1<<TXEN0) | (1<<RXCIE); |
|
488 |
#else |
|
489 |
// Bayboard or robot |
|
490 |
UBRR1H = 0x00; // baud rate |
|
491 |
UBRR1L = 103; // baud rate |
|
492 |
UCSR1A |= (1<<U2X1); // double transmit speed |
|
493 |
//Enable receiver and transmitter on USART1 |
|
494 |
UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
|
495 |
|
|
496 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode |
|
497 |
UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
|
498 |
|
|
499 |
UCSR1B |= (1<<RXCIE1); // enable receive, transmit (1<<RXCIE) |
|
500 |
#endif |
|
501 |
sei(); |
|
502 |
|
|
503 |
// enter command mode |
|
504 |
WL_DEBUG_PRINT("entering command mode\r\n"); |
|
505 |
xbee_send_string((uint8_t*)"+++"); |
|
506 |
xbee_wait_for_ok(); |
|
507 |
WL_DEBUG_PRINT("entered command mode\r\n"); |
|
508 |
|
|
509 |
|
|
510 |
// set baud on xbee |
|
511 |
#if (XBEE_BAUD == 115200) |
|
512 |
xbee_send_string((uint8_t*)"ATBD7\r"); |
|
513 |
#elif (XBEE_BAUD == 57600) |
|
514 |
xbee_send_string((uint8_t*)"ATBD6\r"); |
|
515 |
#elif (XBEE_BAUD == 38400) |
|
516 |
xbee_send_string((uint8_t*)"ATBD5\r"); |
|
517 |
#elif (XBEE_BAUD == 19200) |
|
518 |
xbee_send_string((uint8_t*)"ATBD4\r"); |
|
519 |
#elif (XBEE_BAUD == 9600) |
|
520 |
// already at this baud rate |
|
521 |
xbee_send_string("ATBD3\r\n"); |
|
522 |
#else |
|
523 |
WL_DEBUG_PRINT("undefined baud rate\r\n"); |
|
524 |
return WL_ERROR_BAUD; |
|
525 |
#endif |
|
526 |
// exit command mode |
|
527 |
xbee_wait_for_ok(); |
|
528 |
WL_DEBUG_PRINT("got ok from baud reset\r\n"); |
|
529 |
xbee_send_string((uint8_t*)"ATCN\r"); |
|
530 |
xbee_wait_for_ok(); |
|
531 |
WL_DEBUG_PRINT("got ok from exiting command mode\r\n"); |
|
532 |
|
|
533 |
// set UART baud |
|
534 |
#ifdef FIREFLY |
|
535 |
#if (XBEE_BAUD == 115200) |
|
536 |
UBRR0H = 0x00; |
|
537 |
UBRR0L = 8; |
|
538 |
#elif (XBEE_BAUD == 57600) |
|
539 |
UBRR0H = 0x00; |
|
540 |
UBRR0L = 16; |
|
541 |
#elif (XBEE_BAUD == 38400) |
|
542 |
UBRR0H = 0x00; |
|
543 |
UBRR0L = 25; |
|
544 |
#elif (XBEE_BAUD == 19200) |
|
545 |
UBRR0H = 0x00; |
|
546 |
UBRR0L = 51; |
|
547 |
#elif (XBEE_BAUD == 9600) |
|
548 |
/* this is the default baud rate, so do nothing |
|
549 |
UBRR0H = 0x00; |
|
550 |
UBRR0L = 103;*/ |
|
551 |
#else |
|
552 |
WL_DEBUG_PRINT("undefined baud rate\r\n"); |
|
553 |
return WL_ERROR_BUAD; |
|
554 |
#endif |
|
555 |
#else // Bayboard or robot |
|
556 |
#if (XBEE_BAUD == 115200) |
|
557 |
UBRR1H = 0x00; |
|
558 |
UBRR1L = 8; |
|
559 |
#elif (XBEE_BAUD == 57600) |
|
560 |
UBRR1H = 0x00; |
|
561 |
UBRR1L = 16; |
|
562 |
#elif (XBEE_BAUD == 38400) |
|
563 |
UBRR1H = 0x00; |
|
564 |
UBRR1L = 25; |
|
565 |
#elif (XBEE_BAUD == 19200) |
|
566 |
UBRR1H = 0x00; |
|
567 |
UBRR1L = 51; |
|
568 |
#elif (XBEE_BAUD == 9600) |
|
569 |
/* this is the default baud rate, so do nothing |
|
570 |
UBRR1H = 0x00; |
|
571 |
UBRR1L = 103;*/ |
|
572 |
#else |
|
573 |
WL_DEBUG_PRINT("undefined baud rate\r\n"); |
|
574 |
return WL_ERROR_BUAD; |
|
575 |
#endif |
|
576 |
#endif |
|
577 |
// wait half second for the baud change to stabalize |
|
578 |
delay_ms(500); |
|
579 |
|
|
580 |
// enter command mode |
|
581 |
WL_DEBUG_PRINT("entering command mode 2\r\n"); |
|
582 |
xbee_send_string((uint8_t*)"+++"); |
|
583 |
xbee_wait_for_ok(); |
|
584 |
WL_DEBUG_PRINT("entered command mode 2\r\n"); |
|
585 |
|
|
586 |
if (xbee_enter_api_mode() != 0) { |
|
587 |
WL_DEBUG_PRINT("can't enter api mode\r\n"); |
|
588 |
return -1; |
|
589 |
} |
|
590 |
/*xbee_send_string((uint8_t*)"ATAP 1\r"); |
|
591 |
xbee_wait_for_ok();*/ |
|
592 |
|
|
593 |
/*WL_DEBUG_PRINT("Entered api mode.\r\n"); |
|
594 |
|
|
595 |
if (xbee_exit_command_mode() != 0) { |
|
596 |
WL_DEBUG_PRINT("can't exit command mode\r\n"); |
|
597 |
return -1; |
|
598 |
} |
|
599 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status |
|
600 |
|
|
601 |
WL_DEBUG_PRINT("Left command mode.\r\n"); |
|
602 |
|
|
603 |
WL_DEBUG_PRINT("before status="); |
|
604 |
WL_DEBUG_PRINT_HEX(getStatus(0xFF)); |
|
605 |
WL_DEBUG_PRINT("\r\n"); |
|
606 |
|
|
607 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status to API_ON (API mode 1)*/ |
|
608 |
|
|
609 |
#ifdef WL_DEBUG |
|
610 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
|
611 |
WL_DEBUG_PRINT("|API OFF|"); |
|
612 |
} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
|
613 |
WL_DEBUG_PRINT("|API ON|"); |
|
614 |
} else { |
|
615 |
WL_DEBUG_PRINT("|API ERROR|"); |
|
616 |
} |
|
617 |
#endif |
|
618 |
|
|
619 |
|
|
620 |
// TODO: we should set the MY address to the robot address from eeprom |
|
621 |
uint16_t i=0; |
|
622 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
|
623 |
uint16_t newmy = 0x9876; |
|
624 |
if (xbee_send_modify_at_command((uint8_t*)"MY",&newmy,2) != WL_SUCCESS) { |
|
625 |
WL_DEBUG_PRINT("setting MY address failed\r\n"); |
|
626 |
} |
|
627 |
// wait for up to 30 ms |
|
628 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
|
629 |
delay_us(1); // wait 3us |
|
630 |
} |
|
631 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
|
632 |
WL_DEBUG_PRINT("setting MY address successful\r\n"); |
|
633 |
} else |
|
634 |
WL_DEBUG_PRINT("setting MY address failed\r\n"); |
|
635 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
|
636 |
|
|
637 |
|
|
638 |
uint16_t address = xbee_get_address(); |
|
639 |
if (address == WL_ERROR_XBEE_COMMAND_16BIT) { |
|
640 |
WL_DEBUG_PRINT("getting MY address failed\r\n"); |
|
641 |
} |
|
642 |
WL_DEBUG_PRINT("MY address:"); |
|
643 |
WL_DEBUG_PRINT_HEX((uint8_t)(address>>8)); |
|
644 |
WL_DEBUG_PRINT_HEX((uint8_t)(address&0xFF)); |
|
645 |
WL_DEBUG_PRINT("\r\n"); |
|
646 |
|
|
647 |
return WL_SUCCESS; |
|
648 |
} |
|
649 |
|
|
650 |
/** |
|
651 |
* Call when finished using the XBee library. |
|
652 |
**/ |
|
653 |
int8_t xbee_terminate() |
|
654 |
{ |
|
655 |
int ret=xbee_exit_api_mode(); |
|
656 |
if (ret != WL_SUCCESS) { |
|
657 |
WL_DEBUG_PRINT("xbee termination failed\r\n"); |
|
658 |
WL_DEBUG_PRINT_INT(ret); |
|
659 |
WL_DEBUG_PRINT("|\r\n"); |
|
660 |
return WL_ERROR_TERMINATION_FAILED; |
|
661 |
} |
|
662 |
setStatus(XBEE_NOT_INITD,XBEE_NOT_INITD); // clean initd status |
|
663 |
return WL_SUCCESS; |
|
664 |
} |
|
665 |
|
|
666 |
/** |
|
667 |
* Sends a character to the XBee. |
|
668 |
* |
|
669 |
* @param c the byte to send |
|
670 |
* @return 0 for success, nonzero for failure |
|
671 |
**/ |
|
672 |
int8_t xbee_putc(uint8_t c) { |
|
673 |
|
|
674 |
// Wait until buffer is clear for sending |
|
675 |
// Then load buffer with your character |
|
676 |
|
|
677 |
/*WL_DEBUG_PRINT("xbee_putc:"); |
|
678 |
WL_DEBUG_PRINT_HEX(c); |
|
679 |
WL_DEBUG_PRINT("|\r\n");*/ |
|
680 |
|
|
681 |
#ifdef FIREFLY |
|
682 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
|
683 |
UDR0 = c; |
|
684 |
#else |
|
685 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
|
686 |
UDR1 = c; |
|
687 |
#endif |
|
688 |
|
|
689 |
return WL_SUCCESS; |
|
690 |
} |
|
691 |
|
|
692 |
/** |
|
693 |
* Returns the first byte in the buffer received from xbee. |
|
694 |
* This function blocks execution until a character has been |
|
695 |
* received. xbee_init must be called before this function |
|
696 |
* may be used. |
|
697 |
* |
|
698 |
* @return the first character in the xbee buffer, -1 on error |
|
699 |
* |
|
700 |
* @see xbee_init, xbee_getc_nb |
|
701 |
**/ |
|
702 |
int16_t xbee_getc(void) { |
|
703 |
|
|
704 |
// Wait for the receive buffer to be filled |
|
705 |
// Then read the receive buffer |
|
706 |
#ifdef FIREFLY |
|
707 |
loop_until_bit_is_set(UCSR0A, RXC0); |
|
708 |
return UDR0; |
|
709 |
#else |
|
710 |
loop_until_bit_is_set(UCSR1A, RXC1); |
|
711 |
return UDR1; |
|
712 |
#endif |
|
713 |
} |
|
714 |
|
|
715 |
/** |
|
716 |
* Non blocking version of xbee_getc. If a byte is present in the buffer, |
|
717 |
* it is returned, otherwise -1 is returned immediately. xbee_init |
|
718 |
* must be called before this function can be used. |
|
719 |
* |
|
720 |
* @param c The received byte. This will be set if a byte has been received. |
|
721 |
* |
|
722 |
* @return -1 If no byte is available, 0 otherwise, positive for error |
|
723 |
* |
|
724 |
* @see xbee_getc |
|
725 |
**/ |
|
726 |
int8_t xbee_getc_nb(uint8_t *c) { |
|
727 |
|
|
728 |
// check if the receive buffer is filled |
|
729 |
#ifdef FIREFLY |
|
730 |
if (UCSR0A & (1<<RXC0)) { |
|
731 |
(*c) = UDR0; |
|
732 |
#else |
|
733 |
if (UCSR1A & (1<<RXC1)) { |
|
734 |
(*c) = UDR1; |
|
735 |
#endif |
|
736 |
return WL_SUCCESS; |
|
737 |
} |
|
738 |
return -1; // Return empty |
|
739 |
} |
|
740 |
|
|
741 |
/** |
|
742 |
* Send a buffer buf of size bytes to the XBee. |
|
743 |
* |
|
744 |
* @param buf the buffer of data to send |
|
745 |
* @param size the number of bytes to send |
|
746 |
**/ |
|
747 |
int8_t xbee_send(uint8_t* buf, uint16_t size) |
|
748 |
{ |
|
749 |
uint16_t i=0; // check if we need this variable |
|
750 |
while(i<size) { |
|
751 |
if (xbee_putc(buf[i++]) != WL_SUCCESS) |
|
752 |
return WL_ERROR_SEND; |
|
753 |
} |
|
754 |
|
|
755 |
return WL_SUCCESS; |
|
756 |
} |
|
757 |
|
|
758 |
/** |
|
759 |
* Sends a string to the XBee. |
|
760 |
* |
|
761 |
* @param c the string to send to the XBEE |
|
762 |
**/ |
|
763 |
static int8_t xbee_send_string(uint8_t* c) |
|
764 |
{ |
|
765 |
return xbee_send(c, strlen((char*)c)); |
|
766 |
} |
|
767 |
|
|
768 |
|
|
769 |
/** |
|
770 |
* Enter into command mode. |
|
771 |
**/ |
|
772 |
static int8_t xbee_enter_command_mode(void) |
|
773 |
{ |
|
774 |
if (xbee_send_string((uint8_t*)"+++") != WL_SUCCESS) { |
|
775 |
return WL_ERROR_XBEE_COMMAND; |
|
776 |
} |
|
777 |
WL_DEBUG_PRINT("sent command +++|"); |
|
778 |
|
|
779 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
|
780 |
return WL_ERROR_XBEE_COMMAND; |
|
781 |
} |
|
782 |
WL_DEBUG_PRINT("got OK\r\n"); |
|
783 |
|
|
784 |
return WL_SUCCESS; |
|
785 |
} |
|
786 |
|
|
787 |
/** |
|
788 |
* Exit from command mode. |
|
789 |
**/ |
|
790 |
static int8_t xbee_exit_command_mode() |
|
791 |
{ |
|
792 |
if (xbee_send_string((uint8_t*)"ATCN\r") != 0) { |
|
793 |
return WL_ERROR_SEND; |
|
794 |
} |
|
795 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
|
796 |
WL_DEBUG_PRINT("failed to exit command mode\r\n"); |
|
797 |
return WL_ERROR_SEND; |
|
798 |
} |
|
799 |
|
|
800 |
return WL_SUCCESS; |
|
801 |
} |
|
802 |
|
|
803 |
/** |
|
804 |
* Enter API mode. |
|
805 |
**/ |
|
806 |
static int8_t xbee_enter_api_mode(void) { |
|
807 |
if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) { |
|
808 |
return WL_ERROR_SEND; |
|
809 |
} |
|
810 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
|
811 |
WL_DEBUG_PRINT("failed to enter API mode\r\n"); |
|
812 |
return WL_ERROR_SEND; |
|
813 |
} |
|
814 |
if (xbee_exit_command_mode() != WL_SUCCESS) { |
|
815 |
WL_DEBUG_PRINT("failed to enter API mode\r\n"); |
|
816 |
return WL_ERROR_SEND; |
|
817 |
} |
|
818 |
WL_DEBUG_PRINT("got OK after entering API mode\r\n"); |
|
819 |
|
|
820 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status |
|
821 |
|
|
822 |
return WL_SUCCESS; |
|
823 |
} |
|
824 |
|
|
825 |
/** |
|
826 |
* Enter API mode 2. |
|
827 |
**/ |
|
828 |
static int8_t xbee_enter_api_mode2(void) { |
|
829 |
if (xbee_send_string((uint8_t*)"ATAP 2\r") != 0) { |
|
830 |
return WL_ERROR_SEND; |
|
831 |
} |
|
832 |
if (xbee_wait_for_ok() != WL_SUCCESS) { |
|
833 |
WL_DEBUG_PRINT("failed to enter API mode2\r\n"); |
|
834 |
return WL_ERROR_SEND; |
|
835 |
} |
|
836 |
if (xbee_exit_command_mode() != WL_SUCCESS) { |
|
837 |
WL_DEBUG_PRINT("failed to enter API mode2\r\n"); |
|
838 |
return WL_ERROR_SEND; |
|
839 |
} |
|
840 |
WL_DEBUG_PRINT("got OK after entering API mode2\r\n"); |
|
841 |
|
|
842 |
setStatus(XBEE_API_MASK,XBEE_API_ESCAPE); // set status |
|
843 |
|
|
844 |
return WL_SUCCESS; |
|
845 |
} |
|
846 |
|
|
847 |
/** |
|
848 |
* Exit API mode. |
|
849 |
**/ |
|
850 |
static int8_t xbee_exit_api_mode() |
|
851 |
{ |
|
852 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT |
|
853 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
|
854 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
|
855 |
WL_DEBUG_PRINT("now exiting API mode\r\n"); |
|
856 |
|
|
857 |
int16_t i=0; |
|
858 |
// change status to command wait |
|
859 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
|
860 |
if (xbee_send_modify_at_command((uint8_t*)"AP",(uint8_t*)(&i),1) != WL_SUCCESS) { // send command |
|
861 |
WL_DEBUG_PRINT("error sending AP 0 command\r\n"); |
|
862 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
|
863 |
return WL_ERROR_XBEE_COMMAND; |
|
864 |
} |
|
865 |
// wait for up to 30 ms |
|
866 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
|
867 |
delay_us(1); // wait 3us |
|
868 |
} |
|
869 |
if (i < 1000 && xbee_command[0] == 'A' && xbee_command[1] == 'P') { |
|
870 |
WL_DEBUG_PRINT("done exiting API mode\r\n"); |
|
871 |
i = WL_SUCCESS; |
|
872 |
} else { |
|
873 |
WL_DEBUG_PRINT("failed to exit API mode\r\n"); |
|
874 |
i = WL_ERROR_XBEE_COMMAND; // set error code |
|
875 |
} |
|
876 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status |
|
877 |
setStatus(XBEE_API_MASK,XBEE_API_OFF); |
|
878 |
|
|
879 |
return (int8_t)i; // return |
|
880 |
} |
|
881 |
|
|
882 |
/** |
|
883 |
* Wait until the string "OK\r" is received from the XBee. |
|
884 |
**/ |
|
885 |
static int8_t xbee_wait_for_ok() |
|
886 |
{ |
|
887 |
//delay_ms(1000); |
|
888 |
//return WL_SUCCESS; |
|
889 |
return xbee_wait_for_string((uint8_t*)"OK", 2); |
|
890 |
} |
|
891 |
|
|
892 |
/** |
|
893 |
* Delay until the specified string is received from |
|
894 |
* the XBee. |
|
895 |
* |
|
896 |
* Only works when not in API mode |
|
897 |
* |
|
898 |
* @param s the string to receive |
|
899 |
* @param len the length of the string |
|
900 |
**/ |
|
901 |
static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len) |
|
902 |
{ |
|
903 |
uint8_t i=0; |
|
904 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); // set status flag |
|
905 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
|
906 |
// wait until the response is received (only wait 1 second) |
|
907 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
|
908 |
delay_us(1); |
|
909 |
} |
|
910 |
// check response |
|
911 |
if (i >= 1000 || memcmp(s,xbee_basic_buf,len) != 0) { |
|
912 |
// bad response |
|
913 |
WL_DEBUG_PRINT("Bad response when waiting for string "); |
|
914 |
WL_DEBUG_PRINT(s); |
|
915 |
WL_DEBUG_PRINT("\r\n"); |
|
916 |
return -1; |
|
917 |
} |
|
918 |
|
|
919 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status |
|
920 |
} |
|
921 |
|
|
922 |
WL_DEBUG_PRINT("done waiting for string.\r\n"); |
|
923 |
|
|
924 |
return 0; |
|
925 |
} |
|
926 |
|
|
927 |
/** |
|
928 |
* Delay until we receive a command response. |
|
929 |
* Then copy the response to S and set the len |
|
930 |
* |
|
931 |
* Only works when not in API mode |
|
932 |
* |
|
933 |
* @param s the string to store the response in |
|
934 |
* @param len the length of the string |
|
935 |
*/ |
|
936 |
static int8_t xbee_wait_for_response(uint8_t* s, int16_t len) { |
|
937 |
uint8_t i=0; |
|
938 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) { |
|
939 |
// wait until the response is received (only wait 1 second) |
|
940 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
|
941 |
delay_us(1); |
|
942 |
} |
|
943 |
// check response |
|
944 |
if (i >= 1000) { |
|
945 |
return -1; |
|
946 |
} else { |
|
947 |
i=strcspn((char*)xbee_basic_buf,"\r"); |
|
948 |
if (i<PACKET_BUFFER_SIZE) { |
|
949 |
memcpy(s,xbee_basic_buf,i); |
|
950 |
len = i; |
|
951 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear response |
|
952 |
return 0; |
|
953 |
} |
|
954 |
else |
|
955 |
return -1; |
|
956 |
} |
|
957 |
} |
|
958 |
// TODO: do something for API mode |
|
959 |
|
|
960 |
return 0; |
|
961 |
} |
|
962 |
|
|
963 |
/** TODO: since we don't use this, do we need it? |
|
964 |
* |
|
965 |
* Verifies that the packets checksum is correct. |
|
966 |
* (If the checksum is correct, the sum of the bytes |
|
967 |
* is 0xFF.) |
|
968 |
* |
|
969 |
* @param packet the packet received. This includes the first |
|
970 |
* three bytes, which are header information from the XBee. |
|
971 |
* |
|
972 |
* @param len The length of the packet received from the XBee |
|
973 |
* |
|
974 |
* @return 0 if the checksum is incorrect, nonzero |
|
975 |
* otherwise |
|
976 |
**/ |
|
977 |
int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len) |
|
978 |
{ |
|
979 |
uint8_t sum = 0; |
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