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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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/** |
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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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|
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#ifndef WL_DEFS_H |
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#define WL_DEFS_H |
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|
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// create main wireless page documentation |
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|
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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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|
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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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|
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// ***** TODO: these next two defines should be moved to makefile options |
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|
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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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|
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//uncomment this line for debug information |
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#define WL_DEBUG |
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|
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/**@addtogroup wireless |
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* @{ **/ |
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|
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/**@defgroup wl_error Error Codes |
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* @{ **/ |
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|
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/** @brief Success **/ |
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#define WL_SUCCESS INT8_C(0) |
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|
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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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|
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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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|
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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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|
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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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|
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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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|
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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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|
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/** @brief Error in arguments **/ |
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#define WL_ERROR_ARGUMENT INT8_C(-7) |
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|
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/** @brief Error code for send failure **/ |
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#define WL_ERROR_SEND INT8_C(-10) |
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|
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/** @brief Error code for a bad group number **/ |
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#define WL_ERROR_BAD_GROUP INT8_C(-11) |
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|
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/** @brief Error code for a bad scope **/ |
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#define WL_ERROR_SCOPE INT8_C(-12) |
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|
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/** @brief Error code for a bad robot address **/ |
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#define WL_ERROR_ADDRESS INT8_C(-13) |
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|
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/** @brief Error code for a bad mode **/ |
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#define WL_ERROR_MODE INT8_C(-14) |
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|
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/** @brief Error code for received paacket destination too small for received packet **/ |
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#define WL_ERROR_TOO_SMALL INT8_C(-15) |
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|
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/** @brief Error code for sending buffer full (the packet was sent, but no retries will be made). **/ |
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#define WL_ERROR_SENDING_BUFFER_FULL INT8_C(-16) |
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|
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/** @brief Error code for failed xbee command **/ |
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#define WL_ERROR_XBEE_COMMAND INT8_C(-17) |
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|
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/** @brief Error code for failed 16bit xbee command **/ |
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#define WL_ERROR_XBEE_COMMAND_16BIT 0xFEFE |
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|
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/** @brief Error code for bad baud rate **/ |
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#define WL_ERROR_BAUD INT8_C(-18) |
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|
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/**@} */ // end error group |
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|
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// TODO: is this a good size? |
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/*Buffer sizes*/ |
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#define PACKET_BUFFER_SIZE 128 |
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|
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/**@} */ // end wireless group |
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|
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#ifdef WL_DEBUG |
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|
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#ifdef ROBOT |
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#include <serial.h> |
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#define WL_DEBUG_PRINT( s ) usb_puts( s ) |
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#define WL_DEBUG_PRINT_CHAR( c ) usb_putc( c ) |
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#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
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#define WL_DEBUG_PRINT_HEX( i ) usb_puth8(i) |
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#else |
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#define WL_DEBUG_PRINT( s ) printf( s ) |
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#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c) |
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#define WL_DEBUG_PRINT_INT( i ) printf("%i", i) |
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#define WL_DEBUG_PRINT_HEX( i ) printf("%x", i) |
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#endif |
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|
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#else |
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|
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#define WL_DEBUG_PRINT( s ) |
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#define WL_DEBUG_PRINT_CHAR( c ) |
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#define WL_DEBUG_PRINT_INT( i ) |
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#define WL_DEBUG_PRINT_HEX( i ) |
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|
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#endif |
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#endif |