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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 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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|
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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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/** |
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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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|
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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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|
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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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|
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/**@name xbee options |
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* @{ **/ |
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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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/**@} |
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* @name xbee frame types |
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* @{ **/ |
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|
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// TODO: add comments for all of these definitions |
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|
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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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/** @} **/ |
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/**@} **/ // end const group |
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|
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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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|
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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 |