Revision 1658
wireless: fixed debug statements and flash memory
| test_wireless2.c | ||
|---|---|---|
| 1 |
#include <stdlib.h> |
|
| 2 |
#include <stdio.h> |
|
| 1 |
#include <wl_defs.h> |
|
| 3 | 2 |
#include <string.h> |
| 4 | 3 |
#include <wireless.h> |
| 5 | 4 |
#include <lights.h> |
| 6 | 5 |
#include <dragonfly_lib.h> |
| 7 | 6 |
#include <xbee.h> |
| 8 |
#include <avr/pgmspace.h> |
|
| 9 | 7 |
|
| 8 |
|
|
| 10 | 9 |
void group_1_function(uint8_t* data,uint8_t length,uint8_t source); |
| 11 | 10 |
void group_2_function(uint8_t* data,uint8_t length,uint8_t source); |
| 12 | 11 |
void group_3_function(uint8_t* data,uint8_t length,uint8_t source); |
| ... | ... | |
| 26 | 25 |
usb_init(); |
| 27 | 26 |
int status = 0; |
| 28 | 27 |
|
| 29 |
usb_puts("New Wireless Library Test Suite\r\n");
|
|
| 28 |
WL_DEBUG_PRINT_P("New Wireless Library Test Suite\r\n");
|
|
| 30 | 29 |
|
| 31 | 30 |
/*Initialize the wirelss library*/ |
| 32 |
usb_puts("Initializing library...\r\n");
|
|
| 31 |
WL_DEBUG_PRINT_P("Initializing library...\r\n");
|
|
| 33 | 32 |
orb1_set_color(BLUE); |
| 34 | 33 |
status = wl_init(); |
| 35 | 34 |
switch(status){
|
| 36 | 35 |
case 0: |
| 37 |
usb_puts("Library initialization successful\r\n\r\n");
|
|
| 36 |
WL_DEBUG_PRINT_P("Library initialization successful\r\n\r\n");
|
|
| 38 | 37 |
orb1_set_color(GREEN); |
| 39 | 38 |
break; |
| 40 | 39 |
case -1: |
| 41 |
usb_puts("Initialization failed: already initialized\r\n\r\n");
|
|
| 40 |
WL_DEBUG_PRINT_P("Initialization failed: already initialized\r\n\r\n");
|
|
| 42 | 41 |
orb1_set_color(GREEN); |
| 43 | 42 |
break; |
| 44 | 43 |
case -2: |
| 45 |
usb_puts("Initialization failed: XBEE initialization failed\r\n\r\n");
|
|
| 44 |
WL_DEBUG_PRINT_P("Initialization failed: XBEE initialization failed\r\n\r\n");
|
|
| 46 | 45 |
orb1_set_color(RED); |
| 47 | 46 |
break; |
| 48 | 47 |
default: |
| 49 |
usb_puts("Error: Unreconnized status code: ");
|
|
| 48 |
WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
|
|
| 50 | 49 |
usb_puti(status); |
| 51 |
usb_puts("\r\n\r\n");
|
|
| 50 |
WL_DEBUG_PRINT_P("\r\n\r\n");
|
|
| 52 | 51 |
orb1_set_color(RED); |
| 53 | 52 |
break; |
| 54 | 53 |
} |
| ... | ... | |
| 56 | 55 |
|
| 57 | 56 |
/*Test all constants defined correctly*/ |
| 58 | 57 |
status = 0; |
| 59 |
usb_puts("Testing constants...");
|
|
| 58 |
WL_DEBUG_PRINT_P("Testing constants...");
|
|
| 60 | 59 |
orb2_set_color(GREEN); |
| 61 | 60 |
if(GLOBAL!=0){
|
| 62 |
usb_puts("\r\nGLOBAL defined as ");
|
|
| 61 |
WL_DEBUG_PRINT_P("\r\nGLOBAL defined as ");
|
|
| 63 | 62 |
usb_puti(GLOBAL); |
| 64 | 63 |
status++; |
| 65 | 64 |
} |
| 66 |
usb_puts(".");
|
|
| 65 |
WL_DEBUG_PRINT_P(".");
|
|
| 67 | 66 |
if(PAN!=1){
|
| 68 |
usb_puts("\r\nPAN defined as ");
|
|
| 67 |
WL_DEBUG_PRINT_P("\r\nPAN defined as ");
|
|
| 69 | 68 |
usb_puti(PAN); |
| 70 | 69 |
status++; |
| 71 | 70 |
} |
| 72 |
usb_puts(".");
|
|
| 71 |
WL_DEBUG_PRINT_P(".");
|
|
| 73 | 72 |
if(BROADCAST!=0xFFFF){
|
| 74 |
usb_puts("\r\nBROADCAST defined as ");
|
|
| 73 |
WL_DEBUG_PRINT_P("\r\nBROADCAST defined as ");
|
|
| 75 | 74 |
usb_puti(BROADCAST); |
| 76 | 75 |
status++; |
| 77 | 76 |
} |
| 78 |
usb_puts(".");
|
|
| 77 |
WL_DEBUG_PRINT_P(".");
|
|
| 79 | 78 |
if(RELIABLE!=0){
|
| 80 |
usb_puts("\r\nRELIABLE defined as ");
|
|
| 79 |
WL_DEBUG_PRINT_P("\r\nRELIABLE defined as ");
|
|
| 81 | 80 |
usb_puti(RELIABLE); |
| 82 | 81 |
status++; |
| 83 | 82 |
} |
| 84 |
usb_puts(".");
|
|
| 83 |
WL_DEBUG_PRINT_P(".");
|
|
| 85 | 84 |
if(FAST!=1){
|
| 86 |
usb_puts("\r\nFAST defined as ");
|
|
| 85 |
WL_DEBUG_PRINT_P("\r\nFAST defined as ");
|
|
| 87 | 86 |
usb_puti(FAST); |
| 88 | 87 |
status++; |
| 89 | 88 |
} |
| 90 |
usb_puts(".");
|
|
| 89 |
WL_DEBUG_PRINT_P(".");
|
|
| 91 | 90 |
if(NORMAL_PRIORITY!=0){
|
| 92 |
usb_puts("\r\nNORMAL_PRIORITY defined as ");
|
|
| 91 |
WL_DEBUG_PRINT_P("\r\nNORMAL_PRIORITY defined as ");
|
|
| 93 | 92 |
usb_puti(NORMAL_PRIORITY); |
| 94 | 93 |
status++; |
| 95 | 94 |
} |
| 96 |
usb_puts(".");
|
|
| 95 |
WL_DEBUG_PRINT_P(".");
|
|
| 97 | 96 |
if(HIGH_PRIORITY!=1){
|
| 98 |
usb_puts("\r\nHIGH_PRIORITY defined as ");
|
|
| 97 |
WL_DEBUG_PRINT_P("\r\nHIGH_PRIORITY defined as ");
|
|
| 99 | 98 |
usb_puti(HIGH_PRIORITY); |
| 100 | 99 |
status++; |
| 101 | 100 |
} |
| 102 |
usb_puts(".\r\nConstant test complete. There were ");
|
|
| 101 |
WL_DEBUG_PRINT_P(".\r\nConstant test complete. There were ");
|
|
| 103 | 102 |
usb_puti(status); |
| 104 |
usb_puts(" errors\r\n");
|
|
| 103 |
WL_DEBUG_PRINT_P(" errors\r\n");
|
|
| 105 | 104 |
if(status!=0){
|
| 106 | 105 |
orb2_set_color(ORANGE); |
| 107 | 106 |
delay_ms(500); |
| 108 | 107 |
} |
| 109 | 108 |
/*Tests function registration*/ |
| 110 |
usb_puts("\r\nTesting function registration");
|
|
| 109 |
WL_DEBUG_PRINT_P("\r\nTesting function registration");
|
|
| 111 | 110 |
int registers[8], count; |
| 112 | 111 |
status = 0; |
| 113 | 112 |
orb2_set_color(GREEN); |
| ... | ... | |
| 121 | 120 |
registers[7] = wl_register_handler(-1, group_4_function, 0); |
| 122 | 121 |
for(count=0; count<=3; count++){
|
| 123 | 122 |
if(registers[count] != 0){
|
| 124 |
usb_puts("\r\nFunction registration error: attempt ");
|
|
| 123 |
WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
|
|
| 125 | 124 |
usb_puti(count); |
| 126 |
usb_puts(" returned ");
|
|
| 125 |
WL_DEBUG_PRINT_P(" returned ");
|
|
| 127 | 126 |
usb_puti(registers[count]); |
| 128 |
usb_puts(" instead of success\r\n");
|
|
| 127 |
WL_DEBUG_PRINT_P(" instead of success\r\n");
|
|
| 129 | 128 |
orb2_set_color(ORANGE); |
| 130 | 129 |
status++; |
| 131 | 130 |
} |
| 132 | 131 |
} |
| 133 | 132 |
for(count=4; count<=6; count++){
|
| 134 | 133 |
if(registers[count] == 0){
|
| 135 |
usb_puts("\r\nFunction registration error: attempt ");
|
|
| 134 |
WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
|
|
| 136 | 135 |
usb_puti(count); |
| 137 |
usb_puts(" succeeded instead of failing\r\n");
|
|
| 136 |
WL_DEBUG_PRINT_P(" succeeded instead of failing\r\n");
|
|
| 138 | 137 |
orb2_set_color(ORANGE); |
| 139 | 138 |
status++; |
| 140 | 139 |
} |
| 141 | 140 |
if(registers[count] != 0 && registers[count] != -5){
|
| 142 |
usb_puts("\r\nFunction registration error: attempt ");
|
|
| 141 |
WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
|
|
| 143 | 142 |
usb_puti(count); |
| 144 |
usb_puts(" returned ");
|
|
| 143 |
WL_DEBUG_PRINT_P(" returned ");
|
|
| 145 | 144 |
usb_puti(registers[count]); |
| 146 |
usb_puts(" instead of -5\r\n");
|
|
| 145 |
WL_DEBUG_PRINT_P(" instead of -5\r\n");
|
|
| 147 | 146 |
orb2_set_color(ORANGE); |
| 148 | 147 |
status++; |
| 149 | 148 |
} |
| 150 | 149 |
} |
| 151 | 150 |
if(registers[7] == 0){
|
| 152 |
usb_puts("\r\nCongrats, you let an array write to index -1\r\n");
|
|
| 151 |
WL_DEBUG_PRINT_P("\r\nCongrats, you let an array write to index -1\r\n");
|
|
| 153 | 152 |
orb2_set_color(RED); |
| 154 | 153 |
status++; |
| 155 | 154 |
} |
| 156 |
usb_puts("Registration test completed. There were ");
|
|
| 155 |
WL_DEBUG_PRINT_P("Registration test completed. There were ");
|
|
| 157 | 156 |
usb_puti(status); |
| 158 |
usb_puts(" errors\r\n");
|
|
| 157 |
WL_DEBUG_PRINT_P(" errors\r\n");
|
|
| 159 | 158 |
delay_ms(500); |
| 160 | 159 |
|
| 161 | 160 |
/*Tests XBee functions*/ |
| 162 |
usb_puts("\r\nTesting XBee fuctions...\r\n");
|
|
| 161 |
WL_DEBUG_PRINT_P("\r\nTesting XBee fuctions...\r\n");
|
|
| 163 | 162 |
status = 0; |
| 164 | 163 |
orb2_set_color(GREEN); |
| 165 | 164 |
unsigned int pan = xbee_get_pan(); |
| 166 | 165 |
if(pan != 0){
|
| 167 |
usb_puts("Pan error: defaulted to non-default Pan id :");
|
|
| 166 |
WL_DEBUG_PRINT_P("Pan error: defaulted to non-default Pan id :");
|
|
| 168 | 167 |
usb_puti(pan); |
| 169 | 168 |
orb2_set_color(ORANGE); |
| 170 | 169 |
status++; |
| 171 | 170 |
} |
| 172 | 171 |
pan = xbee_set_pan(1); |
| 173 | 172 |
if(pan != 0){
|
| 174 |
usb_puts("\r\nPan error: error setting Pan id: ");
|
|
| 173 |
WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
|
|
| 175 | 174 |
usb_puti(pan); |
| 176 | 175 |
orb2_set_color(ORANGE); |
| 177 | 176 |
status++; |
| 178 | 177 |
} |
| 179 | 178 |
pan = xbee_get_pan(); |
| 180 | 179 |
if(pan != 0){
|
| 181 |
usb_puts("\r\nPan error: Pan id reads different than set value 1: ");
|
|
| 180 |
WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 1: ");
|
|
| 182 | 181 |
usb_puti(pan); |
| 183 | 182 |
orb2_set_color(ORANGE); |
| 184 | 183 |
status++; |
| 185 | 184 |
} |
| 186 | 185 |
|
| 187 |
usb_puts("\r\nXBee tests completed. There were ");
|
|
| 186 |
WL_DEBUG_PRINT_P("\r\nXBee tests completed. There were ");
|
|
| 188 | 187 |
usb_puti(status); |
| 189 |
usb_puts(" errors.\r\n");
|
|
| 188 |
WL_DEBUG_PRINT_P(" errors.\r\n");
|
|
| 190 | 189 |
|
| 191 | 190 |
/*Tests sending in fast mode*/ |
| 192 |
usb_puts("\r\nTests sending basic packets in fast mode...\r\n");
|
|
| 191 |
WL_DEBUG_PRINT_P("\r\nTests sending basic packets in fast mode...\r\n");
|
|
| 193 | 192 |
status = 0; |
| 194 | 193 |
uint16_t data = xbee_get_address(); |
| 195 | 194 |
status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
| 196 |
usb_puts("Global fast broadcast basic send exit code ");
|
|
| 195 |
WL_DEBUG_PRINT_P("Global fast broadcast basic send exit code ");
|
|
| 197 | 196 |
usb_puti(status); |
| 198 | 197 |
status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST); |
| 199 |
usb_puts("\r\nGlobal fast pan send basic exit code ");
|
|
| 198 |
WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
|
|
| 200 | 199 |
usb_puti(status); |
| 201 | 200 |
status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
| 202 |
usb_puts("\r\nGlobal fast broadcast basic send exit code ");
|
|
| 201 |
WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast basic send exit code ");
|
|
| 203 | 202 |
usb_puti(status); |
| 204 | 203 |
status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST); |
| 205 |
usb_puts("\r\nGlobal fast pan send basic exit code ");
|
|
| 204 |
WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
|
|
| 206 | 205 |
usb_puti(status); |
| 207 | 206 |
status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST); |
| 208 |
usb_puts("\r\nGlobal fast broadcast group 1 send exit code ");
|
|
| 207 |
WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 1 send exit code ");
|
|
| 209 | 208 |
usb_puti(status); |
| 210 | 209 |
status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST); |
| 211 |
usb_puts("\r\nGlobal fast pan send group 2 exit code ");
|
|
| 210 |
WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 2 exit code ");
|
|
| 212 | 211 |
usb_puti(status); |
| 213 | 212 |
status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST); |
| 214 |
usb_puts("\r\nGlobal fast broadcast group 3 send exit code ");
|
|
| 213 |
WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 3 send exit code ");
|
|
| 215 | 214 |
usb_puti(status); |
| 216 | 215 |
status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST); |
| 217 |
usb_puts("\r\nGlobal fast pan send group 4 exit code ");
|
|
| 216 |
WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 4 exit code ");
|
|
| 218 | 217 |
usb_puti(status); |
| 219 |
usb_puts("\r\nFast send tests successful\r\n");
|
|
| 218 |
WL_DEBUG_PRINT_P("\r\nFast send tests successful\r\n");
|
|
| 220 | 219 |
|
| 221 | 220 |
/*Sends packets in fast mode until other robot responds*/ |
| 222 | 221 |
status = 0; |
| ... | ... | |
| 228 | 227 |
wl_get_basic(address, 2); |
| 229 | 228 |
if(address != 0){
|
| 230 | 229 |
orb2_set_color(GREEN); |
| 231 |
usb_puts("\r\nFriend address: ");
|
|
| 230 |
WL_DEBUG_PRINT_P("\r\nFriend address: ");
|
|
| 232 | 231 |
usb_puti((uint16_t)address); |
| 233 | 232 |
friendAddress = *address; |
| 234 | 233 |
} |
| ... | ... | |
| 244 | 243 |
|
| 245 | 244 |
|
| 246 | 245 |
/*Terminates wireless functions*/ |
| 247 |
usb_puts("\r\n\r\nTerminating wireless...\r\n");
|
|
| 246 |
WL_DEBUG_PRINT_P("\r\n\r\nTerminating wireless...\r\n");
|
|
| 248 | 247 |
status = wl_init(); |
| 249 | 248 |
switch(status){
|
| 250 | 249 |
case 0: |
| 251 |
usb_puts("Wireless termination successful\r\n\r\n");
|
|
| 250 |
WL_DEBUG_PRINT_P("Wireless termination successful\r\n\r\n");
|
|
| 252 | 251 |
orb1_set_color(BLUE); |
| 253 | 252 |
break; |
| 254 | 253 |
case -3: |
| 255 |
usb_puts("Termination failed: library not initialized\r\n\r\n");
|
|
| 254 |
WL_DEBUG_PRINT_P("Termination failed: library not initialized\r\n\r\n");
|
|
| 256 | 255 |
orb1_set_color(BLUE); |
| 257 | 256 |
break; |
| 258 | 257 |
case -5: |
| 259 |
usb_puts("Termination failed\r\n\r\n");
|
|
| 258 |
WL_DEBUG_PRINT_P("Termination failed\r\n\r\n");
|
|
| 260 | 259 |
orb1_set_color(RED); |
| 261 | 260 |
break; |
| 262 | 261 |
case -6: |
| 263 |
usb_puts("Termination failed: function unregistration failed\r\n\r\n");
|
|
| 262 |
WL_DEBUG_PRINT_P("Termination failed: function unregistration failed\r\n\r\n");
|
|
| 264 | 263 |
orb1_set_color(ORANGE); |
| 265 | 264 |
break; |
| 266 | 265 |
default: |
| 267 |
usb_puts("Error: Unreconnized status code: ");
|
|
| 266 |
WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
|
|
| 268 | 267 |
usb_puti(status); |
| 269 | 268 |
orb1_set_color(RED); |
| 270 | 269 |
break; |
| 271 | 270 |
} |
| 272 | 271 |
|
| 273 |
usb_puts("\r\n\r\nWireless Library tests completed");
|
|
| 272 |
WL_DEBUG_PRINT_P("\r\n\r\nWireless Library tests completed");
|
|
| 274 | 273 |
while(1){}
|
| 275 | 274 |
} |
| 276 | 275 |
|
| ... | ... | |
| 343 | 342 |
usb_puti(wl_send_robot(&count, 1, 4, friendAddress, RELIABLE)); |
| 344 | 343 |
delay_ms(count * 10); |
| 345 | 344 |
} |
| 346 |
usb_puts("ACK Errors: ");
|
|
| 345 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
|
| 347 | 346 |
usb_puti(wl_ack_error()); |
| 348 | 347 |
wl_ack_reset(); |
| 349 | 348 |
usb_puti(wl_ack_error()); |
| ... | ... | |
| 352 | 351 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress + 1, RELIABLE)); |
| 353 | 352 |
delay_ms(count * 10); |
| 354 | 353 |
} |
| 355 |
usb_puts("ACK Errors: ");
|
|
| 354 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
|
| 356 | 355 |
usb_puti(wl_ack_error()); |
| 357 | 356 |
} |
| 358 | 357 |
|
| ... | ... | |
| 368 | 367 |
} |
| 369 | 368 |
|
| 370 | 369 |
void group_1_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 371 |
usb_puts("\r\nFunction 1 called");
|
|
| 370 |
WL_DEBUG_PRINT_P("\r\nFunction 1 called");
|
|
| 372 | 371 |
return 0; |
| 373 | 372 |
} |
| 374 | 373 |
void group_2_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 375 |
usb_puts("\r\nFunction 2 called");
|
|
| 374 |
WL_DEBUG_PRINT_P("\r\nFunction 2 called");
|
|
| 376 | 375 |
return 0; |
| 377 | 376 |
} |
| 378 | 377 |
void group_3_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 379 |
usb_puts("\r\nFunction 3 called");
|
|
| 378 |
WL_DEBUG_PRINT_P("\r\nFunction 3 called");
|
|
| 380 | 379 |
return 0; |
| 381 | 380 |
} |
| 382 | 381 |
void group_4_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 383 |
usb_puts("\r\nFunction 4 called");
|
|
| 382 |
WL_DEBUG_PRINT_P("\r\nFunction 4 called");
|
|
| 384 | 383 |
return 0; |
| 385 | 384 |
} |
| 386 | 385 |
//The first robot to receive the address of another robot will trigger this function. |
Also available in: Unified diff