root / branches / wireless / code / projects / unit_tests / test_wireless2.c @ 1752
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#include <wl_defs.h> |
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#include <string.h> |
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#include <wireless.h> |
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#include <lights.h> |
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#include <dragonfly_lib.h> |
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#include <xbee.h> |
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|
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|
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void group_1_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_2_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_3_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_4_function(uint8_t* data,uint8_t length,uint8_t source);
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void test_function_1(void); |
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void test_sending();
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void test_receiving();
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|
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uint16_t friendAddress = 0;
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/* This function tests out the full functionality of the new wireless library.
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* It must be run on two colony bots simultaneously to properly test all funtions.
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*/
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void testwireless2(void) |
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{ |
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orb_init(); |
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usb_init(); |
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int status = 0; |
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|
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WL_DEBUG_PRINT_P("New Wireless Library Test Suite\r\n");
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|
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/*Initialize the wirelss library*/
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WL_DEBUG_PRINT_P("Initializing library...\r\n");
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orb1_set_color(BLUE); |
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status = wl_init(); |
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switch(status){
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case 0: |
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WL_DEBUG_PRINT_P("Library initialization successful\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
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case -1: |
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WL_DEBUG_PRINT_P("Initialization failed: already initialized\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
|
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case -2: |
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WL_DEBUG_PRINT_P("Initialization failed: XBEE initialization failed\r\n\r\n");
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orb1_set_color(RED); |
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break;
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default:
|
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WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P("\r\n\r\n");
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orb1_set_color(RED); |
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break;
|
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} |
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while((status!=0) && 1); |
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|
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/*Test all constants defined correctly*/
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status = 0;
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WL_DEBUG_PRINT_P("Testing constants...");
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orb2_set_color(GREEN); |
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if(GLOBAL!=0){ |
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WL_DEBUG_PRINT_P("\r\nGLOBAL defined as ");
|
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usb_puti(GLOBAL); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(PAN!=1){ |
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WL_DEBUG_PRINT_P("\r\nPAN defined as ");
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usb_puti(PAN); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(BROADCAST!=0xFFFF){ |
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WL_DEBUG_PRINT_P("\r\nBROADCAST defined as ");
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usb_puti(BROADCAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(RELIABLE!=0){ |
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WL_DEBUG_PRINT_P("\r\nRELIABLE defined as ");
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usb_puti(RELIABLE); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(FAST!=1){ |
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WL_DEBUG_PRINT_P("\r\nFAST defined as ");
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usb_puti(FAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(NORMAL_PRIORITY!=0){ |
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WL_DEBUG_PRINT_P("\r\nNORMAL_PRIORITY defined as ");
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usb_puti(NORMAL_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(HIGH_PRIORITY!=1){ |
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WL_DEBUG_PRINT_P("\r\nHIGH_PRIORITY defined as ");
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usb_puti(HIGH_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".\r\nConstant test complete. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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if(status!=0){ |
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orb2_set_color(ORANGE); |
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delay_ms(500);
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} |
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/*Tests function registration*/
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WL_DEBUG_PRINT_P("\r\nTesting function registration");
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int registers[8], count; |
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status = 0;
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orb2_set_color(GREEN); |
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registers[0] = wl_register_handler(1, group_1_function, 0); |
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registers[1] = wl_register_handler(2, group_2_function, 1); |
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registers[2] = wl_register_handler(3, group_3_function, 0); |
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registers[3] = wl_register_handler(4, group_4_function, 1); |
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registers[4] = wl_register_handler(0, group_1_function, 0); |
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registers[5] = wl_register_handler(6, NULL, 0); |
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registers[6] = wl_register_handler(30, group_3_function, 0); |
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registers[7] = wl_register_handler(-1, group_4_function, 0); |
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for(count=0; count<=3; count++){ |
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if(registers[count] != 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of success\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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for(count=4; count<=6; count++){ |
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if(registers[count] == 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" succeeded instead of failing\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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if(registers[count] != 0 && registers[count] != -5){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of -5\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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if(registers[7] == 0){ |
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WL_DEBUG_PRINT_P("\r\nCongrats, you let an array write to index -1\r\n");
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orb2_set_color(RED); |
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status++; |
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} |
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WL_DEBUG_PRINT_P("Registration test completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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delay_ms(500);
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|
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/*Tests XBee functions*/
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WL_DEBUG_PRINT_P("\r\nTesting XBee fuctions...\r\n");
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status = 0;
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orb2_set_color(GREEN); |
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uint16_t pan = xbee_get_pan(); |
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("Pan error: defaulted to non-default Pan id (0):");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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status = xbee_set_pan(0x2B7D);
|
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if(status != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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usb_puth16(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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pan = xbee_get_pan(); |
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if(pan != 0x2B7D){ |
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 0x2B7D: ");
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usb_puth16(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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status = xbee_set_pan(0);
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if(status != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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pan = xbee_get_pan(); |
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 0: ");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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int chanCount;
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for(chanCount = 0x0B; chanCount <= 0x1A; chanCount++){ |
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xbee_set_channel(0x10);
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WL_DEBUG_PRINT_P("\r\nChannel: ");
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WL_DEBUG_PRINT_HEX(xbee_get_channel()); |
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} |
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uint16_t data = xbee_get_address(); |
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uint8_t sendBuffer[2];
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uint16_t address = 0;
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sendBuffer[0] = (data& 0xFF00) >> 8; |
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sendBuffer[1] = (data& 0x00FF); |
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wl_send((uint8_t*)&sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST); |
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while (wl_get_basic(sendBuffer,2) <= 0) { |
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WL_DEBUG_PRINT_P("error receiving data");
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} |
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address = sendBuffer[0]<<8+sendBuffer[1]; |
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WL_DEBUG_PRINT_P("Friend address=");
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usb_puth16(address); |
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|
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|
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WL_DEBUG_PRINT_P("\r\n\r\nXBee tests completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors.\r\n");
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|
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/*Tests sending in fast mode*/
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WL_DEBUG_PRINT_P("\r\nTests sending basic packets in fast mode...\r\n");
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status = 0;
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data = xbee_get_address(); |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("Global fast broadcast basic send exit code ");
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usb_puti(status); |
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char bigbuf[10]; |
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int8_t ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16((uint16_t)bigbuf); |
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} |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16((uint16_t)bigbuf); |
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} |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast basic send exit code ");
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
|
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16((uint16_t)bigbuf); |
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} |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
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WL_DEBUG_PRINT_INT(ret); |
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WL_DEBUG_PRINT_P("\r\n");
|
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} else {
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WL_DEBUG_PRINT_P("get returned:");
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usb_puth16((uint16_t)bigbuf); |
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} |
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status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 1 send exit code ");
|
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usb_puti(status); |
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ret = wl_get(bigbuf,10);
|
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if (ret < 0) { |
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WL_DEBUG_PRINT_P("error in wl_get:");
|
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WL_DEBUG_PRINT_INT(ret); |
283 |
WL_DEBUG_PRINT_P("\r\n");
|
284 |
} else {
|
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WL_DEBUG_PRINT_P("get returned:");
|
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usb_puth16((uint16_t)bigbuf); |
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} |
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status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 2 exit code ");
|
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usb_puti(status); |
291 |
ret = wl_get(bigbuf,10);
|
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if (ret < 0) { |
293 |
WL_DEBUG_PRINT_P("error in wl_get:");
|
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WL_DEBUG_PRINT_INT(ret); |
295 |
WL_DEBUG_PRINT_P("\r\n");
|
296 |
} else {
|
297 |
WL_DEBUG_PRINT_P("get returned:");
|
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usb_puth16((uint16_t)bigbuf); |
299 |
} |
300 |
status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST); |
301 |
WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 3 send exit code ");
|
302 |
usb_puti(status); |
303 |
ret = wl_get(bigbuf,10);
|
304 |
if (ret < 0) { |
305 |
WL_DEBUG_PRINT_P("error in wl_get:");
|
306 |
WL_DEBUG_PRINT_INT(ret); |
307 |
WL_DEBUG_PRINT_P("\r\n");
|
308 |
} else {
|
309 |
WL_DEBUG_PRINT_P("get returned:");
|
310 |
usb_puth16((uint16_t)bigbuf); |
311 |
} |
312 |
status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST); |
313 |
WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 4 exit code ");
|
314 |
usb_puti(status); |
315 |
ret = wl_get(bigbuf,10);
|
316 |
if (ret < 0) { |
317 |
WL_DEBUG_PRINT_P("error in wl_get:");
|
318 |
WL_DEBUG_PRINT_INT(ret); |
319 |
WL_DEBUG_PRINT_P("\r\n");
|
320 |
} else {
|
321 |
WL_DEBUG_PRINT_P("get returned:");
|
322 |
usb_puth16((uint16_t)bigbuf); |
323 |
} |
324 |
WL_DEBUG_PRINT_P("\r\nFast send tests successful\r\n");
|
325 |
|
326 |
/*Sends packets in fast mode until other robot responds*/
|
327 |
status = 0;
|
328 |
int len = 0; |
329 |
uint8_t buffer[10];
|
330 |
// uint8_t sendBuffer[2];
|
331 |
//uint16_t address = 0;
|
332 |
orb2_set_color(BLUE); |
333 |
while(1){ |
334 |
WL_DEBUG_PRINT_P("\r\nMy address: ");
|
335 |
usb_puti(data); |
336 |
usb_puti(xbee_get_address()); |
337 |
sendBuffer[0] = (data& 0xFF00) >> 8; |
338 |
sendBuffer[1] = (data& 0x00FF); |
339 |
wl_send((uint8_t*)&sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST); |
340 |
delay_ms(1000);
|
341 |
len = wl_get_basic(buffer, 10);
|
342 |
if(len != 0){ |
343 |
address = (buffer[0] << 8) + buffer[1]; |
344 |
orb2_set_color(GREEN); |
345 |
WL_DEBUG_PRINT_P("\r\nLength: ");
|
346 |
WL_DEBUG_PRINT_INT(len); |
347 |
WL_DEBUG_PRINT_P("\r\nFriend address: ");
|
348 |
usb_puth16(address); |
349 |
friendAddress = address; |
350 |
} |
351 |
/* if(button1_read()){
|
352 |
test_sending();
|
353 |
break;
|
354 |
}
|
355 |
if(button2_read()){
|
356 |
test_receiving();
|
357 |
break;
|
358 |
}*/
|
359 |
} |
360 |
|
361 |
|
362 |
/*Terminates wireless functions*/
|
363 |
WL_DEBUG_PRINT_P("\r\n\r\nTerminating wireless...\r\n");
|
364 |
status = wl_init(); |
365 |
switch(status){
|
366 |
case 0: |
367 |
WL_DEBUG_PRINT_P("Wireless termination successful\r\n\r\n");
|
368 |
orb1_set_color(BLUE); |
369 |
break;
|
370 |
case -3: |
371 |
WL_DEBUG_PRINT_P("Termination failed: library not initialized\r\n\r\n");
|
372 |
orb1_set_color(BLUE); |
373 |
break;
|
374 |
case -5: |
375 |
WL_DEBUG_PRINT_P("Termination failed\r\n\r\n");
|
376 |
orb1_set_color(RED); |
377 |
break;
|
378 |
case -6: |
379 |
WL_DEBUG_PRINT_P("Termination failed: function unregistration failed\r\n\r\n");
|
380 |
orb1_set_color(ORANGE); |
381 |
break;
|
382 |
default:
|
383 |
WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
|
384 |
usb_puti(status); |
385 |
orb1_set_color(RED); |
386 |
break;
|
387 |
} |
388 |
|
389 |
WL_DEBUG_PRINT_P("\r\n\r\nWireless Library tests completed");
|
390 |
while(1){} |
391 |
} |
392 |
|
393 |
void test_sending(){
|
394 |
uint8_t count; |
395 |
//Testing all wrappers for FAST mode
|
396 |
for(count = 0; count < 5; count++){ |
397 |
usb_puti(count); |
398 |
usb_puti(wl_send_basic(&count, 1));
|
399 |
delay_ms(500);
|
400 |
} |
401 |
for(count = 5; count < 10; count++){ |
402 |
usb_puti(count); |
403 |
usb_puti(wl_send_global(&count, 1, 0)); |
404 |
delay_ms(1000);
|
405 |
} |
406 |
for(count = 10; count < 15; count++){ |
407 |
usb_puti(count); |
408 |
usb_puti(wl_send_pan(&count, 1, xbee_get_pan()));
|
409 |
delay_ms(1000);
|
410 |
} |
411 |
/* for(count = 15; count < 20; count++){
|
412 |
usb_puti(count);
|
413 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress, FAST));
|
414 |
delay_ms(1000);
|
415 |
}
|
416 |
*/ for(count = 20; count < 25; count++){ |
417 |
usb_puti(count); |
418 |
usb_puti(wl_send_global(&count, 1, 1)); |
419 |
delay_ms(1000);
|
420 |
} |
421 |
for(count = 25; count < 30; count++){ |
422 |
usb_puti(count); |
423 |
usb_puti(wl_send_global(&count, 1, 2)); |
424 |
delay_ms(1000);
|
425 |
} |
426 |
for(count = 30; count < 35; count++){ |
427 |
usb_puti(count); |
428 |
usb_puti(wl_send_global(&count, 1, 3)); |
429 |
delay_ms(1000);
|
430 |
} |
431 |
for(count = 35; count < 40; count++){ |
432 |
usb_puti(count); |
433 |
usb_puti(wl_send_global(&count, 1, 4)); |
434 |
delay_ms(1000);
|
435 |
} |
436 |
//FAST mode tests completed. Now testing ACK system
|
437 |
/* for(count = 40; count < 45; count++){
|
438 |
usb_puti(count);
|
439 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress, RELIABLE));
|
440 |
delay_ms(1000);
|
441 |
}
|
442 |
for(count = 45; count < 50; count++){
|
443 |
usb_puti(count);
|
444 |
usb_puti(wl_send_robot(&count, 1, 1, friendAddress, RELIABLE));
|
445 |
delay_ms(1000);
|
446 |
}
|
447 |
for(count = 50; count < 55; count++){
|
448 |
usb_puti(count);
|
449 |
usb_puti(wl_send_robot(&count, 1, 2, friendAddress, RELIABLE));
|
450 |
delay_ms(1000);
|
451 |
}
|
452 |
for(count = 55; count < 60; count++){
|
453 |
usb_puti(count);
|
454 |
usb_puti(wl_send_robot(&count, 1, 3, friendAddress, RELIABLE));
|
455 |
delay_ms(1000);
|
456 |
}
|
457 |
for(count = 60; count < 65; count++){
|
458 |
usb_puti(count);
|
459 |
usb_puti(wl_send_robot(&count, 1, 4, friendAddress, RELIABLE));
|
460 |
delay_ms(1000);
|
461 |
}
|
462 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
463 |
usb_puti(wl_ack_error());
|
464 |
wl_ack_reset();
|
465 |
usb_puti(wl_ack_error());
|
466 |
for(count = 65; count < 70; count++){//changed friendAddress, all should fail
|
467 |
usb_puti(count);
|
468 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress + 1, RELIABLE));
|
469 |
delay_ms(count * 10);
|
470 |
}
|
471 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
472 |
usb_puti(wl_ack_error());
|
473 |
*/}
|
474 |
|
475 |
void test_receiving(){
|
476 |
int8_t result, length; |
477 |
char* data[8]; |
478 |
while(1){ |
479 |
result = wl_get_basic(data, length); |
480 |
if(result){
|
481 |
WL_DEBUG_PRINT_P("\r\nData length: ");
|
482 |
WL_DEBUG_PRINT_INT(result); |
483 |
WL_DEBUG_PRINT_P("\r\nData: ");
|
484 |
WL_DEBUG_PRINT_HEX(*data); |
485 |
}else{
|
486 |
delay_ms(100);
|
487 |
} |
488 |
} |
489 |
} |
490 |
|
491 |
void group_1_function(uint8_t* data,uint8_t length,uint8_t source){
|
492 |
WL_DEBUG_PRINT_P("\r\nFunction 1 called");
|
493 |
return 0; |
494 |
} |
495 |
void group_2_function(uint8_t* data,uint8_t length,uint8_t source){
|
496 |
WL_DEBUG_PRINT_P("\r\nFunction 2 called");
|
497 |
return 0; |
498 |
} |
499 |
void group_3_function(uint8_t* data,uint8_t length,uint8_t source){
|
500 |
WL_DEBUG_PRINT_P("\r\nFunction 3 called");
|
501 |
return 0; |
502 |
} |
503 |
void group_4_function(uint8_t* data,uint8_t length,uint8_t source){
|
504 |
WL_DEBUG_PRINT_P("\r\nFunction 4 called");
|
505 |
return 0; |
506 |
} |
507 |
//The first robot to receive the address of another robot will trigger this function.
|
508 |
void test_function_1(void){ |
509 |
uint16_t myAddress = xbee_get_address(); |
510 |
usb_puti(myAddress); |
511 |
|
512 |
return 0; |
513 |
} |
514 |
|