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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.c
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* @brief XBee Interface
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*
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* Implementation of low level communication with the XBee in API mode.
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*
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* @author Colony Project, CMU Robotics Club
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**/
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#include <lights.h> |
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#include <string.h> |
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#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#include <time.h> |
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#include <wl_defs.h> |
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#include <wireless.h> |
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#include <eeprom.h> |
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#include "xbee.h" |
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/* Internal Function Prototypes */
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/* I/O Functions */
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static int8_t xbee_send_string(uint8_t* c);
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int8_t xbee_putc(uint8_t c); |
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int16_t xbee_getc(void);
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int8_t xbee_getc_nb(uint8_t *c); |
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/* Command Mode Functions */
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static int8_t xbee_enter_command_mode(void); |
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static int8_t xbee_exit_command_mode(void); |
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static int8_t xbee_enter_api_mode(void); |
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static int8_t xbee_enter_api_mode2(void); |
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static int8_t xbee_exit_api_mode(void); |
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static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len);
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static int8_t xbee_wait_for_ok(void); |
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/* API Mode Functions */
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//TODO: does this exist? static int8_t xbee_handle_packet(uint8_t* packet, uint16_t len);
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static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t status, uint8_t len);
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static void xbee_handle_status(uint8_t status); |
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static int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len);
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static uint8_t xbee_compute_checksum(uint8_t* packet, uint16_t len);
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static int8_t xbee_send_frame(uint8_t* buf, uint16_t len);
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int8_t xbee_send_read_at_command(uint8_t* command); |
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static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len);
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/* Buffer Manipulation Functions */
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int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte); |
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uint8_t xbee_basic_buf_get(uint8_t *ptr); |
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int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte); |
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//uint8_t xbee_other_buf_get(uint8_t *ptr);
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/* private functions */
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int8_t check_last_receive(uint16_t source,uint8_t framenum); |
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inline uint8_t getStatus(uint8_t mask);
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inline void setStatus(uint8_t mask,uint8_t value); |
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/*Global Variables*/
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// array for basic packets
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uint8_t xbee_basic_buf[PACKET_BUFFER_SIZE]; |
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// beginning of first packet in basic buffer
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uint8_t basic_buf_first = (PACKET_BUFFER_SIZE-1);
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// byte after end of last packet in basic buffer (only access < basic_buf_last)
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// aka, the first free byte in basic buffer
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uint8_t basic_buf_last = 0;
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// array for other packets
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uint8_t xbee_other_buf[PACKET_BUFFER_SIZE]; |
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// beginning of first packet in other buffer
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uint8_t other_buf_first = (PACKET_BUFFER_SIZE-1);
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// byte after end of last packet in other buffer (only access < other_buf_last)
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// aka, the first free byte in other buffer
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uint8_t other_buf_last = 0;
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// last few packet sources and frame nums
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#define NUM_LAST_PACKETS 10 |
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struct {
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uint16_t source; |
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uint8_t framenum; |
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} lastPacket[NUM_LAST_PACKETS]; |
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// xbee status
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#define XBEE_API_OFF 0x00 |
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#define XBEE_API_ON 0x10 |
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#define XBEE_API_ESCAPE 0x20 |
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#define XBEE_API_MASK 0x30 |
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#define XBEE_COMMAND_WAIT 0x80 |
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#define XBEE_COMMAND_RESPONSE 0xC0 |
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#define XBEE_COMMAND_NONE 0x00 |
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#define XBEE_COMMAND_MASK 0xC0 |
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#define XBEE_NOT_INITD 0xF0 |
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#define LAST_PACKET_MASK 0x0F |
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uint8_t xbee_status = XBEE_NOT_INITD; |
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// xbee command response (for PAN, channel, address, etc)
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static uint8_t xbee_command[8]; |
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// external ack handler (wireless_send.c)
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extern void ackhandle(uint8_t num,uint8_t val); |
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// define escaped bytes in API mode 2
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#define ESCAPE_MARKER 0x7D |
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#define ESCAPE_XOR 0x20 |
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#define ESCAPE1 0x7E |
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#define ESCAPE2 0x7D |
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#define ESCAPE3 0x11 |
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#define ESCAPE4 0x13 |
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/**@addtogroup xbee
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* @{ **/
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/*Function Implementations*/
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/**
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* Interrupt for the robot. Adds bytes received from the xbee
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* to the buffer.
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**/
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#ifndef FIREFLY
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#define PORT UDR1
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#define FLAG (UCSR1A & (1<<RXC1)) |
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ISR(USART1_RX_vect) { |
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#else
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#define PORT UDR0
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#define FLAG (UCSR0A & (1<<RXC0)) |
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SIGNAL(SIG_USART0_RECV) { |
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#endif
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// start of frame
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uint8_t apitype = PORT; // get frame start byte
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uint16_t i=0;
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uint16_t len=0;
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// check that we're in API mode
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if (getStatus(XBEE_API_MASK) == XBEE_API_OFF || apitype != XBEE_FRAME_START) {
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// not in API mode
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WL_DEBUG_PRINT_P("|api off branch");
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if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT) {
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// get rest of command and put in basic buf
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xbee_basic_buf[i] = apitype; |
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if (xbee_basic_buf[i++] != '\r') { |
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while(i < PACKET_BUFFER_SIZE) {
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if (FLAG) {
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xbee_basic_buf[i] = PORT; |
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if (xbee_basic_buf[i] == '\r') |
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break;
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i++; |
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} |
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} |
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} |
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WL_DEBUG_PRINT_P("got packet, len=");
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT_P("str=");
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WL_DEBUG_PRINT((char*)xbee_basic_buf);
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// signal handler that command response is done
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setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
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} |
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WL_DEBUG_PRINT_P("return\r\n");
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return;
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} |
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//WL_DEBUG_PRINT_P("|api on branch");
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// get length and type
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while(i<3) { |
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if (FLAG) {
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if (i==0) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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len |= apitype<<8; // get len hi byte |
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} else if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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len |= apitype; // get len lo byte
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} else if (i==2) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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// get api type
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break;
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} |
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i++; |
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} |
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} |
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// do something based on the type
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i=1;
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switch(apitype) {
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case XBEE_FRAME_AT_COMMAND_RESPONSE: {
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// AT command response
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if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE)
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{ WL_DEBUG_PRINT_P("ERROR: SOMETHING STRANGE HAS OCCURRED. THE ROBOT WILL SELF DESTRUCT IN 5 MINUTES!\r\n");//We better get rid of this sometime... |
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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 **** |
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uint16_t atcommand=0;
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uint8_t ptr=basic_buf_last; |
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uint8_t status=0;
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while(i<len) {
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if (FLAG) {
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if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; // get frame id, and ignore
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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apitype = PORT; // get frame id, but ignore it
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} else if (i==2) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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atcommand |= apitype<<8; // get command char1 |
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} else if (i==3) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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atcommand |= apitype; // get command char2
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} else if (i==4) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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status = apitype; // get status
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} else {
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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// put the command response on the basic buf temporarily
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if (xbee_basic_buf_add(&ptr,apitype) != 0) |
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break;
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} |
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i++; |
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} |
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} |
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// handle AT command
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WL_DEBUG_PRINT_P("|XBEE_FRAME_AT_COMMAND_RESPONSE");
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WL_DEBUG_PRINT_P("|i=");
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WL_DEBUG_PRINT_INT(i); |
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WL_DEBUG_PRINT_P("|len=");
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WL_DEBUG_PRINT_INT(len); |
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WL_DEBUG_PRINT_P("|status:");
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WL_DEBUG_PRINT_INT(status); |
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WL_DEBUG_PRINT_P("|atcommand:");
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WL_DEBUG_PRINT_CHAR((uint8_t)(atcommand>>8));
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WL_DEBUG_PRINT_CHAR((uint8_t)(atcommand&0xFF));
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WL_DEBUG_PRINT_P("|first=");
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WL_DEBUG_PRINT_INT(basic_buf_first); |
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WL_DEBUG_PRINT_P("|last=");
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WL_DEBUG_PRINT_INT(basic_buf_last); |
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WL_DEBUG_PRINT_P("|buf=");
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uint8_t ptr2 = basic_buf_last; |
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for(uint8_t j=0;j<(len-5);j++) |
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WL_DEBUG_PRINT_HEX(xbee_basic_buf_get(&ptr2)); |
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WL_DEBUG_PRINT_P("|\r\n");
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xbee_handle_at_command_response(atcommand,status,len-5);
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break; }
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case XBEE_FRAME_STATUS: {
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// modem status
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while(1) { |
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if (FLAG) {
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) { |
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apitype = PORT ^ ESCAPE_XOR; |
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break;
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} else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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break;
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} |
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} |
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} |
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xbee_handle_status(apitype); // handle the modem status
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break; }
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case XBEE_FRAME_TX_STATUS: {
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// TX status
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uint8_t frame_id = 0;
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while(i<3) { |
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if (FLAG) {
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if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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frame_id = apitype; |
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} else {
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; |
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else {
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apitype = PORT; |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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ackhandle(frame_id,apitype); // handle the status
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break;
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} |
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i++; |
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} |
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} |
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WL_DEBUG_PRINT_P("|XBEE_FRAME_TX_STATUS framenum:");
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WL_DEBUG_PRINT_HEX(frame_id); |
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WL_DEBUG_PRINT_P(",status=");
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WL_DEBUG_PRINT_HEX(apitype); |
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break; }
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case XBEE_FRAME_RX_64: {
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// receive a packet with 64bit address
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WL_DEBUG_PRINT_P("|XBEE_FRAME_RX_64");
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break; } // TODO: implement this (even if we don't use it) |
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case XBEE_FRAME_RX_16: {
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WL_DEBUG_PRINT_P("|B_last=");
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WL_DEBUG_PRINT_INT(basic_buf_last); |
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// receive a packet with 16bit address
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uint16_t source = 0;
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uint8_t framenum = 0;
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uint8_t group = 0;
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uint8_t ptr=basic_buf_last; |
405 |
while(i<len) {
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if (FLAG) {
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WL_DEBUG_PRINT_P("|*i=");
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WL_DEBUG_PRINT_INT(i); |
409 |
WL_DEBUG_PRINT_P("|ptr=");
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WL_DEBUG_PRINT_INT(ptr); |
411 |
if (i==1) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
414 |
apitype = PORT ^ ESCAPE_XOR; // get options, and ignore
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else {
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apitype = PORT; |
417 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
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} |
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source |= apitype<<8; // get source hi byte |
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} else if (i==2) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; // get options, and ignore
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else {
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apitype = PORT; |
428 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
430 |
continue; // get escaped character |
431 |
} |
432 |
source |= apitype; // get source lo byte
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} else if (i==3) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
436 |
apitype = PORT ^ ESCAPE_XOR; // get RSSI, and ignore
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else {
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apitype = PORT; |
439 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
441 |
continue; // get escaped character |
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} |
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} else if (i==4) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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apitype = PORT ^ ESCAPE_XOR; // get options, and ignore
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else {
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apitype = PORT; |
449 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
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&& apitype == ESCAPE_MARKER) |
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continue; // get escaped character |
452 |
} |
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} else if (i==5) { |
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if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
455 |
&& apitype == ESCAPE_MARKER) |
456 |
apitype = PORT ^ ESCAPE_XOR; |
457 |
else {
|
458 |
apitype = PORT; |
459 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
460 |
&& apitype == ESCAPE_MARKER) |
461 |
continue; // get escaped character |
462 |
} |
463 |
framenum = apitype; // get the frame number
|
464 |
/* if (check_last_receive(source,framenum) != WL_SUCCESS) {
|
465 |
// we've already received this frame
|
466 |
ptr = 0xFF; // signal to skip processing
|
467 |
break;
|
468 |
}
|
469 |
*/ }
|
470 |
else if (i==6) { |
471 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
472 |
&& apitype == ESCAPE_MARKER) |
473 |
apitype = PORT ^ ESCAPE_XOR; |
474 |
else {
|
475 |
apitype = PORT; |
476 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
477 |
&& apitype == ESCAPE_MARKER) |
478 |
continue; // get escaped character |
479 |
} |
480 |
group = apitype; // get group number
|
481 |
WL_DEBUG_PRINT_P("|ptr2=");
|
482 |
WL_DEBUG_PRINT_INT(ptr); |
483 |
|
484 |
if (group == 0) { |
485 |
WL_DEBUG_PRINT_P("|last1=");
|
486 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
487 |
WL_DEBUG_PRINT_P("|ptr1=");
|
488 |
WL_DEBUG_PRINT_INT(ptr); |
489 |
ptr = basic_buf_last; |
490 |
WL_DEBUG_PRINT_P("|last2=");
|
491 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
492 |
WL_DEBUG_PRINT_P("|ptr2=");
|
493 |
WL_DEBUG_PRINT_INT(ptr); |
494 |
if (xbee_basic_buf_add(&ptr,0x00) != 0) { |
495 |
WL_DEBUG_PRINT_P("failed to write to buffer1");
|
496 |
break;
|
497 |
} |
498 |
WL_DEBUG_PRINT_P("|ptr3=");
|
499 |
WL_DEBUG_PRINT_INT(ptr); |
500 |
// add source to basic buffer
|
501 |
if (xbee_basic_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) { |
502 |
WL_DEBUG_PRINT_P("failed to write to buffer2");
|
503 |
break;
|
504 |
} |
505 |
WL_DEBUG_PRINT_P("|ptr4=");
|
506 |
WL_DEBUG_PRINT_INT(ptr); |
507 |
if (xbee_basic_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) { |
508 |
WL_DEBUG_PRINT_P("failed to write to buffer3");
|
509 |
break;
|
510 |
} |
511 |
WL_DEBUG_PRINT_P("|ptr5=");
|
512 |
WL_DEBUG_PRINT_INT(ptr); |
513 |
} else {
|
514 |
ptr = other_buf_last; |
515 |
// add source and group to other buffer
|
516 |
if (xbee_other_buf_add(&ptr,0x00) != 0) { |
517 |
WL_DEBUG_PRINT_P("failed to write to buffer3.5");
|
518 |
break;
|
519 |
} |
520 |
if (xbee_other_buf_add(&ptr,group) != 0) { |
521 |
WL_DEBUG_PRINT_P("failed to write to buffer4");
|
522 |
break;
|
523 |
} |
524 |
if (xbee_other_buf_add(&ptr,(uint8_t)((source&0xFF00)>>8)) != 0) { |
525 |
WL_DEBUG_PRINT_P("failed to write to buffer5");
|
526 |
break;
|
527 |
} |
528 |
if (xbee_other_buf_add(&ptr,(uint8_t)(source&0x00FF)) != 0) { |
529 |
WL_DEBUG_PRINT_P("failed to write to buffer6");
|
530 |
break;
|
531 |
} |
532 |
} |
533 |
} |
534 |
else {
|
535 |
// put packet data on the correct buffer
|
536 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
537 |
&& apitype == ESCAPE_MARKER) |
538 |
apitype = PORT ^ ESCAPE_XOR; |
539 |
else {
|
540 |
apitype = PORT; |
541 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
|
542 |
&& apitype == ESCAPE_MARKER) |
543 |
continue; // get escaped character |
544 |
} |
545 |
if (group == 0) { |
546 |
if (xbee_basic_buf_add(&ptr,apitype) != 0) { |
547 |
WL_DEBUG_PRINT_P("failed to write to buffer7");
|
548 |
break;
|
549 |
} |
550 |
} else {
|
551 |
if (xbee_other_buf_add(&ptr,apitype) != 0) { |
552 |
WL_DEBUG_PRINT_P("failed to write to buffer8");
|
553 |
break;
|
554 |
} |
555 |
} |
556 |
} |
557 |
i++; |
558 |
} |
559 |
} |
560 |
WL_DEBUG_PRINT_P("before_last=");
|
561 |
if (group == 0) |
562 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
563 |
else
|
564 |
WL_DEBUG_PRINT_INT(other_buf_last); |
565 |
if (ptr != 0xFF && i > 6) { |
566 |
if (group == 0) { |
567 |
xbee_basic_buf[basic_buf_last] = i-5; // set length |
568 |
basic_buf_last = ptr; |
569 |
} |
570 |
else {
|
571 |
xbee_other_buf[other_buf_last] = i-4; // set length ** TODO: check this number |
572 |
// check if we have a high priority group
|
573 |
/*for(;;)
|
574 |
if (HIGH_PRIORITY) {
|
575 |
// handle receive now
|
576 |
ptr = 0xFF;
|
577 |
break;
|
578 |
}*/
|
579 |
//if (ptr != 0xFF) {
|
580 |
// handle receive later
|
581 |
other_buf_last = ptr; |
582 |
//}
|
583 |
} |
584 |
} |
585 |
WL_DEBUG_PRINT_P("|XBEE_FRAME_RX_16|len=");
|
586 |
WL_DEBUG_PRINT_INT(len); |
587 |
WL_DEBUG_PRINT_P("|i=");
|
588 |
WL_DEBUG_PRINT_INT(i); |
589 |
WL_DEBUG_PRINT_P("|source=");
|
590 |
WL_DEBUG_PRINT_INT(source); |
591 |
WL_DEBUG_PRINT_P("|framenum=");
|
592 |
WL_DEBUG_PRINT_INT(framenum); |
593 |
WL_DEBUG_PRINT_P("group=");
|
594 |
WL_DEBUG_PRINT_INT(group); |
595 |
WL_DEBUG_PRINT_P("|ptr=");
|
596 |
WL_DEBUG_PRINT_HEX(ptr); |
597 |
WL_DEBUG_PRINT_P("|first=");
|
598 |
if (group == 0) |
599 |
WL_DEBUG_PRINT_INT(basic_buf_first); |
600 |
else
|
601 |
WL_DEBUG_PRINT_INT(other_buf_first); |
602 |
WL_DEBUG_PRINT_P("|last=");
|
603 |
if (group == 0) |
604 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
605 |
else
|
606 |
WL_DEBUG_PRINT_INT(other_buf_last); |
607 |
WL_DEBUG_PRINT_P("|buffer=");
|
608 |
if (group == 0) { |
609 |
for(uint8_t i=0;i<ptr;i++) |
610 |
WL_DEBUG_PRINT_HEX(xbee_basic_buf[i]); |
611 |
} else {
|
612 |
for(uint8_t i=0;i<ptr;i++) |
613 |
WL_DEBUG_PRINT_HEX(xbee_other_buf[i]); |
614 |
} |
615 |
WL_DEBUG_PRINT_P("|\r\n");
|
616 |
break; }
|
617 |
default:
|
618 |
WL_DEBUG_PRINT_P("|BAD APITYPE:");
|
619 |
WL_DEBUG_PRINT_HEX(apitype); |
620 |
WL_DEBUG_PRINT_P("\r\n");
|
621 |
} // end of switch statement
|
622 |
while (1) { |
623 |
if (FLAG) {
|
624 |
apitype = PORT; // get checksum, and ignore
|
625 |
break;
|
626 |
} |
627 |
} |
628 |
WL_DEBUG_PRINT_P("|interrupt - return\r\n");
|
629 |
} // end of interrupt
|
630 |
|
631 |
|
632 |
/* adds a byte to the basic buffer */
|
633 |
int8_t xbee_basic_buf_add(uint8_t *ptr, uint8_t byte) { |
634 |
if (*ptr == basic_buf_first) {
|
635 |
// buffer full
|
636 |
WL_DEBUG_PRINT_P("basic buffer full\r\n");
|
637 |
WL_DEBUG_PRINT_P("ptr=");
|
638 |
WL_DEBUG_PRINT_INT(*ptr); |
639 |
WL_DEBUG_PRINT_P("|basic_buf_first=");
|
640 |
WL_DEBUG_PRINT_INT(basic_buf_first); |
641 |
WL_DEBUG_PRINT_P("|basic_buf_last=");
|
642 |
WL_DEBUG_PRINT_INT(basic_buf_last); |
643 |
WL_DEBUG_PRINT_P("\r\n");
|
644 |
return -1; |
645 |
} |
646 |
WL_DEBUG_PRINT_P("|add_ptr1=");
|
647 |
WL_DEBUG_PRINT_INT(*ptr); |
648 |
xbee_basic_buf[(*ptr)++] = byte; |
649 |
if (*ptr == PACKET_BUFFER_SIZE)
|
650 |
*ptr = 0;
|
651 |
WL_DEBUG_PRINT_P("|add_ptr2=");
|
652 |
WL_DEBUG_PRINT_INT(*ptr); |
653 |
return 0; |
654 |
} |
655 |
/* gets a byte from the basic buffer */
|
656 |
uint8_t xbee_basic_buf_get(uint8_t *ptr) { |
657 |
uint8_t byte = xbee_basic_buf[(*ptr)++]; |
658 |
if (*ptr == PACKET_BUFFER_SIZE)
|
659 |
*ptr = 0;
|
660 |
return byte;
|
661 |
} |
662 |
/* adds a byte to the other buffer */
|
663 |
int8_t xbee_other_buf_add(uint8_t *ptr, uint8_t byte) { |
664 |
if (*ptr == other_buf_first) {
|
665 |
// buffer full
|
666 |
WL_DEBUG_PRINT_P("other buffer full\r\n");
|
667 |
return -1; |
668 |
} |
669 |
xbee_other_buf[(*ptr)++] = byte; |
670 |
if (*ptr == PACKET_BUFFER_SIZE)
|
671 |
*ptr = 0;
|
672 |
return 0; |
673 |
} |
674 |
/* gets a byte from the other buffer */
|
675 |
uint8_t xbee_other_buf_get(uint8_t *ptr) { |
676 |
uint8_t byte = xbee_other_buf[(*ptr)++]; |
677 |
if (*ptr == PACKET_BUFFER_SIZE)
|
678 |
*ptr = 0;
|
679 |
return byte;
|
680 |
} |
681 |
|
682 |
/**
|
683 |
* Checks if packet is a duplicate
|
684 |
**/
|
685 |
int8_t check_last_receive(uint16_t source,uint8_t framenum) { |
686 |
uint8_t i=0;
|
687 |
for(;i<NUM_LAST_PACKETS;i++) {
|
688 |
if (lastPacket[i].source == source && lastPacket[i].framenum == framenum) {
|
689 |
WL_DEBUG_PRINT_P("Duplicate Packet: LP.src=");
|
690 |
WL_DEBUG_PRINT_INT(lastPacket[i].source); |
691 |
WL_DEBUG_PRINT_P("|GET.src=");
|
692 |
WL_DEBUG_PRINT_INT(source); |
693 |
WL_DEBUG_PRINT_P("|LP.framenum=");
|
694 |
WL_DEBUG_PRINT_INT(lastPacket[i].framenum); |
695 |
WL_DEBUG_PRINT_P("|GET.framenum=");
|
696 |
WL_DEBUG_PRINT_INT(framenum); |
697 |
WL_DEBUG_PRINT_P("\r\n");
|
698 |
return -1; // duplicate packet, so return error |
699 |
} |
700 |
} |
701 |
// save packet source and framenum
|
702 |
i=getStatus(LAST_PACKET_MASK); |
703 |
lastPacket[i].source = source; |
704 |
lastPacket[i].framenum = framenum; |
705 |
if (++i>=NUM_LAST_PACKETS)
|
706 |
i = 0;
|
707 |
|
708 |
setStatus(LAST_PACKET_MASK,i); |
709 |
WL_DEBUG_PRINT_P("check last receive: LP.src=");
|
710 |
WL_DEBUG_PRINT_INT(lastPacket[i].source); |
711 |
WL_DEBUG_PRINT_P("|GET.src=");
|
712 |
WL_DEBUG_PRINT_INT(source); |
713 |
WL_DEBUG_PRINT_P("|LP.framenum=");
|
714 |
WL_DEBUG_PRINT_INT(lastPacket[i].framenum); |
715 |
WL_DEBUG_PRINT_P("|GET.framenum=");
|
716 |
WL_DEBUG_PRINT_INT(framenum); |
717 |
WL_DEBUG_PRINT_P("\r\n");
|
718 |
return WL_SUCCESS;
|
719 |
} |
720 |
|
721 |
/** status functions **/
|
722 |
inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; } |
723 |
void setStatus(uint8_t mask,uint8_t value) { xbee_status = ((xbee_status&(~mask))|value); }
|
724 |
|
725 |
|
726 |
/**
|
727 |
* Initializes the XBee library so that other functions may be used.
|
728 |
**/
|
729 |
int8_t xbee_init() { |
730 |
WL_DEBUG_PRINT_P("in xbee_init\r\n");
|
731 |
|
732 |
if(getStatus(XBEE_NOT_INITD) != XBEE_NOT_INITD) {
|
733 |
return WL_ERROR_INIT_ALREADY_INITD;
|
734 |
} |
735 |
|
736 |
// set status
|
737 |
setStatus(XBEE_NOT_INITD,XBEE_COMMAND_NONE); |
738 |
|
739 |
// clear last packet buffer
|
740 |
int i=0; |
741 |
for(;i<NUM_LAST_PACKETS;i++)
|
742 |
lastPacket[i].source = lastPacket[i].framenum = 0;
|
743 |
|
744 |
// clear basic and other buffers
|
745 |
//uint8_t j=0;
|
746 |
i=0;
|
747 |
while(i<PACKET_BUFFER_SIZE) { xbee_basic_buf[i++] = 0xFF; } |
748 |
i=0;
|
749 |
while(i<PACKET_BUFFER_SIZE) { xbee_other_buf[i++] = 0xFF; } |
750 |
|
751 |
// Set startup baud rate of 9600
|
752 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode
|
753 |
// Enable receiver and transmitter and the receiving interrupt
|
754 |
#ifdef FIREFLY
|
755 |
UBRR0H = 0x00;
|
756 |
UBRR0L = 103;
|
757 |
UCSR0A |= (1<<U2X0);
|
758 |
UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
759 |
UCSR0B |= (1<<RXEN0) | (1<<TXEN0) | (1<<RXCIE); |
760 |
#else
|
761 |
// Bayboard or robot
|
762 |
UBRR1H = 0x00; // baud rate |
763 |
UBRR1L = 103; // baud rate |
764 |
UCSR1A |= (1<<U2X1); // double transmit speed |
765 |
//Enable receiver and transmitter on USART1
|
766 |
UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
767 |
|
768 |
// Set frame format: 8data, 1stop bit, asynchronous normal mode
|
769 |
UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
770 |
|
771 |
UCSR1B |= (1<<RXCIE1); // enable receive, transmit (1<<RXCIE) |
772 |
#endif
|
773 |
sei(); |
774 |
|
775 |
// enter command mode
|
776 |
WL_DEBUG_PRINT_P("entering command mode\r\n");
|
777 |
xbee_send_string((uint8_t*)"+++");
|
778 |
xbee_wait_for_ok(); |
779 |
WL_DEBUG_PRINT_P("entered command mode\r\n");
|
780 |
|
781 |
|
782 |
// set baud on xbee
|
783 |
#if (XBEE_BAUD == 115200) |
784 |
xbee_send_string((uint8_t*)"ATBD7\r");
|
785 |
#elif (XBEE_BAUD == 57600) |
786 |
xbee_send_string((uint8_t*)"ATBD6\r");
|
787 |
#elif (XBEE_BAUD == 38400) |
788 |
xbee_send_string((uint8_t*)"ATBD5\r");
|
789 |
#elif (XBEE_BAUD == 19200) |
790 |
xbee_send_string((uint8_t*)"ATBD4\r");
|
791 |
#elif (XBEE_BAUD == 9600) |
792 |
// already at this baud rate
|
793 |
xbee_send_string((uint8_t*)"ATBD3\r\n");
|
794 |
#else
|
795 |
WL_DEBUG_PRINT_P("undefined baud rate\r\n");
|
796 |
return WL_ERROR_BAUD;
|
797 |
#endif
|
798 |
// exit command mode
|
799 |
xbee_wait_for_ok(); |
800 |
WL_DEBUG_PRINT_P("got ok from baud reset\r\n");
|
801 |
xbee_send_string((uint8_t*)"ATCN\r");
|
802 |
xbee_wait_for_ok(); |
803 |
WL_DEBUG_PRINT_P("got ok from exiting command mode\r\n");
|
804 |
|
805 |
// set UART baud
|
806 |
#ifdef FIREFLY
|
807 |
#if (XBEE_BAUD == 115200) |
808 |
UBRR0H = 0x00;
|
809 |
UBRR0L = 8;
|
810 |
#elif (XBEE_BAUD == 57600) |
811 |
UBRR0H = 0x00;
|
812 |
UBRR0L = 16;
|
813 |
#elif (XBEE_BAUD == 38400) |
814 |
UBRR0H = 0x00;
|
815 |
UBRR0L = 25;
|
816 |
#elif (XBEE_BAUD == 19200) |
817 |
UBRR0H = 0x00;
|
818 |
UBRR0L = 51;
|
819 |
#elif (XBEE_BAUD == 9600) |
820 |
/* this is the default baud rate, so do nothing
|
821 |
UBRR0H = 0x00;
|
822 |
UBRR0L = 103;*/
|
823 |
#else
|
824 |
WL_DEBUG_PRINT_P("undefined baud rate\r\n");
|
825 |
return WL_ERROR_BUAD;
|
826 |
#endif
|
827 |
#else // Bayboard or robot |
828 |
#if (XBEE_BAUD == 115200) |
829 |
UBRR1H = 0x00;
|
830 |
UBRR1L = 8;
|
831 |
#elif (XBEE_BAUD == 57600) |
832 |
UBRR1H = 0x00;
|
833 |
UBRR1L = 16;
|
834 |
#elif (XBEE_BAUD == 38400) |
835 |
UBRR1H = 0x00;
|
836 |
UBRR1L = 25;
|
837 |
#elif (XBEE_BAUD == 19200) |
838 |
UBRR1H = 0x00;
|
839 |
UBRR1L = 51;
|
840 |
#elif (XBEE_BAUD == 9600) |
841 |
/* this is the default baud rate, so do nothing
|
842 |
UBRR1H = 0x00;
|
843 |
UBRR1L = 103;*/
|
844 |
#else
|
845 |
WL_DEBUG_PRINT_P("undefined baud rate\r\n");
|
846 |
return WL_ERROR_BUAD;
|
847 |
#endif
|
848 |
#endif
|
849 |
// wait half second for the baud change to stabalize
|
850 |
delay_ms(500);
|
851 |
|
852 |
// enter command mode
|
853 |
WL_DEBUG_PRINT_P("entering command mode 2\r\n");
|
854 |
xbee_send_string((uint8_t*)"+++");
|
855 |
xbee_wait_for_ok(); |
856 |
WL_DEBUG_PRINT_P("entered command mode 2\r\n");
|
857 |
|
858 |
if (xbee_enter_api_mode2() != 0) { |
859 |
WL_DEBUG_PRINT_P("can't enter api mode 2\r\n");
|
860 |
return -1; |
861 |
} |
862 |
|
863 |
#ifdef WL_DEBUG
|
864 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
865 |
WL_DEBUG_PRINT_P("|API OFF|");
|
866 |
} else if (getStatus(XBEE_API_MASK) == XBEE_API_ON) { |
867 |
WL_DEBUG_PRINT_P("|API ON|");
|
868 |
} else {
|
869 |
WL_DEBUG_PRINT_P("|API ERROR|");
|
870 |
} |
871 |
#endif
|
872 |
|
873 |
// set MY address
|
874 |
uint8_t newmy = get_robotid(); |
875 |
uint8_t newmyarr[2] = {0x00,newmy}; |
876 |
if (newmy == 0xFF) { |
877 |
WL_DEBUG_PRINT_P("can't get MY address from EEPROM\r\n");
|
878 |
} else {
|
879 |
WL_DEBUG_PRINT_P("MY address from eeprom:");
|
880 |
WL_DEBUG_PRINT_HEX(newmyarr[0]);
|
881 |
WL_DEBUG_PRINT_HEX(newmyarr[1]);
|
882 |
WL_DEBUG_PRINT_P("\r\n");
|
883 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
884 |
if (xbee_send_modify_at_command((uint8_t*)"MY",newmyarr,2) != WL_SUCCESS) { |
885 |
WL_DEBUG_PRINT_P("setting MY address failed\r\n");
|
886 |
} |
887 |
// wait for up to 30 ms
|
888 |
newmy = 0;
|
889 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && newmy++ < 10000) { |
890 |
delay_us(1); // wait 3us |
891 |
} |
892 |
if (newmy < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
893 |
WL_DEBUG_PRINT_P("setting MY address successful\r\n");
|
894 |
} else
|
895 |
WL_DEBUG_PRINT_P("setting MY address failed\r\n");
|
896 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
897 |
} |
898 |
|
899 |
// get MY address
|
900 |
uint16_t address = xbee_get_address(); |
901 |
if (address == WL_ERROR_XBEE_COMMAND_16BIT) {
|
902 |
WL_DEBUG_PRINT_P("getting MY address failed\r\n");
|
903 |
} |
904 |
WL_DEBUG_PRINT_P("MY address:");
|
905 |
WL_DEBUG_PRINT_HEX((uint8_t)((address&0xFF00)>>8)); |
906 |
WL_DEBUG_PRINT_HEX((uint8_t)(address&0x00FF));
|
907 |
WL_DEBUG_PRINT_P("\r\n");
|
908 |
|
909 |
// set PAN
|
910 |
xbee_set_pan(0);
|
911 |
|
912 |
return WL_SUCCESS;
|
913 |
} |
914 |
|
915 |
/**
|
916 |
* Call when finished using the XBee library.
|
917 |
**/
|
918 |
int8_t xbee_terminate() |
919 |
{ |
920 |
int ret=xbee_exit_api_mode();
|
921 |
if (ret != WL_SUCCESS) {
|
922 |
WL_DEBUG_PRINT_P("xbee termination failed\r\n");
|
923 |
WL_DEBUG_PRINT_INT(ret); |
924 |
WL_DEBUG_PRINT_P("|\r\n");
|
925 |
return WL_ERROR_TERMINATION_FAILED;
|
926 |
} |
927 |
delay_ms(1000);
|
928 |
// reset baud to defaults
|
929 |
xbee_enter_command_mode(); |
930 |
xbee_send_string((uint8_t*)"ATBD 3\r");
|
931 |
xbee_wait_for_ok(); |
932 |
xbee_exit_command_mode(); |
933 |
UBRR1H = 0x00;
|
934 |
UBRR1L = 103;
|
935 |
setStatus(XBEE_NOT_INITD,XBEE_NOT_INITD); // clean initd status
|
936 |
return WL_SUCCESS;
|
937 |
} |
938 |
|
939 |
/**
|
940 |
* Sends a character to the XBee.
|
941 |
*
|
942 |
* @param c the byte to send
|
943 |
* @return 0 for success, nonzero for failure
|
944 |
**/
|
945 |
int8_t xbee_putc(uint8_t c) { |
946 |
|
947 |
// Wait until buffer is clear for sending
|
948 |
// Then load buffer with your character
|
949 |
|
950 |
#ifdef FIREFLY
|
951 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
952 |
UDR0 = c; |
953 |
#else
|
954 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
955 |
UDR1 = c; |
956 |
#endif
|
957 |
|
958 |
return WL_SUCCESS;
|
959 |
} |
960 |
|
961 |
/**
|
962 |
* Returns the first byte in the buffer received from xbee.
|
963 |
* This function blocks execution until a character has been
|
964 |
* received. xbee_init must be called before this function
|
965 |
* may be used.
|
966 |
*
|
967 |
* @return the first character in the xbee buffer, -1 on error
|
968 |
*
|
969 |
* @see xbee_init, xbee_getc_nb
|
970 |
**/
|
971 |
int16_t xbee_getc(void) {
|
972 |
|
973 |
// Wait for the receive buffer to be filled
|
974 |
// Then read the receive buffer
|
975 |
#ifdef FIREFLY
|
976 |
loop_until_bit_is_set(UCSR0A, RXC0); |
977 |
return UDR0;
|
978 |
#else
|
979 |
loop_until_bit_is_set(UCSR1A, RXC1); |
980 |
return UDR1;
|
981 |
#endif
|
982 |
} |
983 |
|
984 |
/**
|
985 |
* Non blocking version of xbee_getc. If a byte is present in the buffer,
|
986 |
* it is returned, otherwise -1 is returned immediately. xbee_init
|
987 |
* must be called before this function can be used.
|
988 |
*
|
989 |
* @param c The received byte. This will be set if a byte has been received.
|
990 |
*
|
991 |
* @return -1 If no byte is available, 0 otherwise, positive for error
|
992 |
*
|
993 |
* @see xbee_getc
|
994 |
**/
|
995 |
int8_t xbee_getc_nb(uint8_t *c) { |
996 |
|
997 |
// check if the receive buffer is filled
|
998 |
#ifdef FIREFLY
|
999 |
if (UCSR0A & (1<<RXC0)) { |
1000 |
(*c) = UDR0; |
1001 |
#else
|
1002 |
if (UCSR1A & (1<<RXC1)) { |
1003 |
(*c) = UDR1; |
1004 |
#endif
|
1005 |
return WL_SUCCESS;
|
1006 |
} |
1007 |
return -1; // Return empty |
1008 |
} |
1009 |
|
1010 |
/**
|
1011 |
* Send byte to the xbee in API mode.
|
1012 |
*
|
1013 |
* @param byte the byte to be sent
|
1014 |
**/
|
1015 |
int8_t xbee_sendc(uint8_t byte) { |
1016 |
if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE &&
|
1017 |
(byte == ESCAPE1 || byte == ESCAPE2 || byte == ESCAPE3 || byte == ESCAPE4)) |
1018 |
byte ^= ESCAPE_XOR; |
1019 |
|
1020 |
#ifdef FIREFLY
|
1021 |
loop_until_bit_is_set(UCSR0A, UDRE0); |
1022 |
UDR0 = byte; |
1023 |
#else
|
1024 |
loop_until_bit_is_set(UCSR1A, UDRE1); |
1025 |
UDR1 = byte; |
1026 |
#endif
|
1027 |
|
1028 |
return WL_SUCCESS;
|
1029 |
} |
1030 |
|
1031 |
|
1032 |
/**
|
1033 |
* Send a buffer buf of size bytes to the XBee in API mode
|
1034 |
*
|
1035 |
* @param buf the buffer of data to send
|
1036 |
* @param size the number of bytes to send
|
1037 |
**/
|
1038 |
int8_t xbee_send(uint8_t* buf, uint16_t size) |
1039 |
{ |
1040 |
uint16_t i=0; // check if we need this variable |
1041 |
while(i<size) {
|
1042 |
if (xbee_sendc(buf[i++]) != WL_SUCCESS)
|
1043 |
return WL_ERROR_SEND;
|
1044 |
} |
1045 |
|
1046 |
return WL_SUCCESS;
|
1047 |
} |
1048 |
|
1049 |
/**
|
1050 |
* Sends a string direct to the XBee.
|
1051 |
*
|
1052 |
* @param c the string to send to the XBEE
|
1053 |
**/
|
1054 |
static int8_t xbee_send_string(uint8_t* c)
|
1055 |
{ |
1056 |
uint16_t size = strlen((char*)c);
|
1057 |
uint16_t i=0; // check if we need this variable |
1058 |
while(i<size) {
|
1059 |
if (xbee_putc(c[i++]) != WL_SUCCESS)
|
1060 |
return WL_ERROR_SEND;
|
1061 |
} |
1062 |
|
1063 |
return WL_SUCCESS;
|
1064 |
} |
1065 |
|
1066 |
|
1067 |
/**
|
1068 |
* Enter into command mode.
|
1069 |
**/
|
1070 |
static int8_t xbee_enter_command_mode(void) |
1071 |
{ |
1072 |
if (xbee_send_string((uint8_t*)"+++") != WL_SUCCESS) { |
1073 |
return WL_ERROR_XBEE_COMMAND;
|
1074 |
} |
1075 |
WL_DEBUG_PRINT_P("sent command +++|");
|
1076 |
|
1077 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
1078 |
return WL_ERROR_XBEE_COMMAND;
|
1079 |
} |
1080 |
WL_DEBUG_PRINT_P("got OK\r\n");
|
1081 |
|
1082 |
return WL_SUCCESS;
|
1083 |
} |
1084 |
|
1085 |
/**
|
1086 |
* Exit from command mode.
|
1087 |
**/
|
1088 |
static int8_t xbee_exit_command_mode()
|
1089 |
{ |
1090 |
if (xbee_send_string((uint8_t*)"ATCN\r") != 0) { |
1091 |
return WL_ERROR_SEND;
|
1092 |
} |
1093 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
1094 |
WL_DEBUG_PRINT_P("failed to exit command mode\r\n");
|
1095 |
return WL_ERROR_SEND;
|
1096 |
} |
1097 |
|
1098 |
return WL_SUCCESS;
|
1099 |
} |
1100 |
|
1101 |
/**
|
1102 |
* Enter API mode.
|
1103 |
**/
|
1104 |
static int8_t xbee_enter_api_mode(void) { |
1105 |
if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) { |
1106 |
return WL_ERROR_SEND;
|
1107 |
} |
1108 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
1109 |
WL_DEBUG_PRINT_P("failed to enter API mode\r\n");
|
1110 |
return WL_ERROR_SEND;
|
1111 |
} |
1112 |
if (xbee_exit_command_mode() != WL_SUCCESS) {
|
1113 |
WL_DEBUG_PRINT_P("failed to enter API mode\r\n");
|
1114 |
return WL_ERROR_SEND;
|
1115 |
} |
1116 |
WL_DEBUG_PRINT_P("got OK after entering API mode\r\n");
|
1117 |
|
1118 |
setStatus(XBEE_API_MASK,XBEE_API_ON); // set status
|
1119 |
|
1120 |
return WL_SUCCESS;
|
1121 |
} |
1122 |
|
1123 |
/**
|
1124 |
* Enter API mode 2.
|
1125 |
**/
|
1126 |
static int8_t xbee_enter_api_mode2(void) { |
1127 |
if (xbee_send_string((uint8_t*)"ATAP 2\r") != 0) { |
1128 |
return WL_ERROR_SEND;
|
1129 |
} |
1130 |
if (xbee_wait_for_ok() != WL_SUCCESS) {
|
1131 |
WL_DEBUG_PRINT_P("failed to enter API mode2\r\n");
|
1132 |
return WL_ERROR_SEND;
|
1133 |
} |
1134 |
if (xbee_exit_command_mode() != WL_SUCCESS) {
|
1135 |
WL_DEBUG_PRINT_P("failed to enter API mode2\r\n");
|
1136 |
return WL_ERROR_SEND;
|
1137 |
} |
1138 |
WL_DEBUG_PRINT_P("got OK after entering API mode2\r\n");
|
1139 |
|
1140 |
setStatus(XBEE_API_MASK,XBEE_API_ESCAPE); // set status
|
1141 |
|
1142 |
return WL_SUCCESS;
|
1143 |
} |
1144 |
|
1145 |
/**
|
1146 |
* Exit API mode.
|
1147 |
**/
|
1148 |
static int8_t xbee_exit_api_mode()
|
1149 |
{ |
1150 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1151 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1152 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1153 |
WL_DEBUG_PRINT_P("now exiting API mode\r\n");
|
1154 |
|
1155 |
int16_t i=0;
|
1156 |
// change status to command wait
|
1157 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1158 |
if (xbee_send_modify_at_command((uint8_t*)"AP",(uint8_t*)(&i),1) != WL_SUCCESS) { // send command |
1159 |
WL_DEBUG_PRINT_P("error sending AP 0 command\r\n");
|
1160 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1161 |
return WL_ERROR_XBEE_COMMAND;
|
1162 |
} |
1163 |
// wait for up to 30 ms
|
1164 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1165 |
delay_us(1); // wait 3us |
1166 |
} |
1167 |
if (i < 1000 && xbee_command[0] == 'A' && xbee_command[1] == 'P') { |
1168 |
WL_DEBUG_PRINT_P("done exiting API mode\r\n");
|
1169 |
i = WL_SUCCESS; |
1170 |
} else {
|
1171 |
WL_DEBUG_PRINT_P("failed to exit API mode\r\n");
|
1172 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1173 |
} |
1174 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1175 |
setStatus(XBEE_API_MASK,XBEE_API_OFF); |
1176 |
|
1177 |
return (int8_t)i; // return |
1178 |
} |
1179 |
|
1180 |
/**
|
1181 |
* Wait until the string "OK\r" is received from the XBee.
|
1182 |
**/
|
1183 |
static int8_t xbee_wait_for_ok()
|
1184 |
{ |
1185 |
//delay_ms(1000);
|
1186 |
//return WL_SUCCESS;
|
1187 |
return xbee_wait_for_string((uint8_t*)"OK", 2); |
1188 |
} |
1189 |
|
1190 |
/**
|
1191 |
* Delay until the specified string is received from
|
1192 |
* the XBee.
|
1193 |
*
|
1194 |
* Only works when not in API mode
|
1195 |
*
|
1196 |
* @param s the string to receive
|
1197 |
* @param len the length of the string
|
1198 |
**/
|
1199 |
static int8_t xbee_wait_for_string(uint8_t* s, uint16_t len)
|
1200 |
{ |
1201 |
uint8_t i=0;
|
1202 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); // set status flag
|
1203 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
1204 |
// wait until the response is received (only wait 1 second)
|
1205 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
1206 |
delay_us(1);
|
1207 |
} |
1208 |
// check response
|
1209 |
if (i >= 1000 || memcmp(s,xbee_basic_buf,len) != 0) { |
1210 |
// bad response
|
1211 |
WL_DEBUG_PRINT_P("Bad response when waiting for string ");
|
1212 |
WL_DEBUG_PRINT((char*)s);
|
1213 |
WL_DEBUG_PRINT_P("\r\n");
|
1214 |
return -1; |
1215 |
} |
1216 |
|
1217 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear status
|
1218 |
} |
1219 |
|
1220 |
WL_DEBUG_PRINT_P("done waiting for string.\r\n");
|
1221 |
|
1222 |
return 0; |
1223 |
} |
1224 |
|
1225 |
/**
|
1226 |
* Delay until we receive a command response.
|
1227 |
* Then copy the response to S and set the len
|
1228 |
*
|
1229 |
* Only works when not in API mode
|
1230 |
*
|
1231 |
* @param s the string to store the response in
|
1232 |
* @param len the length of the string
|
1233 |
*/
|
1234 |
static int8_t xbee_wait_for_response(uint8_t* s, int16_t len) {
|
1235 |
uint8_t i=0;
|
1236 |
if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
|
1237 |
// wait until the response is received (only wait 1 second)
|
1238 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) { |
1239 |
delay_us(1);
|
1240 |
} |
1241 |
// check response
|
1242 |
if (i >= 1000) { |
1243 |
return -1; |
1244 |
} else {
|
1245 |
i=strcspn((char*)xbee_basic_buf,"\r"); |
1246 |
if (i<PACKET_BUFFER_SIZE) {
|
1247 |
memcpy(s,xbee_basic_buf,i); |
1248 |
len = i; |
1249 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // clear response
|
1250 |
return 0; |
1251 |
} |
1252 |
else
|
1253 |
return -1; |
1254 |
} |
1255 |
} |
1256 |
// TODO: do something for API mode
|
1257 |
|
1258 |
return 0; |
1259 |
} |
1260 |
|
1261 |
/** TODO: since we don't use this, do we need it?
|
1262 |
*
|
1263 |
* Verifies that the packets checksum is correct.
|
1264 |
* (If the checksum is correct, the sum of the bytes
|
1265 |
* is 0xFF.)
|
1266 |
*
|
1267 |
* @param packet the packet received. This includes the first
|
1268 |
* three bytes, which are header information from the XBee.
|
1269 |
*
|
1270 |
* @param len The length of the packet received from the XBee
|
1271 |
*
|
1272 |
* @return 0 if the checksum is incorrect, nonzero
|
1273 |
* otherwise
|
1274 |
**/
|
1275 |
int8_t xbee_verify_checksum(uint8_t* packet, uint16_t len) |
1276 |
{ |
1277 |
uint8_t sum = 0;
|
1278 |
while(--len > 0) { |
1279 |
sum += packet[len]; |
1280 |
} |
1281 |
sum += packet[0];
|
1282 |
return (sum == 0xFF); |
1283 |
} |
1284 |
|
1285 |
/**
|
1286 |
* Returns the checksum of the given packet.
|
1287 |
*
|
1288 |
* @param buf the data for the packet to send
|
1289 |
* @param len the length of the packet in bytes
|
1290 |
*
|
1291 |
* @return the checksum of the packet, which will
|
1292 |
* become the last byte sent in the packet
|
1293 |
**/
|
1294 |
uint8_t xbee_compute_checksum(uint8_t* buf, uint16_t len) |
1295 |
{ |
1296 |
uint8_t sum = 0;
|
1297 |
while(--len > 0) { |
1298 |
sum += buf[len]; |
1299 |
} |
1300 |
sum += buf[0];
|
1301 |
return 0xFF - sum; |
1302 |
} |
1303 |
|
1304 |
/**
|
1305 |
* Adds buf to the previous checksum total
|
1306 |
*
|
1307 |
* @param buf a byte buffer to add to the checksum
|
1308 |
* @param len the length of the buffer
|
1309 |
* @param sum the previous sum
|
1310 |
*
|
1311 |
* @return error code
|
1312 |
**/
|
1313 |
int8_t xbee_checksum_add(uint8_t *buf, uint8_t len, uint8_t* sum) { |
1314 |
if (buf == NULL || sum == NULL) |
1315 |
return WL_ERROR_ARGUMENT;
|
1316 |
while(--len > 0) { |
1317 |
*sum += buf[len]; |
1318 |
} |
1319 |
*sum += buf[0];
|
1320 |
return WL_SUCCESS;
|
1321 |
} |
1322 |
|
1323 |
|
1324 |
/**
|
1325 |
* Sends header information. Header information includes
|
1326 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
1327 |
*
|
1328 |
* @param type the packet type
|
1329 |
* @param len the size in bytes of the packet data
|
1330 |
*
|
1331 |
**/
|
1332 |
int8_t xbee_send_header(uint16_t len) |
1333 |
{ |
1334 |
//packet prefix
|
1335 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
1336 |
return WL_ERROR_SEND;
|
1337 |
if (xbee_sendc((uint8_t)((len&0xFF00)>>8)) != WL_SUCCESS) |
1338 |
return WL_ERROR_SEND;
|
1339 |
if (xbee_sendc((uint8_t)(len&0x00FF)) != WL_SUCCESS) |
1340 |
return WL_ERROR_SEND;
|
1341 |
|
1342 |
return WL_SUCCESS;
|
1343 |
} |
1344 |
|
1345 |
/**
|
1346 |
* Adds header information and checksum to the given
|
1347 |
* packet and sends it. Header information includes
|
1348 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
1349 |
*
|
1350 |
* @param buf the packet data
|
1351 |
* @param len the size in bytes of the packet data
|
1352 |
*
|
1353 |
**/
|
1354 |
static int8_t xbee_send_frame(uint8_t* buf, uint16_t len)
|
1355 |
{ |
1356 |
uint8_t checksum = xbee_compute_checksum(buf, len); |
1357 |
|
1358 |
// send header
|
1359 |
if (xbee_send_header(len) != WL_SUCCESS)
|
1360 |
return WL_ERROR_SEND;
|
1361 |
|
1362 |
// send body
|
1363 |
if (xbee_send(buf, len) != WL_SUCCESS)
|
1364 |
return WL_ERROR_SEND;
|
1365 |
|
1366 |
// send checksum
|
1367 |
if (xbee_sendc(checksum) != WL_SUCCESS)
|
1368 |
return WL_ERROR_SEND;
|
1369 |
|
1370 |
return WL_SUCCESS;
|
1371 |
} |
1372 |
|
1373 |
/**
|
1374 |
* Sends an AT command to read a parameter.
|
1375 |
*
|
1376 |
* @param command the AT command to send. For exmaple,
|
1377 |
* use ID to read the PAN ID and MY to return the XBee ID.
|
1378 |
* See the XBee reference guide for a complete listing.
|
1379 |
**/
|
1380 |
int8_t xbee_send_read_at_command(uint8_t* command) |
1381 |
{ |
1382 |
return xbee_send_modify_at_command(command, NULL, 0); |
1383 |
} |
1384 |
|
1385 |
/**
|
1386 |
* Sends the given AT command.
|
1387 |
*
|
1388 |
* @param command the AT command to send (e.g., MY, ID)
|
1389 |
* @param value the value to pass as a parameter
|
1390 |
* (or NULL if there is no parameter)
|
1391 |
**/
|
1392 |
static int8_t xbee_send_modify_at_command(uint8_t* command, uint8_t* value, uint8_t len)
|
1393 |
{ |
1394 |
uint8_t buf[12];
|
1395 |
|
1396 |
buf[0] = XBEE_FRAME_AT_COMMAND;
|
1397 |
buf[1] = 1; |
1398 |
buf[2] = command[0]; |
1399 |
buf[3] = command[1]; |
1400 |
if (value != NULL) |
1401 |
{ |
1402 |
if (len > 8) |
1403 |
{ |
1404 |
WL_DEBUG_PRINT_P("AT Command too large.\r\n");
|
1405 |
return WL_ERROR_ARGUMENT;
|
1406 |
} |
1407 |
memcpy(buf+4,value,len);
|
1408 |
} |
1409 |
|
1410 |
return xbee_send_frame(buf, 4 + len); |
1411 |
} |
1412 |
|
1413 |
/**
|
1414 |
* Send the specified packet.
|
1415 |
*
|
1416 |
* @param packet the packet data to send
|
1417 |
* @param len the number of bytes in the packet
|
1418 |
*
|
1419 |
* @param dest the ID of the XBee to send the packet to,
|
1420 |
* or XBEE_BROADCAST to send the message to all robots
|
1421 |
* in the PAN.
|
1422 |
*
|
1423 |
* @param options a combination of the flags
|
1424 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
|
1425 |
* XBEE_OPTIONS_BROADCAST_ALL_PANS
|
1426 |
*
|
1427 |
* @param frame the frame number to associate this packet
|
1428 |
* with. This will be used to identify the response when
|
1429 |
* the XBee alerts us as to whether or not our message
|
1430 |
* was received.
|
1431 |
**/
|
1432 |
int8_t xbee_send_packet(uint8_t* packet, uint8_t len, uint16_t dest, uint8_t options, uint8_t frame) |
1433 |
{ |
1434 |
uint8_t sum = XBEE_FRAME_TX_REQUEST_16; |
1435 |
uint8_t i = 0;
|
1436 |
|
1437 |
if (len > 100) |
1438 |
{ |
1439 |
WL_DEBUG_PRINT_P("Packet is too large.\r\n");
|
1440 |
return WL_ERROR_ARGUMENT;
|
1441 |
} |
1442 |
|
1443 |
// calculate checksum
|
1444 |
for(;i<len;i++)
|
1445 |
sum += packet[len]; |
1446 |
sum += frame; |
1447 |
sum += (dest&0xFF00) >> 8; |
1448 |
sum += dest&0x00FF;
|
1449 |
sum += options; |
1450 |
sum = 0xFF - sum;
|
1451 |
|
1452 |
//packet prefix
|
1453 |
if (xbee_putc(XBEE_FRAME_START) != WL_SUCCESS)
|
1454 |
return WL_ERROR_SEND;
|
1455 |
if (xbee_sendc(0x00) != WL_SUCCESS) |
1456 |
return WL_ERROR_SEND;
|
1457 |
if (xbee_sendc(len+5) != WL_SUCCESS) |
1458 |
return WL_ERROR_SEND;
|
1459 |
|
1460 |
//send header for TX request
|
1461 |
if (xbee_sendc(XBEE_FRAME_TX_REQUEST_16) != WL_SUCCESS)
|
1462 |
return WL_ERROR_SEND;
|
1463 |
if (xbee_sendc(frame) != WL_SUCCESS)
|
1464 |
return WL_ERROR_SEND;
|
1465 |
if (xbee_sendc((uint8_t)((dest&0xFF00) >> 8)) != WL_SUCCESS) |
1466 |
return WL_ERROR_SEND;
|
1467 |
if (xbee_sendc((uint8_t)(dest&0x00FF)) != WL_SUCCESS) |
1468 |
return WL_ERROR_SEND;
|
1469 |
if (xbee_sendc(options) != WL_SUCCESS)
|
1470 |
return WL_ERROR_SEND;
|
1471 |
|
1472 |
// send packet
|
1473 |
if (xbee_send(packet, len) != WL_SUCCESS)
|
1474 |
return WL_ERROR_SEND;
|
1475 |
|
1476 |
// send checksum
|
1477 |
if (xbee_sendc(sum) != WL_SUCCESS)
|
1478 |
return WL_ERROR_SEND;
|
1479 |
|
1480 |
return WL_SUCCESS;
|
1481 |
} |
1482 |
|
1483 |
/**
|
1484 |
* Handles modem status packets.
|
1485 |
*
|
1486 |
* @param status the type of status packet received.
|
1487 |
**/
|
1488 |
void xbee_handle_status(uint8_t status)
|
1489 |
{ |
1490 |
switch (status)
|
1491 |
{ |
1492 |
case 0: |
1493 |
WL_DEBUG_PRINT_P("XBee hardware reset.\r\n");
|
1494 |
break;
|
1495 |
case 1: |
1496 |
WL_DEBUG_PRINT_P("Watchdog timer reset.\r\n");
|
1497 |
break;
|
1498 |
case 2: |
1499 |
WL_DEBUG_PRINT_P("Associated.\r\n");
|
1500 |
break;
|
1501 |
case 3: |
1502 |
WL_DEBUG_PRINT_P("Disassociated.\r\n");
|
1503 |
break;
|
1504 |
case 4: |
1505 |
WL_DEBUG_PRINT_P("Synchronization lost.\r\n");
|
1506 |
break;
|
1507 |
case 5: |
1508 |
WL_DEBUG_PRINT_P("Coordinator realignment.\r\n");
|
1509 |
break;
|
1510 |
case 6: |
1511 |
WL_DEBUG_PRINT_P("Coordinator started.\r\n");
|
1512 |
break;
|
1513 |
} |
1514 |
} |
1515 |
|
1516 |
/**
|
1517 |
* Handles AT command response packets.
|
1518 |
* @param command the two character AT command, e.g. MY or ID
|
1519 |
* @param result 0 for success, 1 for an error
|
1520 |
* @param len the length in bytes of extra
|
1521 |
**/
|
1522 |
static int8_t xbee_handle_at_command_response(uint16_t command, uint8_t status, uint8_t len)
|
1523 |
{ |
1524 |
WL_DEBUG_PRINT_P("HANDLE AT COMMAND\r\n");
|
1525 |
if (status != 0) |
1526 |
{ |
1527 |
WL_DEBUG_PRINT_P("Error with AT");
|
1528 |
WL_DEBUG_PRINT((char*)command);
|
1529 |
WL_DEBUG_PRINT_P(" packet. Result = ");
|
1530 |
switch(status) {
|
1531 |
case 1: |
1532 |
WL_DEBUG_PRINT_P("ERROR\r\n");
|
1533 |
break;
|
1534 |
case 2: |
1535 |
WL_DEBUG_PRINT_P("Invalid Command\r\n");
|
1536 |
break;
|
1537 |
case 3: |
1538 |
WL_DEBUG_PRINT_P("Invalid Parameter\r\n");
|
1539 |
break;
|
1540 |
} |
1541 |
return WL_SUCCESS;
|
1542 |
} |
1543 |
WL_DEBUG_PRINT_P("AT");
|
1544 |
WL_DEBUG_PRINT_CHAR((uint8_t)(command>>8));
|
1545 |
WL_DEBUG_PRINT_CHAR((uint8_t)(command)); |
1546 |
WL_DEBUG_PRINT_P(" command is being handled\r\n");
|
1547 |
|
1548 |
// TODO: program more command responses here (ND, etc)
|
1549 |
switch(command) {
|
1550 |
case ('I'<<8)+'D': // PAN |
1551 |
case ('C'<<8)+'H': // channel |
1552 |
case ('M'<<8)+'Y': // address |
1553 |
case ('A'<<8)+'P': // api mode |
1554 |
// copy command to handler
|
1555 |
xbee_command[0] = (command&0xFF00)>>8; |
1556 |
xbee_command[1] = command&0x00FF; |
1557 |
uint8_t ptr = basic_buf_last; |
1558 |
for(command=2;command<len+2;command++) { |
1559 |
xbee_command[command] = xbee_basic_buf_get(&ptr); |
1560 |
if (xbee_command[command] == '\r') |
1561 |
break; // done with command |
1562 |
WL_DEBUG_PRINT_HEX(xbee_command[command]); |
1563 |
} |
1564 |
xbee_command[command] = '\0';
|
1565 |
WL_DEBUG_PRINT_P("len=");
|
1566 |
WL_DEBUG_PRINT_INT(len); |
1567 |
WL_DEBUG_PRINT_P("ID,CH,or MY command result:");
|
1568 |
WL_DEBUG_PRINT((char*)xbee_command);
|
1569 |
WL_DEBUG_PRINT_P("\r\n");
|
1570 |
break;
|
1571 |
default:
|
1572 |
WL_DEBUG_PRINT_P("unknown AT command");
|
1573 |
} |
1574 |
|
1575 |
// signal handler that command response is done
|
1576 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_RESPONSE); |
1577 |
|
1578 |
return WL_SUCCESS;
|
1579 |
} |
1580 |
|
1581 |
/**
|
1582 |
* Sets the personal area network id.
|
1583 |
*
|
1584 |
* @param id the new personal area network (PAN) id
|
1585 |
**/
|
1586 |
int8_t xbee_set_pan(uint16_t id) |
1587 |
{ |
1588 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1589 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1590 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1591 |
|
1592 |
|
1593 |
uint8_t arr[2] = {(id&0xFF00)>>8,(id&0x00FF)}; |
1594 |
WL_DEBUG_PRINT_P("setting PAN address:");
|
1595 |
WL_DEBUG_PRINT_HEX(arr[0]);
|
1596 |
WL_DEBUG_PRINT_HEX(arr[1]);
|
1597 |
WL_DEBUG_PRINT_P("\r\n");
|
1598 |
|
1599 |
// change status to command wait
|
1600 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1601 |
xbee_send_modify_at_command((uint8_t*)"ID",arr,2); // send command to set the channel |
1602 |
// wait for up to 30 ms
|
1603 |
uint16_t i=0;
|
1604 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1605 |
delay_us(1); // wait 3us |
1606 |
} |
1607 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
1608 |
i = WL_SUCCESS; |
1609 |
else
|
1610 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1611 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1612 |
return (int8_t)i; // return |
1613 |
} |
1614 |
|
1615 |
/**
|
1616 |
* Get the PAN ID for the XBee.
|
1617 |
*
|
1618 |
* @return the personal area network id, or
|
1619 |
* XBEE_PAN_DEFAULT if it has not yet been set.
|
1620 |
**/
|
1621 |
uint16_t xbee_get_pan() |
1622 |
{ |
1623 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1624 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1625 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
1626 |
|
1627 |
uint16_t i=0;
|
1628 |
// change status to command wait
|
1629 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1630 |
xbee_send_read_at_command((uint8_t*)"ID"); // send command to get the PAN |
1631 |
// wait for up to 30 ms
|
1632 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1633 |
delay_us(1); // wait 3us |
1634 |
} |
1635 |
if (i < 1000 && xbee_command[0] == 'I' && xbee_command[1] == 'D') |
1636 |
i = (xbee_command[2]<<8)|xbee_command[3]; // do ntoh16 coversion |
1637 |
else
|
1638 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code
|
1639 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1640 |
WL_DEBUG_PRINT_P("got PAN address:");
|
1641 |
WL_DEBUG_PRINT_HEX((i&0xFF00)>>8); |
1642 |
WL_DEBUG_PRINT_HEX((i&0x00FF));
|
1643 |
WL_DEBUG_PRINT_P("\r\n");
|
1644 |
return i; // return |
1645 |
} |
1646 |
|
1647 |
/**
|
1648 |
* Set the channel the XBee is using.
|
1649 |
*
|
1650 |
* @param channel the channel the XBee will not use,
|
1651 |
* between 0x0B and 0x1A
|
1652 |
*
|
1653 |
* @see xbee_get_channel
|
1654 |
**/
|
1655 |
int8_t xbee_set_channel(uint8_t channel) |
1656 |
{ |
1657 |
if (channel < 0x0B || channel > 0x1A) |
1658 |
{ |
1659 |
WL_DEBUG_PRINT_P("Channel out of range.\r\n");
|
1660 |
return WL_ERROR_ARGUMENT;
|
1661 |
} |
1662 |
|
1663 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1664 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1665 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1666 |
|
1667 |
WL_DEBUG_PRINT_P("setting channel:");
|
1668 |
WL_DEBUG_PRINT_HEX(channel); |
1669 |
WL_DEBUG_PRINT_P("\r\n");
|
1670 |
int16_t i=0;
|
1671 |
// change status to command wait
|
1672 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1673 |
xbee_send_modify_at_command((uint8_t*)"CH",&channel,1); // send command to set the channel |
1674 |
// wait for up to 30 ms
|
1675 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1676 |
delay_us(1); // wait 3us |
1677 |
} |
1678 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
1679 |
i = WL_SUCCESS; |
1680 |
else
|
1681 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1682 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1683 |
return (int8_t)i; // return |
1684 |
} |
1685 |
|
1686 |
/**
|
1687 |
* Returns the channel which the XBee is currently using.
|
1688 |
*
|
1689 |
* @return the channel the XBee is using
|
1690 |
*
|
1691 |
* @see xbee_set_channel
|
1692 |
**/
|
1693 |
int8_t xbee_get_channel(void)
|
1694 |
{ |
1695 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1696 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1697 |
return WL_ERROR_XBEE_COMMAND; // can't do command right now |
1698 |
|
1699 |
int16_t i=0;
|
1700 |
// change status to command wait
|
1701 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1702 |
xbee_send_read_at_command((uint8_t*)"CH"); // send command to get the channel |
1703 |
// wait for up to 30 ms
|
1704 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1705 |
delay_us(1); // wait 3us |
1706 |
} |
1707 |
if (i < 1000 && xbee_command[0] == 'C' && xbee_command[1] == 'H') |
1708 |
i = (int8_t)xbee_command[2]; // get channel |
1709 |
else
|
1710 |
i = WL_ERROR_XBEE_COMMAND; // set error code
|
1711 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1712 |
WL_DEBUG_PRINT_P("got channel:");
|
1713 |
WL_DEBUG_PRINT_HEX((uint8_t)i); |
1714 |
WL_DEBUG_PRINT_P("\r\n");
|
1715 |
return i; // return |
1716 |
} |
1717 |
|
1718 |
/**
|
1719 |
* Get the 16-bit address of the XBee.
|
1720 |
* This is used to specify who to send messages to
|
1721 |
* and who messages are from.
|
1722 |
*
|
1723 |
* @return the 16-bit address of the XBee.
|
1724 |
**/
|
1725 |
uint16_t xbee_get_address(void)
|
1726 |
{ |
1727 |
if (getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_WAIT
|
1728 |
|| getStatus(XBEE_COMMAND_MASK) == XBEE_COMMAND_RESPONSE) |
1729 |
return WL_ERROR_XBEE_COMMAND_16BIT; // can't do command right now |
1730 |
|
1731 |
uint16_t i=0;
|
1732 |
// change status to command wait
|
1733 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_WAIT); |
1734 |
xbee_send_read_at_command((uint8_t*)"MY"); // send command to get the address |
1735 |
// wait for up to 30 ms
|
1736 |
while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 10000) { |
1737 |
delay_us(1); // wait 3us |
1738 |
} |
1739 |
|
1740 |
if (i < 1000 && xbee_command[0] == 'M' && xbee_command[1] == 'Y') { |
1741 |
i = (xbee_command[2]<<8)|xbee_command[3]; // do ntoh16 coversion |
1742 |
} else
|
1743 |
i = WL_ERROR_XBEE_COMMAND_16BIT; // set error code
|
1744 |
setStatus(XBEE_COMMAND_MASK,XBEE_COMMAND_NONE); // reset status
|
1745 |
WL_DEBUG_PRINT_P("got MY address:");
|
1746 |
WL_DEBUG_PRINT_HEX((i&0xFF00)>>8); |
1747 |
WL_DEBUG_PRINT_HEX((i&0x00FF));
|
1748 |
WL_DEBUG_PRINT_P("\r\n");
|
1749 |
return i; // return |
1750 |
} |
1751 |
|
1752 |
/**@} **/ // end xbee group |
1753 |
|