/ - Diff - Colony - Robotics Club

+     *
      * @author Colony Project, CMU Robotics Club
      **/
     // TODO Why are we including lights? Because lights are awesome. No, really, figure this out.
     #include <lights.h>
     #include <string.h>
-...
     #define XBEE_COMMAND_MASK 0xC0
     #define XBEE_NOT_INITD 0xF0
     #define LAST_PACKET_MASK 0x0F
     uint8_t xbee_status = XBEE_NOT_INITD;
     uint8_t xbee_status = XBEE_NOT_INITD; //This is the super-byte
     // xbee command response (for PAN, channel, address, etc)
     static uint8_t xbee_command[8];
-...
       // get length and type
       while(i<3) {
         if (FLAG) {
         if (FLAG) { //if there is a byte to read //checks for escape characters in API mode 2. This repeats below (should be a function)
           if (i==0) {
             if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
                 && apitype == ESCAPE_MARKER)
             if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE             && apitype == ESCAPE_MARKER) //apitype is used here as dummy var
               apitype = PORT ^ ESCAPE_XOR;
             else {
               apitype = PORT;
-...
         uint8_t ptr=basic_buf_last;
         uint8_t status=0;
         while(i<len) {
           if (FLAG) {
           if (FLAG) {  //more escape characters
             if (i==1) {
               if (getStatus(XBEE_API_MASK) == XBEE_API_ESCAPE
                   && apitype == ESCAPE_MARKER)
-...
         for(uint8_t j=0;j<(len-5);j++)
           WL_DEBUG_PRINT_HEX(xbee_basic_buf_get(&ptr2));
         WL_DEBUG_PRINT_P("|\r\n");
     	//end of DEBUG_PRINT
         xbee_handle_at_command_response(atcommand,status,len-5);
         break; }
       case XBEE_FRAME_STATUS: {
-...
                     && apitype == ESCAPE_MARKER)
                   continue; // get escaped character
+              }
               ackhandle(frame_id,apitype); // handle the status
               ackhandle(frame_id,apitype); // handle the status (stored in apitype)
               break;
+            }
             i++;
-...
                 WL_DEBUG_PRINT_P("|ptr2=");
                 WL_DEBUG_PRINT_INT(ptr);
               if (group == 0) {
               if (group == 0) { //writes the packet to the buffer
                 WL_DEBUG_PRINT_P("|last1=");
                 WL_DEBUG_PRINT_INT(basic_buf_last);
                 WL_DEBUG_PRINT_P("|ptr1=");
-...
     /** status functions **/
     inline uint8_t getStatus(uint8_t mask) { return xbee_status&mask; }
     void setStatus(uint8_t mask,uint8_t value) { xbee_status = ((xbee_status&(~mask))|value); }
     void setStatus(uint8_t mask,uint8_t value) {
       xbee_status = ((xbee_status&(~mask))|value); //xbee is the super-byte
+    }
     /**
-...
       // Set startup baud rate of 9600
       // Set frame format: 8data, 1stop bit, asynchronous normal mode
       // Enable receiver and transmitter and the receiving interrupt
       // DO NOT TOUCH
     #ifdef FIREFLY
       UBRR0H = 0x00;
       UBRR0L = 103;
-...
+    }
     /**
      * Enter API mode.
      * Enter API mode 1.
      **/
     static int8_t xbee_enter_api_mode(void) {
       if (xbee_send_string((uint8_t*)"ATAP 1\r") != 0) {
-...
       if (getStatus(XBEE_API_MASK) == XBEE_API_OFF) {
         // wait until the response is received (only wait 1 second)
         while(getStatus(XBEE_COMMAND_MASK) != XBEE_COMMAND_RESPONSE && i++ < 1000) {
           delay_us(1);
           delay_us(1); //3 us
+        }
         // check response
         if (i >= 1000) {
-...
+    }
     /**
      * Send the specified packet.
      * Send the specified packet. (wl_send depreciates this)
+     *
      * @param packet the packet data to send
      * @param len the number of bytes in the packet
-...
     /**
      * Set the channel the XBee is using.
+     *
      * @param channel the channel the XBee will not use,
      * @param channel the channel the XBee will use,
      * between 0x0B and 0x1A
+     *
      * @reutrn success or error code
+     *
      * @see xbee_get_channel
      **/
     int8_t xbee_set_channel(uint8_t channel)

       packet[3] = XBEE_OPTIONS_NONE;
       packet[4] = nextframe;
       packet[5] = group;
       nextframe = (nextframe == 0xFF)?1:nextframe+1; // increment frame number
       // set scope
       // set scope, defaults to send to PAN
       if (scope == GLOBAL)
         packet[3] &= XBEE_OPTIONS_BROADCAST_ALL_PANS;
         packet[3] |= XBEE_OPTIONS_BROADCAST_ALL_PANS;
       else if (scope != PAN) {
         WL_DEBUG_PRINT_P("Error - bad scope in core send function\r\n");
         return WL_ERROR_SCOPE;
+      }
       // set mode
       // set mode, defaults to RELIABLE
       if (mode == FAST) {
         packet[3] &= XBEE_OPTIONS_DISABLE_RESPONSE;
         packet[3] |= XBEE_OPTIONS_DISABLE_RESPONSE;
       } else if (mode != RELIABLE) {
         WL_DEBUG_PRINT_P("Error - bad mode in core send function\r\n");
         return WL_ERROR_MODE;
-...
         return ret; // no frame number
       } else if (mode == RELIABLE) {
         setack(nextframe,SENDING); // set status to SENDING
         nextframe = (nextframe == 0xFF)?1:nextframe+1; // increment frame number
         // save packet on sending buffer
         scope = send_buf_last; // use as ptr to send buffer
         if (send_buf_add(&scope,length+6) != WL_SUCCESS) { // add length
           WL_DEBUG_PRINT_P("Error adding length to sending buffer\r\n");
           ret = WL_ERROR_SENDING_BUFFER_FULL;
           return WL_ERROR_SENDING_BUFFER_FULL;
+        }
         for(mode=0;mode<6;mode++) { // add header
         for(mode=0;mode<6;mode++) { // add header //mode is being used as a counter to save space
           if (send_buf_add(&scope,packet[mode]) != WL_SUCCESS) {
             WL_DEBUG_PRINT_P("Error adding header to sending buffer\r\n");
             ret = WL_ERROR_SENDING_BUFFER_FULL;
             return WL_ERROR_SENDING_BUFFER_FULL;
+          }
+        }
         for(mode=0;mode<length;mode++) { // add data
         for(mode=0;mode<length;mode++) { // add data //mode is being used as a counter to save space
           if (send_buf_add(&scope,data[mode]) != WL_SUCCESS) {
             WL_DEBUG_PRINT_P("Error adding data to sendig buffer\r\n");
             ret = WL_ERROR_SENDING_BUFFER_FULL;
             return WL_ERROR_SENDING_BUFFER_FULL;
+          }
+        }
         if (send_buf_add(&scope,0) != WL_SUCCESS) { // add num retries=0
           WL_DEBUG_PRINT_P("Error adding num_retries to sending buffer\r\n");
           ret = WL_ERROR_SENDING_BUFFER_FULL;
           return WL_ERROR_SENDING_BUFFER_FULL;
+        }
         send_buf_last = scope;
         send_buf_num_packets++;
-...
      **/
     uint8_t wl_ack_error(void) {
       WL_DEBUG_PRINT_P("entering wl_ack_error function");
       uint8_t val=0,i=1;
       uint8_t val=0,i=1;//i=1 because if i=0, then the xbee won't give an ack
       while(1) {
         if (((ack_buf[i/4])&(0x2<<(i%4))) != 0) // if the ack is in an error state
       for(i = 1; i < 255; i++){
     	if (((ack_buf[i/4])&(0x2<<(i%4))) != 0) // if the ack is in an error state
           val++;
         if (i==255)
           break;
         i++;
+      }
+      }
       WL_DEBUG_PRINT_P("|num_errors:");
       WL_DEBUG_PRINT_INT(val);
       WL_DEBUG_PRINT_P("\r\n");
-...
     /**
      * acknowledgement reset
      * reset the acknowledgement buffer
      * TODO: Also needs to reset packet buffer
      **/
     void wl_ack_reset(void) {
       WL_DEBUG_PRINT_P("entering wl_ack_reset function\r\n");
-...
+    }
     /* ack handler */
     /* ack handler
+     *
      * @param num the ack number
      * @param val {SUCCESS,ACK_FAILURE,CCA_FAILURE,PURGED}
      * 		will be either SUCCESS or FAILURE
     */
     void ackhandle(uint8_t num,uint8_t val) {
       uint8_t len;
       uint8_t packets = 0;
-...
         // success
         setack(num,ACK_OK); // set status code
         // remove from buffer
         val = send_buf_first;
         val = send_buf_first; //val is no longer the send status
         while (1) {
           len = send_buf_get(&val);
           WL_DEBUG_PRINT_P("|send_packet_buf_pos:");

branches/wireless/code/projects/libwireless/wl_defs.h
53	53
54	54	// ***** TODO: these next two defines should be moved to makefile options
55	55
56		//comment out this line if using a computer hooked up to an xbee
57	56	#define ROBOT
58	57
59	58	//uncomment this line for debug information

      * @name xbee frame types
      * @{ **/
     // TODO: add comments for all of these definitions
     // TODO: add doxygen comments for all of these definitions
     /*Frame Types*/
     #define XBEE_FRAME_START 0x7E

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