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1 | 1432 | dsschult | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file xbee.c
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28 | * @brief XBee Interface
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29 | *
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30 | * Implementation of low level communication with the XBee in API mode.
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31 | *
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32 | * @author Brian Coltin, Colony Project, CMU Robotics Club
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33 | **/
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34 | |||
35 | #include <xbee.h> |
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36 | #include <wl_defs.h> |
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37 | |||
38 | #define ROBOT
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39 | #define WL_DEBUG
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40 | #define WL_DEBUG_PRINT( s ) usb_puts( s )
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41 | #define WL_DEBUG_PRINT_INT( i ) usb_puti(i)
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42 | |||
43 | #ifndef ROBOT
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44 | |||
45 | #include <fcntl.h> |
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46 | #include <unistd.h> |
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47 | #include <pthread.h> |
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48 | #include <errno.h> |
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49 | #include <termios.h> |
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50 | |||
51 | #else
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52 | |||
53 | #include <serial.h> |
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54 | #include <avr/interrupt.h> |
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55 | |||
56 | #endif
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57 | |||
58 | #include <stdio.h> |
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59 | #include <stdlib.h> |
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60 | #include <string.h> |
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61 | |||
62 | #define XBEE_FRAME_START 0x7E |
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63 | #define XBEE_GET_PACKET_TIMEOUT 1000 |
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64 | |||
65 | /*Frame Types*/
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66 | #define XBEE_FRAME_STATUS 0x8A |
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67 | #define XBEE_FRAME_AT_COMMAND 0x08 |
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68 | #define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88 |
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69 | #define XBEE_FRAME_TX_REQUEST_64 0x00 |
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70 | #define XBEE_FRAME_TX_REQUEST_16 0x01 |
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71 | #define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
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72 | #define XBEE_FRAME_RX_64 0x80 |
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73 | #define XBEE_FRAME_RX_16 XBEE_RX
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74 | |||
75 | /*Internal Function Prototypes*/
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76 | |||
77 | /*I/O Functions*/
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78 | static int xbee_send(char* buf, int size); |
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79 | static int xbee_send_string(char* c); |
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80 | |||
81 | #ifndef ROBOT
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82 | static int xbee_read(char* buf, int size); |
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83 | #endif
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84 | |||
85 | /*Command Mode Functions
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86 | * Called during initialization.
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87 | */
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88 | static int xbee_enter_command_mode(void); |
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89 | static int xbee_exit_command_mode(void); |
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90 | static int xbee_enter_api_mode(void); |
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91 | 1437 | dsschult | static int xbee_exit_api_mode(void); |
92 | 1432 | dsschult | static int xbee_wait_for_string(char* s, int len); |
93 | static int xbee_wait_for_ok(void); |
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94 | |||
95 | /*API Mode Functions*/
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96 | |||
97 | static int xbee_handle_packet(char* packet, int len); |
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98 | static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen); |
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99 | static void xbee_handle_status(char status); |
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100 | static int xbee_verify_checksum(char* packet, int len); |
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101 | static char xbee_compute_checksum(char* packet, int len); |
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102 | static int xbee_send_frame(char* buf, int len); |
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103 | int xbee_send_read_at_command(char* command); |
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104 | static int xbee_send_modify_at_command(char* command, char* value); |
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105 | |||
106 | /*Global Variables*/
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107 | |||
108 | #ifndef ROBOT
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109 | static char* xbee_com_port = XBEE_PORT_DEFAULT; |
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110 | static int xbee_stream; |
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111 | static pthread_t* xbee_listen_thread;
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112 | #endif
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113 | |||
114 | // TODO: is this a good size?
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115 | #define XBEE_BUFFER_SIZE 128 |
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116 | #define PACKET_BUFFER_SIZE 108 |
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117 | // a buffer for data received from the XBee
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118 | char arrival_buf[XBEE_BUFFER_SIZE];
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119 | // location of last unread byte in buffer
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120 | volatile int buffer_last = 0; |
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121 | // first unread byte in buffer
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122 | volatile int buffer_first = 0; |
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123 | |||
124 | |||
125 | //used to store packets as they are read
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126 | static char xbee_buf[PACKET_BUFFER_SIZE]; |
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127 | static int currentBufPos = 0; |
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128 | |||
129 | //XBee status
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130 | static unsigned int xbee_panID = XBEE_PAN_DEFAULT; |
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131 | static unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT; |
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132 | static int xbee_channel = XBEE_CHANNEL_DEFAULT; |
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133 | static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT; |
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134 | static volatile unsigned int xbee_address = 0; |
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135 | |||
136 | /*Function Implementations*/
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137 | |||
138 | #ifdef ROBOT
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139 | |||
140 | /**
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141 | * Interrupt for the robot. Adds bytes received from the xbee
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142 | * to the buffer.
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143 | **/
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144 | #ifndef FIREFLY
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145 | ISR(USART1_RX_vect) |
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146 | { |
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147 | char c = UDR1;
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148 | arrival_buf[buffer_last] = c; |
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149 | int t = buffer_last + 1; |
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150 | if (t == XBEE_BUFFER_SIZE)
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151 | t = 0;
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152 | if (t == buffer_first)
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153 | { |
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154 | WL_DEBUG_PRINT("\nOut of space in buffer.\n");
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155 | } |
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156 | buffer_last = t; |
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157 | } |
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158 | #else
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159 | SIGNAL(SIG_USART0_RECV) |
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160 | { |
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161 | char c = UDR0;
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162 | arrival_buf[buffer_last] = c; |
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163 | int t = buffer_last + 1; |
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164 | if (t == XBEE_BUFFER_SIZE)
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165 | t = 0;
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166 | if (t == buffer_first)
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167 | { |
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168 | WL_DEBUG_PRINT("Out of space in buffer.\n");
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169 | } |
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170 | buffer_last = t; |
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171 | } |
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172 | #endif
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173 | |||
174 | #else
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175 | |||
176 | // Computer code
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177 | |||
178 | /**
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179 | * Thread that listens to the xbee.
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180 | **/
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181 | static void* listen_to_xbee(void* x) |
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182 | { |
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183 | char c;
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184 | while (1) |
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185 | { |
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186 | if (xbee_read(&c, 1) != 0) { |
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187 | WL_DEBUG_PRINT("xbee_read failed.\n");
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188 | return NULL; |
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189 | } |
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190 | |||
191 | arrival_buf[buffer_last] = c; |
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192 | int t = buffer_last + 1; |
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193 | if (t == XBEE_BUFFER_SIZE)
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194 | t = 0;
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195 | if (t == buffer_first)
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196 | { |
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197 | WL_DEBUG_PRINT("Out of space in buffer.\n");
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198 | } |
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199 | buffer_last = t; |
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200 | |||
201 | usleep(1000);
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202 | } |
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203 | |||
204 | return NULL; |
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205 | } |
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206 | |||
207 | #endif
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208 | |||
209 | /**
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210 | * Initializes the XBee library so that other functions may be used.
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211 | **/
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212 | int xbee_lib_init()
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213 | { |
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214 | WL_DEBUG_PRINT("in xbee_init\n");
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215 | #ifdef ROBOT
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216 | |||
217 | //enable the receiving interrupt
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218 | #ifdef FIREFLY
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219 | UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
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220 | #else
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221 | #ifdef BAYBOARD
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222 | UCSR1B |= _BV(RXCIE1); |
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223 | #else
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224 | UCSR1B |= _BV(RXCIE); |
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225 | #endif
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226 | #endif
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227 | sei(); |
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228 | #else
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229 | xbee_stream = open(xbee_com_port, O_RDWR); |
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230 | if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) |
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231 | { |
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232 | WL_DEBUG_PRINT("Failed to open connection to XBee on port ");
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233 | WL_DEBUG_PRINT_INT(xbee_com_port); |
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234 | WL_DEBUG_PRINT(".\n");
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235 | return -1; |
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236 | } else {
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237 | WL_DEBUG_PRINT("Successfully opened connection to XBee on port ");
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238 | WL_DEBUG_PRINT_INT(xbee_com_port); |
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239 | WL_DEBUG_PRINT(".\n");
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240 | } |
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241 | |||
242 | // set baud rate, etc. correctly
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243 | struct termios options;
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244 | |||
245 | tcgetattr(xbee_stream, &options); |
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246 | cfsetispeed(&options, B9600); |
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247 | cfsetospeed(&options, B9600); |
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248 | options.c_iflag &= ~ICRNL; |
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249 | options.c_oflag &= ~OCRNL; |
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250 | options.c_cflag |= (CLOCAL | CREAD); |
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251 | options.c_cflag &= ~PARENB; |
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252 | options.c_cflag &= ~CSTOPB; |
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253 | options.c_cflag &= ~CSIZE; |
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254 | options.c_cflag |= CS8; |
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255 | options.c_lflag &= ~ICANON; |
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256 | options.c_cc[VMIN] = 1;
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257 | options.c_cc[VTIME] = 50;
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258 | |||
259 | if (tcsetattr(xbee_stream, TCSANOW, &options))
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260 | { |
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261 | WL_DEBUG_PRINT("Error setting attributes.\n");
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262 | return -1; |
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263 | } |
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264 | |||
265 | xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t));
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266 | if (xbee_listen_thread == NULL) |
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267 | { |
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268 | WL_DEBUG_PRINT("Malloc failed.\n");
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269 | return -1; |
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270 | } |
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271 | |||
272 | int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL); |
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273 | if (ret)
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274 | { |
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275 | WL_DEBUG_PRINT("Failed to create listener thread.\n");
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276 | return -1; |
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277 | } |
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278 | #endif
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279 | |||
280 | WL_DEBUG_PRINT("Entering command mode.\n");
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281 | |||
282 | if (xbee_enter_command_mode() != 0) { |
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283 | return -1; |
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284 | } |
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285 | |||
286 | WL_DEBUG_PRINT("Entered command mode.\n");
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287 | |||
288 | if (xbee_enter_api_mode() != 0) { |
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289 | return -1; |
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290 | } |
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291 | |||
292 | WL_DEBUG_PRINT("Entered api mode.\n");
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293 | |||
294 | if (xbee_exit_command_mode() != 0) { |
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295 | return -1; |
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296 | } |
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297 | |||
298 | WL_DEBUG_PRINT("Left command mode.\n");
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299 | |||
300 | if (xbee_send_read_at_command("MY")) { |
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301 | return -1; |
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302 | } |
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303 | WL_DEBUG_PRINT("Getting ATMY address.\n");
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304 | |||
305 | #ifndef ROBOT
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306 | int i;
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307 | for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) { |
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308 | ret = xbee_get_packet(NULL);
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309 | |||
310 | usleep(1000);
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311 | |||
312 | /* if (ret == -1) { */
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313 | /* WL_DEBUG_PRINT("xbee_get_packet(NULL) failed.\n"); */
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314 | /* return -1; */
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315 | /* } */
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316 | } |
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317 | #else
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318 | //wait to return until the address is set
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319 | //TODO: this shouldn't wait indefinitely. There should be some sort of reasonable timeout
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320 | // so if the address is never set right, an error can be returned instead of having the
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321 | // robot hang forever
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322 | while (xbee_address == 0) { |
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323 | xbee_get_packet(NULL);
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324 | } |
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325 | #endif
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326 | WL_DEBUG_PRINT("Got ATMY address.\n");
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327 | |||
328 | #ifndef ROBOT
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329 | if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out. |
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330 | |||
331 | WL_DEBUG_PRINT("xbee_get_packet timed out.\n");
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332 | return -1; |
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333 | } else {
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334 | return 0; |
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335 | } |
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336 | #else
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337 | return 0; |
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338 | #endif
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339 | } |
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340 | |||
341 | /**
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342 | * Call when finished using the XBee library. This releases
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343 | * all sued resources.
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344 | **/
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345 | void xbee_terminate()
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346 | { |
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347 | #ifndef ROBOT
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348 | pthread_cancel(*xbee_listen_thread); |
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349 | pthread_join(*xbee_listen_thread, NULL);
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350 | free(xbee_listen_thread); |
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351 | lockf(xbee_stream, F_ULOCK, 0);
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352 | close(xbee_stream); |
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353 | 1437 | dsschult | #else
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354 | xbee_exit_api_mode(); |
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355 | 1432 | dsschult | #endif
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356 | } |
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357 | |||
358 | /**
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359 | * Send a buffer buf of size bytes to the XBee.
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360 | *
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361 | * @param buf the buffer of data to send
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362 | * @param size the number of bytes to send
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363 | **/
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364 | static int xbee_send(char* buf, int size) |
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365 | { |
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366 | #ifdef ROBOT
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367 | int i;
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368 | for (i = 0; i < size; i++) { |
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369 | xbee_putc(buf[i]); |
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370 | } |
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371 | |||
372 | return 0; |
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373 | |||
374 | #else
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375 | |||
376 | int ret = write(xbee_stream, buf, size);
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377 | //success
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378 | if (ret == size)
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379 | return 0; |
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380 | if (ret == -1) |
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381 | { |
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382 | //interrupted by system signal, probably timer interrupt.
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383 | //just try again
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384 | if (errno == 4) |
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385 | { |
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386 | return xbee_send(buf, size);
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387 | } |
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388 | WL_DEBUG_PRINT("Failed to write to xbee\r\n");
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389 | return -1; |
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390 | } |
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391 | |||
392 | //write was interrupted after writing ret bytes
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393 | return xbee_send(buf + ret, size - ret);
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394 | #endif
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395 | } |
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396 | |||
397 | /**
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398 | * Sends a string to the XBee.
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399 | *
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400 | * @param c the string to send to the XBEE
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401 | **/
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402 | static int xbee_send_string(char* c) |
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403 | { |
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404 | return xbee_send(c, strlen(c));
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405 | } |
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406 | |||
407 | #ifndef ROBOT
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408 | static int xbee_read(char* buf, int size) |
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409 | { |
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410 | if (read(xbee_stream, buf, size) == -1) { |
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411 | WL_DEBUG_PRINT("Failed to read from xbee.\r\n");
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412 | return -1; |
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413 | } |
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414 | |||
415 | return 0; |
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416 | } |
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417 | #endif
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418 | |||
419 | /**
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420 | * Enter into command mode.
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421 | **/
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422 | static int xbee_enter_command_mode() |
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423 | { |
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424 | if (xbee_send_string("+++") != 0) { |
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425 | return -1; |
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426 | } |
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427 | |||
428 | if (xbee_wait_for_ok() != 0) { |
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429 | return -1; |
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430 | } |
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431 | return 0; |
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432 | } |
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433 | |||
434 | /**
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435 | * Exit from command mode.
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436 | **/
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437 | static int xbee_exit_command_mode() |
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438 | { |
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439 | if (xbee_send_string("ATCN\r") != 0) { |
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440 | return -1; |
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441 | } |
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442 | |||
443 | xbee_wait_for_ok(); |
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444 | |||
445 | return 0; |
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446 | } |
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447 | |||
448 | /**
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449 | * Enter API mode.
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450 | **/
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451 | static int xbee_enter_api_mode() |
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452 | { |
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453 | if (xbee_send_string("ATAP 1\r") != 0) { |
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454 | return -1; |
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455 | } |
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456 | xbee_wait_for_ok(); |
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457 | |||
458 | return 0; |
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459 | } |
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460 | |||
461 | /**
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462 | 1437 | dsschult | * Exit API mode.
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463 | **/
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464 | static int xbee_exit_api_mode() |
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465 | { |
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466 | if (xbee_send_modify_at_command("AP","0") != 0) { |
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467 | return -1; |
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468 | } |
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469 | |||
470 | return 0; |
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471 | } |
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472 | |||
473 | /**
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474 | 1432 | dsschult | * Wait until the string "OK\r" is received from the XBee.
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475 | **/
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476 | static int xbee_wait_for_ok() |
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477 | { |
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478 | return xbee_wait_for_string("OK\r", 3); |
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479 | } |
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480 | |||
481 | /**
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482 | * Delay until the specified string is received from
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483 | * the XBee. Discards all other XBee data.
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484 | *
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485 | * ********* Robot often hangs here ****************
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486 | *
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487 | * @param s the string to receive
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488 | * @param len the length of the string
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489 | **/
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490 | static int xbee_wait_for_string(char* s, int len) |
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491 | { |
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492 | char* curr = s;
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493 | while (curr - s < len) {
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494 | WL_DEBUG_PRINT("waiting for string\r\n");
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495 | // check if buffer is empty
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496 | if (buffer_last != buffer_first) {
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497 | char c = arrival_buf[buffer_first++];
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498 | if (buffer_first == XBEE_BUFFER_SIZE) {
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499 | buffer_first = 0;
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500 | } |
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501 | |||
502 | if (c == *curr) {
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503 | curr++; |
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504 | } else {
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505 | #ifndef ROBOT
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506 | //return -1; // Computer is less forgiving.
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507 | curr = s; |
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508 | #else
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509 | curr = s; |
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510 | #endif
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511 | } |
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512 | } // else buffer is empty.
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513 | |||
514 | #ifndef ROBOT
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515 | usleep(100);
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516 | #endif
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517 | } |
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518 | |||
519 | return 0; |
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520 | } |
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521 | |||
522 | /**
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523 | * Verifies that the packets checksum is correct.
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524 | * (If the checksum is correct, the sum of the bytes
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525 | * is 0xFF.)
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526 | *
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527 | * @param packet the packet received. This includes the first
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528 | * three bytes, which are header information from the XBee.
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529 | *
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530 | * @param len The length of the packet received from the XBee
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531 | *
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532 | * @return 0 if the checksum is incorrect, nonzero
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533 | * otherwise
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534 | **/
|
||
535 | int xbee_verify_checksum(char* packet, int len) |
||
536 | { |
||
537 | unsigned char sum = 0; |
||
538 | int i;
|
||
539 | for (i = 3; i < len; i++) |
||
540 | sum += (unsigned char)packet[i]; |
||
541 | return sum == 0xFF; |
||
542 | } |
||
543 | |||
544 | /**
|
||
545 | * Returns the checksum of the given packet.
|
||
546 | *
|
||
547 | * @param buf the data for the packet to send
|
||
548 | * @param len the length of the packet in bytes
|
||
549 | *
|
||
550 | * @return the checksum of the packet, which will
|
||
551 | * become the last byte sent in the packet
|
||
552 | **/
|
||
553 | char xbee_compute_checksum(char* buf, int len) |
||
554 | { |
||
555 | int i;
|
||
556 | unsigned char sum = 0; |
||
557 | for (i = 0; i < len; i++) |
||
558 | sum += (unsigned char)buf[i]; |
||
559 | return 0xFF - sum; |
||
560 | } |
||
561 | |||
562 | /**
|
||
563 | * Adds header information and checksum to the given
|
||
564 | * packet and sends it. Header information includes
|
||
565 | * XBEE_FRAME_START and the packet length, as two bytes.
|
||
566 | *
|
||
567 | * @param buf the packet data
|
||
568 | * @param len the size in bytes of the packet data
|
||
569 | *
|
||
570 | **/
|
||
571 | static int xbee_send_frame(char* buf, int len) |
||
572 | { |
||
573 | char prefix[3]; |
||
574 | prefix[0] = XBEE_FRAME_START;
|
||
575 | prefix[1] = (len & 0xFF00) >> 8; |
||
576 | prefix[2] = len & 0xFF; |
||
577 | char checksum = xbee_compute_checksum(buf, len);
|
||
578 | |||
579 | if (xbee_send(prefix, 3) != 0) { |
||
580 | return -1; |
||
581 | } |
||
582 | |||
583 | if (xbee_send(buf, len) != 0) { |
||
584 | return -1; |
||
585 | } |
||
586 | |||
587 | if (xbee_send(&checksum, 1) != 0) { |
||
588 | return -1; |
||
589 | } |
||
590 | |||
591 | return 0; |
||
592 | } |
||
593 | |||
594 | /**
|
||
595 | * Sends an AT command to read a parameter.
|
||
596 | *
|
||
597 | * @param command the AT command to send. For exmaple,
|
||
598 | * use ID to read the PAN ID and MY to return the XBee ID.
|
||
599 | * See the XBee reference guide for a complete listing.
|
||
600 | **/
|
||
601 | int xbee_send_read_at_command(char* command) |
||
602 | { |
||
603 | return xbee_send_modify_at_command(command, NULL); |
||
604 | } |
||
605 | |||
606 | /**
|
||
607 | * Sends the given AT command.
|
||
608 | *
|
||
609 | * @param command the AT command to send (e.g., MY, ID)
|
||
610 | * @param value the value to pass as a parameter
|
||
611 | * (or NULL if there is no parameter)
|
||
612 | **/
|
||
613 | static int xbee_send_modify_at_command(char* command, char* value) |
||
614 | { |
||
615 | char buf[16]; |
||
616 | int i;
|
||
617 | |||
618 | buf[0] = XBEE_FRAME_AT_COMMAND;
|
||
619 | buf[1] = 1; |
||
620 | buf[2] = command[0]; |
||
621 | buf[3] = command[1]; |
||
622 | int valueLen = 0; |
||
623 | if (value != NULL) |
||
624 | { |
||
625 | valueLen = strlen(value); |
||
626 | if (valueLen > 8) |
||
627 | { |
||
628 | WL_DEBUG_PRINT("AT Command too large.\r\n");
|
||
629 | return -1; |
||
630 | } |
||
631 | |||
632 | for (i = 0; i < valueLen; i++) { |
||
633 | buf[4 + i] = value[i];
|
||
634 | } |
||
635 | } |
||
636 | |||
637 | return xbee_send_frame(buf, 4 + valueLen); |
||
638 | } |
||
639 | |||
640 | /**
|
||
641 | * Send the specified packet.
|
||
642 | *
|
||
643 | * @param packet the packet data to send
|
||
644 | * @param len the number of bytes in the packet
|
||
645 | *
|
||
646 | * @param dest the ID of the XBee to send the packet to,
|
||
647 | * or XBEE_BROADCAST to send the message to all robots
|
||
648 | * in the PAN.
|
||
649 | *
|
||
650 | * @param options a combination of the flags
|
||
651 | * XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
|
||
652 | * XBEE_OPTIONS_BROADCAST_ALL_PANS
|
||
653 | *
|
||
654 | * @param frame the frame number to associate this packet
|
||
655 | * with. This will be used to identify the response when
|
||
656 | * the XBee alerts us as to whether or not our message
|
||
657 | * was received.
|
||
658 | **/
|
||
659 | int xbee_send_packet(char* packet, int len, int dest, char options, char frame) |
||
660 | { |
||
661 | char buf[5]; |
||
662 | char prefix[3]; |
||
663 | int i;
|
||
664 | unsigned char checksum = 0; |
||
665 | |||
666 | if (len > 100) |
||
667 | { |
||
668 | WL_DEBUG_PRINT("Packet is too large.\r\n");
|
||
669 | return -1; |
||
670 | } |
||
671 | |||
672 | //data for sending request
|
||
673 | buf[0] = XBEE_FRAME_TX_REQUEST_16;
|
||
674 | buf[1] = frame;
|
||
675 | buf[2] = (dest >> 8) & 0xFF; |
||
676 | buf[3] = dest & 0xFF; |
||
677 | buf[4] = options;
|
||
678 | |||
679 | //packet prefix, do this here so we don't need an extra buffer
|
||
680 | prefix[0] = XBEE_FRAME_START;
|
||
681 | prefix[1] = ((5 + len) & 0xFF00) >> 8; |
||
682 | prefix[2] = (5 + len) & 0xFF; |
||
683 | |||
684 | for (i = 0; i < 5; i++) |
||
685 | checksum += (unsigned char)buf[i]; |
||
686 | for (i = 0; i < len; i++) |
||
687 | checksum += (unsigned char)packet[i]; |
||
688 | checksum = 0xFF - checksum;
|
||
689 | |||
690 | if (xbee_send(prefix, 3) != 0) { |
||
691 | return -1; |
||
692 | } |
||
693 | |||
694 | if (xbee_send(buf, 5) != 0) { |
||
695 | return -1; |
||
696 | } |
||
697 | |||
698 | if (xbee_send(packet, len) != 0) { |
||
699 | return -1; |
||
700 | } |
||
701 | |||
702 | if (xbee_send((char*)&checksum, 1) != 0) { |
||
703 | return -1; |
||
704 | } |
||
705 | |||
706 | return 0; |
||
707 | } |
||
708 | |||
709 | /**
|
||
710 | * Reads a packet received from the XBee. This function
|
||
711 | * is non-blocking. The resulting packet is stored in dest.
|
||
712 | * Only returns transmission response packets and
|
||
713 | * received packets. The returned packet does not include
|
||
714 | * header information or the checksum. This method also
|
||
715 | * handles special packets dealt with by the XBee library,
|
||
716 | * and so should be called frequently while the XBee is in
|
||
717 | * use.<br><br>
|
||
718 | *
|
||
719 | * The first byte of the packet will be either
|
||
720 | * XBEE_TX_STATUS or XBEE_RX to indicated
|
||
721 | * a response to a sent message or a received message,
|
||
722 | * respectively.<br><br>
|
||
723 | *
|
||
724 | * For a status response packet:<br>
|
||
725 | * The first byte will be XBEE_TX_STATUS.<br>
|
||
726 | * The second byte will be the frame number.<br>
|
||
727 | * The third byte will be the result. 0 indicates success,
|
||
728 | * and nonzero indicates that an error ocurred in
|
||
729 | * transmitting the packet.<br><br>
|
||
730 | *
|
||
731 | * For a received packet:<br>
|
||
732 | * The first byte will be XBEE_RX.<br>
|
||
733 | * The second and third bytes will be the 16-bit
|
||
734 | * address of the packet's sender.<br>
|
||
735 | * The fourth byte is the signal strength.<br>
|
||
736 | * The fifth byte is 1 if the packet were sent to
|
||
737 | * a specific address, and 2 if it is a broadcast packet.<br><br>
|
||
738 | *
|
||
739 | * @param dest set to the packet data
|
||
740 | * @return the length of the packet, or -1 if no packet
|
||
741 | * is available
|
||
742 | **/
|
||
743 | int xbee_get_packet(unsigned char* dest) |
||
744 | { |
||
745 | int ret;
|
||
746 | //start reading a packet with XBEE_FRAME_START
|
||
747 | if (currentBufPos == 0) |
||
748 | { |
||
749 | do
|
||
750 | { |
||
751 | if (buffer_first == XBEE_BUFFER_SIZE)
|
||
752 | buffer_first = 0;
|
||
753 | // check if buffer is empty
|
||
754 | if (buffer_first == buffer_last) {
|
||
755 | return -1; |
||
756 | } |
||
757 | } while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
|
||
758 | |||
759 | if (buffer_first == XBEE_BUFFER_SIZE) {
|
||
760 | buffer_first = 0;
|
||
761 | } |
||
762 | xbee_buf[0] = XBEE_FRAME_START;
|
||
763 | currentBufPos++; |
||
764 | } |
||
765 | |||
766 | int len = -1; |
||
767 | if (currentBufPos >= 3) { |
||
768 | len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
||
769 | } |
||
770 | |||
771 | while (len == -1 //packet length has not been read yet |
||
772 | || currentBufPos < len + 4)
|
||
773 | { |
||
774 | if (currentBufPos == 3) |
||
775 | { |
||
776 | len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
||
777 | if (len > 120) |
||
778 | { |
||
779 | WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
|
||
780 | currentBufPos = 0;
|
||
781 | return -1; |
||
782 | } |
||
783 | } |
||
784 | |||
785 | // check if buffer is empty
|
||
786 | if (buffer_first == buffer_last) {
|
||
787 | return -1; |
||
788 | } |
||
789 | xbee_buf[currentBufPos++] = arrival_buf[buffer_first++]; |
||
790 | if (buffer_first == XBEE_BUFFER_SIZE) {
|
||
791 | buffer_first = 0;
|
||
792 | } |
||
793 | } |
||
794 | |||
795 | currentBufPos = 0;
|
||
796 | |||
797 | if (!xbee_verify_checksum(xbee_buf, len + 4)) |
||
798 | { |
||
799 | WL_DEBUG_PRINT("XBee checksum failed.\r\n");
|
||
800 | return -1; |
||
801 | } |
||
802 | |||
803 | //we will take care of the packet
|
||
804 | |||
805 | ret = xbee_handle_packet(xbee_buf+3, len);
|
||
806 | if (ret == 1) { |
||
807 | return 3; |
||
808 | } |
||
809 | |||
810 | if (dest == NULL) { |
||
811 | return -1; |
||
812 | } |
||
813 | |||
814 | int i;
|
||
815 | for (i = 3; i < len + 3; i++) { |
||
816 | dest[i - 3] = xbee_buf[i];
|
||
817 | } |
||
818 | return len;
|
||
819 | } |
||
820 | |||
821 | /**
|
||
822 | * Handles modem status packets.
|
||
823 | *
|
||
824 | * @param status the type of status packet received.
|
||
825 | **/
|
||
826 | void xbee_handle_status(char status) |
||
827 | { |
||
828 | switch (status)
|
||
829 | { |
||
830 | case 0: |
||
831 | WL_DEBUG_PRINT("XBee hardware reset.\r\n");
|
||
832 | break;
|
||
833 | case 1: |
||
834 | WL_DEBUG_PRINT("Watchdog timer reset.\r\n");
|
||
835 | break;
|
||
836 | case 2: |
||
837 | WL_DEBUG_PRINT("Associated.\r\n");
|
||
838 | break;
|
||
839 | case 3: |
||
840 | WL_DEBUG_PRINT("Disassociated.\r\n");
|
||
841 | break;
|
||
842 | case 4: |
||
843 | WL_DEBUG_PRINT("Synchronization lost.\r\n");
|
||
844 | break;
|
||
845 | case 5: |
||
846 | WL_DEBUG_PRINT("Coordinator realignment.\r\n");
|
||
847 | break;
|
||
848 | case 6: |
||
849 | WL_DEBUG_PRINT("Coordinator started.\r\n");
|
||
850 | break;
|
||
851 | } |
||
852 | } |
||
853 | |||
854 | /**
|
||
855 | * Handles AT command response packets.
|
||
856 | * @param command the two character AT command, e.g. MY or ID
|
||
857 | * @param result 0 for success, 1 for an error
|
||
858 | * @param extra the hex value of the requested register
|
||
859 | * @param extraLen the length in bytes of extra
|
||
860 | **/
|
||
861 | static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen) |
||
862 | { |
||
863 | if (result == 1) |
||
864 | { |
||
865 | WL_DEBUG_PRINT("Error with AT");
|
||
866 | WL_DEBUG_PRINT(command); |
||
867 | WL_DEBUG_PRINT(" packet.\r\n");
|
||
868 | } |
||
869 | WL_DEBUG_PRINT("AT");
|
||
870 | WL_DEBUG_PRINT(command); |
||
871 | WL_DEBUG_PRINT(" command was successful.\r\n");
|
||
872 | |||
873 | if (command[0] == 'I' && command[1] == 'D') |
||
874 | { |
||
875 | xbee_panID = xbee_pending_panID; |
||
876 | WL_DEBUG_PRINT("PAN ID set to ");
|
||
877 | WL_DEBUG_PRINT_INT(xbee_panID); |
||
878 | WL_DEBUG_PRINT(".\r\n");
|
||
879 | return;
|
||
880 | } |
||
881 | |||
882 | if (command[0] == 'C' && command[1] == 'H') |
||
883 | { |
||
884 | xbee_channel = xbee_pending_channel; |
||
885 | WL_DEBUG_PRINT("Channel set to ");
|
||
886 | WL_DEBUG_PRINT_INT(xbee_channel); |
||
887 | WL_DEBUG_PRINT(".\r\n");
|
||
888 | return;
|
||
889 | } |
||
890 | 1623 | dsschult | |
891 | if (command[0] == 'N' && command[1] == 'D') |
||
892 | { |
||
893 | xbee_channel = xbee_pending_channel; |
||
894 | WL_DEBUG_PRINT("extra=");
|
||
895 | WL_DEBUG_PRINT(extra); |
||
896 | WL_DEBUG_PRINT("\r\n");
|
||
897 | return;
|
||
898 | } |
||
899 | 1432 | dsschult | |
900 | if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0) |
||
901 | { |
||
902 | xbee_address = 0;
|
||
903 | int i;
|
||
904 | for (i = 0; i < extraLen; i++) { |
||
905 | xbee_address = (xbee_address << 8) + extra[i];
|
||
906 | } |
||
907 | |||
908 | WL_DEBUG_PRINT("XBee address is ");
|
||
909 | WL_DEBUG_PRINT_INT(xbee_address); |
||
910 | WL_DEBUG_PRINT(".\r\n");
|
||
911 | |||
912 | if (xbee_address == 0) |
||
913 | { |
||
914 | WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
|
||
915 | #ifndef ROBOT
|
||
916 | exit(0);
|
||
917 | #endif
|
||
918 | } |
||
919 | } |
||
920 | } |
||
921 | |||
922 | /**
|
||
923 | * Attempts to handle the packet if it is dealt with
|
||
924 | * by the library.
|
||
925 | * We will handle the following packet types:
|
||
926 | * Modem Status
|
||
927 | * AT Command Response
|
||
928 | *
|
||
929 | * @param packet the packet to handle
|
||
930 | * @param len the length of the packet
|
||
931 | *
|
||
932 | * @return 1 if we have handled the packet, 0 otherwise
|
||
933 | */
|
||
934 | static int xbee_handle_packet(char* packet, int len) |
||
935 | { |
||
936 | |||
937 | char command[3] = {1, 2, 3}; |
||
938 | if (len <= 0) //this should not happend |
||
939 | { |
||
940 | WL_DEBUG_PRINT("Non-positive packet length.\r\n");
|
||
941 | return 0; |
||
942 | } |
||
943 | |||
944 | switch ((unsigned char)packet[0]) //packet type |
||
945 | { |
||
946 | case XBEE_FRAME_STATUS:
|
||
947 | xbee_handle_status(packet[1]);
|
||
948 | return 1; |
||
949 | case XBEE_FRAME_AT_COMMAND_RESPONSE:
|
||
950 | command[0] = packet[2]; |
||
951 | command[1] = packet[3]; |
||
952 | command[2] = 0; |
||
953 | xbee_handle_at_command_response(command, packet[4], packet + 5, len - 5); |
||
954 | return 1; |
||
955 | } |
||
956 | return 0; |
||
957 | } |
||
958 | |||
959 | /**
|
||
960 | * Sets the personal area network id.
|
||
961 | *
|
||
962 | * @param id the new personal area network (PAN) id
|
||
963 | **/
|
||
964 | int xbee_set_pan_id(int id) |
||
965 | { |
||
966 | char s[3]; |
||
967 | s[0] = (id >> 8) & 0xFF; |
||
968 | s[1] = id & 0xFF; |
||
969 | s[2] = 0; |
||
970 | xbee_pending_panID = id; |
||
971 | return xbee_send_modify_at_command("ID", s); |
||
972 | } |
||
973 | |||
974 | /**
|
||
975 | * Get the PAN ID for the XBee.
|
||
976 | *
|
||
977 | * @return the personal area network id, or
|
||
978 | * XBEE_PAN_DEFAULT if it has not yet been set.
|
||
979 | **/
|
||
980 | unsigned int xbee_get_pan_id() |
||
981 | { |
||
982 | return xbee_panID;
|
||
983 | } |
||
984 | |||
985 | /**
|
||
986 | * Set the channel the XBee is using.
|
||
987 | *
|
||
988 | * @param channel the channel the XBee will not use,
|
||
989 | * between 0x0B and 0x1A
|
||
990 | *
|
||
991 | * @see xbee_get_channel
|
||
992 | **/
|
||
993 | int xbee_set_channel(int channel) |
||
994 | { |
||
995 | if (channel < 0x0B || channel > 0x1A) |
||
996 | { |
||
997 | WL_DEBUG_PRINT("Channel out of range.\r\n");
|
||
998 | return -1; |
||
999 | } |
||
1000 | |||
1001 | char s[3]; |
||
1002 | s[0] = channel & 0xFF; |
||
1003 | s[1] = 0; |
||
1004 | xbee_pending_channel = channel; |
||
1005 | |||
1006 | return xbee_send_modify_at_command("CH", s); |
||
1007 | } |
||
1008 | |||
1009 | /**
|
||
1010 | * Returns the channel which the XBee is currently using.
|
||
1011 | *
|
||
1012 | * @return the channel the XBee is using
|
||
1013 | *
|
||
1014 | * @see xbee_set_channel
|
||
1015 | **/
|
||
1016 | int xbee_get_channel(void) |
||
1017 | { |
||
1018 | return xbee_channel;
|
||
1019 | } |
||
1020 | |||
1021 | /**
|
||
1022 | * Get the 16-bit address of the XBee.
|
||
1023 | * This is used to specify who to send messages to
|
||
1024 | * and who messages are from.
|
||
1025 | *
|
||
1026 | * @return the 16-bit address of the XBee.
|
||
1027 | **/
|
||
1028 | unsigned int xbee_get_address() |
||
1029 | { |
||
1030 | return xbee_address;
|
||
1031 | } |
||
1032 | |||
1033 | #ifndef ROBOT
|
||
1034 | void xbee_set_com_port(char* port) |
||
1035 | { |
||
1036 | xbee_com_port = port; |
||
1037 | } |
||
1038 | #endif |