root / trunk / code / projects / libwireless / lib / xbee.h @ 203
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| 1 | 17 | bcoltin | /**
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| 2 | * @file xbee.h
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| 3 | * @brief Contains definitions for using the XBee
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| 4 | *
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| 5 | * Contains definitions for interfacing with the
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| 6 | * XBee module, from either a robot or a computer.
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| 7 | * To use a robot, define ROBOT in wl_defs.h, and
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| 8 | * to use a computer, don't define ROBOT.
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| 9 | *
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| 10 | * @author Brian Coltin, Colony Project, CMU Robotics Club
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| 11 | **/
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| 12 | |||
| 13 | 159 | jknichel | #ifndef XBEE_H
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| 14 | #define XBEE_H
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| 15 | |||
| 16 | 17 | bcoltin | /**
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| 17 | 113 | bcoltin | * The port to use the XBee from on the computer.
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| 18 | * Also, a backup port if the other is used.
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| 19 | **/
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| 20 | #ifndef ROBOT
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| 21 | #ifndef XBEE_PORT
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| 22 | 174 | emarinel | #define XBEE_PORT "/dev/ttyUSB1" |
| 23 | 113 | bcoltin | #endif
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| 24 | 171 | gtress | #define XBEE_PORT2 "/dev/ttyUSB0" |
| 25 | 113 | bcoltin | #endif
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| 26 | |||
| 27 | /**
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| 28 | 17 | bcoltin | * @defgroup xbee XBee
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| 29 | * @brief Interface with the XBee module
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| 30 | *
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| 31 | * Interface with the XBee module.
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| 32 | *
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| 33 | * @{
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| 34 | **/
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| 35 | |||
| 36 | /*Definitions*/
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| 37 | 60 | bcoltin | /**@brief Unset PAN, uses XBee default **/
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| 38 | 17 | bcoltin | #define XBEE_PAN_DEFAULT 0xFFFF |
| 39 | 60 | bcoltin | /**@brief Unset channel, uses XBee default **/
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| 40 | #define XBEE_CHANNEL_DEFAULT 0 |
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| 41 | 17 | bcoltin | /**@brief Broadcast to all robots in the PAN **/
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| 42 | #define XBEE_BROADCAST 0xFFFF |
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| 43 | /**@brief No special options **/
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| 44 | #define XBEE_OPTIONS_NONE 0x00 |
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| 45 | /**@brief Do not receive a TX_STATUS message from this packet **/
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| 46 | #define XBEE_OPTIONS_DISABLE_RESPONSE 0x01 |
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| 47 | /**@brief Send the packet to all PANS **/
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| 48 | #define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04 |
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| 49 | /**@brief A transmit status packet **/
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| 50 | #define XBEE_TX_STATUS 0x89 |
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| 51 | /**@brief A packet received from another XBee **/
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| 52 | #define XBEE_RX 0x81 |
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| 53 | |||
| 54 | /**@brief Initialize the XBee library **/
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| 55 | 60 | bcoltin | void xbee_lib_init(void); |
| 56 | 17 | bcoltin | /**@brief Uninitialize the XBee library **/
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| 57 | void xbee_terminate(void); |
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| 58 | /**@brief Get a packet from the XBee **/
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| 59 | int xbee_get_packet(unsigned char* packet); |
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| 60 | /**@brief Send a packet to the XBee **/
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| 61 | void xbee_send_packet(char* packet, int len, int dest, |
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| 62 | char options, char frame); |
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| 63 | /**@brief Set the PAN ID for the XBee **/
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| 64 | void xbee_set_pan_id(int id); |
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| 65 | /**@brief Get the XBee's PAN ID **/
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| 66 | unsigned int xbee_get_pan_id(void); |
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| 67 | 60 | bcoltin | /**@brief Set the channel the XBee is currently using **/
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| 68 | void xbee_set_channel(int channel); |
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| 69 | /**@brief Get the channel the XBee is currently using **/
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| 70 | int xbee_get_channel(void); |
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| 71 | 17 | bcoltin | /**@brief Get the XBee's 16-bit address **/
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| 72 | unsigned int xbee_get_address(void); |
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| 73 | 203 | justin | /**@brief Set the com port on a computer, undefined on the robot**/
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| 74 | void xbee_set_com_port(char* port); |
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| 75 | 17 | bcoltin | |
| 76 | /**@}**/ //end defgroup |
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| 77 | |||
| 78 | 159 | jknichel | #endif |