Colony

/**

 * @file xbee.h

 * @brief Contains definitions for using the XBee

 *

 * Contains definitions for interfacing with the 

 * XBee module, from either a robot or a computer.

 * To use a robot, define ROBOT in wl_defs.h, and

 * to use a computer, don't define ROBOT.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef XBEE_H

#define XBEE_H

/**

 * The port to use the XBee from on the computer.

 * Also, a backup port if the other is used.

 **/

#ifndef ROBOT

#ifndef XBEE_PORT

#define XBEE_PORT "/dev/ttyUSB1"

#endif

#define XBEE_PORT2 "/dev/ttyUSB0"

#endif

/**

 * @defgroup xbee XBee

 * @brief Interface with the XBee module

 *

 * Interface with the XBee module.

 *

 * @{

 **/

/*Definitions*/

/**@brief Unset PAN, uses XBee default **/

#define XBEE_PAN_DEFAULT 0xFFFF

/**@brief Unset channel, uses XBee default **/

#define XBEE_CHANNEL_DEFAULT 0

/**@brief Broadcast to all robots in the PAN **/

#define XBEE_BROADCAST 0xFFFF

/**@brief No special options **/

#define XBEE_OPTIONS_NONE 0x00

/**@brief Do not receive a TX_STATUS message from this packet **/

#define XBEE_OPTIONS_DISABLE_RESPONSE 0x01

/**@brief Send the packet to all PANS **/

#define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04

/**@brief A transmit status packet **/

#define XBEE_TX_STATUS 0x89

/**@brief A packet received from another XBee **/

#define XBEE_RX 0x81

/**@brief Initialize the XBee library **/

void xbee_lib_init(void);

/**@brief Uninitialize the XBee library **/

void xbee_terminate(void);

/**@brief Get a packet from the XBee **/

int xbee_get_packet(unsigned char* packet);

/**@brief Send a packet to the XBee **/

void xbee_send_packet(char* packet, int len, int dest,

        char options, char frame);

/**@brief Set the PAN ID for the XBee **/

void xbee_set_pan_id(int id);

/**@brief Get the XBee's PAN ID **/

unsigned int xbee_get_pan_id(void);

/**@brief Set the channel the XBee is currently using **/

void xbee_set_channel(int channel);

/**@brief Get the channel the XBee is currently using **/

int xbee_get_channel(void);

/**@brief Get the XBee's 16-bit address **/

unsigned int xbee_get_address(void);

/**@brief Set the com port on a computer, undefined on the robot**/

void xbee_set_com_port(char* port);

/**@}**/ //end defgroup

#endif