root / trunk / code / projects / libwireless / lib / xbee.c @ 241
History | View | Annotate | Download (16 KB)
1 |
#include "xbee.h" |
---|---|
2 |
#include "wl_defs.h" |
3 |
|
4 |
#ifndef ROBOT
|
5 |
|
6 |
#include <fcntl.h> |
7 |
#include <unistd.h> |
8 |
#include <pthread.h> |
9 |
#include <errno.h> |
10 |
|
11 |
#else
|
12 |
|
13 |
#include <serial.h> |
14 |
#include <avr/interrupt.h> |
15 |
|
16 |
#endif
|
17 |
|
18 |
#include <stdio.h> |
19 |
#include <stdlib.h> |
20 |
#include <string.h> |
21 |
|
22 |
#include <queue.h> |
23 |
|
24 |
#define XBEE_FRAME_START 0x7E |
25 |
|
26 |
/*Frame Types*/
|
27 |
#define XBEE_FRAME_STATUS 0x8A |
28 |
#define XBEE_FRAME_AT_COMMAND 0x08 |
29 |
#define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88 |
30 |
#define XBEE_FRAME_TX_REQUEST_64 0x00 |
31 |
#define XBEE_FRAME_TX_REQUEST_16 0x01 |
32 |
#define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
|
33 |
#define XBEE_FRAME_RX_64 0x80 |
34 |
#define XBEE_FRAME_RX_16 XBEE_RX
|
35 |
|
36 |
/*Internal Function Prototypes*/
|
37 |
|
38 |
/*I/O Functions*/
|
39 |
void xbee_send(char* buf, int size); |
40 |
void xbee_send_string(char* c); |
41 |
|
42 |
#ifndef ROBOT
|
43 |
void xbee_read(char* buf, int size); |
44 |
#endif
|
45 |
|
46 |
/*Command Mode Functions
|
47 |
* Called during initialization.
|
48 |
*/
|
49 |
void xbee_enter_command_mode(void); |
50 |
void xbee_exit_command_mode(void); |
51 |
void xbee_enter_api_mode(void); |
52 |
void xbee_wait_for_string(char* s, int len); |
53 |
void xbee_wait_for_ok(void); |
54 |
|
55 |
/*API Mode Functions*/
|
56 |
|
57 |
int xbee_handle_packet(char* packet, int len); |
58 |
void xbee_handle_at_command_response(char* command, char result, |
59 |
char* extra, int extraLen); |
60 |
void xbee_handle_status(char status); |
61 |
int xbee_verify_checksum(char* packet, int len); |
62 |
char xbee_compute_checksum(char* packet, int len); |
63 |
void xbee_send_frame(char* buf, int len); |
64 |
void xbee_send_read_at_command(char* command); |
65 |
void xbee_send_modify_at_command(char* command, char* value); |
66 |
|
67 |
/*Global Variables*/
|
68 |
|
69 |
#ifndef ROBOT
|
70 |
char* xbee_com_port;
|
71 |
int xbee_stream;
|
72 |
pthread_t* xbee_listen_thread; |
73 |
#endif
|
74 |
|
75 |
Queue* xbee_queue; |
76 |
|
77 |
//used to store packets as they are read
|
78 |
char xbee_buf[128]; |
79 |
int currentBufPos = 0; |
80 |
|
81 |
//XBee status
|
82 |
unsigned int xbee_panID = XBEE_PAN_DEFAULT; |
83 |
unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT; |
84 |
int xbee_channel = XBEE_CHANNEL_DEFAULT;
|
85 |
int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
|
86 |
unsigned int xbee_address = 0; |
87 |
|
88 |
/*Function Implementations*/
|
89 |
|
90 |
#ifdef ROBOT
|
91 |
|
92 |
/**
|
93 |
* Interrupt for the robot. Adds bytes received from the xbee
|
94 |
* to the queue.
|
95 |
**/
|
96 |
#ifndef FIREFLY
|
97 |
ISR(USART1_RX_vect) |
98 |
{ |
99 |
char c = UDR1;
|
100 |
queue_add(xbee_queue, (void*)(int)c); |
101 |
} |
102 |
#else
|
103 |
SIGNAL(SIG_USART0_RECV) |
104 |
{ |
105 |
char c = UDR0;
|
106 |
queue_add(xbee_queue, (void*)(int)c); |
107 |
} |
108 |
#endif
|
109 |
|
110 |
#else
|
111 |
|
112 |
/**
|
113 |
* Thread that listens to the xbee.
|
114 |
**/
|
115 |
void* listen_to_xbee(void* x) |
116 |
{ |
117 |
char c;
|
118 |
while (1) |
119 |
{ |
120 |
xbee_read(&c, 1);
|
121 |
queue_add(xbee_queue, (void*)(int)c); |
122 |
} |
123 |
return 0; |
124 |
} |
125 |
|
126 |
#endif
|
127 |
|
128 |
/**
|
129 |
* Initializes the XBee library so that other functions may be used.
|
130 |
**/
|
131 |
void xbee_lib_init(void) |
132 |
{ |
133 |
xbee_queue = queue_create(); |
134 |
|
135 |
#ifdef ROBOT
|
136 |
|
137 |
//enable the receiving interrupt
|
138 |
#ifdef FIREFLY
|
139 |
UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
140 |
#else
|
141 |
UCSR1B |= _BV(RXCIE); |
142 |
#endif
|
143 |
sei(); |
144 |
#else
|
145 |
xbee_stream = open(xbee_com_port, O_RDWR); |
146 |
if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
147 |
xbee_stream = open(XBEE_PORT2, O_RDWR); |
148 |
if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
149 |
{ |
150 |
printf("Failed to open connection to XBee on port %s\r\n",xbee_com_port);
|
151 |
exit(0);
|
152 |
} |
153 |
lockf(xbee_stream, F_LOCK, 0);
|
154 |
|
155 |
xbee_listen_thread = |
156 |
(pthread_t*)malloc(sizeof(pthread_t));
|
157 |
|
158 |
int ret = pthread_create(xbee_listen_thread, NULL, |
159 |
listen_to_xbee, NULL);
|
160 |
if (ret)
|
161 |
{ |
162 |
printf("Failed to create listener thread.\r\n");
|
163 |
exit(0);
|
164 |
} |
165 |
#endif
|
166 |
xbee_enter_command_mode(); |
167 |
xbee_enter_api_mode(); |
168 |
xbee_exit_command_mode(); |
169 |
xbee_send_read_at_command("MY");
|
170 |
|
171 |
//wait to return until the address is set
|
172 |
while (xbee_address == 0) xbee_get_packet(NULL); |
173 |
} |
174 |
|
175 |
/**
|
176 |
* Call when finished using the XBee library. This releases
|
177 |
* all sued resources.
|
178 |
**/
|
179 |
void xbee_terminate()
|
180 |
{ |
181 |
#ifndef ROBOT
|
182 |
pthread_cancel(*xbee_listen_thread); |
183 |
free(xbee_listen_thread); |
184 |
lockf(xbee_stream, F_ULOCK, 0);
|
185 |
close(xbee_stream); |
186 |
#endif
|
187 |
queue_destroy(xbee_queue); |
188 |
} |
189 |
|
190 |
/**
|
191 |
* Send a buffer buf of size bytes to the XBee.
|
192 |
*
|
193 |
* @param buf the buffer of data to send
|
194 |
* @param size the number of bytes to send
|
195 |
**/
|
196 |
void xbee_send(char* buf, int size) |
197 |
{ |
198 |
#ifdef ROBOT
|
199 |
int i;
|
200 |
for (i = 0; i < size; i++) |
201 |
xbee_putc(buf[i]); |
202 |
#else
|
203 |
int ret = write(xbee_stream, buf, size);
|
204 |
//success
|
205 |
if (ret == size)
|
206 |
return;
|
207 |
if (ret == -1) |
208 |
{ |
209 |
//interrupted by system signal, probably timer interrupt.
|
210 |
//just try again
|
211 |
if (errno == 4) |
212 |
{ |
213 |
xbee_send(buf, size); |
214 |
return;
|
215 |
} |
216 |
printf("Failed to write to xbee, error %i.\r\n", errno);
|
217 |
return;
|
218 |
} |
219 |
|
220 |
//write was interrupted after writing ret bytes
|
221 |
xbee_send(buf + ret, size - ret); |
222 |
#endif
|
223 |
} |
224 |
|
225 |
/**
|
226 |
* Sends a string to the XBee.
|
227 |
*
|
228 |
* @param c the string to send to the XBEE
|
229 |
**/
|
230 |
void xbee_send_string(char* c) |
231 |
{ |
232 |
xbee_send(c, strlen(c)); |
233 |
} |
234 |
|
235 |
#ifndef ROBOT
|
236 |
void xbee_read(char* buf, int size) |
237 |
{ |
238 |
if (read(xbee_stream, buf, size) == -1) |
239 |
printf("Failed to read from xbee.\r\n");
|
240 |
} |
241 |
#endif
|
242 |
|
243 |
/**
|
244 |
* Enter into command mode.
|
245 |
**/
|
246 |
void xbee_enter_command_mode()
|
247 |
{ |
248 |
xbee_send_string("+++");
|
249 |
xbee_wait_for_ok(); |
250 |
} |
251 |
|
252 |
/**
|
253 |
* Exit from command mode.
|
254 |
**/
|
255 |
void xbee_exit_command_mode()
|
256 |
{ |
257 |
xbee_send_string("ATCN\r");
|
258 |
xbee_wait_for_ok(); |
259 |
} |
260 |
|
261 |
/**
|
262 |
* Enter API mode.
|
263 |
**/
|
264 |
void xbee_enter_api_mode()
|
265 |
{ |
266 |
xbee_send_string("ATAP 1\r");
|
267 |
xbee_wait_for_ok(); |
268 |
} |
269 |
|
270 |
/**
|
271 |
* Wait until the string "OK\r" is received from the XBee.
|
272 |
**/
|
273 |
void xbee_wait_for_ok()
|
274 |
{ |
275 |
xbee_wait_for_string("OK\r", 3); |
276 |
} |
277 |
|
278 |
/**
|
279 |
* Delay until the specified string is received from
|
280 |
* the XBee. Discards all other XBee data.
|
281 |
*
|
282 |
* @param s the string to receive
|
283 |
* @param len the length of the string
|
284 |
**/
|
285 |
void xbee_wait_for_string(char* s, int len) |
286 |
{ |
287 |
char* curr = s;
|
288 |
while (curr - s < len)
|
289 |
{ |
290 |
if (queue_is_empty(xbee_queue))
|
291 |
continue;
|
292 |
char c = (char)(int)queue_remove(xbee_queue); |
293 |
if (c == *curr)
|
294 |
curr++; |
295 |
else
|
296 |
curr = s; |
297 |
} |
298 |
} |
299 |
|
300 |
/**
|
301 |
* Verifies that the packets checksum is correct.
|
302 |
* (If the checksum is correct, the sum of the bytes
|
303 |
* is 0xFF.)
|
304 |
*
|
305 |
* @param packet the packet received. This includes the first
|
306 |
* three bytes, which are header information from the XBee.
|
307 |
*
|
308 |
* @param len The length of the packet received from the XBee
|
309 |
*
|
310 |
* @return 0 if the checksum is incorrect, nonzero
|
311 |
* otherwise
|
312 |
**/
|
313 |
int xbee_verify_checksum(char* packet, int len) |
314 |
{ |
315 |
unsigned char sum = 0; |
316 |
int i;
|
317 |
for (i = 3; i < len; i++) |
318 |
sum += (unsigned char)packet[i]; |
319 |
return sum == 0xFF; |
320 |
} |
321 |
|
322 |
/**
|
323 |
* Returns the checksum of the given packet.
|
324 |
*
|
325 |
* @param buf the data for the packet to send
|
326 |
* @param len the length of the packet in bytes
|
327 |
*
|
328 |
* @return the checksum of the packet, which will
|
329 |
* become the last byte sent in the packet
|
330 |
**/
|
331 |
char xbee_compute_checksum(char* buf, int len) |
332 |
{ |
333 |
int i;
|
334 |
unsigned char sum = 0; |
335 |
for (i = 0; i < len; i++) |
336 |
sum += (unsigned char)buf[i]; |
337 |
return 0xFF - sum; |
338 |
} |
339 |
|
340 |
/**
|
341 |
* Adds header information and checksum to the given
|
342 |
* packet and sends it. Header information includes
|
343 |
* XBEE_FRAME_START and the packet length, as two bytes.
|
344 |
*
|
345 |
* @param buf the packet data
|
346 |
* @param len the size in bytes of the packet data
|
347 |
*
|
348 |
**/
|
349 |
void xbee_send_frame(char* buf, int len) |
350 |
{ |
351 |
char prefix[3]; |
352 |
prefix[0] = XBEE_FRAME_START;
|
353 |
prefix[1] = (len & 0xFF00) >> 8; |
354 |
prefix[2] = len & 0xFF; |
355 |
char checksum = xbee_compute_checksum(buf, len);
|
356 |
xbee_send(prefix, 3);
|
357 |
xbee_send(buf, len); |
358 |
xbee_send(&checksum, 1);
|
359 |
} |
360 |
|
361 |
/**
|
362 |
* Sends an AT command to read a parameter.
|
363 |
*
|
364 |
* @param command the AT command to send. For exmaple,
|
365 |
* use ID to read the PAN ID and MY to return the XBee ID.
|
366 |
* See the XBee reference guide for a complete listing.
|
367 |
**/
|
368 |
void xbee_send_read_at_command(char* command) |
369 |
{ |
370 |
xbee_send_modify_at_command(command, NULL);
|
371 |
} |
372 |
|
373 |
/**
|
374 |
* Sends the given AT command.
|
375 |
*
|
376 |
* @param command the AT command to send (e.g., MY, ID)
|
377 |
* @param value the value to pass as a parameter
|
378 |
* (or NULL if there is no parameter)
|
379 |
**/
|
380 |
void xbee_send_modify_at_command(char* command, char* value) |
381 |
{ |
382 |
char buf[16]; |
383 |
int i;
|
384 |
|
385 |
buf[0] = XBEE_FRAME_AT_COMMAND;
|
386 |
buf[1] = 1; |
387 |
buf[2] = command[0]; |
388 |
buf[3] = command[1]; |
389 |
int valueLen = 0; |
390 |
if (value != NULL) |
391 |
{ |
392 |
valueLen = strlen(value); |
393 |
if (valueLen > 8) |
394 |
{ |
395 |
WL_DEBUG_PRINT("AT Command too large.\r\n");
|
396 |
return;
|
397 |
} |
398 |
for (i = 0; i < valueLen; i++) |
399 |
buf[4 + i] = value[i];
|
400 |
} |
401 |
xbee_send_frame(buf, 4 + valueLen);
|
402 |
} |
403 |
|
404 |
/**
|
405 |
* Send the specified packet.
|
406 |
*
|
407 |
* @param packet the packet data to send
|
408 |
* @param len the number of bytes in the packet
|
409 |
*
|
410 |
* @param dest the ID of the XBee to send the packet to,
|
411 |
* or XBEE_BROADCAST to send the message to all robots
|
412 |
* in the PAN.
|
413 |
*
|
414 |
* @param options a combination of the flags
|
415 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
|
416 |
* XBEE_OPTIONS_BROADCAST_ALL_PANS
|
417 |
*
|
418 |
* @param frame the frame number to associate this packet
|
419 |
* with. This will be used to identify the response when
|
420 |
* the XBee alerts us as to whether or not our message
|
421 |
* was received.
|
422 |
**/
|
423 |
void xbee_send_packet(char* packet, int len, int dest, |
424 |
char options, char frame) |
425 |
{ |
426 |
char buf[5]; |
427 |
char prefix[3]; |
428 |
int i;
|
429 |
unsigned char checksum = 0; |
430 |
|
431 |
if (len > 100) |
432 |
{ |
433 |
WL_DEBUG_PRINT("Packet is too large.\r\n");
|
434 |
return;
|
435 |
} |
436 |
|
437 |
//data for sending request
|
438 |
buf[0] = XBEE_FRAME_TX_REQUEST_16;
|
439 |
buf[1] = frame;
|
440 |
buf[2] = (dest >> 8) & 0xFF; |
441 |
buf[3] = dest & 0xFF; |
442 |
buf[4] = options;
|
443 |
|
444 |
//packet prefix, do this here so we don't need an extra buffer
|
445 |
prefix[0] = XBEE_FRAME_START;
|
446 |
prefix[1] = ((5 + len) & 0xFF00) >> 8; |
447 |
prefix[2] = (5 + len) & 0xFF; |
448 |
|
449 |
for (i = 0; i < 5; i++) |
450 |
checksum += (unsigned char)buf[i]; |
451 |
for (i = 0; i < len; i++) |
452 |
checksum += (unsigned char)packet[i]; |
453 |
checksum = 0xFF - checksum;
|
454 |
xbee_send(prefix, 3);
|
455 |
xbee_send(buf, 5);
|
456 |
xbee_send(packet, len); |
457 |
xbee_send((char*)&checksum, 1); |
458 |
} |
459 |
|
460 |
/**
|
461 |
* Reads a packet received from the XBee. This function
|
462 |
* is non-blocking. The resulting packet is stored in dest.
|
463 |
* Only returns transmission response packets and
|
464 |
* received packets. The returned packet does not include
|
465 |
* header information or the checksum. This method also
|
466 |
* handles special packets dealt with by the XBee library,
|
467 |
* and so should be called frequently while the XBee is in
|
468 |
* use.<br><br>
|
469 |
*
|
470 |
* The first byte of the packet will be either
|
471 |
* XBEE_TX_STATUS or XBEE_RX to indicated
|
472 |
* a response to a sent message or a received message,
|
473 |
* respectively.<br><br>
|
474 |
*
|
475 |
* For a status response packet:<br>
|
476 |
* The first byte will be XBEE_TX_STATUS.<br>
|
477 |
* The second byte will be the frame number.<br>
|
478 |
* The third byte will be the result. 0 indicates success,
|
479 |
* and nonzero indicates that an error ocurred in
|
480 |
* transmitting the packet.<br><br>
|
481 |
*
|
482 |
* For a received packet:<br>
|
483 |
* The first byte will be XBEE_RX.<br>
|
484 |
* The second and third bytes will be the 16-bit
|
485 |
* address of the packet's sender.<br>
|
486 |
* The fourth byte is the signal strength.<br>
|
487 |
* The fifth byte is 1 if the packet were sent to
|
488 |
* a specific address, and 2 if it is a broadcast packet.<br><br>
|
489 |
*
|
490 |
* @param dest set to the packet data
|
491 |
* @return the length of the packet, or -1 if no packet
|
492 |
* is available
|
493 |
**/
|
494 |
int xbee_get_packet(unsigned char* dest) |
495 |
{ |
496 |
//start reading a packet with XBEE_FRAME_START
|
497 |
if (currentBufPos == 0) |
498 |
{ |
499 |
do
|
500 |
if (queue_is_empty(xbee_queue))
|
501 |
return -1; |
502 |
while ((char)(int)queue_remove(xbee_queue) != XBEE_FRAME_START); |
503 |
xbee_buf[0] = XBEE_FRAME_START;
|
504 |
currentBufPos++; |
505 |
} |
506 |
|
507 |
int len = -1; |
508 |
if (currentBufPos >= 3) |
509 |
len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
510 |
|
511 |
while (len == -1 //packet length has not been read yet |
512 |
|| currentBufPos < len + 4)
|
513 |
{ |
514 |
if (currentBufPos == 3) |
515 |
{ |
516 |
len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
517 |
if (len > 120) |
518 |
{ |
519 |
WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
|
520 |
currentBufPos = 0;
|
521 |
return -1; |
522 |
} |
523 |
} |
524 |
if (queue_is_empty(xbee_queue))
|
525 |
return -1; |
526 |
xbee_buf[currentBufPos++] = (char)(int)queue_remove(xbee_queue); |
527 |
} |
528 |
|
529 |
currentBufPos = 0;
|
530 |
|
531 |
if (!xbee_verify_checksum(xbee_buf, len + 4)) |
532 |
{ |
533 |
WL_DEBUG_PRINT("XBee checksum failed.\r\n");
|
534 |
return -1; |
535 |
} |
536 |
|
537 |
//we will take care of the packet
|
538 |
if (xbee_handle_packet(xbee_buf + 3, len)) |
539 |
return -1; |
540 |
|
541 |
if (dest == NULL) |
542 |
return -1; |
543 |
|
544 |
int i;
|
545 |
for (i = 3; i < len + 3; i++) |
546 |
dest[i - 3] = xbee_buf[i];
|
547 |
return len;
|
548 |
} |
549 |
|
550 |
/**
|
551 |
* Handles modem status packets.
|
552 |
*
|
553 |
* @param status the type of status packet received.
|
554 |
**/
|
555 |
void xbee_handle_status(char status) |
556 |
{ |
557 |
switch (status)
|
558 |
{ |
559 |
case 0: |
560 |
WL_DEBUG_PRINT("XBee hardware reset.\r\n");
|
561 |
break;
|
562 |
case 1: |
563 |
WL_DEBUG_PRINT("Watchdog timer reset.\r\n");
|
564 |
break;
|
565 |
case 2: |
566 |
WL_DEBUG_PRINT("Associated.\r\n");
|
567 |
break;
|
568 |
case 3: |
569 |
WL_DEBUG_PRINT("Disassociated.\r\n");
|
570 |
break;
|
571 |
case 4: |
572 |
WL_DEBUG_PRINT("Synchronization lost.\r\n");
|
573 |
break;
|
574 |
case 5: |
575 |
WL_DEBUG_PRINT("Coordinator realignment.\r\n");
|
576 |
break;
|
577 |
case 6: |
578 |
WL_DEBUG_PRINT("Coordinator started.\r\n");
|
579 |
break;
|
580 |
} |
581 |
} |
582 |
|
583 |
/**
|
584 |
* Handles AT command response packets.
|
585 |
* @param command the two character AT command, e.g. MY or ID
|
586 |
* @param result 0 for success, 1 for an error
|
587 |
* @param extra the hex value of the requested register
|
588 |
* @param extraLen the length in bytes of extra
|
589 |
**/
|
590 |
void xbee_handle_at_command_response(char* command, char result, |
591 |
char* extra, int extraLen) |
592 |
{ |
593 |
if (result == 1) |
594 |
{ |
595 |
WL_DEBUG_PRINT("Error with AT");
|
596 |
WL_DEBUG_PRINT(command); |
597 |
WL_DEBUG_PRINT(" packet.\r\n");
|
598 |
} |
599 |
WL_DEBUG_PRINT("AT");
|
600 |
WL_DEBUG_PRINT(command); |
601 |
WL_DEBUG_PRINT(" command was successful.\r\n");
|
602 |
|
603 |
if (command[0] == 'I' && command[1] == 'D') |
604 |
{ |
605 |
xbee_panID = xbee_pending_panID; |
606 |
WL_DEBUG_PRINT("PAN ID set to ");
|
607 |
WL_DEBUG_PRINT_INT(xbee_panID); |
608 |
WL_DEBUG_PRINT(".\r\n");
|
609 |
return;
|
610 |
} |
611 |
|
612 |
if (command[0] == 'C' && command[1] == 'H') |
613 |
{ |
614 |
xbee_channel = xbee_pending_channel; |
615 |
WL_DEBUG_PRINT("Channel set to ");
|
616 |
WL_DEBUG_PRINT_INT(xbee_channel); |
617 |
WL_DEBUG_PRINT(".\r\n");
|
618 |
return;
|
619 |
} |
620 |
|
621 |
if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0) |
622 |
{ |
623 |
xbee_address = 0;
|
624 |
int i;
|
625 |
for (i = 0; i < extraLen; i++) |
626 |
xbee_address = (xbee_address << 8) + extra[i];
|
627 |
|
628 |
WL_DEBUG_PRINT("XBee address is ");
|
629 |
WL_DEBUG_PRINT_INT(xbee_address); |
630 |
WL_DEBUG_PRINT(".\r\n");
|
631 |
|
632 |
if (xbee_address == 0) |
633 |
{ |
634 |
WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
|
635 |
exit(0);
|
636 |
} |
637 |
} |
638 |
} |
639 |
|
640 |
/**
|
641 |
* Attempts to handle the packet if it is dealt with
|
642 |
* by the library.
|
643 |
* We will handle the following packet types:
|
644 |
* Modem Status
|
645 |
* AT Command Response
|
646 |
*
|
647 |
* @param packet the packet to handle
|
648 |
* @param len the length of the packet
|
649 |
*
|
650 |
* @return 1 if we have handled the packet, 0 otherwise
|
651 |
*/
|
652 |
int xbee_handle_packet(char* packet, int len) |
653 |
{ |
654 |
char command[3] = {1, 2, 3}; |
655 |
if (len <= 0) //this should not happend |
656 |
{ |
657 |
WL_DEBUG_PRINT("Non-positive packet length.\r\n");
|
658 |
return 0; |
659 |
} |
660 |
|
661 |
switch ((unsigned char)packet[0]) //packet type |
662 |
{ |
663 |
case XBEE_FRAME_STATUS:
|
664 |
xbee_handle_status(packet[1]);
|
665 |
return 1; |
666 |
case XBEE_FRAME_AT_COMMAND_RESPONSE:
|
667 |
command[0] = packet[2]; |
668 |
command[1] = packet[3]; |
669 |
command[2] = 0; |
670 |
xbee_handle_at_command_response(command, |
671 |
packet[4], packet + 5, len - 5); |
672 |
return 1; |
673 |
} |
674 |
return 0; |
675 |
} |
676 |
|
677 |
/**
|
678 |
* Sets the personal area network id.
|
679 |
*
|
680 |
* @param id the new personal area network (PAN) id
|
681 |
**/
|
682 |
void xbee_set_pan_id(int id) |
683 |
{ |
684 |
char s[3]; |
685 |
s[0] = (id >> 8) & 0xFF; |
686 |
s[1] = id & 0xFF; |
687 |
s[2] = 0; |
688 |
xbee_pending_panID = id; |
689 |
xbee_send_modify_at_command("ID", s);
|
690 |
} |
691 |
|
692 |
/**
|
693 |
* Get the PAN ID for the XBee.
|
694 |
*
|
695 |
* @return the personal area network id, or
|
696 |
* XBEE_PAN_DEFAULT if it has not yet been set.
|
697 |
**/
|
698 |
unsigned int xbee_get_pan_id() |
699 |
{ |
700 |
return xbee_panID;
|
701 |
} |
702 |
|
703 |
/**
|
704 |
* Set the channel the XBee is using.
|
705 |
*
|
706 |
* @param channel the channel the XBee will not use,
|
707 |
* between 0x0B and 0x1A
|
708 |
*
|
709 |
* @see xbee_get_channel
|
710 |
**/
|
711 |
void xbee_set_channel(int channel) |
712 |
{ |
713 |
if (channel < 0x0B || channel > 0x1A) |
714 |
{ |
715 |
WL_DEBUG_PRINT("Channel out of range.\r\n");
|
716 |
return;
|
717 |
} |
718 |
char s[3]; |
719 |
s[0] = channel & 0xFF; |
720 |
s[1] = 0; |
721 |
xbee_pending_channel = channel; |
722 |
xbee_send_modify_at_command("CH", s);
|
723 |
} |
724 |
|
725 |
/**
|
726 |
* Returns the channel which the XBee is currently using.
|
727 |
*
|
728 |
* @return the channel the XBee is using
|
729 |
*
|
730 |
* @see xbee_set_channel
|
731 |
**/
|
732 |
int xbee_get_channel(void) |
733 |
{ |
734 |
return xbee_channel;
|
735 |
} |
736 |
|
737 |
/**
|
738 |
* Get the 16-bit address of the XBee.
|
739 |
* This is used to specify who to send messages to
|
740 |
* and who messages are from.
|
741 |
*
|
742 |
* @return the 16-bit address of the XBee.
|
743 |
**/
|
744 |
unsigned int xbee_get_address() |
745 |
{ |
746 |
return xbee_address;
|
747 |
} |
748 |
|
749 |
#ifndef ROBOT
|
750 |
void xbee_set_com_port(char* port){ |
751 |
//printf("Port being passed is %s\n",port);
|
752 |
xbee_com_port = malloc(strlen(port)); |
753 |
strcpy(xbee_com_port,port); |
754 |
} |
755 |
#endif
|
756 |
|