Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @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