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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"> |
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<title>libwireless: XBee</title> |
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<!-- Generated by Doxygen 1.5.3 -->
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<ul>
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<li><a href="index.html"><span>Main Page</span></a></li> |
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<li><a href="modules.html"><span>Modules</span></a></li> |
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<li><a href="files.html"><span>Files</span></a></li> |
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</ul>
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</div>
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<h1>XBee</h1>Interface with the XBee module. |
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<a href="#_details">More...</a><table border="0" cellpadding="0" cellspacing="0"> |
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<tr><td></td></tr> |
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ge6bb9bb274d6750f954762454807a5a7"></a><!-- doxytag: member="xbee::XBEE_PAN_DEFAULT" ref="ge6bb9bb274d6750f954762454807a5a7" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#ge6bb9bb274d6750f954762454807a5a7">XBEE_PAN_DEFAULT</a> 0xFFFF</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Unset PAN, uses XBee default. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g35f8b9d8e01e788f1e29928cba29f215"></a><!-- doxytag: member="xbee::XBEE_CHANNEL_DEFAULT" ref="g35f8b9d8e01e788f1e29928cba29f215" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g35f8b9d8e01e788f1e29928cba29f215">XBEE_CHANNEL_DEFAULT</a> 0</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Unset channel, uses XBee default. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g93bbd21f7965e1697350f950cedff5c4"></a><!-- doxytag: member="xbee::XBEE_BROADCAST" ref="g93bbd21f7965e1697350f950cedff5c4" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g93bbd21f7965e1697350f950cedff5c4">XBEE_BROADCAST</a> 0xFFFF</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Broadcast to all robots in the PAN. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gbca7356c2b8183fd41b5ca9a82dd962b"></a><!-- doxytag: member="xbee::XBEE_OPTIONS_NONE" ref="gbca7356c2b8183fd41b5ca9a82dd962b" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gbca7356c2b8183fd41b5ca9a82dd962b">XBEE_OPTIONS_NONE</a> 0x00</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">No special options. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gcf9509013302590dca5ce3db63c64609"></a><!-- doxytag: member="xbee::XBEE_OPTIONS_DISABLE_RESPONSE" ref="gcf9509013302590dca5ce3db63c64609" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gcf9509013302590dca5ce3db63c64609">XBEE_OPTIONS_DISABLE_RESPONSE</a> 0x01</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Do not receive a TX_STATUS message from this packet. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g57382f888360b5b19f0de3b6f1f7c5a3"></a><!-- doxytag: member="xbee::XBEE_OPTIONS_BROADCAST_ALL_PANS" ref="g57382f888360b5b19f0de3b6f1f7c5a3" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g57382f888360b5b19f0de3b6f1f7c5a3">XBEE_OPTIONS_BROADCAST_ALL_PANS</a> 0x04</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Send the packet to all PANS. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7840d8b64c8bec12d8b8d32e845a638a"></a><!-- doxytag: member="xbee::XBEE_TX_STATUS" ref="g7840d8b64c8bec12d8b8d32e845a638a" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7840d8b64c8bec12d8b8d32e845a638a">XBEE_TX_STATUS</a> 0x89</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">A transmit status packet. <br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc2b1262a3a1eb4a9f7ead366af71c32c"></a><!-- doxytag: member="xbee::XBEE_RX" ref="gc2b1262a3a1eb4a9f7ead366af71c32c" args="" --> |
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#gc2b1262a3a1eb4a9f7ead366af71c32c">XBEE_RX</a> 0x81</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">A packet received from another XBee. <br></td></tr> |
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g334a723b79eccec83b17e25cde2e10f1">xbee_lib_init</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the XBee library. <a href="#g334a723b79eccec83b17e25cde2e10f1"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g9334ac71dca1ddd697b1a35a361ade6a">xbee_terminate</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Uninitialize the XBee library. <a href="#g9334ac71dca1ddd697b1a35a361ade6a"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g00fbdd9d849171588df736f8b608589d">xbee_get_packet</a> (unsigned char *packet)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a packet from the XBee. <a href="#g00fbdd9d849171588df736f8b608589d"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g3a3b8ce040002ab2b1a0923950b2f3c4">xbee_send_packet</a> (char *packet, int len, int dest, char options, char frame)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Send a packet to the XBee. <a href="#g3a3b8ce040002ab2b1a0923950b2f3c4"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g832f07915e1ffa8afefcd378deead1cd">xbee_set_pan_id</a> (int id)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the PAN ID for the XBee. <a href="#g832f07915e1ffa8afefcd378deead1cd"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7755cd8db87703c9e9943153660b8052">xbee_get_pan_id</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the XBee's PAN ID. <a href="#g7755cd8db87703c9e9943153660b8052"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g33f2b13a8f46ee08f14bce90160a5623">xbee_set_channel</a> (int channel)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the channel the XBee is currently using. <a href="#g33f2b13a8f46ee08f14bce90160a5623"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a">xbee_get_channel</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the channel the XBee is currently using. <a href="#g133706db81f69ba0a3c169b7a3f42d2a"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g7c53e8a8492494a61ca306875d633309">xbee_get_address</a> (void)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the XBee's 16-bit address. <a href="#g7c53e8a8492494a61ca306875d633309"></a><br></td></tr> |
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1e9e3c2abf0ff683ca8e591c3851cf0a"></a><!-- doxytag: member="xbee::xbee_set_com_port" ref="g1e9e3c2abf0ff683ca8e591c3851cf0a" args="(char *port)" --> |
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void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__xbee.html#g1e9e3c2abf0ff683ca8e591c3851cf0a">xbee_set_com_port</a> (char *port)</td></tr> |
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<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the com port on a computer, undefined on the robot. <br></td></tr> |
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</table>
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<hr><a name="_details"></a><h2>Detailed Description</h2> |
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Interface with the XBee module. |
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<p>
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Interface with the XBee module. <hr><h2>Function Documentation</h2> |
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<a class="anchor" name="g7c53e8a8492494a61ca306875d633309"></a><!-- doxytag: member="xbee.h::xbee_get_address" ref="g7c53e8a8492494a61ca306875d633309" args="(void)" --> |
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<div class="memitem"> |
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<td class="memname">unsigned int xbee_get_address </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td class="paramname"> </td> |
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<td> ) </td> |
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<td width="100%"></td> |
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</tr>
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</div>
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<div class="memdoc"> |
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<p>
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Get the XBee's 16-bit address. |
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<p>
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Get the 16-bit address of the XBee. This is used to specify who to send messages to and who messages are from.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the 16-bit address of the XBee. </dd></dl> |
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</div>
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</div><p> |
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<a class="anchor" name="g133706db81f69ba0a3c169b7a3f42d2a"></a><!-- doxytag: member="xbee.h::xbee_get_channel" ref="g133706db81f69ba0a3c169b7a3f42d2a" args="(void)" --> |
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<td class="memname">int xbee_get_channel </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td class="paramname"> </td> |
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<td> ) </td> |
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<td width="100%"></td> |
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<div class="memdoc"> |
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<p>
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Get the channel the XBee is currently using. |
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<p>
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Returns the channel which the XBee is currently using.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the channel the XBee is using</dd></dl> |
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__xbee.html#g33f2b13a8f46ee08f14bce90160a5623" title="Set the channel the XBee is currently using.">xbee_set_channel</a> </dd></dl> |
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</div>
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</div><p> |
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<a class="anchor" name="g00fbdd9d849171588df736f8b608589d"></a><!-- doxytag: member="xbee.h::xbee_get_packet" ref="g00fbdd9d849171588df736f8b608589d" args="(unsigned char *packet)" --> |
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<td class="memname">int xbee_get_packet </td> |
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<td>(</td> |
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<td class="paramtype">unsigned char * </td> |
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<td class="paramname"> <em>dest</em> </td> |
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<td> ) </td> |
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<td width="100%"></td> |
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<div class="memdoc"> |
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<p>
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Get a packet from the XBee. |
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<p>
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Reads a packet received from the XBee. This function is non-blocking. The resulting packet is stored in dest. Only returns transmission response packets and received packets. The returned packet does not include header information or the checksum. This method also handles special packets dealt with by the XBee library, and so should be called frequently while the XBee is in use.<br>
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<br>
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<p>
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The first byte of the packet will be either XBEE_TX_STATUS or XBEE_RX to indicated a response to a sent message or a received message, respectively.<br>
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<br>
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<p>
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For a status response packet:<br>
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The first byte will be XBEE_TX_STATUS.<br>
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The second byte will be the frame number.<br>
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The third byte will be the result. 0 indicates success, and nonzero indicates that an error ocurred in transmitting the packet.<br>
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<br>
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<p>
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For a received packet:<br>
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The first byte will be XBEE_RX.<br>
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The second and third bytes will be the 16-bit address of the packet's sender.<br>
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The fourth byte is the signal strength.<br>
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The fifth byte is 1 if the packet were sent to a specific address, and 2 if it is a broadcast packet.<br>
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<br>
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<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>dest</em> </td><td>set to the packet data </td></tr> |
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</table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the length of the packet, or -1 if no packet is available </dd></dl> |
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</div><p> |
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<a class="anchor" name="g7755cd8db87703c9e9943153660b8052"></a><!-- doxytag: member="xbee.h::xbee_get_pan_id" ref="g7755cd8db87703c9e9943153660b8052" args="(void)" --> |
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<td class="memname">unsigned int xbee_get_pan_id </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td> ) </td> |
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<div class="memdoc"> |
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<p>
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Get the XBee's PAN ID. |
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<p>
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Get the PAN ID for the XBee.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the personal area network id, or XBEE_PAN_DEFAULT if it has not yet been set. </dd></dl> |
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</div><p> |
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<a class="anchor" name="g334a723b79eccec83b17e25cde2e10f1"></a><!-- doxytag: member="xbee.h::xbee_lib_init" ref="g334a723b79eccec83b17e25cde2e10f1" args="(void)" --> |
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<td class="memname">void xbee_lib_init </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td> ) </td> |
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<div class="memdoc"> |
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Initialize the XBee library. |
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Initializes the XBee library so that other functions may be used. |
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</div><p> |
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<a class="anchor" name="g3a3b8ce040002ab2b1a0923950b2f3c4"></a><!-- doxytag: member="xbee.h::xbee_send_packet" ref="g3a3b8ce040002ab2b1a0923950b2f3c4" args="(char *packet, int len, int dest, char options, char frame)" --> |
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<td class="memname">void xbee_send_packet </td> |
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<td>(</td> |
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<td class="paramtype">char * </td> |
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<td class="paramname"> <em>packet</em>, </td> |
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<td class="paramkey"></td> |
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<td></td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>len</em>, </td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>dest</em>, </td> |
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<td class="paramtype">char </td> |
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<td class="paramname"> <em>options</em>, </td> |
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<td class="paramtype">char </td> |
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<td class="paramname"> <em>frame</em></td><td> </td> |
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<td>)</td> |
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Send a packet to the XBee. |
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Send the specified packet.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>packet</em> </td><td>the packet data to send </td></tr> |
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<tr><td valign="top"></td><td valign="top"><em>len</em> </td><td>the number of bytes in the packet</td></tr> |
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<tr><td valign="top"></td><td valign="top"><em>dest</em> </td><td>the ID of the XBee to send the packet to, or XBEE_BROADCAST to send the message to all robots in the PAN.</td></tr> |
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<tr><td valign="top"></td><td valign="top"><em>options</em> </td><td>a combination of the flags XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and XBEE_OPTIONS_BROADCAST_ALL_PANS</td></tr> |
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<tr><td valign="top"></td><td valign="top"><em>frame</em> </td><td>the frame number to associate this packet with. This will be used to identify the response when the XBee alerts us as to whether or not our message was received. </td></tr> |
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</table>
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</dl>
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</div>
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</div><p> |
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<a class="anchor" name="g33f2b13a8f46ee08f14bce90160a5623"></a><!-- doxytag: member="xbee.h::xbee_set_channel" ref="g33f2b13a8f46ee08f14bce90160a5623" args="(int channel)" --> |
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<div class="memitem"> |
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<td class="memname">void xbee_set_channel </td> |
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<td>(</td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>channel</em> </td> |
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<td> ) </td> |
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<td width="100%"></td> |
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</tr>
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<div class="memdoc"> |
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<p>
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Set the channel the XBee is currently using. |
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<p>
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Set the channel the XBee is using.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>channel</em> </td><td>the channel the XBee will not use, between 0x0B and 0x1A</td></tr> |
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</table>
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</dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__xbee.html#g133706db81f69ba0a3c169b7a3f42d2a" title="Get the channel the XBee is currently using.">xbee_get_channel</a> </dd></dl> |
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</div>
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</div><p> |
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<a class="anchor" name="g832f07915e1ffa8afefcd378deead1cd"></a><!-- doxytag: member="xbee.h::xbee_set_pan_id" ref="g832f07915e1ffa8afefcd378deead1cd" args="(int id)" --> |
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<td class="memname">void xbee_set_pan_id </td> |
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<td>(</td> |
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<td class="paramtype">int </td> |
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<td class="paramname"> <em>id</em> </td> |
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<td> ) </td> |
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<td width="100%"></td> |
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</tr>
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</table>
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</div>
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<div class="memdoc"> |
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<p>
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Set the PAN ID for the XBee. |
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<p>
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Sets the personal area network id.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd> |
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<table border="0" cellspacing="2" cellpadding="0"> |
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<tr><td valign="top"></td><td valign="top"><em>id</em> </td><td>the new personal area network (PAN) id </td></tr> |
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</table>
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</dl>
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</div>
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</div><p> |
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<a class="anchor" name="g9334ac71dca1ddd697b1a35a361ade6a"></a><!-- doxytag: member="xbee.h::xbee_terminate" ref="g9334ac71dca1ddd697b1a35a361ade6a" args="(void)" --> |
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<td class="memname">void xbee_terminate </td> |
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<td>(</td> |
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<td class="paramtype">void </td> |
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<td class="paramname"> </td> |
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<td> ) </td> |
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<td width="100%"></td> |
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</tr>
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</table>
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</div>
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<div class="memdoc"> |
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<p>
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Uninitialize the XBee library. |
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<p>
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Call when finished using the XBee library. This releases all sued resources. |
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</div>
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</div><p> |
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<hr size="1"><address style="text-align: right;"><small>Generated on Thu Nov 8 23:27:23 2007 for libwireless by |
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<a href="http://www.doxygen.org/index.html"> |
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address> |
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</body>
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</html>
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