Revision 337
Minor updates to recharging, but the charging board no longer appears to tell us when we're done.
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file wireless.c |
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* @brief Wireless Library Implementation |
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* |
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* Implementation of the wireless library. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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#include "wireless.h" |
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#include "xbee.h" |
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#include <stdlib.h> |
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* Initializes the wireless library. Must be called before any |
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* other function. |
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**/ |
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void wl_init()
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int wl_init()
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{
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int i; |
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for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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wl_packet_groups[i] = NULL; |
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xbee_lib_init(); |
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if (xbee_lib_init() == -1) {
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return -1; |
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} |
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//begin timeout timer |
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#ifdef ROBOT |
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#ifdef FIREFLY |
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rtc_init(PRESCALE_DIV_256, 32, &timer_handler); |
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#else |
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rtc_init(HALF_SECOND, &timer_handler);
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rtc_init(HALF_SECOND, &timer_handler); |
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#endif |
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#else |
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//create our timer |
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struct itimerval timer_val; |
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struct timeval interval; |
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timer_val.it_value = first_time; |
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if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) |
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{
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WL_DEBUG_PRINT("Error creating a timer.\r\n");
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WL_DEBUG_PRINT("Error creating a timer.\r\n");
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perror("Failure's cause");
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exit(1);
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exit(1); |
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} |
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//create signal handler |
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sigaction(SIGALRM, &wl_sig_act, 0); |
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sigaction(SIGINT, &wl_sig_act, 0); |
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#endif |
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return 0; |
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} |
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/** |
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if (wl_packet_groups[i] != NULL && |
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wl_packet_groups[i]->unregister != NULL) |
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wl_packet_groups[i]->unregister(); |
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xbee_terminate(); |
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} |
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* |
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* @return the 16-bit address of the XBee module. |
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**/ |
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unsigned int wl_get_xbee_id()
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int wl_get_xbee_id() |
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{
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return xbee_get_address(); |
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} |
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void wl_send_pan_packet(char group, char type, |
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char* data, int len, char frame) |
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{
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wl_send_packet(group, type, data, len, XBEE_BROADCAST,
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wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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XBEE_OPTIONS_NONE, frame); |
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} |
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/** |
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* Unregister a packet group from the wireless library. |
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*
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* |
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* @param h the packet group to remove |
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**/ |
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void wl_unregister_packet_group(PacketGroupHandler* h) |
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wl_do_timeout(); |
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wl_timeout = 0; |
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} |
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int len = xbee_get_packet(wl_buf); |
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if (len < 0)//no packet received |
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return; |
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if (wl_buf[0] == XBEE_TX_STATUS) |
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{
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if (len != 3) |
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WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
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return; |
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} |
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//the first four bits are the packet group |
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//this only works with under 16 groups |
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int group = (int)(wl_buf[1] >> 4); |
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WL_DEBUG_PRINT("Purged\r\n");
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} |
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} |
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if (wl_packet_groups[group] != NULL && |
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wl_packet_groups[group]->handle_response != NULL) |
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wl_packet_groups[group]->handle_response( |
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(int)wl_buf[1] & 0x0F, success); |
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return; |
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} |
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if (wl_buf[0] == XBEE_RX) |
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{
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if (len < 7) |
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WL_DEBUG_PRINT("Packet is too small.\r\n");
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return; |
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} |
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int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]); |
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/* |
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//unused for now |
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int signalStrength = wl_buf[3]; |
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//1 for Address broadcast, 2 for PAN broadcast |
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int options = wl_buf[4]; |
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*/ |
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int group = wl_buf[5]; |
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int type = wl_buf[6]; |
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int packetLen = len - 7; |
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if (wl_packet_groups[group] != NULL |
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&& wl_packet_groups[group]->handle_receive != NULL) |
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wl_packet_groups[group]->handle_receive(type, source,
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wl_packet_groups[group]->handle_receive(type, source, |
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wl_buf + 7, packetLen); |
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return; |
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} |
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WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
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return; |
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} |
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#ifndef ROBOT |
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void wl_set_com_port(char* port) |
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{
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xbee_set_com_port(port); |
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} |
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#endif |
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