root / branches / autonomous_recharging / code / projects / autonomous_recharging / charging_station / xbee.h @ 361
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1 | 85 | bcoltin | /**
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2 | 337 | bcoltin | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | 85 | bcoltin | * @file xbee.h
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28 | * @brief Contains definitions for using the XBee
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29 | *
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30 | * Contains definitions for interfacing with the
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31 | * XBee module, from either a robot or a computer.
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32 | * To use a robot, define ROBOT in wl_defs.h, and
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33 | * to use a computer, don't define ROBOT.
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34 | *
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35 | * @author Brian Coltin, Colony Project, CMU Robotics Club
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36 | **/
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37 | |||
38 | 198 | bcoltin | #ifndef XBEE_H
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39 | #define XBEE_H
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40 | |||
41 | 85 | bcoltin | /**
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42 | 166 | bcoltin | * The port to use the XBee from on the computer.
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43 | * Also, a backup port if the other is used.
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44 | **/
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45 | #ifndef ROBOT
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46 | 337 | bcoltin | #define XBEE_PORT_DEFAULT "/dev/ttyUSB1" |
47 | 166 | bcoltin | #endif
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48 | |||
49 | /**
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50 | 85 | bcoltin | * @defgroup xbee XBee
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51 | * @brief Interface with the XBee module
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52 | *
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53 | * Interface with the XBee module.
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54 | *
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55 | * @{
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56 | **/
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57 | |||
58 | /*Definitions*/
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59 | /**@brief Unset PAN, uses XBee default **/
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60 | #define XBEE_PAN_DEFAULT 0xFFFF |
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61 | /**@brief Unset channel, uses XBee default **/
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62 | #define XBEE_CHANNEL_DEFAULT 0 |
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63 | /**@brief Broadcast to all robots in the PAN **/
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64 | #define XBEE_BROADCAST 0xFFFF |
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65 | /**@brief No special options **/
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66 | #define XBEE_OPTIONS_NONE 0x00 |
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67 | /**@brief Do not receive a TX_STATUS message from this packet **/
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68 | #define XBEE_OPTIONS_DISABLE_RESPONSE 0x01 |
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69 | /**@brief Send the packet to all PANS **/
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70 | #define XBEE_OPTIONS_BROADCAST_ALL_PANS 0x04 |
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71 | /**@brief A transmit status packet **/
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72 | #define XBEE_TX_STATUS 0x89 |
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73 | /**@brief A packet received from another XBee **/
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74 | #define XBEE_RX 0x81 |
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75 | |||
76 | /**@brief Initialize the XBee library **/
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77 | 337 | bcoltin | int xbee_lib_init(void); |
78 | 85 | bcoltin | /**@brief Uninitialize the XBee library **/
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79 | void xbee_terminate(void); |
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80 | /**@brief Get a packet from the XBee **/
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81 | int xbee_get_packet(unsigned char* packet); |
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82 | /**@brief Send a packet to the XBee **/
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83 | void xbee_send_packet(char* packet, int len, int dest, |
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84 | char options, char frame); |
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85 | /**@brief Set the PAN ID for the XBee **/
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86 | void xbee_set_pan_id(int id); |
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87 | /**@brief Get the XBee's PAN ID **/
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88 | unsigned int xbee_get_pan_id(void); |
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89 | /**@brief Set the channel the XBee is currently using **/
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90 | void xbee_set_channel(int channel); |
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91 | /**@brief Get the channel the XBee is currently using **/
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92 | int xbee_get_channel(void); |
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93 | /**@brief Get the XBee's 16-bit address **/
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94 | unsigned int xbee_get_address(void); |
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95 | 337 | bcoltin | /**@brief Set the com port on a computer, undefined on the robot**/
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96 | void xbee_set_com_port(char* port); |
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97 | 85 | bcoltin | |
98 | /**@}**/ //end defgroup |
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99 | |||
100 | 198 | bcoltin | #endif |