root / trunk / code / lib / src / libwireless / wireless.c @ 60
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1 | 18 | bcoltin | #include "wireless.h" |
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2 | #include "xbee.h" |
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3 | #include <stdlib.h> |
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4 | #include <stdio.h> |
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5 | |||
6 | #include "wl_defs.h" |
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7 | |||
8 | #ifndef ROBOT
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9 | #include <time.h> |
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10 | #include <signal.h> |
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11 | #else
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12 | #include <time.h> |
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13 | #include <bom.h> |
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14 | #endif
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15 | |||
16 | /*Function Prototypes*/
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17 | |||
18 | void wl_do_timeout(void); |
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19 | |||
20 | //Note: the actual frame sent has group as the first four bits and
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21 | //frame as the last four.
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22 | void wl_send_packet(char group, char type, char* data, int len, |
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23 | int dest, char options, char frame); |
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24 | |||
25 | /*Data Members*/
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26 | |||
27 | //used to store incoming and outgoing packets
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28 | unsigned char wl_buf[128]; |
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29 | //1 if we have timed out since we last checked, 0 otherwise.
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30 | int wl_timeout = 0; |
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31 | |||
32 | PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
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33 | |||
34 | #ifndef ROBOT
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35 | timer_t wl_timeout_timer; |
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36 | |||
37 | //called when we time out, or receive interrupt
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38 | void sig_handler(int signo) |
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39 | { |
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40 | switch (signo)
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41 | { |
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42 | case SIGALRM:
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43 | wl_timeout = 1;
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44 | break;
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45 | case SIGINT:
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46 | wl_terminate(); |
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47 | exit(1);
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48 | break;
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49 | } |
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50 | return;
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51 | } |
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52 | #endif
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53 | |||
54 | /**
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55 | * Initializes the wireless library. Must be called before any
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56 | * other function.
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57 | **/
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58 | void wl_init()
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59 | { |
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60 | int i;
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61 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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62 | wl_packet_groups[i] = NULL;
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63 | |||
64 | 60 | bcoltin | xbee_lib_init(); |
65 | 18 | bcoltin | |
66 | //begin timeout timer
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67 | #ifdef ROBOT
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68 | rtc_init(HALF_SECOND, &wl_do_timeout); |
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69 | #else
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70 | //create a timer to trigger every half second
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71 | struct sigevent evp;
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72 | evp.sigev_signo = SIGALRM; |
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73 | evp.sigev_notify = SIGEV_SIGNAL; |
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74 | if (timer_create(CLOCK_REALTIME, &evp, &wl_timeout_timer) == -1) |
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75 | { |
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76 | WL_DEBUG_PRINT("Error creating a timer.\r\n");
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77 | exit(1);
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78 | } |
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79 | struct sigaction wl_sig_act;
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80 | wl_sig_act.sa_handler = (void *)sig_handler;
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81 | wl_sig_act.sa_flags = 0;
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82 | sigemptyset(&wl_sig_act.sa_mask); |
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83 | sigaction(SIGALRM, &wl_sig_act, 0);
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84 | sigaction(SIGINT, &wl_sig_act, 0);
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85 | struct itimerspec wl_timeout_time;
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86 | wl_timeout_time.it_interval.tv_sec = 0;
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87 | wl_timeout_time.it_interval.tv_nsec = 500000000;
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88 | wl_timeout_time.it_value.tv_sec = 0;
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89 | wl_timeout_time.it_value.tv_nsec = 500000000;
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90 | timer_settime(wl_timeout_timer, 0,
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91 | &wl_timeout_time, NULL);
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92 | #endif
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93 | } |
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94 | |||
95 | /**
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96 | * Uninitializes the wireless library.
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97 | **/
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98 | void wl_terminate()
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99 | { |
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100 | #ifndef ROBOT
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101 | timer_delete(wl_timeout_timer); |
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102 | #endif
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103 | |||
104 | int i;
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105 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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106 | if (wl_packet_groups[i] != NULL && |
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107 | wl_packet_groups[i]->unregister != NULL)
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108 | wl_packet_groups[i]->unregister(); |
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109 | |||
110 | xbee_terminate(); |
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111 | } |
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112 | |||
113 | /**
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114 | 60 | bcoltin | * Set the PAN for the XBee to join.
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115 | *
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116 | * @param pan the new PAN
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117 | *
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118 | * @see wl_get_pan
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119 | **/
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120 | void wl_set_pan(int pan) |
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121 | { |
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122 | xbee_set_pan_id(pan); |
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123 | } |
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124 | |||
125 | /**
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126 | * Get the PAN the XBee is currently part of.
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127 | *
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128 | * @return the PAN of the XBee
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129 | *
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130 | * @see wl_set_pan
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131 | **/
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132 | int wl_get_pan(void) |
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133 | { |
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134 | return xbee_get_pan_id();
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135 | } |
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136 | |||
137 | /**
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138 | * Set the channel the XBee is listening to.
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139 | *
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140 | * @param channel the new channel to join
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141 | *
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142 | * @see wl_get_channel
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143 | **/
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144 | void wl_set_channel(int channel) |
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145 | { |
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146 | xbee_set_channel(channel); |
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147 | } |
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148 | |||
149 | /**
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150 | * Get the channel the XBee is part of.
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151 | *
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152 | * @return the channel the XBee is part of
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153 | *
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154 | * @see wl_set_channel
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155 | **/
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156 | int wl_get_channel(void) |
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157 | { |
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158 | return xbee_get_channel();
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159 | } |
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160 | |||
161 | /**
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162 | 18 | bcoltin | * Returns the 16-bit address of the XBee module.
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163 | *
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164 | * @return the 16-bit address of the XBee module.
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165 | **/
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166 | unsigned int wl_get_xbee_id() |
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167 | { |
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168 | return xbee_get_address();
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169 | } |
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170 | |||
171 | /**
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172 | * Send a packet to a specific XBee without specifying a PAN.
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173 | *
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174 | * @param group the packet group
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175 | * @param type the packet type
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176 | * @param data the packet data
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177 | * @param len the packet length in bytes
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178 | * @param dest the 16-bit address of the XBee to send the packet to
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179 | * @param frame the frame number to see with a TX_STATUS response
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180 | **/
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181 | void wl_send_robot_to_robot_global_packet(char group, char type, |
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182 | char* data, int len, int dest, char frame) |
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183 | { |
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184 | wl_send_packet(group, type, data, len, dest, |
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185 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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186 | } |
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187 | |||
188 | /**
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189 | * Send a packet to a specific XBee in the same PAN.
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190 | *
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191 | * @param group the packet group
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192 | * @param type the packet type
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193 | * @param data the packet data
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194 | * @param len the packet length in bytes
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195 | * @param dest the 16-bit address of the XBee to send the packet to
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196 | * @param frame the frame number to see with a TX_STATUS response
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197 | **/
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198 | void wl_send_robot_to_robot_packet(char group, char type, |
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199 | char* data, int len, int dest, char frame) |
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200 | { |
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201 | wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, |
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202 | frame); |
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203 | } |
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204 | |||
205 | /**
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206 | * Send a packet to all XBees in all PANs.
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207 | *
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208 | * @param group the packet group
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209 | * @param type the packet type
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210 | * @param data the packet data
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211 | * @param len the packet length in bytes
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212 | * @param frame the frame number to see with a TX_STATUS response
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213 | **/
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214 | void wl_send_global_packet(char group, char type, |
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215 | char* data, int len, char frame) |
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216 | { |
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217 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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218 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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219 | } |
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220 | |||
221 | /**
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222 | * Send a packet to all XBee's in the same PAN.
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223 | *
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224 | * @param group the packet group
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225 | * @param type the packet type
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226 | * @param data the packet data
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227 | * @param len the packet length in bytes
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228 | * @param frame the frame number to see with a TX_STATUS response
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229 | **/
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230 | void wl_send_pan_packet(char group, char type, |
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231 | char* data, int len, char frame) |
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232 | { |
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233 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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234 | XBEE_OPTIONS_NONE, frame); |
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235 | } |
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236 | |||
237 | /**
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238 | * Send a packet.
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239 | *
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240 | * @param group the packet group
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241 | * @param type the packet type
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242 | * @param data the packet data
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243 | * @param len the packet length in bytes
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244 | * @param dest the destination of the packet
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245 | * @param options the options for sending the packet
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246 | * @param frame the frame number to see with a TX_STATUS response
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247 | **/
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248 | void wl_send_packet(char group, char type, char* data, int len, |
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249 | int dest, char options, char frame) |
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250 | { |
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251 | char buf[128]; |
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252 | int i;
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253 | if (frame != 0) |
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254 | frame = (frame & 0x0F) | ((group & 0x0F) << 4); |
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255 | buf[0] = group;
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256 | buf[1] = type;
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257 | for (i = 0; i < len; i++) |
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258 | buf[2 + i] = data[i];
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259 | xbee_send_packet(buf, len + 2, dest, options, frame);
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260 | } |
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261 | |||
262 | /**
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263 | * Register a packet group with the wireless library. The event
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264 | * handlers in the packet group will be called whenever an
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265 | * event dealing with the packet group's group code occurs.
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266 | *
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267 | * @param h the PacketGroupHandler to register
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268 | **/
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269 | void wl_register_packet_group(PacketGroupHandler* h)
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270 | { |
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271 | if (h->groupCode >= WL_MAX_PACKET_GROUPS)
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272 | { |
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273 | WL_DEBUG_PRINT("Packet group code too large.\r\n");
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274 | return;
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275 | } |
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276 | if (wl_packet_groups[h->groupCode] != NULL) |
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277 | { |
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278 | WL_DEBUG_PRINT("Packet group code already registered.\r\n");
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279 | return;
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280 | } |
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281 | wl_packet_groups[h->groupCode] = h; |
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282 | } |
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283 | |||
284 | /**
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285 | * Unregister a packet group from the wireless library.
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286 | *
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287 | * @param h the packet group to remove
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288 | **/
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289 | void wl_unregister_packet_group(PacketGroupHandler* h)
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290 | { |
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291 | unsigned int groupCode = h->groupCode; |
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292 | PacketGroupHandler* p = wl_packet_groups[groupCode]; |
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293 | if (p != NULL && p->unregister != NULL) |
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294 | p->unregister(); |
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295 | wl_packet_groups[groupCode] = NULL;
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296 | } |
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297 | |||
298 | /**
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299 | * Called when the timer is triggered. This calls the timeout
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300 | * handlers of all the registered packet groups.
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301 | **/
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302 | void wl_do_timeout()
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303 | { |
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304 | int i;
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305 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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306 | if (wl_packet_groups[i] != NULL && |
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307 | wl_packet_groups[i]->timeout_handler != NULL)
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308 | wl_packet_groups[i]->timeout_handler(); |
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309 | } |
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310 | |||
311 | /**
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312 | * Performs wireless library functionality. This function must
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313 | * be called frequently for wireless to perform effectively.
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314 | * This function will call timeout handlers, as well as
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315 | * received packet and transmit status handlers.
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316 | **/
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317 | void wl_do()
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318 | { |
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319 | if (wl_timeout)
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320 | { |
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321 | wl_do_timeout(); |
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322 | wl_timeout = 0;
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323 | } |
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324 | |||
325 | int len = xbee_get_packet(wl_buf);
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326 | if (len < 0)//no packet received |
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327 | return;
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328 | |||
329 | if (wl_buf[0] == XBEE_TX_STATUS) |
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330 | { |
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331 | if (len != 3) |
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332 | { |
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333 | WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
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334 | return;
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335 | } |
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336 | |||
337 | //the first four bits are the packet group
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338 | //this only works with under 16 groups
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339 | int group = (int)(wl_buf[1] >> 4); |
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340 | int success = 0; |
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341 | if (wl_buf[2] == 0) |
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342 | success = 1;
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343 | else
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344 | { |
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345 | WL_DEBUG_PRINT("No response received.\r\n");
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346 | if (wl_buf[2] == 2) |
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347 | WL_DEBUG_PRINT("CCA Failure\r\n");
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348 | if (wl_buf[2] == 3) |
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349 | WL_DEBUG_PRINT("Purged\r\n");
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350 | } |
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351 | |||
352 | if (wl_packet_groups[group] != NULL && |
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353 | wl_packet_groups[group]->handle_response != NULL)
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354 | wl_packet_groups[group]->handle_response( |
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355 | (int)wl_buf[1] & 0x0F, success); |
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356 | return;
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357 | } |
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358 | |||
359 | if (wl_buf[0] == XBEE_RX) |
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360 | { |
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361 | if (len < 7) |
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362 | { |
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363 | WL_DEBUG_PRINT("Packet is too small.\r\n");
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364 | return;
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365 | } |
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366 | |||
367 | int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]); |
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368 | |||
369 | /*
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370 | //unused for now
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371 | int signalStrength = wl_buf[3];
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372 | //1 for Address broadcast, 2 for PAN broadcast
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373 | int options = wl_buf[4];
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374 | */
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375 | |||
376 | int group = wl_buf[5]; |
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377 | int type = wl_buf[6]; |
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378 | int packetLen = len - 7; |
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379 | |||
380 | if (wl_packet_groups[group] != NULL |
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381 | && wl_packet_groups[group]->handle_receive != NULL)
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382 | wl_packet_groups[group]->handle_receive(type, source, |
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383 | wl_buf + 7, packetLen);
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384 | return;
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385 | } |
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386 | |||
387 | WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
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388 | return;
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389 | } |