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#include "xbee.h" |
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#include "wl_defs.h" |
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#ifndef ROBOT
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <pthread.h> |
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#include <errno.h> |
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#else
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#include <serial.h> |
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#include <avr/interrupt.h> |
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#endif
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <queue.h> |
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#define XBEE_FRAME_START 0x7E |
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/*Frame Types*/
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#define XBEE_FRAME_STATUS 0x8A |
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#define XBEE_FRAME_AT_COMMAND 0x08 |
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#define XBEE_FRAME_AT_COMMAND_RESPONSE 0x88 |
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#define XBEE_FRAME_TX_REQUEST_64 0x00 |
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#define XBEE_FRAME_TX_REQUEST_16 0x01 |
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#define XBEE_FRAME_TX_STATUS XBEE_TX_STATUS
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#define XBEE_FRAME_RX_64 0x80 |
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#define XBEE_FRAME_RX_16 XBEE_RX
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/*Internal Function Prototypes*/
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/*I/O Functions*/
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void xbee_send(char* buf, int size); |
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void xbee_send_string(char* c); |
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#ifndef ROBOT
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void xbee_read(char* buf, int size); |
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#endif
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/*Command Mode Functions
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* Called during initialization.
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*/
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void xbee_enter_command_mode(void); |
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void xbee_exit_command_mode(void); |
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void xbee_enter_api_mode(void); |
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void xbee_wait_for_string(char* s, int len); |
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void xbee_wait_for_ok(void); |
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/*API Mode Functions*/
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int xbee_handle_packet(char* packet, int len); |
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void xbee_handle_at_command_response(char* command, char result, |
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char* extra, int extraLen); |
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void xbee_handle_status(char status); |
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int xbee_verify_checksum(char* packet, int len); |
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char xbee_compute_checksum(char* packet, int len); |
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void xbee_send_frame(char* buf, int len); |
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void xbee_send_read_at_command(char* command); |
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void xbee_send_modify_at_command(char* command, char* value); |
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|
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/*Global Variables*/
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#ifndef ROBOT
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int xbee_stream;
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pthread_t* xbee_listen_thread; |
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#endif
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Queue* xbee_queue; |
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//used to store packets as they are read
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char xbee_buf[128]; |
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int currentBufPos = 0; |
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//XBee status
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unsigned int xbee_panID = XBEE_PAN_DEFAULT; |
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unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT; |
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int xbee_channel = XBEE_CHANNEL_DEFAULT;
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int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
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unsigned int xbee_address = 0; |
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/*Function Implementations*/
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#ifdef ROBOT
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/**
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* Interrupt for the robot. Adds bytes received from the xbee
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* to the queue.
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**/
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ISR(USART1_RX_vect) |
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{ |
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char c = UDR1;
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queue_add(xbee_queue, (void*)(int)c); |
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} |
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#else
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/**
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* Thread that listens to the xbee.
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**/
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void* listen_to_xbee(void* x) |
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{ |
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char c;
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while (1) |
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{ |
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xbee_read(&c, 1);
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queue_add(xbee_queue, (void*)(int)c); |
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} |
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return 0; |
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} |
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#endif
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/**
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* Initializes the XBee library so that other functions may be used.
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*
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* @param pan_id the PAN to join initially. Use XBEE_PAN_DEFAULT
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* to leave the PAN as it is initially.
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**/
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void xbee_lib_init(void) |
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{ |
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xbee_queue = queue_create(); |
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#ifdef ROBOT
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//enable the receiving interrupt
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UCSR1B |= _BV(RXCIE); |
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sei(); |
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#else
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xbee_stream = open("/dev/ttyUSB0", O_RDWR);
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if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
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xbee_stream = open("/dev/ttyUSB1", O_RDWR);
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if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
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{ |
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printf("Failed to open connection to XBee.\r\n");
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exit(0);
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} |
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lockf(xbee_stream, F_LOCK, 0);
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xbee_listen_thread = |
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(pthread_t*)malloc(sizeof(pthread_t));
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int ret = pthread_create(xbee_listen_thread, NULL, |
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listen_to_xbee, NULL);
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if (ret)
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{ |
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printf("Failed to create listener thread.\r\n");
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exit(0);
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} |
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#endif
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xbee_enter_command_mode(); |
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xbee_enter_api_mode(); |
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xbee_exit_command_mode(); |
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xbee_send_read_at_command("MY");
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//wait to return until the address is set
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while (xbee_address == 0) xbee_get_packet(NULL); |
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} |
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/**
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* Call when finished using the XBee library. This releases
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* all sued resources.
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**/
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void xbee_terminate()
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{ |
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#ifndef ROBOT
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pthread_cancel(*xbee_listen_thread); |
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free(xbee_listen_thread); |
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lockf(xbee_stream, F_ULOCK, 0);
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close(xbee_stream); |
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#endif
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queue_destroy(xbee_queue); |
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} |
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/**
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* Send a buffer buf of size bytes to the XBee.
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*
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* @param buf the buffer of data to send
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* @param size the number of bytes to send
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**/
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void xbee_send(char* buf, int size) |
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{ |
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#ifdef ROBOT
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int i;
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for (i = 0; i < size; i++) |
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xbee_putc(buf[i]); |
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#else
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int ret = write(xbee_stream, buf, size);
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//success
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if (ret == size)
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return;
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if (ret == -1) |
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{ |
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//interrupted by system signal, probably timer interrupt.
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//just try again
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if (errno == 4) |
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{ |
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xbee_send(buf, size); |
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return;
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} |
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printf("Failed to write to xbee, error %i.\r\n", errno);
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return;
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} |
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//write was interrupted after writing ret bytes
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xbee_send(buf + ret, size - ret); |
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#endif
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} |
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/**
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* Sends a string to the XBee.
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*
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* @param c the string to send to the XBEE
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**/
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void xbee_send_string(char* c) |
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{ |
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xbee_send(c, strlen(c)); |
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} |
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#ifndef ROBOT
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void xbee_read(char* buf, int size) |
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{ |
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if (read(xbee_stream, buf, size) == -1) |
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printf("Failed to read from xbee.\r\n");
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} |
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#endif
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/**
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* Enter into command mode.
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**/
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void xbee_enter_command_mode()
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{ |
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xbee_send_string("+++");
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xbee_wait_for_ok(); |
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} |
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/**
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* Exit from command mode.
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**/
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void xbee_exit_command_mode()
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{ |
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xbee_send_string("ATCN\r");
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xbee_wait_for_ok(); |
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} |
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/**
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* Enter API mode.
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**/
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void xbee_enter_api_mode()
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{ |
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xbee_send_string("ATAP 1\r");
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xbee_wait_for_ok(); |
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} |
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/**
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* Wait until the string "OK\r" is received from the XBee.
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**/
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void xbee_wait_for_ok()
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{ |
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xbee_wait_for_string("OK\r", 3); |
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} |
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/**
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* Delay until the specified string is received from
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* the XBee. Discards all other XBee data.
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*
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* @param s the string to receive
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* @param len the length of the string
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**/
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void xbee_wait_for_string(char* s, int len) |
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{ |
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char* curr = s;
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while (curr - s < len)
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{ |
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if (queue_is_empty(xbee_queue))
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continue;
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char c = (char)(int)queue_remove(xbee_queue); |
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if (c == *curr)
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curr++; |
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else
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curr = s; |
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} |
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} |
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/**
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* Verifies that the packets checksum is correct.
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* (If the checksum is correct, the sum of the bytes
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* is 0xFF.)
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*
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* @param packet the packet received. This includes the first
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* three bytes, which are header information from the XBee.
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*
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* @param len The length of the packet received from the XBee
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*
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* @return 0 if the checksum is incorrect, nonzero
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* otherwise
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**/
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int xbee_verify_checksum(char* packet, int len) |
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{ |
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unsigned char sum = 0; |
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int i;
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for (i = 3; i < len; i++) |
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sum += (unsigned char)packet[i]; |
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return sum == 0xFF; |
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} |
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/**
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* Returns the checksum of the given packet.
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*
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* @param buf the data for the packet to send
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* @param len the length of the packet in bytes
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*
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* @return the checksum of the packet, which will
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* become the last byte sent in the packet
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**/
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char xbee_compute_checksum(char* buf, int len) |
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{ |
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int i;
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unsigned char sum = 0; |
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for (i = 0; i < len; i++) |
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sum += (unsigned char)buf[i]; |
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return 0xFF - sum; |
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} |
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/**
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* Adds header information and checksum to the given
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* packet and sends it. Header information includes
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* XBEE_FRAME_START and the packet length, as two bytes.
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*
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* @param buf the packet data
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* @param len the size in bytes of the packet data
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*
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**/
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void xbee_send_frame(char* buf, int len) |
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{ |
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char prefix[3]; |
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prefix[0] = XBEE_FRAME_START;
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prefix[1] = (len & 0xFF00) >> 8; |
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prefix[2] = len & 0xFF; |
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char checksum = xbee_compute_checksum(buf, len);
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xbee_send(prefix, 3);
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xbee_send(buf, len); |
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xbee_send(&checksum, 1);
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} |
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/**
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* Sends an AT command to read a parameter.
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*
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* @param command the AT command to send. For exmaple,
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* use ID to read the PAN ID and MY to return the XBee ID.
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* See the XBee reference guide for a complete listing.
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**/
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void xbee_send_read_at_command(char* command) |
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{ |
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xbee_send_modify_at_command(command, NULL);
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} |
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/**
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* Sends the given AT command.
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*
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* @param command the AT command to send (e.g., MY, ID)
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* @param value the value to pass as a parameter
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* (or NULL if there is no parameter)
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**/
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void xbee_send_modify_at_command(char* command, char* value) |
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{ |
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char buf[16]; |
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int i;
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buf[0] = XBEE_FRAME_AT_COMMAND;
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buf[1] = 1; |
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buf[2] = command[0]; |
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buf[3] = command[1]; |
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int valueLen = 0; |
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if (value != NULL) |
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{ |
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valueLen = strlen(value); |
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if (valueLen > 8) |
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{ |
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WL_DEBUG_PRINT("AT Command too large.\r\n");
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return;
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} |
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for (i = 0; i < valueLen; i++) |
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buf[4 + i] = value[i];
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} |
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xbee_send_frame(buf, 4 + valueLen);
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} |
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/**
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* Send the specified packet.
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*
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* @param packet the packet data to send
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* @param len the number of bytes in the packet
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*
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* @param dest the ID of the XBee to send the packet to,
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* or XBEE_BROADCAST to send the message to all robots
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* in the PAN.
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*
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* @param options a combination of the flags
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* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
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* XBEE_OPTIONS_BROADCAST_ALL_PANS
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*
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* @param frame the frame number to associate this packet
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* with. This will be used to identify the response when
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* the XBee alerts us as to whether or not our message
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* was received.
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**/
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void xbee_send_packet(char* packet, int len, int dest, |
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char options, char frame) |
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{ |
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char buf[5]; |
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char prefix[3]; |
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int i;
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unsigned char checksum = 0; |
420 |
|
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if (len > 100) |
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{ |
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WL_DEBUG_PRINT("Packet is too large.\r\n");
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return;
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} |
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|
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//data for sending request
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buf[0] = XBEE_FRAME_TX_REQUEST_16;
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buf[1] = frame;
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buf[2] = (dest >> 8) & 0xFF; |
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buf[3] = dest & 0xFF; |
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buf[4] = options;
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|
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//packet prefix, do this here so we don't need an extra buffer
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prefix[0] = XBEE_FRAME_START;
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prefix[1] = ((5 + len) & 0xFF00) >> 8; |
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prefix[2] = (5 + len) & 0xFF; |
438 |
|
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for (i = 0; i < 5; i++) |
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checksum += (unsigned char)buf[i]; |
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for (i = 0; i < len; i++) |
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checksum += (unsigned char)packet[i]; |
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checksum = 0xFF - checksum;
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xbee_send(prefix, 3);
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xbee_send(buf, 5);
|
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xbee_send(packet, len); |
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xbee_send((char*)&checksum, 1); |
448 |
} |
449 |
|
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/**
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* Reads a packet received from the XBee. This function
|
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* is non-blocking. The resulting packet is stored in dest.
|
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* Only returns transmission response packets and
|
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* received packets. The returned packet does not include
|
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* header information or the checksum. This method also
|
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* handles special packets dealt with by the XBee library,
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* and so should be called frequently while the XBee is in
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* use.<br><br>
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*
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* The first byte of the packet will be either
|
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* XBEE_TX_STATUS or XBEE_RX to indicated
|
462 |
* a response to a sent message or a received message,
|
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* respectively.<br><br>
|
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*
|
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* For a status response packet:<br>
|
466 |
* The first byte will be XBEE_TX_STATUS.<br>
|
467 |
* The second byte will be the frame number.<br>
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* The third byte will be the result. 0 indicates success,
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469 |
* and nonzero indicates that an error ocurred in
|
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* transmitting the packet.<br><br>
|
471 |
*
|
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* For a received packet:<br>
|
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* The first byte will be XBEE_RX.<br>
|
474 |
* The second and third bytes will be the 16-bit
|
475 |
* address of the packet's sender.<br>
|
476 |
* The fourth byte is the signal strength.<br>
|
477 |
* The fifth byte is 1 if the packet were sent to
|
478 |
* a specific address, and 2 if it is a broadcast packet.<br><br>
|
479 |
*
|
480 |
* @param dest set to the packet data
|
481 |
* @return the length of the packet, or -1 if no packet
|
482 |
* is available
|
483 |
**/
|
484 |
int xbee_get_packet(unsigned char* dest) |
485 |
{ |
486 |
//start reading a packet with XBEE_FRAME_START
|
487 |
if (currentBufPos == 0) |
488 |
{ |
489 |
do
|
490 |
if (queue_is_empty(xbee_queue))
|
491 |
return -1; |
492 |
while ((char)(int)queue_remove(xbee_queue) != XBEE_FRAME_START); |
493 |
xbee_buf[0] = XBEE_FRAME_START;
|
494 |
currentBufPos++; |
495 |
} |
496 |
|
497 |
int len = -1; |
498 |
if (currentBufPos >= 3) |
499 |
len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
500 |
|
501 |
while (len == -1 //packet length has not been read yet |
502 |
|| currentBufPos < len + 4)
|
503 |
{ |
504 |
if (currentBufPos == 3) |
505 |
len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
506 |
if (queue_is_empty(xbee_queue))
|
507 |
return -1; |
508 |
xbee_buf[currentBufPos++] = (char)(int)queue_remove(xbee_queue); |
509 |
} |
510 |
|
511 |
currentBufPos = 0;
|
512 |
|
513 |
if (!xbee_verify_checksum(xbee_buf, len + 4)) |
514 |
{ |
515 |
WL_DEBUG_PRINT("XBee checksum failed.\r\n");
|
516 |
return -1; |
517 |
} |
518 |
|
519 |
//we will take care of the packet
|
520 |
if (xbee_handle_packet(xbee_buf + 3, len)) |
521 |
return -1; |
522 |
|
523 |
if (dest == NULL) |
524 |
return -1; |
525 |
|
526 |
int i;
|
527 |
for (i = 3; i < len + 3; i++) |
528 |
dest[i - 3] = xbee_buf[i];
|
529 |
return len;
|
530 |
} |
531 |
|
532 |
/**
|
533 |
* Handles modem status packets.
|
534 |
*
|
535 |
* @param status the type of status packet received.
|
536 |
**/
|
537 |
void xbee_handle_status(char status) |
538 |
{ |
539 |
switch (status)
|
540 |
{ |
541 |
case 0: |
542 |
WL_DEBUG_PRINT("XBee hardware reset.\r\n");
|
543 |
break;
|
544 |
case 1: |
545 |
WL_DEBUG_PRINT("Watchdog timer reset.\r\n");
|
546 |
break;
|
547 |
case 2: |
548 |
WL_DEBUG_PRINT("Associated.\r\n");
|
549 |
break;
|
550 |
case 3: |
551 |
WL_DEBUG_PRINT("Disassociated.\r\n");
|
552 |
break;
|
553 |
case 4: |
554 |
WL_DEBUG_PRINT("Synchronization lost.\r\n");
|
555 |
break;
|
556 |
case 5: |
557 |
WL_DEBUG_PRINT("Coordinator realignment.\r\n");
|
558 |
break;
|
559 |
case 6: |
560 |
WL_DEBUG_PRINT("Coordinator started.\r\n");
|
561 |
break;
|
562 |
} |
563 |
} |
564 |
|
565 |
/**
|
566 |
* Handles AT command response packets.
|
567 |
* @param command the two character AT command, e.g. MY or ID
|
568 |
* @param result 0 for success, 1 for an error
|
569 |
* @param extra the hex value of the requested register
|
570 |
* @param extraLen the length in bytes of extra
|
571 |
**/
|
572 |
void xbee_handle_at_command_response(char* command, char result, |
573 |
char* extra, int extraLen) |
574 |
{ |
575 |
if (result == 1) |
576 |
{ |
577 |
WL_DEBUG_PRINT("Error with AT");
|
578 |
WL_DEBUG_PRINT(command); |
579 |
WL_DEBUG_PRINT(" packet.\r\n");
|
580 |
} |
581 |
WL_DEBUG_PRINT("AT");
|
582 |
WL_DEBUG_PRINT(command); |
583 |
WL_DEBUG_PRINT(" command was successful.\r\n");
|
584 |
|
585 |
if (command[0] == 'I' && command[1] == 'D') |
586 |
{ |
587 |
xbee_panID = xbee_pending_panID; |
588 |
WL_DEBUG_PRINT("PAN ID set to ");
|
589 |
WL_DEBUG_PRINT_INT(xbee_panID); |
590 |
WL_DEBUG_PRINT(".\r\n");
|
591 |
return;
|
592 |
} |
593 |
|
594 |
if (command[0] == 'C' && command[1] == 'H') |
595 |
{ |
596 |
xbee_channel = xbee_pending_channel; |
597 |
WL_DEBUG_PRINT("Channel set to ");
|
598 |
WL_DEBUG_PRINT_INT(xbee_channel); |
599 |
WL_DEBUG_PRINT(".\r\n");
|
600 |
return;
|
601 |
} |
602 |
|
603 |
if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0) |
604 |
{ |
605 |
xbee_address = 0;
|
606 |
int i;
|
607 |
for (i = 0; i < extraLen; i++) |
608 |
xbee_address = (xbee_address << 8) + extra[i];
|
609 |
|
610 |
WL_DEBUG_PRINT("XBee address is ");
|
611 |
WL_DEBUG_PRINT_INT(xbee_address); |
612 |
WL_DEBUG_PRINT(".\r\n");
|
613 |
|
614 |
if (xbee_address == 0) |
615 |
{ |
616 |
WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
|
617 |
exit(0);
|
618 |
} |
619 |
} |
620 |
} |
621 |
|
622 |
/**
|
623 |
* Attempts to handle the packet if it is dealt with
|
624 |
* by the library.
|
625 |
* We will handle the following packet types:
|
626 |
* Modem Status
|
627 |
* AT Command Response
|
628 |
*
|
629 |
* @param packet the packet to handle
|
630 |
* @param len the length of the packet
|
631 |
*
|
632 |
* @return 1 if we have handled the packet, 0 otherwise
|
633 |
*/
|
634 |
int xbee_handle_packet(char* packet, int len) |
635 |
{ |
636 |
char command[3] = {1, 2, 3}; |
637 |
if (len <= 0) //this should not happend |
638 |
{ |
639 |
WL_DEBUG_PRINT("Non-positive packet length.\r\n");
|
640 |
return 0; |
641 |
} |
642 |
|
643 |
switch ((unsigned char)packet[0]) //packet type |
644 |
{ |
645 |
case XBEE_FRAME_STATUS:
|
646 |
xbee_handle_status(packet[1]);
|
647 |
return 1; |
648 |
case XBEE_FRAME_AT_COMMAND_RESPONSE:
|
649 |
command[0] = packet[2]; |
650 |
command[1] = packet[3]; |
651 |
command[2] = 0; |
652 |
xbee_handle_at_command_response(command, |
653 |
packet[4], packet + 5, len - 5); |
654 |
return 1; |
655 |
} |
656 |
return 0; |
657 |
} |
658 |
|
659 |
/**
|
660 |
* Sets the personal area network id.
|
661 |
*
|
662 |
* @param id the new personal area network (PAN) id
|
663 |
**/
|
664 |
void xbee_set_pan_id(int id) |
665 |
{ |
666 |
char s[3]; |
667 |
s[0] = (id >> 8) & 0xFF; |
668 |
s[1] = id & 0xFF; |
669 |
s[2] = 0; |
670 |
xbee_pending_panID = id; |
671 |
xbee_send_modify_at_command("ID", s);
|
672 |
} |
673 |
|
674 |
/**
|
675 |
* Get the PAN ID for the XBee.
|
676 |
*
|
677 |
* @return the personal area network id, or
|
678 |
* XBEE_PAN_DEFAULT if it has not yet been set.
|
679 |
**/
|
680 |
unsigned int xbee_get_pan_id() |
681 |
{ |
682 |
return xbee_panID;
|
683 |
} |
684 |
|
685 |
/**
|
686 |
* Set the channel the XBee is using.
|
687 |
*
|
688 |
* @param channel the channel the XBee will not use,
|
689 |
* between 0x0B and 0x1A
|
690 |
*
|
691 |
* @see xbee_get_channel
|
692 |
**/
|
693 |
void xbee_set_channel(int channel) |
694 |
{ |
695 |
if (channel < 0x0B || channel > 0x1A) |
696 |
{ |
697 |
WL_DEBUG_PRINT("Channel out of range.\r\n");
|
698 |
return;
|
699 |
} |
700 |
char s[3]; |
701 |
s[0] = channel & 0xFF; |
702 |
s[1] = 0; |
703 |
xbee_pending_channel = channel; |
704 |
xbee_send_modify_at_command("CH", s);
|
705 |
} |
706 |
|
707 |
/**
|
708 |
* Returns the channel which the XBee is currently using.
|
709 |
*
|
710 |
* @return the channel the XBee is using
|
711 |
*
|
712 |
* @see xbee_set_channel
|
713 |
**/
|
714 |
int xbee_get_channel(void) |
715 |
{ |
716 |
return xbee_channel;
|
717 |
} |
718 |
|
719 |
/**
|
720 |
* Get the 16-bit address of the XBee.
|
721 |
* This is used to specify who to send messages to
|
722 |
* and who messages are from.
|
723 |
*
|
724 |
* @return the 16-bit address of the XBee.
|
725 |
**/
|
726 |
unsigned int xbee_get_address() |
727 |
{ |
728 |
return xbee_address;
|
729 |
} |
730 |
|