Revision 613
added some prints that are commented out with DEBUGGING PRINT above it that can be uncommented out later for debugging purposes
did we do anything else?
| trunk/code/projects/libwireless/lib/xbee.c | ||
|---|---|---|
| 127 | 127 |
static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT; |
| 128 | 128 |
static volatile unsigned int xbee_address = 0; |
| 129 | 129 |
|
| 130 |
void printHex(char * s, int len) {
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|
| 131 |
int i; |
|
| 132 |
for (i = 0; i < len; i++) {
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|
| 133 |
printf("0x%x ", (int)(s[i]));
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|
| 134 |
} |
|
| 135 |
printf("\n");
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|
| 136 |
} |
|
| 137 |
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| 138 |
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|
| 130 | 139 |
/*Function Implementations*/ |
| 131 | 140 |
|
| 132 | 141 |
#ifdef ROBOT |
| ... | ... | |
| 181 | 190 |
fprintf(stderr, "xbee_read failed.\n"); |
| 182 | 191 |
return NULL; |
| 183 | 192 |
} |
| 184 |
|
|
| 193 |
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|
| 194 |
//DEBUGGING PRINT |
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| 195 |
//printf("interrupt: %c (%d)\n", c, (int)c);
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|
| 185 | 196 |
arrival_buf[buffer_last] = c; |
| 186 | 197 |
int t = buffer_last + 1; |
| 187 | 198 |
if (t == XBEE_BUFFER_SIZE) |
| ... | ... | |
| 272 | 283 |
} |
| 273 | 284 |
#endif |
| 274 | 285 |
|
| 286 |
//DEBUGGING PRINT |
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| 287 |
//printf("about to call xbee_enter_command_mode\n");
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| 288 |
|
|
| 275 | 289 |
if (xbee_enter_command_mode() != 0) {
|
| 276 | 290 |
#ifndef ROBOT |
| 277 | 291 |
printf("Error returned from xbee_enter_command_mode\n");
|
| ... | ... | |
| 279 | 293 |
return -1; |
| 280 | 294 |
} |
| 281 | 295 |
|
| 296 |
//DEBUGGING PRINT |
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| 297 |
//printf("about to call xbee_enter_api_mode\n");
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| 298 |
|
|
| 282 | 299 |
if (xbee_enter_api_mode() != 0) {
|
| 283 | 300 |
#ifndef ROBOT |
| 284 | 301 |
printf("Error returned from xbee_enter_api_mode\n");
|
| ... | ... | |
| 286 | 303 |
return -1; |
| 287 | 304 |
} |
| 288 | 305 |
|
| 306 |
//DEBUGGING PRINT |
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| 307 |
//printf("about to call xbee_exit_command_mode\n");
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| 308 |
|
|
| 289 | 309 |
if (xbee_exit_command_mode() != 0) {
|
| 290 | 310 |
#ifndef ROBOT |
| 291 | 311 |
printf("Error returned from xbee_exit_command_mode\n");
|
| ... | ... | |
| 293 | 313 |
return -1; |
| 294 | 314 |
} |
| 295 | 315 |
|
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//DEBUGGING PRINT |
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//printf("about to call xbee_send_read_at_command\n");
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| 318 |
|
|
| 296 | 319 |
if (xbee_send_read_at_command("MY")) {
|
| 297 | 320 |
#ifndef ROBOT |
| 298 | 321 |
printf("Error returned from xbee_send_read_at_command\n");
|
| ... | ... | |
| 366 | 389 |
return 0; |
| 367 | 390 |
|
| 368 | 391 |
#else |
| 392 |
//DEBUGGING PRINT |
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| 393 |
//printf("in xbee_send ");
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| 394 |
//printHex(buf, size); |
|
| 369 | 395 |
|
| 370 | 396 |
int ret = write(xbee_stream, buf, size); |
| 371 | 397 |
//success |
| ... | ... | |
| 473 | 499 |
**/ |
| 474 | 500 |
static int xbee_wait_for_ok() |
| 475 | 501 |
{
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| 502 |
//DEBUGGING PRINT |
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//printf("\tin xbee_wait_for_ok\n");
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|
| 476 | 504 |
return xbee_wait_for_string("OK\r", 3);
|
| 477 | 505 |
} |
| 478 | 506 |
|
| ... | ... | |
| 485 | 513 |
**/ |
| 486 | 514 |
static int xbee_wait_for_string(char* s, int len) |
| 487 | 515 |
{
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//DEBUGGING PRINT |
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//printf("\t in xbee_wait_for_string\n");
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|
|
| 488 | 519 |
#ifndef ROBOT |
| 489 | 520 |
//printf("In xbee_wait_for_string.\n");
|
| 490 | 521 |
#endif |
| ... | ... | |
| 498 | 529 |
buffer_first = 0; |
| 499 | 530 |
} |
| 500 | 531 |
|
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//DEBUGGING PRINT |
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//printf("\t\t c is %c (%d)\n", c, (int)c);
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|
|
| 501 | 535 |
if (c == *curr) {
|
| 502 | 536 |
curr++; |
| 503 | 537 |
} else {
|
| 504 | 538 |
#ifndef ROBOT |
| 505 |
return -1; // Computer is less forgiving. |
|
| 539 |
//return -1; // Computer is less forgiving. |
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curr = s; |
|
| 506 | 541 |
#else |
| 507 | 542 |
curr = s; |
| 508 | 543 |
#endif |
| ... | ... | |
| 568 | 603 |
**/ |
| 569 | 604 |
static int xbee_send_frame(char* buf, int len) |
| 570 | 605 |
{
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| 606 |
printf("in %s and len is %d\n", __FUNCTION__, len);
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| 607 |
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|
| 571 | 608 |
char prefix[3]; |
| 572 | 609 |
prefix[0] = XBEE_FRAME_START; |
| 573 | 610 |
prefix[1] = (len & 0xFF00) >> 8; |
| ... | ... | |
| 610 | 647 |
**/ |
| 611 | 648 |
static int xbee_send_modify_at_command(char* command, char* value) |
| 612 | 649 |
{
|
| 650 |
printf("in %s with command %s and value %s\n", __FUNCTION__, command, value);
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| 613 | 652 |
char buf[16]; |
| 614 | 653 |
int i; |
| 615 | 654 |
|
| ... | ... | |
| 901 | 940 |
|
| 902 | 941 |
if (xbee_address == 0) |
| 903 | 942 |
{
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printf("XBee 16-bit address must be set using ATMY.\r\n");
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|
| 904 | 944 |
WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
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| 905 | 945 |
exit(0); |
| 906 | 946 |
} |
| ... | ... | |
| 921 | 961 |
*/ |
| 922 | 962 |
static int xbee_handle_packet(char* packet, int len) |
| 923 | 963 |
{
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| 964 |
//DEBUGGING PRINT |
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| 965 |
//printf("xbee_handle_packet: ");
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| 966 |
//printHex(packet, len); |
|
| 967 |
|
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| 924 | 968 |
char command[3] = {1, 2, 3};
|
| 925 | 969 |
if (len <= 0) //this should not happend |
| 926 | 970 |
{
|
| ... | ... | |
| 934 | 978 |
xbee_handle_status(packet[1]); |
| 935 | 979 |
return 1; |
| 936 | 980 |
case XBEE_FRAME_AT_COMMAND_RESPONSE: |
| 981 |
printf("in XBEE_FRAME_AT_COMMAND_RESPONSE case\n");
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|
| 937 | 982 |
command[0] = packet[2]; |
| 938 | 983 |
command[1] = packet[3]; |
| 939 | 984 |
command[2] = 0; |
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