/branches/autonomous_recharging/code/projects/libwireless/lib/xbee.c - Diff - Colony - Robotics Club

Revision 668

Added by Brian Coltin about 16 years ago

Updated port of wireless library to bay boards.

     /**
      * Copyright (c) 2007 Colony Project
+     *
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
-...
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-...
     #include <string.h>
     #define XBEE_FRAME_START 0x7E
     #define XBEE_GET_PACKET_TIMEOUT 1000
     /*Frame Types*/
     #define XBEE_FRAME_STATUS 0x8A
-...
     /*Internal Function Prototypes*/
     /*I/O Functions*/
     void xbee_send(char* buf, int size);
     void xbee_send_string(char* c);
     static int xbee_send(char* buf, int size);
     static int xbee_send_string(char* c);
     #ifndef ROBOT
     void xbee_read(char* buf, int size);
     static int xbee_read(char* buf, int size);
     #endif
     /*Command Mode Functions
      * Called during initialization.
      */
     void xbee_enter_command_mode(void);
     void xbee_exit_command_mode(void);
     void xbee_enter_api_mode(void);
     void xbee_exit_api_mode(void);
     void xbee_wait_for_string(char* s, int len);
     void xbee_wait_for_ok(void);
     static int xbee_enter_command_mode(void);
     static int xbee_exit_command_mode(void);
     static int xbee_enter_api_mode(void);
     static int xbee_exit_api_mode(void);
     static int xbee_wait_for_string(char* s, int len);
     static int xbee_wait_for_ok(void);
     /*API Mode Functions*/
     int xbee_handle_packet(char* packet, int len);
     void xbee_handle_at_command_response(char* command, char result,
     	char* extra, int extraLen);
     void xbee_handle_status(char status);
     int xbee_verify_checksum(char* packet, int len);
     char xbee_compute_checksum(char* packet, int len);
     void xbee_send_frame(char* buf, int len);
     void xbee_send_read_at_command(char* command);
     void xbee_send_modify_at_command(char* command, char* value);
     static int xbee_handle_packet(char* packet, int len);
     static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen);
     static void xbee_handle_status(char status);
     static int xbee_verify_checksum(char* packet, int len);
     static char xbee_compute_checksum(char* packet, int len);
     static int xbee_send_frame(char* buf, int len);
     static int xbee_send_read_at_command(char* command);
     static int xbee_send_modify_at_command(char* command, char* value);
     /*Global Variables*/
     #ifndef ROBOT
     char* xbee_com_port = XBEE_PORT_DEFAULT;
     int xbee_stream;
     pthread_t* xbee_listen_thread;
     static char* xbee_com_port = XBEE_PORT_DEFAULT;
     static int xbee_stream;
     static pthread_t* xbee_listen_thread;
     #endif
     // TODO: is this a good size?
-...
     //used to store packets as they are read
     char xbee_buf[128];
     int currentBufPos = 0;
     static char xbee_buf[128];
     static int currentBufPos = 0;
     //XBee status
     unsigned int xbee_panID = XBEE_PAN_DEFAULT;
     unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT;
     int xbee_channel = XBEE_CHANNEL_DEFAULT;
     int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
     unsigned int xbee_address = 0;
     static unsigned int xbee_panID = XBEE_PAN_DEFAULT;
     static unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT;
     static int xbee_channel = XBEE_CHANNEL_DEFAULT;
     static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
     static volatile unsigned int xbee_address = 0;
     void printHex(char * s, int len) {
       int i;
       for (i = 0; i < len; i++) {
         printf("0x%x ", (int)(s[i]));
+      }
       printf("\n");
+    }
     /*Function Implementations*/
     #ifdef ROBOT
-...
      * Interrupt for the robot. Adds bytes received from the xbee
      * to the buffer.
      **/
     #ifndef FIREFLY
     ISR(USART1_RX_vect)
     #ifdef FIREFLY
     SIGNAL(SIG_USART0_RECV)
+    {
     	char c = UDR1;
     	char c = UDR0;
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
-...
     	buffer_last = t;
+    }
     #else
     SIGNAL(SIG_USART0_RECV)
     #ifdef BAYBOARD
     // TODO: interrupt handler for bayboard, should be similar to above and below
     #else
     ISR(USART1_RX_vect)
+    {
     	char c = UDR0;
     	char c = UDR1;
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
-...
     	buffer_last = t;
+    }
     #endif
     #endif
     #else
     // Computer code
     /**
      * Thread that listens to the xbee.
      **/
     void* listen_to_xbee(void* x)
     static void* listen_to_xbee(void* x)
+    {
     	char c;
     	while (1)
+    	{
     		xbee_read(&c, 1);
     		if (xbee_read(&c, 1) != 0) {
     			fprintf(stderr, "xbee_read failed.\n");
     			return NULL;
+    		}
     		//DEBUGGING PRINT
     		//printf("interrupt: %c (%d)\n", c, (int)c);
     		arrival_buf[buffer_last] = c;
     		int t = buffer_last + 1;
     		if (t == XBEE_BUFFER_SIZE)
-...
     			WL_DEBUG_PRINT("Out of space in buffer.\n");
+    		}
     		buffer_last = t;
     		usleep(1000);
+    	}
     	return 0;
     	return NULL;
+    }
     #endif
-...
     /**
      * Initializes the XBee library so that other functions may be used.
      **/
     int xbee_lib_init(void)
     int xbee_lib_init()
+    {
     	arrival_buf[0] = 'A';
     	arrival_buf[1] = 'A';
     	arrival_buf[2] = 'A';
     	#ifdef ROBOT
     #ifdef ROBOT
     	//enable the receiving interrupt
     	#ifdef FIREFLY
     #ifdef FIREFLY
     	UCSR0B |= _BV(RXCIE) | _BV(RXEN);
     	#else
     #else
     #ifdef BAYBOARD
     //TODO: enable the receiving interrupt on the bayboard
     #else
     	UCSR1B |= _BV(RXCIE);
     	#endif
     #endif
     #endif
     	sei();
     	#else
     #else
     	printf("Connecting to port %s.\n", xbee_com_port);
     	xbee_stream = open(xbee_com_port, O_RDWR);
     	if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/)
+    	{
     		printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
     		return -1;
     	} else {
     	  printf("Successfully opened connection to XBee on port %s\r\n", xbee_com_port);
+    	}
     	// set baud rate, etc. correctly
     	struct termios options;
-...
+    	{
     		fprintf(stderr, "Error setting attributes.\n");
     		return -1;
     	} else {
     	  //printf("Successfully set termios attributes.\n");
+    	}
     	//lockf(xbee_stream, F_LOCK, 0);
     	xbee_listen_thread =
     		(pthread_t*)malloc(sizeof(pthread_t));
     	xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t));
     	if (xbee_listen_thread == NULL)
+    	{
     		fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
     		return -1;
+    	}
     	int ret = pthread_create(xbee_listen_thread, NULL,
     		listen_to_xbee, NULL);
     	int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL);
     	if (ret)
+    	{
     		fprintf(stderr, "Failed to create listener thread.\r\n");
     		return -1;
     	} else {
     	  //printf("Successfully created listener thread.\n");
+    	}
     	#endif
     	xbee_enter_command_mode();
     	xbee_enter_api_mode();
     	xbee_exit_command_mode();
     	xbee_send_read_at_command("MY");
     #endif
     	//DEBUGGING PRINT
     	//printf("about to call xbee_enter_command_mode\n");
     	if (xbee_enter_command_mode() != 0) {
     #ifndef ROBOT
     	  printf("Error returned from xbee_enter_command_mode\n");
     #endif
     		return -1;
+    	}
     	//DEBUGGING PRINT
     	//printf("about to call xbee_enter_api_mode\n");
     	if (xbee_enter_api_mode() != 0) {
     #ifndef ROBOT
     	  printf("Error returned from xbee_enter_api_mode\n");
     #endif
     		return -1;
+    	}
     	//DEBUGGING PRINT
     	//printf("about to call xbee_exit_command_mode\n");
     	if (xbee_exit_command_mode() != 0) {
     #ifndef ROBOT
     	  printf("Error returned from xbee_exit_command_mode\n");
     #endif
     		return -1;
+    	}
     	//DEBUGGING PRINT
     	//printf("about to call xbee_send_read_at_command\n");
     	if (xbee_send_read_at_command("MY")) {
     #ifndef ROBOT
     	  printf("Error returned from xbee_send_read_at_command\n");
     #endif
     		return -1;
+    	}
     #ifndef ROBOT
     	//printf("About to enter while loop to get xbee_address.\n");
     	int i;
     	for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) {
     	  ret = xbee_get_packet(NULL);
     	  usleep(1000);
     	  if (ret == -1) {
     		//printf("xbee_get_packet(NULL) failed.\n");
     		return -1;
+    	  }
+    	}
     	//	printf("After exiting while loop to get xbee_address.\n");
     #else
     	//wait to return until the address is set
     	while (xbee_address == 0) xbee_get_packet(NULL);
     	while (xbee_address == 0) {
     	  xbee_get_packet(NULL);
+    	}
     #endif
     #ifndef ROBOT
     	if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out.
     	  printf("xbee_get_packet timed out.\n");
     	  return -1;
     	} else {
     	  return 0;
+    	}
     #else
     	return 0;
     #endif
+    }
     /**
-...
     /**
      * Send a buffer buf of size bytes to the XBee.
+     *
+     *
      * @param buf the buffer of data to send
      * @param size the number of bytes to send
      **/
     void xbee_send(char* buf, int size)
     static int xbee_send(char* buf, int size)
+    {
     	#ifdef ROBOT
     #ifdef ROBOT
     	int i;
     	for (i = 0; i < size; i++)
     	for (i = 0; i < size; i++) {
     		xbee_putc(buf[i]);
     	#else
+    	}
     	return 0;
     #else
     	//DEBUGGING PRINT
     	//printf("in xbee_send ");
     	//printHex(buf, size);
     	int ret = write(xbee_stream, buf, size);
     	//success
     	if (ret == size)
     		return;
     		return 0;
     	if (ret == -1)
+    	{
     		//interrupted by system signal, probably timer interrupt.
     		//just try again
     		if (errno == 4)
+    		{
     			xbee_send(buf, size);
     			return;
     			return xbee_send(buf, size);
+    		}
     		printf("Failed to write to xbee, error %i.\r\n", errno);
     		return;
     		return -1;
+    	}
     	//write was interrupted after writing ret bytes
     	xbee_send(buf + ret, size - ret);
     	#endif
     	return xbee_send(buf + ret, size - ret);
     #endif
+    }
     /**
-...
+     *
      * @param c the string to send to the XBEE
      **/
     void xbee_send_string(char* c)
     static int xbee_send_string(char* c)
+    {
     	xbee_send(c, strlen(c));
     	return xbee_send(c, strlen(c));
+    }
     #ifndef ROBOT
     void xbee_read(char* buf, int size)
     static int xbee_read(char* buf, int size)
+    {
     	if (read(xbee_stream, buf, size) == -1)
     	if (read(xbee_stream, buf, size) == -1) {
     		printf("Failed to read from xbee.\r\n");
     		return -1;
+    	}
     	return 0;
+    }
     #endif
     /**
      * Enter into command mode.
      **/
     void xbee_enter_command_mode()
     static int xbee_enter_command_mode()
+    {
     	xbee_send_string("+++");
     	xbee_wait_for_ok();
     	if (xbee_send_string("+++") != 0) {
     		return -1;
+    	}
     #ifndef ROBOT
     	//	printf("In xbee_enter_command_mode about to call xbee_wait_for_ok()\n");
     #endif
     	if (xbee_wait_for_ok() != 0) {
     #ifndef ROBOT
     	  printf("xbee_wait_for_ok failed.\n");
     #endif
     	  return -1;
     	} else {
     	  return 0;
+    	}
+    }
     /**
      * Exit from command mode.
      **/
     void xbee_exit_command_mode()
     static int xbee_exit_command_mode()
+    {
     	xbee_send_string("ATCN\r");
     	if (xbee_send_string("ATCN\r") != 0) {
     		return -1;
+    	}
     	xbee_wait_for_ok();
     	return 0;
+    }
     /**
      * Enter API mode.
      **/
     void xbee_enter_api_mode()
     static int xbee_enter_api_mode()
+    {
     	xbee_send_string("ATAP 1\r");
     	if (xbee_send_string("ATAP 1\r") != 0) {
     		return -1;
+    	}
     	xbee_wait_for_ok();
     	return 0;
+    }
     /**
      * Exit API mode. (warning - does not check for response)
      **/
     void xbee_exit_api_mode()
     static int xbee_exit_api_mode()
+    {
     	xbee_send_string("ATAP 0\r");
     	return xbee_send_string("ATAP 0\r");
+    }
     /**
      * Wait until the string "OK\r" is received from the XBee.
      **/
     void xbee_wait_for_ok()
     static int xbee_wait_for_ok()
+    {
     	xbee_wait_for_string("OK\r", 3);
       //DEBUGGING PRINT
       //printf("\tin xbee_wait_for_ok\n");
     	return xbee_wait_for_string("OK\r", 3);
+    }
     /**
-...
      * @param s the string to receive
      * @param len the length of the string
      **/
     void xbee_wait_for_string(char* s, int len)
     static int xbee_wait_for_string(char* s, int len)
+    {
       //DEBUGGING PRINT
       //printf("\t in xbee_wait_for_string\n");
     #ifndef ROBOT
       //printf("In xbee_wait_for_string.\n");
     #endif
     	char* curr = s;
     	while (curr - s < len)
+    	{
     	while (curr - s < len) {
     		// check if buffer is empty
     		if (buffer_last == buffer_first)
     			continue;
     		char c = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		if (c == *curr)
     			curr++;
     		else
     			curr = s;
     		if (buffer_last != buffer_first) {
     			char c = arrival_buf[buffer_first++];
     			if (buffer_first == XBEE_BUFFER_SIZE) {
     				buffer_first = 0;
+    			}
     			//DEBUGGING PRINT
     			//printf("\t\t c is %c (%d)\n", c, (int)c);
     			if (c == *curr) {
     				curr++;
     			} else {
     #ifndef ROBOT
     			  //return -1; // Computer is less forgiving.
     			  curr = s;
     #else
     			  curr = s;
     #endif
+    			}
     		} // else buffer is empty.
     #ifndef ROBOT
     		usleep(100);
     #endif
+    	}
     	return 0;
+    }
     /**
-...
      * @param len the size in bytes of the packet data
+     *
      **/
     void xbee_send_frame(char* buf, int len)
     static int xbee_send_frame(char* buf, int len)
+    {
     	//printf("in %s and len is %d\n", __FUNCTION__, len);
     	char prefix[3];
     	prefix[0] = XBEE_FRAME_START;
     	prefix[1] = (len & 0xFF00) >> 8;
     	prefix[2] = len & 0xFF;
     	char checksum = xbee_compute_checksum(buf, len);
     	xbee_send(prefix, 3);
     	xbee_send(buf, len);
     	xbee_send(&checksum, 1);
     	if (xbee_send(prefix, 3) != 0) {
     		return -1;
+    	}
     	if (xbee_send(buf, len) != 0) {
     		return -1;
+    	}
     	if (xbee_send(&checksum, 1) != 0) {
     		return -1;
+    	}
     	return 0;
+    }
     /**
-...
      * use ID to read the PAN ID and MY to return the XBee ID.
      * See the XBee reference guide for a complete listing.
      **/
     void xbee_send_read_at_command(char* command)
     static int xbee_send_read_at_command(char* command)
+    {
     	xbee_send_modify_at_command(command, NULL);
     	return xbee_send_modify_at_command(command, NULL);
+    }
     /**
-...
      * @param value the value to pass as a parameter
      * (or NULL if there is no parameter)
      **/
     void xbee_send_modify_at_command(char* command, char* value)
     static int xbee_send_modify_at_command(char* command, char* value)
+    {
     	//printf("in %s with command %s and value %s\n", __FUNCTION__, command, value);
     	char buf[16];
     	int i;
     	buf[0] = XBEE_FRAME_AT_COMMAND;
     	buf[1] = 1;
     	buf[2] = command[0];
-...
     		if (valueLen > 8)
+    		{
     			WL_DEBUG_PRINT("AT Command too large.\r\n");
     			return;
     			return -1;
+    		}
     		for (i = 0; i < valueLen; i++)
     		for (i = 0; i < valueLen; i++) {
     			buf[4 + i] = value[i];
+    		}
+    	}
     	xbee_send_frame(buf, 4 + valueLen);
     	return xbee_send_frame(buf, 4 + valueLen);
+    }
     /**
      * Send the specified packet.
+     *
+     *
      * @param packet the packet data to send
      * @param len the number of bytes in the packet
+     *
+     *
      * @param dest the ID of the XBee to send the packet to,
      * or XBEE_BROADCAST to send the message to all robots
      * in the PAN.
+     *
+     *
      * @param options a combination of the flags
      * XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
      * XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
      * XBEE_OPTIONS_BROADCAST_ALL_PANS
+     *
      * @param frame the frame number to associate this packet
-...
      * the XBee alerts us as to whether or not our message
      * was received.
      **/
     void xbee_send_packet(char* packet, int len, int dest,
     	char options, char frame)
     int xbee_send_packet(char* packet, int len, int dest, char options, char frame)
+    {
     	char buf[5];
     	char prefix[3];
-...
     	if (len > 100)
+    	{
     		WL_DEBUG_PRINT("Packet is too large.\r\n");
     		return;
     		return -1;
+    	}
     	//data for sending request
-...
     	for (i = 0; i < len; i++)
     		checksum += (unsigned char)packet[i];
     	checksum = 0xFF - checksum;
     	xbee_send(prefix, 3);
     	xbee_send(buf, 5);
     	xbee_send(packet, len);
     	xbee_send((char*)&checksum, 1);
     	if (xbee_send(prefix, 3) != 0) {
     		return -1;
+    	}
     	if (xbee_send(buf, 5) != 0) {
     		return -1;
+    	}
     	if (xbee_send(packet, len) != 0) {
     		return -1;
+    	}
     	if (xbee_send((char*)&checksum, 1) != 0) {
     		return -1;
+    	}
     	return 0;
+    }
     /**
-...
+     *
      * The first byte of the packet will be either
      * XBEE_TX_STATUS or XBEE_RX to indicated
      * a response to a sent message or a received message,
      * a response to a sent message or a received message,
      * respectively.<br><br>
+     *
      * For a status response packet:<br>
      * The first byte will be XBEE_TX_STATUS.<br>
      * The second byte will be the frame number.<br>
      * The third byte will be the result. 0 indicates success,
      * and nonzero indicates that an error ocurred in
      * and nonzero indicates that an error ocurred in
      * transmitting the packet.<br><br>
+     *
      * For a received packet:<br>
-...
      * The fourth byte is the signal strength.<br>
      * The fifth byte is 1 if the packet were sent to
      * a specific address, and 2 if it is a broadcast packet.<br><br>
+     *
+     *
      * @param dest set to the packet data
      * @return the length of the packet, or -1 if no packet
      * is available
-...
     			if (buffer_first == XBEE_BUFFER_SIZE)
     				buffer_first = 0;
     			// check if buffer is empty
     			if (buffer_first == buffer_last)
     				return -1;
     			if (buffer_first == buffer_last) {
     				return 0;
+    			}
     		} while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
     		if (buffer_first == XBEE_BUFFER_SIZE) {
     			buffer_first = 0;
+    		}
     		while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		xbee_buf[0] = XBEE_FRAME_START;
     		currentBufPos++;
+    	}
     	int len = -1;
     	if (currentBufPos >= 3)
     	if (currentBufPos >= 3) {
     		len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
+    	}
     	while (len == -1 //packet length has not been read yet
     			|| currentBufPos < len + 4)
     		|| currentBufPos < len + 4)
+    	{
     		if (currentBufPos == 3)
+    		{
-...
     				return -1;
+    			}
+    		}
     		// check if buffer is empty
     		if (buffer_first == buffer_last)
     			return -1;
     		if (buffer_first == buffer_last) {
     			return 0;
+    		}
     		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     		if (buffer_first == XBEE_BUFFER_SIZE) {
     			buffer_first = 0;
+    		}
+    	}
     	currentBufPos = 0;
     	if (!xbee_verify_checksum(xbee_buf, len + 4))
+    	{
     		WL_DEBUG_PRINT("XBee checksum failed.\r\n");
-...
+    	}
     	//we will take care of the packet
     	if (xbee_handle_packet(xbee_buf + 3, len))
     		return -1;
     	if (dest == NULL)
     		return -1;
     	if (xbee_handle_packet(xbee_buf + 3, len) != 0) {
     		return 0;
+    	}
     	if (dest == NULL) {
     		return 0;
+    	}
     	int i;
     	for (i = 3; i < len + 3; i++)
     	for (i = 3; i < len + 3; i++) {
     		dest[i - 3] = xbee_buf[i];
+    	}
     	return len;
+    }
-...
      * @param extra the hex value of the requested register
      * @param extraLen the length in bytes of extra
      **/
     void xbee_handle_at_command_response(char* command, char result,
     	char* extra, int extraLen)
     static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen)
+    {
     	if (result == 1)
+    	{
-...
     	WL_DEBUG_PRINT("AT");
     	WL_DEBUG_PRINT(command);
     	WL_DEBUG_PRINT(" command was successful.\r\n");
     	if (command[0] == 'I' && command[1] == 'D')
+    	{
     		xbee_panID = xbee_pending_panID;
-...
     		WL_DEBUG_PRINT(".\r\n");
     		return;
+    	}
     	if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0)
+    	{
     //							printf("reading xbee_address\n");
     		xbee_address = 0;
     		int i;
     		for (i = 0; i < extraLen; i++)
     		for (i = 0; i < extraLen; i++) {
     			xbee_address = (xbee_address << 8) + extra[i];
+    		}
     //							printf("xbee address is: %d\n", xbee_address);
     		WL_DEBUG_PRINT("XBee address is ");
     		WL_DEBUG_PRINT_INT(xbee_address);
-...
     		if (xbee_address == 0)
+    		{
     		  printf("XBee 16-bit address must be set using ATMY.\r\n");
     			WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n");
     			exit(0);
+    		}
-...
+     *
      * @param packet the packet to handle
      * @param len the length of the packet
+     *
+     *
      * @return 1 if we have handled the packet, 0 otherwise
      */
     int xbee_handle_packet(char* packet, int len)
     static int xbee_handle_packet(char* packet, int len)
+    {
       //DEBUGGING PRINT
       //printf("xbee_handle_packet: ");
       //printHex(packet, len);
     	char command[3] = {1, 2, 3};
     	if (len <= 0) //this should not happend
+    	{
     		WL_DEBUG_PRINT("Non-positive packet length.\r\n");
     		return 0;
+    	}
     	switch ((unsigned char)packet[0]) //packet type
+    	{
     		case XBEE_FRAME_STATUS:
     			xbee_handle_status(packet[1]);
     			return 1;
     		case XBEE_FRAME_AT_COMMAND_RESPONSE:
     			//printf("in XBEE_FRAME_AT_COMMAND_RESPONSE case\n");
     			command[0] = packet[2];
     			command[1] = packet[3];
     			command[2] = 0;
     			xbee_handle_at_command_response(command,
     				packet[4], packet + 5, len - 5);
     			xbee_handle_at_command_response(command, packet[4], packet + 5, len - 5);
     			return 1;
+    	}
     	return 0;
-...
+     *
      * @param id the new personal area network (PAN) id
      **/
     void xbee_set_pan_id(int id)
     int xbee_set_pan_id(int id)
+    {
     	char s[3];
     	s[0] = (id >> 8) & 0xFF;
     	s[1] = id & 0xFF;
     	s[2] = 0;
     	xbee_pending_panID = id;
     	xbee_send_modify_at_command("ID", s);
     	return xbee_send_modify_at_command("ID", s);
+    }
     /**
      * Get the PAN ID for the XBee.
+     *
+     *
      * @return the personal area network id, or
      * XBEE_PAN_DEFAULT if it has not yet been set.
      **/
-...
     /**
      * Set the channel the XBee is using.
+     *
      * @param channel the channel the XBee will not use,
      * @param channel the channel the XBee will not use,
      * between 0x0B and 0x1A
+     *
      * @see xbee_get_channel
      **/
     void xbee_set_channel(int channel)
     int xbee_set_channel(int channel)
+    {
     	if (channel < 0x0B || channel > 0x1A)
+    	{
     		WL_DEBUG_PRINT("Channel out of range.\r\n");
     		return;
     		return -1;
+    	}
     	char s[3];
     	s[0] = channel & 0xFF;
     	s[1] = 0;
     	xbee_pending_channel = channel;
     	xbee_send_modify_at_command("CH", s);
     	return xbee_send_modify_at_command("CH", s);
+    }
     /**
-...
     	xbee_com_port = port;
+    }
     #endif

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