Revision 717
added a bunch of TODO comments that will improve the style, efficiency, and possibly memory usage of the wireless library
| xbee.c | ||
|---|---|---|
| 107 | 107 |
#endif |
| 108 | 108 |
|
| 109 | 109 |
// TODO: is this a good size? |
| 110 |
//TODO: does this buffer size need to be so large? we have constrained memory, so this should be as small as feasibly possible |
|
| 110 | 111 |
#define XBEE_BUFFER_SIZE 256 |
| 111 | 112 |
// a buffer for data received from the XBee |
| 112 | 113 |
char arrival_buf[XBEE_BUFFER_SIZE]; |
| ... | ... | |
| 117 | 118 |
|
| 118 | 119 |
|
| 119 | 120 |
//used to store packets as they are read |
| 121 |
|
|
| 122 |
//TODO: does this need to be 128? can it be smaller to save memory? |
|
| 123 |
//TODO: this shouldn't be hardcoded as 128. it should be a define. |
|
| 120 | 124 |
static char xbee_buf[128]; |
| 121 | 125 |
static int currentBufPos = 0; |
| 122 | 126 |
|
| ... | ... | |
| 127 | 131 |
static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT; |
| 128 | 132 |
static volatile unsigned int xbee_address = 0; |
| 129 | 133 |
|
| 134 |
//TODO: this is only needed for the computer side, right? I'm going to put #ifndef ROBOT around it to remove it from robot code |
|
| 135 |
#ifndef ROBOT |
|
| 130 | 136 |
void printHex(char * s, int len) {
|
| 131 | 137 |
int i; |
| 132 | 138 |
for (i = 0; i < len; i++) {
|
| ... | ... | |
| 134 | 140 |
} |
| 135 | 141 |
printf("\n");
|
| 136 | 142 |
} |
| 143 |
#endif |
|
| 137 | 144 |
|
| 138 | 145 |
|
| 139 | 146 |
/*Function Implementations*/ |
| ... | ... | |
| 190 | 197 |
fprintf(stderr, "xbee_read failed.\n"); |
| 191 | 198 |
return NULL; |
| 192 | 199 |
} |
| 193 |
|
|
| 200 |
|
|
| 194 | 201 |
//DEBUGGING PRINT |
| 195 | 202 |
//printf("interrupt: %c (%d)\n", c, (int)c);
|
| 196 | 203 |
arrival_buf[buffer_last] = c; |
| ... | ... | |
| 340 | 347 |
// printf("After exiting while loop to get xbee_address.\n");
|
| 341 | 348 |
#else |
| 342 | 349 |
//wait to return until the address is set |
| 350 |
//TODO: this shouldn't wait indefinitely. There should be some sort of reasonable timeout |
|
| 351 |
// so if the address is never set right, an error can be returned instead of having the |
|
| 352 |
// robot hang forever |
|
| 343 | 353 |
while (xbee_address == 0) {
|
| 344 | 354 |
xbee_get_packet(NULL); |
| 345 | 355 |
} |
| ... | ... | |
| 419 | 429 |
* |
| 420 | 430 |
* @param c the string to send to the XBEE |
| 421 | 431 |
**/ |
| 432 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 433 |
// it reduces code size or not should be done to be sure. |
|
| 422 | 434 |
static int xbee_send_string(char* c) |
| 423 | 435 |
{
|
| 424 | 436 |
return xbee_send(c, strlen(c)); |
| ... | ... | |
| 489 | 501 |
/** |
| 490 | 502 |
* Exit API mode. (warning - does not check for response) |
| 491 | 503 |
**/ |
| 504 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 505 |
// it reduces code size or not should be done to be sure. |
|
| 492 | 506 |
static int xbee_exit_api_mode() |
| 493 | 507 |
{
|
| 494 | 508 |
return xbee_send_string("ATAP 0\r");
|
| ... | ... | |
| 497 | 511 |
/** |
| 498 | 512 |
* Wait until the string "OK\r" is received from the XBee. |
| 499 | 513 |
**/ |
| 514 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 515 |
// it reduces code size or not should be done to be sure. |
|
| 500 | 516 |
static int xbee_wait_for_ok() |
| 501 | 517 |
{
|
| 502 | 518 |
//DEBUGGING PRINT |
| ... | ... | |
| 633 | 649 |
* use ID to read the PAN ID and MY to return the XBee ID. |
| 634 | 650 |
* See the XBee reference guide for a complete listing. |
| 635 | 651 |
**/ |
| 652 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 653 |
// it reduces code size or not should be done to be sure. |
|
| 636 | 654 |
static int xbee_send_read_at_command(char* command) |
| 637 | 655 |
{
|
| 638 | 656 |
return xbee_send_modify_at_command(command, NULL); |
| ... | ... | |
| 1009 | 1027 |
* @return the personal area network id, or |
| 1010 | 1028 |
* XBEE_PAN_DEFAULT if it has not yet been set. |
| 1011 | 1029 |
**/ |
| 1030 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 1031 |
// it reduces code size or not should be done to be sure. |
|
| 1012 | 1032 |
unsigned int xbee_get_pan_id() |
| 1013 | 1033 |
{
|
| 1014 | 1034 |
return xbee_panID; |
| ... | ... | |
| 1045 | 1065 |
* |
| 1046 | 1066 |
* @see xbee_set_channel |
| 1047 | 1067 |
**/ |
| 1068 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 1069 |
// it reduces code size or not should be done to be sure. |
|
| 1048 | 1070 |
int xbee_get_channel(void) |
| 1049 | 1071 |
{
|
| 1050 | 1072 |
return xbee_channel; |
| ... | ... | |
| 1057 | 1079 |
* |
| 1058 | 1080 |
* @return the 16-bit address of the XBee. |
| 1059 | 1081 |
**/ |
| 1082 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
| 1083 |
// it reduces code size or not should be done to be sure. |
|
| 1060 | 1084 |
unsigned int xbee_get_address() |
| 1061 | 1085 |
{
|
| 1062 | 1086 |
return xbee_address; |
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