Revision 738
Updated wireless library binaries and headers.
wireless.c | ||
---|---|---|
51 | 51 |
|
52 | 52 |
/*Function Prototypes*/ |
53 | 53 |
|
54 |
void wl_do_timeout(void); |
|
54 |
static void wl_do_timeout(void);
|
|
55 | 55 |
|
56 | 56 |
//Note: the actual frame sent has group as the first four bits and |
57 | 57 |
//frame as the last four. |
58 |
void wl_send_packet(char group, char type, char* data, int len, |
|
59 |
int dest, char options, char frame); |
|
58 |
static int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame); |
|
60 | 59 |
|
61 | 60 |
/*Data Members*/ |
62 | 61 |
|
63 | 62 |
//used to store incoming and outgoing packets |
64 |
unsigned char wl_buf[128]; |
|
63 |
//TODO: does this need to be 128? can it be smaller to save memory? |
|
64 |
//TODO: this shouldn't be hardcoded as 128. it should be a define. |
|
65 |
static unsigned char wl_buf[128]; |
|
65 | 66 |
//1 if we have timed out since we last checked, 0 otherwise. |
66 |
int wl_timeout = 0; |
|
67 |
static int wl_timeout = 0;
|
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67 | 68 |
|
68 |
PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
|
69 |
static PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS];
|
|
69 | 70 |
|
70 | 71 |
#ifndef ROBOT |
71 | 72 |
|
72 | 73 |
//called when we time out, or receive interrupt |
73 |
void sig_handler(int signo) |
|
74 |
static void sig_handler(int signo)
|
|
74 | 75 |
{ |
75 | 76 |
switch (signo) |
76 | 77 |
{ |
... | ... | |
87 | 88 |
#else |
88 | 89 |
|
89 | 90 |
//called when the timer ticks |
90 |
void timer_handler(void) |
|
91 |
static void timer_handler(void)
|
|
91 | 92 |
{ |
92 | 93 |
wl_timeout = 1; |
93 | 94 |
} |
... | ... | |
97 | 98 |
/** |
98 | 99 |
* Initializes the wireless library. Must be called before any |
99 | 100 |
* other function. |
101 |
* |
|
102 |
* @param wl_port File descriptor for wireless port, or NULL for default. |
|
100 | 103 |
**/ |
101 | 104 |
int wl_init() |
102 | 105 |
{ |
103 | 106 |
int i; |
107 |
//TODO: using memset here instead of this loop, *might* be less instructions and *might* reduce code size but not sure |
|
104 | 108 |
for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
105 | 109 |
wl_packet_groups[i] = NULL; |
106 | 110 |
|
107 | 111 |
if (xbee_lib_init() == -1) { |
108 |
return -1;
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|
112 |
return -1;
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|
109 | 113 |
} |
110 | 114 |
|
111 | 115 |
//begin timeout timer |
112 |
#ifdef ROBOT
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|
113 |
#ifdef FIREFLY
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|
116 |
#ifdef ROBOT |
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117 |
#ifdef FIREFLY |
|
114 | 118 |
rtc_init(PRESCALE_DIV_256, 32, &timer_handler); |
115 |
#else
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|
119 |
#else |
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116 | 120 |
rtc_init(HALF_SECOND, &timer_handler); |
117 |
#endif
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118 |
#else
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121 |
#endif |
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122 |
#else |
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119 | 123 |
|
120 | 124 |
//create our timer |
121 | 125 |
struct itimerval timer_val; |
... | ... | |
141 | 145 |
sigemptyset(&wl_sig_act.sa_mask); |
142 | 146 |
sigaction(SIGALRM, &wl_sig_act, 0); |
143 | 147 |
sigaction(SIGINT, &wl_sig_act, 0); |
144 |
#endif
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|
148 |
#endif |
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145 | 149 |
|
146 | 150 |
return 0; |
147 | 151 |
} |
... | ... | |
152 | 156 |
void wl_terminate() |
153 | 157 |
{ |
154 | 158 |
int i; |
155 |
for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
|
159 |
for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) {
|
|
156 | 160 |
if (wl_packet_groups[i] != NULL && |
157 |
wl_packet_groups[i]->unregister != NULL) |
|
161 |
wl_packet_groups[i]->unregister != NULL) {
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|
158 | 162 |
wl_packet_groups[i]->unregister(); |
163 |
} |
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164 |
} |
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159 | 165 |
|
160 | 166 |
xbee_terminate(); |
161 | 167 |
} |
... | ... | |
167 | 173 |
* |
168 | 174 |
* @see wl_get_pan |
169 | 175 |
**/ |
170 |
void wl_set_pan(int pan) |
|
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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
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// it reduces code size or not should be done to be sure. |
|
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int wl_set_pan(int pan) |
|
171 | 179 |
{ |
172 |
xbee_set_pan_id(pan); |
|
180 |
return xbee_set_pan_id(pan);
|
|
173 | 181 |
} |
174 | 182 |
|
175 | 183 |
/** |
... | ... | |
179 | 187 |
* |
180 | 188 |
* @see wl_set_pan |
181 | 189 |
**/ |
190 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
191 |
// it reduces code size or not should be done to be sure. |
|
182 | 192 |
int wl_get_pan(void) |
183 | 193 |
{ |
184 | 194 |
return xbee_get_pan_id(); |
... | ... | |
191 | 201 |
* |
192 | 202 |
* @see wl_get_channel |
193 | 203 |
**/ |
194 |
void wl_set_channel(int channel) |
|
204 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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205 |
// it reduces code size or not should be done to be sure. |
|
206 |
int wl_set_channel(int channel) |
|
195 | 207 |
{ |
196 |
xbee_set_channel(channel); |
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208 |
return xbee_set_channel(channel);
|
|
197 | 209 |
} |
198 | 210 |
|
199 | 211 |
/** |
... | ... | |
203 | 215 |
* |
204 | 216 |
* @see wl_set_channel |
205 | 217 |
**/ |
218 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
219 |
// it reduces code size or not should be done to be sure. |
|
206 | 220 |
int wl_get_channel(void) |
207 | 221 |
{ |
208 | 222 |
return xbee_get_channel(); |
... | ... | |
213 | 227 |
* |
214 | 228 |
* @return the 16-bit address of the XBee module. |
215 | 229 |
**/ |
230 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
231 |
// it reduces code size or not should be done to be sure. |
|
216 | 232 |
int wl_get_xbee_id() |
217 | 233 |
{ |
218 | 234 |
return xbee_get_address(); |
... | ... | |
228 | 244 |
* @param dest the 16-bit address of the XBee to send the packet to |
229 | 245 |
* @param frame the frame number to see with a TX_STATUS response |
230 | 246 |
**/ |
231 |
void wl_send_robot_to_robot_global_packet(char group, char type, |
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232 |
char* data, int len, int dest, char frame) |
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247 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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248 |
// it reduces code size or not should be done to be sure. |
|
249 |
int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame) |
|
233 | 250 |
{ |
234 |
wl_send_packet(group, type, data, len, dest, |
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XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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251 |
return wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
|
236 | 252 |
} |
237 | 253 |
|
238 | 254 |
/** |
... | ... | |
245 | 261 |
* @param dest the 16-bit address of the XBee to send the packet to |
246 | 262 |
* @param frame the frame number to see with a TX_STATUS response |
247 | 263 |
**/ |
248 |
void wl_send_robot_to_robot_packet(char group, char type, |
|
249 |
char* data, int len, int dest, char frame) |
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264 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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265 |
// it reduces code size or not should be done to be sure. |
|
266 |
int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame) |
|
250 | 267 |
{ |
251 |
wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, |
|
252 |
frame); |
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268 |
return wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, frame); |
|
253 | 269 |
} |
254 | 270 |
|
255 | 271 |
/** |
... | ... | |
261 | 277 |
* @param len the packet length in bytes |
262 | 278 |
* @param frame the frame number to see with a TX_STATUS response |
263 | 279 |
**/ |
264 |
void wl_send_global_packet(char group, char type, |
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265 |
char* data, int len, char frame) |
|
280 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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281 |
// it reduces code size or not should be done to be sure. |
|
282 |
int wl_send_global_packet(char group, char type, char* data, int len, char frame) |
|
266 | 283 |
{ |
267 |
wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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284 |
return wl_send_packet(group, type, data, len, XBEE_BROADCAST, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
|
269 | 285 |
} |
270 | 286 |
|
271 | 287 |
/** |
... | ... | |
277 | 293 |
* @param len the packet length in bytes |
278 | 294 |
* @param frame the frame number to see with a TX_STATUS response |
279 | 295 |
**/ |
280 |
void wl_send_pan_packet(char group, char type, |
|
281 |
char* data, int len, char frame) |
|
296 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
297 |
// it reduces code size or not should be done to be sure. |
|
298 |
void wl_send_pan_packet(char group, char type, char* data, int len, char frame) |
|
282 | 299 |
{ |
283 | 300 |
wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
284 | 301 |
XBEE_OPTIONS_NONE, frame); |
... | ... | |
295 | 312 |
* @param options the options for sending the packet |
296 | 313 |
* @param frame the frame number to see with a TX_STATUS response |
297 | 314 |
**/ |
298 |
void wl_send_packet(char group, char type, char* data, int len, |
|
299 |
int dest, char options, char frame) |
|
315 |
int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame) |
|
300 | 316 |
{ |
317 |
//TODO: does this need to be 128? can it be smaller to save memory? |
|
318 |
//TODO: this shouldn't be hardcoded as 128. it should be a define. |
|
301 | 319 |
char buf[128]; |
302 | 320 |
int i; |
303 | 321 |
if (frame != 0) |
304 | 322 |
frame = (frame & 0x0F) | ((group & 0x0F) << 4); |
323 |
|
|
305 | 324 |
buf[0] = group; |
306 | 325 |
buf[1] = type; |
307 | 326 |
for (i = 0; i < len; i++) |
308 | 327 |
buf[2 + i] = data[i]; |
309 |
xbee_send_packet(buf, len + 2, dest, options, frame); |
|
328 |
|
|
329 |
return xbee_send_packet(buf, len + 2, dest, options, frame); |
|
310 | 330 |
} |
311 | 331 |
|
312 | 332 |
/** |
... | ... | |
389 | 409 |
int group = (int)(wl_buf[1] >> 4); |
390 | 410 |
int success = 0; |
391 | 411 |
if (wl_buf[2] == 0) |
412 |
{ |
|
392 | 413 |
success = 1; |
414 |
} |
|
393 | 415 |
else |
394 | 416 |
{ |
395 | 417 |
WL_DEBUG_PRINT("No response received.\r\n"); |
... | ... | |
403 | 425 |
} |
404 | 426 |
} |
405 | 427 |
|
406 |
if (wl_packet_groups[group] != NULL && |
|
407 |
wl_packet_groups[group]->handle_response != NULL) |
|
408 |
wl_packet_groups[group]->handle_response( |
|
409 |
(int)wl_buf[1] & 0x0F, success); |
|
410 |
return; |
|
428 |
if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_response != NULL) |
|
429 |
wl_packet_groups[group]->handle_response((int)wl_buf[1] & 0x0F, success); |
|
411 | 430 |
} |
412 |
|
|
413 |
if (wl_buf[0] == XBEE_RX) |
|
431 |
else if (wl_buf[0] == XBEE_RX) |
|
414 | 432 |
{ |
433 |
//TODO: what does this 7 represent? It shouldn't be hardcoded. It should be set as a define |
|
415 | 434 |
if (len < 7) |
416 | 435 |
{ |
417 | 436 |
WL_DEBUG_PRINT("Packet is too small.\r\n"); |
... | ... | |
427 | 446 |
int options = wl_buf[4]; |
428 | 447 |
*/ |
429 | 448 |
|
449 |
//TODO: these indices, etc should be defined, not hardcoded |
|
430 | 450 |
int group = wl_buf[5]; |
431 | 451 |
int type = wl_buf[6]; |
432 | 452 |
int packetLen = len - 7; |
433 | 453 |
|
434 |
if (wl_packet_groups[group] != NULL |
|
435 |
&& wl_packet_groups[group]->handle_receive != NULL) |
|
436 |
wl_packet_groups[group]->handle_receive(type, source, |
|
437 |
wl_buf + 7, packetLen); |
|
438 |
return; |
|
454 |
if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_receive != NULL) { |
|
455 |
wl_packet_groups[group]->handle_receive(type, source, wl_buf + 7, packetLen); |
|
456 |
} |
|
439 | 457 |
} |
440 |
|
|
441 |
WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n"); |
|
442 |
return; |
|
458 |
else |
|
459 |
{ |
|
460 |
WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n"); |
|
461 |
} |
|
443 | 462 |
} |
444 | 463 |
|
445 | 464 |
|
446 | 465 |
#ifndef ROBOT |
466 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
467 |
// it reduces code size or not should be done to be sure. |
|
447 | 468 |
void wl_set_com_port(char* port) |
448 | 469 |
{ |
449 | 470 |
xbee_set_com_port(port); |
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