Revision 738
Updated wireless library binaries and headers.
xbee.c | ||
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1 | 1 |
/** |
2 | 2 |
* Copyright (c) 2007 Colony Project |
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*
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* |
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* Permission is hereby granted, free of charge, to any person |
5 | 5 |
* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
... | ... | |
9 | 9 |
* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
11 | 11 |
* conditions: |
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*
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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*
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
18 | 18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
... | ... | |
55 | 55 |
#include <string.h> |
56 | 56 |
|
57 | 57 |
#define XBEE_FRAME_START 0x7E |
58 |
#define XBEE_GET_PACKET_TIMEOUT 1000 |
|
58 | 59 |
|
59 | 60 |
/*Frame Types*/ |
60 | 61 |
#define XBEE_FRAME_STATUS 0x8A |
... | ... | |
69 | 70 |
/*Internal Function Prototypes*/ |
70 | 71 |
|
71 | 72 |
/*I/O Functions*/ |
72 |
void xbee_send(char* buf, int size);
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|
73 |
void xbee_send_string(char* c);
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|
73 |
static int xbee_send(char* buf, int size);
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|
74 |
static int xbee_send_string(char* c);
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74 | 75 |
|
75 | 76 |
#ifndef ROBOT |
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void xbee_read(char* buf, int size);
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|
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static int xbee_read(char* buf, int size);
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|
77 | 78 |
#endif |
78 | 79 |
|
79 | 80 |
/*Command Mode Functions |
80 | 81 |
* Called during initialization. |
81 | 82 |
*/ |
82 |
void xbee_enter_command_mode(void);
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|
83 |
void xbee_exit_command_mode(void);
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|
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void xbee_enter_api_mode(void);
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|
85 |
void xbee_exit_api_mode(void);
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|
86 |
void xbee_wait_for_string(char* s, int len);
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|
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void xbee_wait_for_ok(void);
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static int xbee_enter_command_mode(void);
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84 |
static int xbee_exit_command_mode(void);
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|
85 |
static int xbee_enter_api_mode(void);
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|
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static int xbee_exit_api_mode(void);
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static int xbee_wait_for_string(char* s, int len);
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|
88 |
static int xbee_wait_for_ok(void);
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88 | 89 |
|
89 | 90 |
/*API Mode Functions*/ |
90 | 91 |
|
91 |
int xbee_handle_packet(char* packet, int len); |
|
92 |
void xbee_handle_at_command_response(char* command, char result, |
|
93 |
char* extra, int extraLen); |
|
94 |
void xbee_handle_status(char status); |
|
95 |
int xbee_verify_checksum(char* packet, int len); |
|
96 |
char xbee_compute_checksum(char* packet, int len); |
|
97 |
void xbee_send_frame(char* buf, int len); |
|
98 |
void xbee_send_read_at_command(char* command); |
|
99 |
void xbee_send_modify_at_command(char* command, char* value); |
|
92 |
static int xbee_handle_packet(char* packet, int len); |
|
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static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen); |
|
94 |
static void xbee_handle_status(char status); |
|
95 |
static int xbee_verify_checksum(char* packet, int len); |
|
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static char xbee_compute_checksum(char* packet, int len); |
|
97 |
static int xbee_send_frame(char* buf, int len); |
|
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static int xbee_send_read_at_command(char* command); |
|
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static int xbee_send_modify_at_command(char* command, char* value); |
|
100 | 100 |
|
101 | 101 |
/*Global Variables*/ |
102 | 102 |
|
103 | 103 |
#ifndef ROBOT |
104 |
char* xbee_com_port = XBEE_PORT_DEFAULT; |
|
105 |
int xbee_stream; |
|
106 |
pthread_t* xbee_listen_thread; |
|
104 |
static char* xbee_com_port = XBEE_PORT_DEFAULT;
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|
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static int xbee_stream;
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|
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static pthread_t* xbee_listen_thread;
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|
107 | 107 |
#endif |
108 | 108 |
|
109 | 109 |
// TODO: is this a good size? |
110 |
#define XBEE_BUFFER_SIZE 256 |
|
110 |
#define XBEE_BUFFER_SIZE 128 |
|
111 |
#define PACKET_BUFFER_SIZE 108 |
|
111 | 112 |
// a buffer for data received from the XBee |
112 | 113 |
char arrival_buf[XBEE_BUFFER_SIZE]; |
113 | 114 |
// location of last unread byte in buffer |
... | ... | |
117 | 118 |
|
118 | 119 |
|
119 | 120 |
//used to store packets as they are read |
120 |
char xbee_buf[128];
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|
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int currentBufPos = 0; |
|
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static char xbee_buf[PACKET_BUFFER_SIZE];
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|
122 |
static int currentBufPos = 0;
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122 | 123 |
|
123 | 124 |
//XBee status |
124 |
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; |
|
128 |
unsigned int xbee_address = 0; |
|
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static unsigned int xbee_panID = XBEE_PAN_DEFAULT;
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static unsigned int xbee_pending_panID = XBEE_PAN_DEFAULT;
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static int xbee_channel = XBEE_CHANNEL_DEFAULT;
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128 |
static int xbee_pending_channel = XBEE_CHANNEL_DEFAULT;
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static volatile unsigned int xbee_address = 0;
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129 | 130 |
|
130 | 131 |
/*Function Implementations*/ |
131 | 132 |
|
... | ... | |
145 | 146 |
t = 0; |
146 | 147 |
if (t == buffer_first) |
147 | 148 |
{ |
148 |
WL_DEBUG_PRINT("Out of space in buffer.\n"); |
|
149 |
WL_DEBUG_PRINT("\nOut of space in buffer.\n");
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|
149 | 150 |
} |
150 | 151 |
buffer_last = t; |
151 | 152 |
} |
... | ... | |
167 | 168 |
|
168 | 169 |
#else |
169 | 170 |
|
171 |
// Computer code |
|
172 |
|
|
170 | 173 |
/** |
171 | 174 |
* Thread that listens to the xbee. |
172 | 175 |
**/ |
173 |
void* listen_to_xbee(void* x) |
|
176 |
static void* listen_to_xbee(void* x)
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|
174 | 177 |
{ |
175 | 178 |
char c; |
176 | 179 |
while (1) |
177 | 180 |
{ |
178 |
xbee_read(&c, 1); |
|
181 |
if (xbee_read(&c, 1) != 0) { |
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182 |
WL_DEBUG_PRINT("xbee_read failed.\n"); |
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183 |
return NULL; |
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184 |
} |
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185 |
|
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179 | 186 |
arrival_buf[buffer_last] = c; |
180 | 187 |
int t = buffer_last + 1; |
181 | 188 |
if (t == XBEE_BUFFER_SIZE) |
... | ... | |
185 | 192 |
WL_DEBUG_PRINT("Out of space in buffer.\n"); |
186 | 193 |
} |
187 | 194 |
buffer_last = t; |
195 |
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usleep(1000); |
|
188 | 197 |
} |
189 |
return 0; |
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198 |
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return NULL; |
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190 | 200 |
} |
191 | 201 |
|
192 | 202 |
#endif |
... | ... | |
194 | 204 |
/** |
195 | 205 |
* Initializes the XBee library so that other functions may be used. |
196 | 206 |
**/ |
197 |
int xbee_lib_init(void)
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int xbee_lib_init() |
|
198 | 208 |
{ |
199 |
arrival_buf[0] = 'A'; |
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arrival_buf[1] = 'A'; |
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201 |
arrival_buf[2] = 'A'; |
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202 |
#ifdef ROBOT |
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209 |
#ifdef ROBOT |
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203 | 210 |
|
204 | 211 |
//enable the receiving interrupt |
205 |
#ifdef FIREFLY
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212 |
#ifdef FIREFLY |
|
206 | 213 |
UCSR0B |= _BV(RXCIE) | _BV(RXEN); |
207 |
#else
|
|
214 |
#else |
|
208 | 215 |
UCSR1B |= _BV(RXCIE); |
209 |
#endif
|
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216 |
#endif |
|
210 | 217 |
sei(); |
211 |
#else |
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212 |
printf("Connecting to port %s.\n", xbee_com_port); |
|
218 |
#else |
|
213 | 219 |
xbee_stream = open(xbee_com_port, O_RDWR); |
214 | 220 |
if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/) |
215 | 221 |
{ |
216 |
printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port); |
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222 |
WL_DEBUG_PRINT("Failed to open connection to XBee on port "); |
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223 |
WL_DEBUG_PRINT_INT(xbee_com_port); |
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WL_DEBUG_PRINT(".\n"); |
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217 | 225 |
return -1; |
226 |
} else { |
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227 |
WL_DEBUG_PRINT("Successfully opened connection to XBee on port "); |
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228 |
WL_DEBUG_PRINT_INT(xbee_com_port); |
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229 |
WL_DEBUG_PRINT(".\n"); |
|
218 | 230 |
} |
219 |
|
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231 |
|
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220 | 232 |
// set baud rate, etc. correctly |
221 | 233 |
struct termios options; |
222 | 234 |
|
... | ... | |
236 | 248 |
|
237 | 249 |
if (tcsetattr(xbee_stream, TCSANOW, &options)) |
238 | 250 |
{ |
239 |
fprintf(stderr, "Error setting attributes.\n");
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251 |
WL_DEBUG_PRINT("Error setting attributes.\n");
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240 | 252 |
return -1; |
241 | 253 |
} |
242 | 254 |
|
243 |
//lockf(xbee_stream, F_LOCK, 0); |
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244 |
|
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245 |
xbee_listen_thread = |
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246 |
(pthread_t*)malloc(sizeof(pthread_t)); |
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255 |
xbee_listen_thread = (pthread_t*)malloc(sizeof(pthread_t)); |
|
247 | 256 |
if (xbee_listen_thread == NULL) |
248 | 257 |
{ |
249 |
fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
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|
258 |
WL_DEBUG_PRINT("Malloc failed.\n");
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250 | 259 |
return -1; |
251 | 260 |
} |
252 |
|
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253 |
int ret = pthread_create(xbee_listen_thread, NULL, |
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254 |
listen_to_xbee, NULL); |
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261 |
|
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262 |
int ret = pthread_create(xbee_listen_thread, NULL, listen_to_xbee, NULL); |
|
255 | 263 |
if (ret) |
256 | 264 |
{ |
257 |
fprintf(stderr, "Failed to create listener thread.\r\n");
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265 |
WL_DEBUG_PRINT("Failed to create listener thread.\n");
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258 | 266 |
return -1; |
259 | 267 |
} |
260 |
|
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261 |
#endif |
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262 |
xbee_enter_command_mode(); |
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263 |
xbee_enter_api_mode(); |
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264 |
xbee_exit_command_mode(); |
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265 |
xbee_send_read_at_command("MY"); |
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266 |
|
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268 |
#endif |
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269 |
|
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270 |
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271 |
if (xbee_enter_command_mode() != 0) { |
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272 |
return -1; |
|
273 |
} |
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274 |
|
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275 |
if (xbee_enter_api_mode() != 0) { |
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276 |
return -1; |
|
277 |
} |
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278 |
|
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279 |
if (xbee_exit_command_mode() != 0) { |
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280 |
return -1; |
|
281 |
} |
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282 |
|
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283 |
if (xbee_send_read_at_command("MY")) { |
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284 |
return -1; |
|
285 |
} |
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286 |
|
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287 |
#ifndef ROBOT |
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288 |
int i; |
|
289 |
for (i = 0; xbee_address == 0 && i < XBEE_GET_PACKET_TIMEOUT; i++) { |
|
290 |
ret = xbee_get_packet(NULL); |
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291 |
|
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292 |
usleep(1000); |
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293 |
|
|
294 |
if (ret == -1) { |
|
295 |
WL_DEBUG_PRINT("xbee_get_packet(NULL) failed.\n"); |
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296 |
return -1; |
|
297 |
} |
|
298 |
} |
|
299 |
#else |
|
267 | 300 |
//wait to return until the address is set |
268 |
while (xbee_address == 0) xbee_get_packet(NULL); |
|
301 |
//TODO: this shouldn't wait indefinitely. There should be some sort of reasonable timeout |
|
302 |
// so if the address is never set right, an error can be returned instead of having the |
|
303 |
// robot hang forever |
|
304 |
while (xbee_address == 0) { |
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305 |
xbee_get_packet(NULL); |
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306 |
} |
|
307 |
#endif |
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269 | 308 |
|
309 |
#ifndef ROBOT |
|
310 |
if (i == XBEE_GET_PACKET_TIMEOUT) { // We timed-out. |
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270 | 311 |
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312 |
WL_DEBUG_PRINT("xbee_get_packet timed out.\n"); |
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313 |
return -1; |
|
314 |
} else { |
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315 |
return 0; |
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316 |
} |
|
317 |
#else |
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271 | 318 |
return 0; |
319 |
#endif |
|
272 | 320 |
} |
273 | 321 |
|
274 | 322 |
/** |
... | ... | |
287 | 335 |
|
288 | 336 |
/** |
289 | 337 |
* Send a buffer buf of size bytes to the XBee. |
290 |
*
|
|
338 |
* |
|
291 | 339 |
* @param buf the buffer of data to send |
292 | 340 |
* @param size the number of bytes to send |
293 | 341 |
**/ |
294 |
void xbee_send(char* buf, int size)
|
|
342 |
static int xbee_send(char* buf, int size)
|
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295 | 343 |
{ |
296 |
#ifdef ROBOT
|
|
344 |
#ifdef ROBOT |
|
297 | 345 |
int i; |
298 |
for (i = 0; i < size; i++) |
|
346 |
for (i = 0; i < size; i++) {
|
|
299 | 347 |
xbee_putc(buf[i]); |
300 |
#else |
|
348 |
} |
|
349 |
|
|
350 |
return 0; |
|
351 |
|
|
352 |
#else |
|
353 |
|
|
301 | 354 |
int ret = write(xbee_stream, buf, size); |
302 | 355 |
//success |
303 | 356 |
if (ret == size) |
304 |
return; |
|
357 |
return 0;
|
|
305 | 358 |
if (ret == -1) |
306 | 359 |
{ |
307 | 360 |
//interrupted by system signal, probably timer interrupt. |
308 | 361 |
//just try again |
309 | 362 |
if (errno == 4) |
310 | 363 |
{ |
311 |
xbee_send(buf, size); |
|
312 |
return; |
|
364 |
return xbee_send(buf, size); |
|
313 | 365 |
} |
314 |
printf("Failed to write to xbee, error %i.\r\n", errno);
|
|
315 |
return; |
|
366 |
WL_DEBUG_PRINT("Failed to write to xbee, error %i.\r\n", errno);
|
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367 |
return -1;
|
|
316 | 368 |
} |
317 | 369 |
|
318 | 370 |
//write was interrupted after writing ret bytes |
319 |
xbee_send(buf + ret, size - ret); |
|
320 |
#endif
|
|
371 |
return xbee_send(buf + ret, size - ret);
|
|
372 |
#endif |
|
321 | 373 |
} |
322 | 374 |
|
323 | 375 |
/** |
... | ... | |
325 | 377 |
* |
326 | 378 |
* @param c the string to send to the XBEE |
327 | 379 |
**/ |
328 |
void xbee_send_string(char* c) |
|
380 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
381 |
// it reduces code size or not should be done to be sure. |
|
382 |
static int xbee_send_string(char* c) |
|
329 | 383 |
{ |
330 |
xbee_send(c, strlen(c)); |
|
384 |
return xbee_send(c, strlen(c));
|
|
331 | 385 |
} |
332 | 386 |
|
333 | 387 |
#ifndef ROBOT |
334 |
void xbee_read(char* buf, int size)
|
|
388 |
static int xbee_read(char* buf, int size)
|
|
335 | 389 |
{ |
336 |
if (read(xbee_stream, buf, size) == -1) |
|
337 |
printf("Failed to read from xbee.\r\n"); |
|
390 |
if (read(xbee_stream, buf, size) == -1) { |
|
391 |
WL_DEBUG_PRINT("Failed to read from xbee.\r\n"); |
|
392 |
return -1; |
|
393 |
} |
|
394 |
|
|
395 |
return 0; |
|
338 | 396 |
} |
339 | 397 |
#endif |
340 | 398 |
|
341 | 399 |
/** |
342 | 400 |
* Enter into command mode. |
343 | 401 |
**/ |
344 |
void xbee_enter_command_mode()
|
|
402 |
static int xbee_enter_command_mode()
|
|
345 | 403 |
{ |
346 |
xbee_send_string("+++"); |
|
347 |
xbee_wait_for_ok(); |
|
404 |
if (xbee_send_string("+++") != 0) { |
|
405 |
return -1; |
|
406 |
} |
|
407 |
|
|
408 |
if (xbee_wait_for_ok() != 0) { |
|
409 |
return -1; |
|
410 |
} |
|
411 |
return 0; |
|
348 | 412 |
} |
349 | 413 |
|
350 | 414 |
/** |
351 | 415 |
* Exit from command mode. |
352 | 416 |
**/ |
353 |
void xbee_exit_command_mode()
|
|
417 |
static int xbee_exit_command_mode()
|
|
354 | 418 |
{ |
355 |
xbee_send_string("ATCN\r"); |
|
419 |
if (xbee_send_string("ATCN\r") != 0) { |
|
420 |
return -1; |
|
421 |
} |
|
422 |
|
|
356 | 423 |
xbee_wait_for_ok(); |
424 |
|
|
425 |
return 0; |
|
357 | 426 |
} |
358 | 427 |
|
359 | 428 |
/** |
360 | 429 |
* Enter API mode. |
361 | 430 |
**/ |
362 |
void xbee_enter_api_mode()
|
|
431 |
static int xbee_enter_api_mode()
|
|
363 | 432 |
{ |
364 |
xbee_send_string("ATAP 1\r"); |
|
433 |
if (xbee_send_string("ATAP 1\r") != 0) { |
|
434 |
return -1; |
|
435 |
} |
|
365 | 436 |
xbee_wait_for_ok(); |
366 |
} |
|
367 | 437 |
|
368 |
/** |
|
369 |
* Exit API mode. (warning - does not check for response) |
|
370 |
**/ |
|
371 |
void xbee_exit_api_mode() |
|
372 |
{ |
|
373 |
xbee_send_string("ATAP 0\r"); |
|
438 |
return 0; |
|
374 | 439 |
} |
375 | 440 |
|
376 | 441 |
/** |
377 | 442 |
* Wait until the string "OK\r" is received from the XBee. |
378 | 443 |
**/ |
379 |
void xbee_wait_for_ok() |
|
444 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
445 |
// it reduces code size or not should be done to be sure. |
|
446 |
static int xbee_wait_for_ok() |
|
380 | 447 |
{ |
381 |
xbee_wait_for_string("OK\r", 3); |
|
448 |
return xbee_wait_for_string("OK\r", 3);
|
|
382 | 449 |
} |
383 | 450 |
|
384 | 451 |
/** |
... | ... | |
388 | 455 |
* @param s the string to receive |
389 | 456 |
* @param len the length of the string |
390 | 457 |
**/ |
391 |
void xbee_wait_for_string(char* s, int len)
|
|
458 |
static int xbee_wait_for_string(char* s, int len)
|
|
392 | 459 |
{ |
393 | 460 |
char* curr = s; |
394 |
while (curr - s < len) |
|
395 |
{ |
|
461 |
while (curr - s < len) { |
|
396 | 462 |
// check if buffer is empty |
397 |
if (buffer_last == buffer_first) |
|
398 |
continue; |
|
399 |
char c = arrival_buf[buffer_first++]; |
|
400 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
401 |
buffer_first = 0; |
|
402 |
if (c == *curr) |
|
403 |
curr++; |
|
404 |
else |
|
405 |
curr = s; |
|
463 |
if (buffer_last != buffer_first) { |
|
464 |
char c = arrival_buf[buffer_first++]; |
|
465 |
if (buffer_first == XBEE_BUFFER_SIZE) { |
|
466 |
buffer_first = 0; |
|
467 |
} |
|
468 |
|
|
469 |
if (c == *curr) { |
|
470 |
curr++; |
|
471 |
} else { |
|
472 |
#ifndef ROBOT |
|
473 |
//return -1; // Computer is less forgiving. |
|
474 |
curr = s; |
|
475 |
#else |
|
476 |
curr = s; |
|
477 |
#endif |
|
478 |
} |
|
479 |
} // else buffer is empty. |
|
480 |
|
|
481 |
#ifndef ROBOT |
|
482 |
usleep(100); |
|
483 |
#endif |
|
406 | 484 |
} |
485 |
|
|
486 |
return 0; |
|
407 | 487 |
} |
408 | 488 |
|
409 | 489 |
/** |
... | ... | |
455 | 535 |
* @param len the size in bytes of the packet data |
456 | 536 |
* |
457 | 537 |
**/ |
458 |
void xbee_send_frame(char* buf, int len)
|
|
538 |
static int xbee_send_frame(char* buf, int len)
|
|
459 | 539 |
{ |
460 | 540 |
char prefix[3]; |
461 | 541 |
prefix[0] = XBEE_FRAME_START; |
462 | 542 |
prefix[1] = (len & 0xFF00) >> 8; |
463 | 543 |
prefix[2] = len & 0xFF; |
464 | 544 |
char checksum = xbee_compute_checksum(buf, len); |
465 |
xbee_send(prefix, 3); |
|
466 |
xbee_send(buf, len); |
|
467 |
xbee_send(&checksum, 1); |
|
545 |
|
|
546 |
if (xbee_send(prefix, 3) != 0) { |
|
547 |
return -1; |
|
548 |
} |
|
549 |
|
|
550 |
if (xbee_send(buf, len) != 0) { |
|
551 |
return -1; |
|
552 |
} |
|
553 |
|
|
554 |
if (xbee_send(&checksum, 1) != 0) { |
|
555 |
return -1; |
|
556 |
} |
|
557 |
|
|
558 |
return 0; |
|
468 | 559 |
} |
469 | 560 |
|
470 | 561 |
/** |
... | ... | |
474 | 565 |
* use ID to read the PAN ID and MY to return the XBee ID. |
475 | 566 |
* See the XBee reference guide for a complete listing. |
476 | 567 |
**/ |
477 |
void xbee_send_read_at_command(char* command) |
|
568 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
569 |
// it reduces code size or not should be done to be sure. |
|
570 |
static int xbee_send_read_at_command(char* command) |
|
478 | 571 |
{ |
479 |
xbee_send_modify_at_command(command, NULL); |
|
572 |
return xbee_send_modify_at_command(command, NULL);
|
|
480 | 573 |
} |
481 | 574 |
|
482 | 575 |
/** |
... | ... | |
486 | 579 |
* @param value the value to pass as a parameter |
487 | 580 |
* (or NULL if there is no parameter) |
488 | 581 |
**/ |
489 |
void xbee_send_modify_at_command(char* command, char* value)
|
|
582 |
static int xbee_send_modify_at_command(char* command, char* value)
|
|
490 | 583 |
{ |
491 | 584 |
char buf[16]; |
492 | 585 |
int i; |
493 |
|
|
586 |
|
|
494 | 587 |
buf[0] = XBEE_FRAME_AT_COMMAND; |
495 | 588 |
buf[1] = 1; |
496 | 589 |
buf[2] = command[0]; |
... | ... | |
502 | 595 |
if (valueLen > 8) |
503 | 596 |
{ |
504 | 597 |
WL_DEBUG_PRINT("AT Command too large.\r\n"); |
505 |
return; |
|
598 |
return -1;
|
|
506 | 599 |
} |
507 |
for (i = 0; i < valueLen; i++) |
|
600 |
|
|
601 |
for (i = 0; i < valueLen; i++) { |
|
508 | 602 |
buf[4 + i] = value[i]; |
603 |
} |
|
509 | 604 |
} |
510 |
xbee_send_frame(buf, 4 + valueLen); |
|
605 |
|
|
606 |
return xbee_send_frame(buf, 4 + valueLen); |
|
511 | 607 |
} |
512 | 608 |
|
513 | 609 |
/** |
514 | 610 |
* Send the specified packet. |
515 |
*
|
|
611 |
* |
|
516 | 612 |
* @param packet the packet data to send |
517 | 613 |
* @param len the number of bytes in the packet |
518 |
*
|
|
614 |
* |
|
519 | 615 |
* @param dest the ID of the XBee to send the packet to, |
520 | 616 |
* or XBEE_BROADCAST to send the message to all robots |
521 | 617 |
* in the PAN. |
522 |
*
|
|
618 |
* |
|
523 | 619 |
* @param options a combination of the flags |
524 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and
|
|
620 |
* XBEE_OPTIONS_NONE, XBEE_OPTIONS_DISABLE_RESPONSE and |
|
525 | 621 |
* XBEE_OPTIONS_BROADCAST_ALL_PANS |
526 | 622 |
* |
527 | 623 |
* @param frame the frame number to associate this packet |
... | ... | |
529 | 625 |
* the XBee alerts us as to whether or not our message |
530 | 626 |
* was received. |
531 | 627 |
**/ |
532 |
void xbee_send_packet(char* packet, int len, int dest, |
|
533 |
char options, char frame) |
|
628 |
int xbee_send_packet(char* packet, int len, int dest, char options, char frame) |
|
534 | 629 |
{ |
535 | 630 |
char buf[5]; |
536 | 631 |
char prefix[3]; |
... | ... | |
540 | 635 |
if (len > 100) |
541 | 636 |
{ |
542 | 637 |
WL_DEBUG_PRINT("Packet is too large.\r\n"); |
543 |
return; |
|
638 |
return -1;
|
|
544 | 639 |
} |
545 | 640 |
|
546 | 641 |
//data for sending request |
... | ... | |
560 | 655 |
for (i = 0; i < len; i++) |
561 | 656 |
checksum += (unsigned char)packet[i]; |
562 | 657 |
checksum = 0xFF - checksum; |
563 |
xbee_send(prefix, 3); |
|
564 |
xbee_send(buf, 5); |
|
565 |
xbee_send(packet, len); |
|
566 |
xbee_send((char*)&checksum, 1); |
|
658 |
|
|
659 |
if (xbee_send(prefix, 3) != 0) { |
|
660 |
return -1; |
|
661 |
} |
|
662 |
|
|
663 |
if (xbee_send(buf, 5) != 0) { |
|
664 |
return -1; |
|
665 |
} |
|
666 |
|
|
667 |
if (xbee_send(packet, len) != 0) { |
|
668 |
return -1; |
|
669 |
} |
|
670 |
|
|
671 |
if (xbee_send((char*)&checksum, 1) != 0) { |
|
672 |
return -1; |
|
673 |
} |
|
674 |
|
|
675 |
return 0; |
|
567 | 676 |
} |
568 | 677 |
|
569 | 678 |
/** |
... | ... | |
578 | 687 |
* |
579 | 688 |
* The first byte of the packet will be either |
580 | 689 |
* XBEE_TX_STATUS or XBEE_RX to indicated |
581 |
* a response to a sent message or a received message,
|
|
690 |
* a response to a sent message or a received message, |
|
582 | 691 |
* respectively.<br><br> |
583 | 692 |
* |
584 | 693 |
* For a status response packet:<br> |
585 | 694 |
* The first byte will be XBEE_TX_STATUS.<br> |
586 | 695 |
* The second byte will be the frame number.<br> |
587 | 696 |
* The third byte will be the result. 0 indicates success, |
588 |
* and nonzero indicates that an error ocurred in
|
|
697 |
* and nonzero indicates that an error ocurred in |
|
589 | 698 |
* transmitting the packet.<br><br> |
590 | 699 |
* |
591 | 700 |
* For a received packet:<br> |
... | ... | |
595 | 704 |
* The fourth byte is the signal strength.<br> |
596 | 705 |
* The fifth byte is 1 if the packet were sent to |
597 | 706 |
* a specific address, and 2 if it is a broadcast packet.<br><br> |
598 |
*
|
|
707 |
* |
|
599 | 708 |
* @param dest set to the packet data |
600 | 709 |
* @return the length of the packet, or -1 if no packet |
601 | 710 |
* is available |
... | ... | |
610 | 719 |
if (buffer_first == XBEE_BUFFER_SIZE) |
611 | 720 |
buffer_first = 0; |
612 | 721 |
// check if buffer is empty |
613 |
if (buffer_first == buffer_last) |
|
614 |
return -1; |
|
722 |
if (buffer_first == buffer_last) { |
|
723 |
return 0; |
|
724 |
} |
|
725 |
} while (arrival_buf[buffer_first++] != XBEE_FRAME_START); |
|
726 |
|
|
727 |
if (buffer_first == XBEE_BUFFER_SIZE) { |
|
728 |
buffer_first = 0; |
|
615 | 729 |
} |
616 |
while (arrival_buf[buffer_first++] != XBEE_FRAME_START); |
|
617 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
618 |
buffer_first = 0; |
|
619 | 730 |
xbee_buf[0] = XBEE_FRAME_START; |
620 | 731 |
currentBufPos++; |
621 | 732 |
} |
622 | 733 |
|
623 | 734 |
int len = -1; |
624 |
if (currentBufPos >= 3) |
|
735 |
if (currentBufPos >= 3) {
|
|
625 | 736 |
len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8); |
626 |
|
|
737 |
} |
|
738 |
|
|
627 | 739 |
while (len == -1 //packet length has not been read yet |
628 |
|| currentBufPos < len + 4)
|
|
740 |
|| currentBufPos < len + 4) |
|
629 | 741 |
{ |
630 | 742 |
if (currentBufPos == 3) |
631 | 743 |
{ |
... | ... | |
637 | 749 |
return -1; |
638 | 750 |
} |
639 | 751 |
} |
752 |
|
|
640 | 753 |
// check if buffer is empty |
641 |
if (buffer_first == buffer_last) |
|
642 |
return -1; |
|
754 |
if (buffer_first == buffer_last) { |
|
755 |
return 0; |
|
756 |
} |
|
643 | 757 |
xbee_buf[currentBufPos++] = arrival_buf[buffer_first++]; |
644 |
if (buffer_first == XBEE_BUFFER_SIZE) |
|
758 |
if (buffer_first == XBEE_BUFFER_SIZE) {
|
|
645 | 759 |
buffer_first = 0; |
760 |
} |
|
646 | 761 |
} |
647 |
|
|
762 |
|
|
648 | 763 |
currentBufPos = 0; |
649 |
|
|
764 |
|
|
650 | 765 |
if (!xbee_verify_checksum(xbee_buf, len + 4)) |
651 | 766 |
{ |
652 | 767 |
WL_DEBUG_PRINT("XBee checksum failed.\r\n"); |
... | ... | |
654 | 769 |
} |
655 | 770 |
|
656 | 771 |
//we will take care of the packet |
657 |
if (xbee_handle_packet(xbee_buf + 3, len)) |
|
658 |
return -1; |
|
659 |
|
|
660 |
if (dest == NULL) |
|
661 |
return -1; |
|
662 |
|
|
772 |
if (xbee_handle_packet(xbee_buf + 3, len) != 0) { |
|
773 |
return 0; |
|
774 |
} |
|
775 |
|
|
776 |
if (dest == NULL) { |
|
777 |
return 0; |
|
778 |
} |
|
779 |
|
|
663 | 780 |
int i; |
664 |
for (i = 3; i < len + 3; i++) |
|
781 |
for (i = 3; i < len + 3; i++) {
|
|
665 | 782 |
dest[i - 3] = xbee_buf[i]; |
783 |
} |
|
784 |
|
|
666 | 785 |
return len; |
667 | 786 |
} |
668 | 787 |
|
... | ... | |
706 | 825 |
* @param extra the hex value of the requested register |
707 | 826 |
* @param extraLen the length in bytes of extra |
708 | 827 |
**/ |
709 |
void xbee_handle_at_command_response(char* command, char result, |
|
710 |
char* extra, int extraLen) |
|
828 |
static void xbee_handle_at_command_response(char* command, char result, char* extra, int extraLen) |
|
711 | 829 |
{ |
712 | 830 |
if (result == 1) |
713 | 831 |
{ |
... | ... | |
718 | 836 |
WL_DEBUG_PRINT("AT"); |
719 | 837 |
WL_DEBUG_PRINT(command); |
720 | 838 |
WL_DEBUG_PRINT(" command was successful.\r\n"); |
721 |
|
|
839 |
|
|
722 | 840 |
if (command[0] == 'I' && command[1] == 'D') |
723 | 841 |
{ |
724 | 842 |
xbee_panID = xbee_pending_panID; |
... | ... | |
736 | 854 |
WL_DEBUG_PRINT(".\r\n"); |
737 | 855 |
return; |
738 | 856 |
} |
739 |
|
|
857 |
|
|
740 | 858 |
if (command[0] == 'M' && command[1] == 'Y' && extraLen != 0) |
741 | 859 |
{ |
742 | 860 |
xbee_address = 0; |
743 | 861 |
int i; |
744 |
for (i = 0; i < extraLen; i++) |
|
862 |
for (i = 0; i < extraLen; i++) {
|
|
745 | 863 |
xbee_address = (xbee_address << 8) + extra[i]; |
864 |
} |
|
746 | 865 |
|
747 | 866 |
WL_DEBUG_PRINT("XBee address is "); |
748 | 867 |
WL_DEBUG_PRINT_INT(xbee_address); |
... | ... | |
751 | 870 |
if (xbee_address == 0) |
752 | 871 |
{ |
753 | 872 |
WL_DEBUG_PRINT("XBee 16-bit address must be set using ATMY.\r\n"); |
873 |
#ifndef ROBOT |
|
754 | 874 |
exit(0); |
875 |
#endif |
|
755 | 876 |
} |
756 | 877 |
} |
757 | 878 |
} |
... | ... | |
765 | 886 |
* |
766 | 887 |
* @param packet the packet to handle |
767 | 888 |
* @param len the length of the packet |
768 |
*
|
|
889 |
* |
|
769 | 890 |
* @return 1 if we have handled the packet, 0 otherwise |
770 | 891 |
*/ |
771 |
int xbee_handle_packet(char* packet, int len) |
|
892 |
static int xbee_handle_packet(char* packet, int len)
|
|
772 | 893 |
{ |
894 |
|
|
773 | 895 |
char command[3] = {1, 2, 3}; |
774 | 896 |
if (len <= 0) //this should not happend |
775 | 897 |
{ |
776 | 898 |
WL_DEBUG_PRINT("Non-positive packet length.\r\n"); |
777 | 899 |
return 0; |
778 | 900 |
} |
779 |
|
|
901 |
|
|
780 | 902 |
switch ((unsigned char)packet[0]) //packet type |
781 | 903 |
{ |
782 | 904 |
case XBEE_FRAME_STATUS: |
... | ... | |
786 | 908 |
command[0] = packet[2]; |
787 | 909 |
command[1] = packet[3]; |
788 | 910 |
command[2] = 0; |
789 |
xbee_handle_at_command_response(command, |
|
790 |
packet[4], packet + 5, len - 5); |
|
911 |
xbee_handle_at_command_response(command, packet[4], packet + 5, len - 5); |
|
791 | 912 |
return 1; |
792 | 913 |
} |
793 | 914 |
return 0; |
... | ... | |
798 | 919 |
* |
799 | 920 |
* @param id the new personal area network (PAN) id |
800 | 921 |
**/ |
801 |
void xbee_set_pan_id(int id)
|
|
922 |
int xbee_set_pan_id(int id)
|
|
802 | 923 |
{ |
803 | 924 |
char s[3]; |
804 | 925 |
s[0] = (id >> 8) & 0xFF; |
805 | 926 |
s[1] = id & 0xFF; |
806 | 927 |
s[2] = 0; |
807 | 928 |
xbee_pending_panID = id; |
808 |
xbee_send_modify_at_command("ID", s); |
|
929 |
return xbee_send_modify_at_command("ID", s);
|
|
809 | 930 |
} |
810 | 931 |
|
811 | 932 |
/** |
812 | 933 |
* Get the PAN ID for the XBee. |
813 |
*
|
|
934 |
* |
|
814 | 935 |
* @return the personal area network id, or |
815 | 936 |
* XBEE_PAN_DEFAULT if it has not yet been set. |
816 | 937 |
**/ |
938 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
939 |
// it reduces code size or not should be done to be sure. |
|
817 | 940 |
unsigned int xbee_get_pan_id() |
818 | 941 |
{ |
819 | 942 |
return xbee_panID; |
... | ... | |
822 | 945 |
/** |
823 | 946 |
* Set the channel the XBee is using. |
824 | 947 |
* |
825 |
* @param channel the channel the XBee will not use,
|
|
948 |
* @param channel the channel the XBee will not use, |
|
826 | 949 |
* between 0x0B and 0x1A |
827 | 950 |
* |
828 | 951 |
* @see xbee_get_channel |
829 | 952 |
**/ |
830 |
void xbee_set_channel(int channel)
|
|
953 |
int xbee_set_channel(int channel)
|
|
831 | 954 |
{ |
832 | 955 |
if (channel < 0x0B || channel > 0x1A) |
833 | 956 |
{ |
834 | 957 |
WL_DEBUG_PRINT("Channel out of range.\r\n"); |
835 |
return; |
|
958 |
return -1;
|
|
836 | 959 |
} |
960 |
|
|
837 | 961 |
char s[3]; |
838 | 962 |
s[0] = channel & 0xFF; |
839 | 963 |
s[1] = 0; |
840 | 964 |
xbee_pending_channel = channel; |
841 |
xbee_send_modify_at_command("CH", s); |
|
965 |
|
|
966 |
return xbee_send_modify_at_command("CH", s); |
|
842 | 967 |
} |
843 | 968 |
|
844 | 969 |
/** |
... | ... | |
848 | 973 |
* |
849 | 974 |
* @see xbee_set_channel |
850 | 975 |
**/ |
976 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
977 |
// it reduces code size or not should be done to be sure. |
|
851 | 978 |
int xbee_get_channel(void) |
852 | 979 |
{ |
853 | 980 |
return xbee_channel; |
... | ... | |
860 | 987 |
* |
861 | 988 |
* @return the 16-bit address of the XBee. |
862 | 989 |
**/ |
990 |
//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
|
991 |
// it reduces code size or not should be done to be sure. |
|
863 | 992 |
unsigned int xbee_get_address() |
864 | 993 |
{ |
865 | 994 |
return xbee_address; |
... | ... | |
871 | 1000 |
xbee_com_port = port; |
872 | 1001 |
} |
873 | 1002 |
#endif |
874 |
|
Also available in: Unified diff