root / branches / autonomous_recharging / code / projects / Test / i2c.c @ 923
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#include "bayboard_lib.h" |
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#include "../libwireless/lib/wireless.h" |
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#include "../libwireless/lib/wl_token_ring.h" |
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|
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int xbee_present(void); |
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static int xbee_send(char*, int); |
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static int xbee_send_string(char*, int); |
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static int xbee_enter_command_mode(void); |
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static int xbee_exit_command_mode(void); |
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static int xbee_wait_for_ok(void); |
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static int xbee_wait_for_string(char*, int); |
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|
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|
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/**
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* Detects whether or not an xbee is present.
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**/
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int xbee_present(void){ |
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bayboard_init(ALL_ON); |
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set_orb(255,0,0); |
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if(xbee_enter_command_mode() == -1){ |
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return 0; |
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} |
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if(xbee_exit_command_mode() == -1){ |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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/**
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* Sends a string of size size to the xbee module.
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*
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* @param buf the string to send
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* @param size the length of the string
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**/
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static int xbee_send(char* buf, int size) |
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{ |
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int i;
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for (i = 0; i < size; i++) { |
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xbee_putc(buf[i]); |
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} |
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return 0; |
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} |
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|
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/**
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* Wrapper for xbee_send.
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*
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* @param c the string to send
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* @param len the length of the string
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**/
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static int xbee_send_string(char* c, int len) |
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{ |
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return xbee_send(c, len);
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} |
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|
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/**
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* Enter into command mode.
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**/
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static int xbee_enter_command_mode() |
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{ |
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if (xbee_send_string("+++\r", 4) != 0) { |
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return -1; |
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} |
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|
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if (xbee_wait_for_ok() != 0) { |
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return -1; |
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} |
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return 0; |
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} |
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|
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/**
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* Exit from command mode.
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**/
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static int xbee_exit_command_mode() |
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{ |
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if (xbee_send_string("ATCN\r", 5) != 0) { |
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return -1; |
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} |
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xbee_wait_for_ok(); |
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return 0; |
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} |
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|
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/**
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* Wait until the string "OK\r" is received from the XBee.
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**/
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static int xbee_wait_for_ok() |
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{ |
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return xbee_wait_for_string("OK\r", 3); |
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} |
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|
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/**
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* Delay until the specified string is received from
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* the XBee. Discards all other XBee data.
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*
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* @param s the string to receive
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* @param len the length of the string
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**/
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static int xbee_wait_for_string(char* s, int len) |
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{ |
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|
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long long timeout = 0; |
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int cur = 0; |
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|
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while (cur < len) {
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if(timeout > 160000){ |
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return -1; |
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} |
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if(xbee_getc_nb(s + cur) == 0){ |
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timeout = 0;
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cur++; |
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} |
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timeout++; |
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} |
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return 0; |
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} |