868MHz module support

sw/airborne/xbee.h

@@ -30,6 +30,17 @@
 #include "datalink.h"
 #include "airframe.h"
 
+#ifdef XBEE868
+#include "xbee868.h"
+#else /* Not 868 */
+#include "xbee24.h"
+#endif
+
+/** Constants for the API protocol */
+#define XBEE_START 0x7e
+#define TX_OPTIONS 0x00
+#define NO_FRAME_ID 0
+
 #define GROUND_STATION_ADDR 0x100
 
 extern uint8_t xbee_cs;
@@ -59,8 +70,6 @@ void xbee_init( void );
 #define XBeeTransportCheckFreeSpace(x) XBeeLink(CheckFreeSpace(x))
 /* 5 = Start + len_msb + len_lsb + API_id + checksum */
 #define XBeeAPISizeOf(_x) (_x+5)
-/* 4 = frame_id + addr_msb + addr_lsb + options */
-#define XBeeTransportSizeOf(_x) XBeeAPISizeOf(_x+4)
 #define XBeeTransportSendMessage() XBeeLink(SendMessage())
 
 #define XBeeTransportPutUint8(_x) { \
@@ -113,29 +122,13 @@ void xbee_init( void );
 #define XBeeTransportPutUint8Array(_n, _x) XBeeTransportPutArray(XBeeTransportPutUint8ByAddr, _n, _x)
 
 
-/** Constants for the API protocol */
-#define XBEE_START 0x7e
-#define XBEE_TX16_ID 0x01
-#define TX16_OPTIONS 0x00
-#define NO_FRAME_ID 0
-#define XBEE_RFDATA_OFFSET 5
-#define XBEE_RX16_ID 0x81
-
-
-#define XBeeTransportPutTX16Header() { \
-  XBeeTransportPutUint8(XBEE_TX16_ID); \
-  XBeeTransportPutUint8(NO_FRAME_ID); \
-  XBeeTransportPutUint8(GROUND_STATION_ADDR >> 8); \
-  XBeeTransportPutUint8(GROUND_STATION_ADDR & 0xff); \
-  XBeeTransportPutUint8(TX16_OPTIONS); \
-}
 
 #define XBeeTransportHeader(_len) { \
   XBeeTransportPut1Byte(XBEE_START); \
   uint8_t payload_len = XBeeAPISizeOf(_len); \
   XBeeTransportPut2Bytes(payload_len); \
   xbee_cs = 0; \
-  XBeeTransportPutTX16Header(); \
+  XBeeTransportPutTXHeader(); \
 }
 
 #define XBeeTransportTrailer() { \
@@ -202,9 +195,9 @@ static inline void parse_xbee( uint8_t c ) {
 /** Parsing a frame data and copy the payload to the datalink buffer */
 static inline void xbee_parse_payload(void) {
   switch (xbee_payload[0]) {
-  case XBEE_RX16_ID:
-  case XBEE_TX16_ID: /* Useful if A/C is connected to the PC with a cable */
-    xbee_rssi = xbee_payload[3];
+  case XBEE_RX_ID:
+  case XBEE_TX_ID: /* Useful if A/C is connected to the PC with a cable */
+    XbeeGetRSSI();
     uint8_t i;
     for(i = XBEE_RFDATA_OFFSET; i < xbee_payload_len; i++) 
       dl_buffer[i-XBEE_RFDATA_OFFSET] = xbee_payload[i];

sw/airborne/xbee24.h

@@ -0,0 +1,47 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009  ENAC, Pascal Brisset
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/* Configuration for 2.4GHz "series 1" and 900MHz modules */
+
+#ifndef XBEE24_H
+#define XBEE24_H
+
+#define XBEE_TX_ID 0x01 /* 16 bits address */
+#define XBEE_RX_ID 0x81 /* 16 bits address */
+#define XBEE_RFDATA_OFFSET 5
+
+#define XBeeTransportPutTXHeader() { \
+  XBeeTransportPutUint8(XBEE_TX_ID); \
+  XBeeTransportPutUint8(NO_FRAME_ID); \
+  XBeeTransportPutUint8(GROUND_STATION_ADDR >> 8); \
+  XBeeTransportPutUint8(GROUND_STATION_ADDR & 0xff); \
+  XBeeTransportPutUint8(TX_OPTIONS); \
+}
+
+/* 4 = frame_id + addr_msb + addr_lsb + options */
+#define XBeeTransportSizeOf(_x) XBeeAPISizeOf(_x+4)
+
+#define XbeeGetRSSI() { xbee_rssi = xbee_payload[3]; }
+
+#endif // XBEE24_H

sw/airborne/xbee868.h

@@ -0,0 +1,56 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009  ENAC, Pascal Brisset
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/* Configuration for 868MHz modules */
+
+#ifndef XBEE868_H
+#define XBEE868_H
+
+#define XBEE_TX_ID 0x10
+#define XBEE_RX_ID 0x90
+#define XBEE_RFDATA_OFFSET 12
+
+#define XBeeTransportPutTXHeader()  { \
+  XBeeTransportPutUint8(XBEE_TX_ID); \
+  XBeeTransportPutUint8(NO_FRAME_ID); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(GROUND_STATION_ADDR >> 8); \
+  XBeeTransportPutUint8(GROUND_STATION_ADDR & 0xff); \
+  XBeeTransportPutUint8(0xff); \
+  XBeeTransportPutUint8(0xfe); \
+  XBeeTransportPutUint8(0x00); \
+  XBeeTransportPutUint8(TX_OPTIONS); \
+}
+
+/* 13 = frame_id + addr==8 + 3 + options */
+#define XBeeTransportSizeOf(_x) XBeeAPISizeOf(_x+13)
+
+#define XbeeGetRSSI() {}
+
+#endif // XBEE868_H