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ZigBee协调器周期性发送信标和判定终端节点是否还在?

Other Parts Discussed in Thread: CC2538

请问,如何在CC2538所对应的ZigBee协议栈中查看ZigBee协调器周期性发送信标和判定终端节点是否还在?

哪个函数实现ZC周期性发送信标?以及终端里面哪个函数对ZC发送的信标进行回应,或者这里面有什么回复机制么?求告知,谢谢