Revision 1562
updated baud rate code (it works for 9600 and 115200 now, haven't tested the others)
| branches/wireless/code/behaviors/Wireless_Speed_test/xbee.c | ||
|---|---|---|
| 293 | 293 |
WL_DEBUG_PRINT("Entered command mode.\r\n");
|
| 294 | 294 |
|
| 295 | 295 |
// reset baud rate |
| 296 |
usb_puts("Resetting Baud to ");
|
|
| 297 |
usb_puts(XBEE_BAUD_STR);
|
|
| 298 |
usb_puts("\r\n");
|
|
| 296 |
WL_DEBUG_PRINT("Resetting Baud to ");
|
|
| 297 |
WL_DEBUG_PRINT(XBEE_BAUD_STR);
|
|
| 298 |
WL_DEBUG_PRINT("\r\n");
|
|
| 299 | 299 |
|
| 300 | 300 |
// set baud on xbee |
| 301 |
//#if (XBEE_BAUD == 250000) |
|
| 301 | 302 |
#if (XBEE_BAUD == 115200) |
| 302 |
xbee_send_string("ATBD7\r");
|
|
| 303 |
#end if |
|
| 303 |
xbee_send_string("ATBD7\r\n");
|
|
| 304 |
#elif (XBEE_BAUD == 57600) |
|
| 305 |
xbee_send_string("ATBD6\r\n");
|
|
| 306 |
#elif (XBEE_BAUD == 38400) |
|
| 307 |
xbee_send_string("ATBD5\r\n");
|
|
| 308 |
#elif (XBEE_BAUD == 19200) |
|
| 309 |
xbee_send_string("ATBD4\r\n");
|
|
| 310 |
#elif (XBEE_BAUD == 9600) |
|
| 311 |
// already at this baud rate |
|
| 312 |
//xbee_send_string("ATBD3\r\n");
|
|
| 313 |
#else |
|
| 314 |
WL_DEBUG_PRINT("undefined baud rate\r\n");
|
|
| 315 |
#endif |
|
| 304 | 316 |
// exit command mode |
| 305 | 317 |
xbee_wait_for_ok(); |
| 306 |
xbee_send_string("ATCN\r");
|
|
| 318 |
WL_DEBUG_PRINT("got ok from baud reset\r\n");
|
|
| 319 |
xbee_send_string("ATCN\r\n");
|
|
| 307 | 320 |
xbee_wait_for_ok(); |
| 321 |
WL_DEBUG_PRINT("got ok from exiting command mode\r\n");
|
|
| 308 | 322 |
|
| 309 | 323 |
// set UART baud |
| 310 | 324 |
#if (XBEE_BAUD == 250000) |
| ... | ... | |
| 316 | 330 |
UBRR1L = 8; |
| 317 | 331 |
UCSR1A |= _BV(U2X1); |
| 318 | 332 |
#elif (XBEE_BAUD == 57600) |
| 319 |
if (xbee_send_modify_at_command("BD","6")) {
|
|
| 320 |
return -1; |
|
| 321 |
} |
|
| 322 | 333 |
UBRR1H = 0x00; |
| 323 | 334 |
UBRR1L = 16; |
| 324 | 335 |
UCSR1A |= _BV(U2X1); |
| 325 | 336 |
#elif (XBEE_BAUD == 38400) |
| 326 |
if (xbee_send_modify_at_command("BD","5")) {
|
|
| 327 |
return -1; |
|
| 328 |
} |
|
| 329 | 337 |
UBRR1H = 0x00; |
| 330 | 338 |
UBRR1L = 25; |
| 331 | 339 |
UCSR1A |= _BV(U2X1); |
| 332 | 340 |
#elif (XBEE_BAUD == 19200) |
| 333 |
if (xbee_send_modify_at_command("BD","4")) {
|
|
| 334 |
return -1; |
|
| 335 |
} |
|
| 336 | 341 |
UBRR1H = 0x00; |
| 337 | 342 |
UBRR1L = 51; |
| 338 | 343 |
UCSR1A |= _BV(U2X1); |
| 339 | 344 |
#elif (XBEE_BAUD == 9600) |
| 340 | 345 |
/* this is the default baud rate, so do nothing |
| 341 |
if (xbee_send_modify_at_command("BD","3")) {
|
|
| 342 |
return -1; |
|
| 343 |
} |
|
| 344 | 346 |
UBRR1H = 0x00; |
| 345 | 347 |
UBRR1L = 103; |
| 346 | 348 |
UCSR1A |= _BV(U2X1);*/ |
| 347 | 349 |
#else //Baud rate is defined in the header file, we should not get here |
| 348 | 350 |
return 0; |
| 349 | 351 |
#endif |
| 352 |
delay_ms(50); |
|
| 350 | 353 |
|
| 351 | 354 |
// enter command mode |
| 352 |
if (xbee_enter_command_mode() != 0) {
|
|
| 353 |
usb_puts("error entering command mode after baud set\r\n");
|
|
| 354 |
return -1;
|
|
| 355 |
}
|
|
| 355 |
WL_DEBUG_PRINT("entering command mode 2\r\n");
|
|
| 356 |
xbee_send_string("+++");
|
|
| 357 |
xbee_wait_for_ok();
|
|
| 358 |
WL_DEBUG_PRINT("entered command mode 2\r\n");
|
|
| 356 | 359 |
|
| 357 | 360 |
if (xbee_enter_api_mode() != 0) {
|
| 358 |
usb_puts("can't enter api mode\r\n");
|
|
| 361 |
WL_DEBUG_PRINT("can't enter api mode\r\n");
|
|
| 359 | 362 |
return -1; |
| 360 | 363 |
} |
| 361 | 364 |
|
| 362 | 365 |
WL_DEBUG_PRINT("Entered api mode.\r\n");
|
| 363 | 366 |
|
| 364 | 367 |
if (xbee_exit_command_mode() != 0) {
|
| 365 |
usb_puts("can't exit command mode\r\n");
|
|
| 368 |
WL_DEBUG_PRINT("can't exit command mode\r\n");
|
|
| 366 | 369 |
return -1; |
| 367 | 370 |
} |
| 368 | 371 |
|
| ... | ... | |
| 370 | 373 |
|
| 371 | 374 |
// get MY address |
| 372 | 375 |
if (xbee_send_read_at_command("BD")) {
|
| 373 |
usb_puts("can't send BD command\r\n");
|
|
| 376 |
WL_DEBUG_PRINT("can't send BD command\r\n");
|
|
| 374 | 377 |
return -1; |
| 375 | 378 |
} |
| 376 | 379 |
WL_DEBUG_PRINT("Getting ATBD rate.\n");
|
| 377 | 380 |
|
| 378 | 381 |
// get MY address |
| 379 | 382 |
if (xbee_send_read_at_command("MY")) {
|
| 380 |
usb_puts("can't send my command\r\n");
|
|
| 383 |
WL_DEBUG_PRINT("can't send my command\r\n");
|
|
| 381 | 384 |
return -1; |
| 382 | 385 |
} |
| 383 | 386 |
WL_DEBUG_PRINT("Getting ATMY address.\n");
|
| ... | ... | |
| 579 | 582 |
if (buffer_first == XBEE_BUFFER_SIZE) {
|
| 580 | 583 |
buffer_first = 0; |
| 581 | 584 |
} |
| 582 |
WL_DEBUG_PRINT("buffer char:");
|
|
| 583 |
WL_DEBUG_PRINT(c); |
|
| 584 |
WL_DEBUG_PRINT("\r\n");
|
|
| 585 |
WL_DEBUG_PRINT("buffer char|");
|
|
| 586 |
WL_DEBUG_PRINT_CHAR(c);
|
|
| 587 |
WL_DEBUG_PRINT("|\r\n");
|
|
| 585 | 588 |
|
| 586 | 589 |
if (c == *curr) {
|
| 587 | 590 |
curr++; |
| branches/wireless/code/behaviors/Wireless_Speed_test/serial.h | ||
|---|---|---|
| 126 | 126 |
// if no baud rate is defined for xbee, default is set here |
| 127 | 127 |
#ifndef XBEE_BAUD |
| 128 | 128 |
/** @brief the XBee baud rate **/ |
| 129 |
#define XBEE_BAUD 9600 |
|
| 129 |
//#define XBEE_BAUD 9600
|
|
| 130 | 130 |
//#define XBEE_BAUD_STR "9600" |
| 131 |
//#define XBEE_BAUD 115200
|
|
| 131 |
#define XBEE_BAUD 115200 |
|
| 132 | 132 |
#define XBEE_BAUD_STR "115200" |
| 133 | 133 |
#endif |
| 134 | 134 |
|
| branches/wireless/code/behaviors/Wireless_Speed_test/wl_defs.h | ||
|---|---|---|
| 40 | 40 |
#define ROBOT |
| 41 | 41 |
|
| 42 | 42 |
//uncomment this line for debug information |
| 43 |
#define WL_DEBUG |
|
| 43 |
//#define WL_DEBUG
|
|
| 44 | 44 |
|
| 45 | 45 |
//return value definitions |
| 46 | 46 |
/** @brief Error code for init failure **/ |
| ... | ... | |
| 84 | 84 |
|
| 85 | 85 |
#ifdef ROBOT |
| 86 | 86 |
#define WL_DEBUG_PRINT( s ) usb_puts( s ) |
| 87 |
#define WL_DEBUG_PRINT_CHAR( c ) usb_putc( c ) |
|
| 88 |
#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
|
| 87 | 89 |
#else |
| 88 | 90 |
#define WL_DEBUG_PRINT( s ) printf( s ) |
| 91 |
#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c)
|
|
| 92 |
#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)
|
|
| 89 | 93 |
#endif |
| 90 | 94 |
|
| 91 | 95 |
#ifdef ROBOT |
| 92 |
#define WL_DEBUG_PRINT_INT( i ) usb_puti(i) |
|
| 93 | 96 |
#else |
| 94 |
#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)
|
|
| 95 | 97 |
#endif |
| 96 | 98 |
|
| 97 | 99 |
#else |
| 98 | 100 |
|
| 99 | 101 |
#define WL_DEBUG_PRINT( s ) |
| 102 |
#define WL_DEBUG_PRINT_CHAR( c ) |
|
| 100 | 103 |
#define WL_DEBUG_PRINT_INT( i ) |
| 101 | 104 |
|
| 102 | 105 |
#endif |
Also available in: Unified diff