ZigBee CM-5 Connection Problem AVR

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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ZigBee CM-5 Connection Problem AVR

Post by atomowka » Sun Jan 13, 2013 7:55 pm

Post by atomowka
Sun Jan 13, 2013 7:55 pm

Hi!
I have wrote some simple code in Studio AVR to connect ZIG-100 and CM-5. Unfortunately it is not working correctly. The robot recieves my message from PC and it sends back something else like when I sends 1 I got back 241.
I am checking the transmission by using Docklight.

Thanks in advance!

My code underneath:
#include <avr>
#include <avr>
#include <stdio>
#include <util>


//#define F_CPU 8000000UL // zegar w Hz
#define F_CPU 16000000UL // 16MHz

//#define FOSC 1843200
#define RS_BAUD 38400
#define RS_UBRR F_CPU / 16 / RS_BAUD - 1


void uart_init(uint16_t ubrr)
{
PORTD &= ~0x80; //PORT_LINK_PLUGIN = 0; // no pull up
PORTD &= ~0x20; //PORT_ENABLE_RXD_LINK_PC = 0;
PORTD |= 0x40; //PORT_ENABLE_RXD_LINK_ZIGBEE = 1;

UCSR1A = 0b01000010;//
UCSR1B = 0b10011000;//
UCSR1C = 0b00000110;//

UBRR1H = (unsigned char)((RS_UBRR & 0xFF00) >> 8);
UBRR1L = (unsigned char)(RS_UBRR & 0x00FF);

// initialize
UDR1 = 0xFF;
}

void uart_putc(uint8_t data)
{
// Oczekiwanie na zakończenie nadawania
while (!(UCSR1A & (1 << UDRE1)));
// Wysłanie danych
UDR1 = data;
}

uint8_t uart_ischar()
{
// Czy w buforze są dane?
return (UCSR1A & (1 << RXC1));
}

uint8_t uart_getc()
{
// Czy w buforze są dane?
while(!uart_ischar());

// Dane z bufora
return UDR1;
}

int main(void)
{
uint8_t c;

uart_init(RS_UBRR);

while(1)
{
c = uart_getc();
_delay_ms(500);
uart_putc(c);

}
}
Hi!
I have wrote some simple code in Studio AVR to connect ZIG-100 and CM-5. Unfortunately it is not working correctly. The robot recieves my message from PC and it sends back something else like when I sends 1 I got back 241.
I am checking the transmission by using Docklight.

Thanks in advance!

My code underneath:
#include <avr>
#include <avr>
#include <stdio>
#include <util>


//#define F_CPU 8000000UL // zegar w Hz
#define F_CPU 16000000UL // 16MHz

//#define FOSC 1843200
#define RS_BAUD 38400
#define RS_UBRR F_CPU / 16 / RS_BAUD - 1


void uart_init(uint16_t ubrr)
{
PORTD &= ~0x80; //PORT_LINK_PLUGIN = 0; // no pull up
PORTD &= ~0x20; //PORT_ENABLE_RXD_LINK_PC = 0;
PORTD |= 0x40; //PORT_ENABLE_RXD_LINK_ZIGBEE = 1;

UCSR1A = 0b01000010;//
UCSR1B = 0b10011000;//
UCSR1C = 0b00000110;//

UBRR1H = (unsigned char)((RS_UBRR & 0xFF00) >> 8);
UBRR1L = (unsigned char)(RS_UBRR & 0x00FF);

// initialize
UDR1 = 0xFF;
}

void uart_putc(uint8_t data)
{
// Oczekiwanie na zakończenie nadawania
while (!(UCSR1A & (1 << UDRE1)));
// Wysłanie danych
UDR1 = data;
}

uint8_t uart_ischar()
{
// Czy w buforze są dane?
return (UCSR1A & (1 << RXC1));
}

uint8_t uart_getc()
{
// Czy w buforze są dane?
while(!uart_ischar());

// Dane z bufora
return UDR1;
}

int main(void)
{
uint8_t c;

uart_init(RS_UBRR);

while(1)
{
c = uart_getc();
_delay_ms(500);
uart_putc(c);

}
}
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