From 0f9366b7328777d91aa72f4b92cfcb232969e1ce Mon Sep 17 00:00:00 2001
From: Fabrice Desclaux <serpilliere@droids-corp.org>
Date: Thu, 29 Mar 2012 19:35:23 +0200
Subject: [PATCH] new command to change the baudrate of the xbee

---
 commands.c | 46 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)

diff --git a/commands.c b/commands.c
index 986ca92..a14d098 100644
--- a/commands.c
+++ b/commands.c
@@ -28,10 +28,12 @@
 #include <aversive/pgmspace.h>
 #include <aversive/queue.h>
 #include <aversive/endian.h>
+#include <aversive/error.h>
 #include <parse.h>
 #include <rdline.h>
 #include <parse_string.h>
 #include <parse_num.h>
+#include <uart.h>
 
 #include "xbee_atcmd.h"
 #include "xbee_neighbor.h"
@@ -46,6 +48,7 @@
 
 #include "rc_proto.h"
 #include "main.h"
+#include "cmdline.h"
 
 /* commands_gen.c */
 extern parse_pgm_inst_t cmd_reset;
@@ -1214,6 +1217,46 @@ parse_pgm_inst_t cmd_debug = {
 	},
 };
 
+#ifndef USE_USB
+/**********************************************************/
+
+/* this structure is filled when cmd_baudrate is parsed successfully */
+struct cmd_baudrate_result {
+	fixed_string_t arg0;
+	uint32_t arg1;
+};
+
+/* function called when cmd_baudrate is parsed successfully */
+static void cmd_baudrate_parsed(void * parsed_result, __attribute__((unused)) void *data)
+{
+	struct cmd_baudrate_result *res = parsed_result;
+	struct uart_config c;
+
+	uart_getconf(XBEE_UART, &c);
+	c.baudrate = res->arg1;
+	uart_setconf(XBEE_UART, &c);
+}
+
+prog_char str_baudrate_arg0[] = "baudrate";
+parse_pgm_token_string_t cmd_baudrate_arg0 =
+	TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0,
+				 str_baudrate_arg0);
+parse_pgm_token_num_t cmd_baudrate_arg1 =
+	TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1,
+			      UINT32);
+
+prog_char help_baudrate[] = "Change xbee baudrate";
+parse_pgm_inst_t cmd_baudrate = {
+	.f = cmd_baudrate_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_baudrate,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_baudrate_arg0,
+		(prog_void *)&cmd_baudrate_arg1,
+		NULL,
+	},
+};
+#endif
 
 
 /* in progmem */
@@ -1251,5 +1294,8 @@ parse_pgm_ctx_t main_ctx[] = {
 	(parse_pgm_inst_t *)&cmd_raw,
 	(parse_pgm_inst_t *)&cmd_dump,
 	(parse_pgm_inst_t *)&cmd_debug,
+#ifndef USE_USB
+	(parse_pgm_inst_t *)&cmd_baudrate,
+#endif
 	NULL,
 };
-- 
2.20.1