new command to change the baudrate of the xbee

diff --git a/commands.c b/commands.c
index 986ca926b3556f714558ddcf392b554cad4febe0..a14d098ac6215389da67c68be43260fb0899368e 100644 (file)
--- 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,
 };