Working without Robot Terminal

[bergere]

I want to send Chars to the CM5 without Robot Terminal.
Do somebody wrote such a software which i can use?

[AlphA]

That's pretty much what my wireless control script does.
http://robosavvy.com/forum/viewtopic.php?t=2424

[bergere]

Oh THX i will take a look at this. But before a little question to the following code. The problem is that UDR0 doesn´t work. UDR1 is working but not UDR0.

Code: Select all

#include <avr>

typedef unsigned char byte;


void printHex(byte bSentData);
void printHex2(byte bSentData);
void TxD80(byte bTxdData);
void TxD81(byte bTxdData);


void printHex(byte bSentData)//UDR1
{
  byte bTmp;

  bTmp =((byte)(bSentData>>4)&0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD81(bTmp);
  bTmp =(byte)(bSentData & 0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD81(bTmp);
}

void printHex2(byte bSentData)//UDR0
{
  byte bTmp;

  bTmp =((byte)(bSentData>>4)&0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD80(bTmp);
  bTmp =(byte)(bSentData & 0x0f) + (byte)'0';
  if(bTmp > '9') bTmp += 7;
  TxD80(bTmp);
}

void TxD80(byte bTxdData)
{
  while(!(bit_is_set(UCSR0A,5)));
  UDR0 = bTxdData;
}


void TxD81(byte bTxdData)
{
  while(!(bit_is_set(UCSR1A,5)));
  UDR1 = bTxdData;
}



I was a little bit surprised that my UDR1 function works without any initialise. For my UDR0 function I wrote a little initialisation function:

Code: Select all

#define FOSC 16000000// Clock Speed
#define BAUD 57600
#define MYUBRR FOSC/16/BAUD-1

void USART_Init( unsigned int ubrr )
{
/* Set baud rate */
UBRR0H = (unsigned char)(ubrr>>8);
UBRR0L = (unsigned char)ubrr;
/* Enable receiver and transmitter */
UCSR0A = (1<<RXEN)|(1<<TXEN);
/* Set frame format: 8data, 2stop bit */
UCSR0C = (1<<USBS)|(3<<UCSZ0);


This function change nothing. After that i looked in the iom128.h because of my Atmega128(L).

Code: Select all

/* USART1 I/O Data Register */
#define UDR1      _SFR_MEM8(0x9C)


/* USART0 I/O Data Register */
#define UDR0      _SFR_IO8(0x0C)


But i couldn´t say what this means. I just see that they are different

I hope U can help me
(Maybe its just a mistake to send data on UDR0).

[StuartL]

Always always always change the low (L) register before the high (H) register. The register locking is done in hardware so that works. Incidentally if you do a 16-bit assignment the compiler knows to change them (or read them) in the right order to avoid problems.

[bergere]

Are you sure that i have to change first the Low Register?
Because in Bioloid User Guide on Page 133 is used:

Code: Select all

UBRR0H = 0; UBRR0L = bBaudrate;


[le fatumbi]

Are you sure that i have to change first the Low Register?
Because in Bioloid User Guide on Page 133 is used:

Code: Select all

UBRR0H = 0; UBRR0L = bBaudrate;


I have only 125 pages in "my" Bioloid User Guide

But I had no problem doing that way... chance ?

I'm not sure it's important while Rx & Tx are not yet enabled.
And, as default value of high register is always 0, you change nothing in fact when you write there.

[StuartL]

I stand corrected on my original comment.

The 16-bit logic I remembered is from the ATMega128 reference manual in relation to the timers.

As the CPU internally uses a temporary register per timer you have to do the read/writes in a specific order, and frustratingly it's not even the same order

I quote from the reference guide:

To do a 16-bit write, the high byte must be written before the low byte. For a 16-bit read, the low byte must be read before the high byte.

In all cases I strongly recommend 16-bit operations for 16-bit registers when using C, that way the compiler has to get it right for the context you're setting the register in.

So apologies for the mis-guidance earlier, and yes you're right in that it hardly matters if the serial interface isn't running, but it is a bad habit to get into.

[bergere]

OK Thx