Transmit gyro values over zigbee.

3 files changed, 22 insertions, 7 deletions

diff --git a/main.cpp b/main.cpp
index d9faac1..5a0cd4d 100644
--- a/main.cpp
+++ b/main.cpp
@@ -57,11 +57,24 @@ class PID {
 		}
 };
 
+I2C i2c;
+ITG3200 gyro(i2c);
+
 void threadmain() {
 	while(1) {
 		GPIOB.ODR ^= 1 << 1;
 		
-		xbee_send(3, (uint8_t*)"hei");
+		uint8_t buf[] = {
+			gyro.x & 0xff,
+			gyro.x >> 8,
+			gyro.y & 0xff,
+			gyro.y >> 8,
+			gyro.z & 0xff,
+			gyro.z >> 8,
+		};
+		
+		xbee_send(6, buf);
+		Time::sleep(100);
 	}
 }
 
@@ -84,10 +97,12 @@ int main() {
 	GPIOB.CRH = 0x44444444;
 	GPIOB.ODR = 1 << 1;
 	
-	I2C i2c;
+	Time::sleep(10);
+	
+	//I2C i2c;
 	i2c.enable();
 	
-	ITG3200 gyro(i2c);
+	//ITG3200 gyro(i2c);
 	gyro.init();
 	
 	PPMSum ppmsum;
diff --git a/usart.h b/usart.h
index ab7fb3f..8fde39a 100644
--- a/usart.h
+++ b/usart.h
@@ -9,7 +9,7 @@ void interrupt<Interrupt::USART1>() {
 
 void usart_enable() {
 	RCC.enable(RCC.USART1);
-	USART1.BRR = 7500; // 9600 baud
+	USART1.BRR = 625; // 115200 baud
 	USART1.CR1 = 0x202c;
 	
 	Interrupt::enable(Interrupt::USART1);
diff --git a/xbee.h b/xbee.h
index 2b577b2..f99fe55 100644
--- a/xbee.h
+++ b/xbee.h
@@ -21,12 +21,12 @@ void xbee_send(int len, const uint8_t* buf) {
 	usart_send(0x19);
 	usart_send(0xf1);
 	
-	usart_send(0x00);
-	usart_send(0x00);
+	usart_send(0xff);
+	usart_send(0xfe);
 	usart_send(0x00);
 	usart_send(0x00);
 	
-	uint8_t chsum = 0x80;
+	uint8_t chsum = 0x83;
 	
 	// Payload
 	for(int i = 0; i < len; i++) {