RP6 ROBOT SYSTEM - APPENDIX
3. Usage of GPIO for Command Mode
Firmware Version 2.32 or newer allow to use a GPIO to switch into command mode.
This is much faster than waiting for 250ms, sending $$$, waiting again 250ms and
checking if the command mode has been activated.
To activate this, just execute
set uart cmd_GPIO 14
save
reboot
(case sensitive!). GPIO14 can be con-
trolled via the microcontroller.
In RobotLoader versions newer than
2.3b, this can also be done in the
WLAN configuration dialog in the
“Boot” tab. Click there on the button
“Enable CMD Mode by GPIO” and it will
be activated.
The RP6-M256 library automatically
analyzes the setting in the EEPROM of
the microcontroller and decides which mode is active. So nothing needs to be changed
in the library.
In the same dialog, you can also enable automatic start of the program (after an ad-
justable delay) as soon as the unit is connected to a power supply, and deactivate the
LCD. Additionally the baudrate of the WLAN module (and the microcontroller UART
that is connected to it) can be configured. This setting is stored in the WLAN module
and in EEPROM of the microcontroller and the user programs will automatically use
that baudrate.
WARNING:
DO NOT change the baudrate without any good reason! You
may have to do a manual factory reset using the ADHOC
Jumper if something goes wrong here...
4. ADHOC Mode and Reset of the Module to Factory Settings
The module contains a jumper between the UART_SPI1/T5 connector and the antenna
that is labeled “ADHOC”.
If this jumper is bridged DURING (=before and during) powering the robot on, the
ADHOC mode is activated and most of the settings are reset to factory defaults. You
can find more detailed information in the documentation of the manufacturer. You can
use this mode to configure the module without the serial connection. However this is
not supported by the RobotLoader, you have to work directly with the command line
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