This document describes the necessary steps to pare two XBees.

1. On Windows

1.1 Getting X-CTU

For doing this, you will need a software, called X-CTU from Digi.

Download it
Install it.
Do not open it yet. Due to some bugs X-CTU does not refresh USB port enumeration. So anything open after the software is running will not be listed.

1.2. Configuring your Xbee module

Plug your Xbee ground station in a USB port. Check that the related driver is loaded properly.

Open X-CTU.

In "PC Settings" tab select the corresponding COM Port (E.g: "USB Serial Port (COM78)").
In "Modem Configuration" tab click "Read" to check if the reading works.
In "Modem Configuration" tab click "Load" and load the file "<...>/maveric/Utilities/Xbee/Xbee-* Configuration.pro".
Under "Networking & Security -> PAN ID" change the ID to whatever free number of 4 digits (E.g: "1234", but different from your neighbors! Check the bottom of this page to see the used PAN ID).
Click "Save".
Click "Write".
In "PC Setings" tab, change the baud to "57600".
In "Modem Configuration" tab click "Read" to check the settings.
Close X-CTU

Unplug the Xbee ground station. Change Xbee module and plug it in.

Restart X-CTU.

Repeat the same steps for the second module

N.B.: If you cannot read the settings of the XBee from the "Modem Configuration" tab, you can follow the same procedure than for Linux to set the settings.

2. On linux

Instructions taken from here

2.1. Install and open a serial port terminal (e.g. minicom)

Install minicom from the package manager or from here

2.2. Configure the XBee

Open minicom with super user rights, with the option -D and the path to the XBee USB port (e.g. /dev/ttyUSB1)

"sudo minicom -D /dev/ttyUSB1"

2.2.1. Set the correct serial port setup at which the XBee is currently set:

Default factory values: baud rate 9600, parity Null, data 8, stopbits 1

Type "CTRL-A Z" to enter the menu
Type "O" to enter the "cOnfigure Minicom" menu
Type the up or the down arrow on the keyboard until "Serial port setup" is highlighted
Type "enter"
Type "E" to enter the menu to change the settings
Type "C" to set the baudrate speed to 9600
Type "L" to set the Parity to None
Type "V" to set the Data to 8
Type "W" to set the Stopbits to 1
Type "enter" to exit this menu
Type again "enter" to exit the setting menu
Type the up or the down arrow on the keyboard until "Exit" is highlighted
Type "enter" to go back to exit the setting menu

2.2.2. [Optional but recommended] Activate the local Echo of commands

Type "CTRL-A Z" to enter the menu
Type "E" to activate the local Echo

2.2.3. Change the baudrate

Put the XBee in command mode

Type quickly "+++" (without pressing "enter"), the XBee should answer "OK"
Type "AT" and "enter", the XBee should answer "OK"

Change the baudrate

Type "ATBD 6" and "enter" to put the XBee in baudrate 57600, if you want to use another baudrate, select the correct number from this list
- 0 = 1200
- 1 = 2400
- 2 = 4800
- 3 = 9600
- 4 = 19200
- 5 = 38400
- 6 = 57600
- 7 = 115200
Type "ATWR" and "enter" to write the settings to the flash memory of the XBee, the XBee will then send with the new baudrate

Change the minicom settings to listen to the new baudrate (Not needed if you stay on the same baudrate)

Type "CTRL-A Z" to enter the menu
Type "O" to enter the "cOnfigure Minicom" menu
Type the up or the down arrow on the keyboard until "Serial port setup" is highlighted
Type "enter"
Type "E" to enter the menu to change the settings
The usual baudrate for MAV'RIC is 57600 but is not a default option
Type on "D" to select the 38400 baudrate, then type "A" to select the next baudrate, i.e. 57600
Type "enter" to exit this menu
Type again "enter" to exit the setting menu
Type the up or the down arrow on the keyboard until "Exit" is highlighted
Type "enter" to go back to exit the setting menu

2.2.4. Change the Pan ID