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Dependencies: 3W_8Dir_p2pcontrol mbed
Fork of DXL_SDK_For_F446RE by
dxl_hal.cpp@0:bf4774b25188, 2017-02-08 (annotated)
- Committer:
- stanley1228
- Date:
- Wed Feb 08 02:49:39 2017 +0000
- Revision:
- 0:bf4774b25188
ver1 lib
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stanley1228 | 0:bf4774b25188 | 1 | // Dynamixel SDK platform dependent source |
stanley1228 | 0:bf4774b25188 | 2 | #include "dxl_hal.h" |
stanley1228 | 0:bf4774b25188 | 3 | #include "mbed.h" |
stanley1228 | 0:bf4774b25188 | 4 | #include "Serial.h" |
stanley1228 | 0:bf4774b25188 | 5 | |
stanley1228 | 0:bf4774b25188 | 6 | #define DEF_TX_EN 1 |
stanley1228 | 0:bf4774b25188 | 7 | #define DEF_RX_EN 0 |
stanley1228 | 0:bf4774b25188 | 8 | |
stanley1228 | 0:bf4774b25188 | 9 | |
stanley1228 | 0:bf4774b25188 | 10 | |
stanley1228 | 0:bf4774b25188 | 11 | static DigitalOut gDir(D3); |
stanley1228 | 0:bf4774b25188 | 12 | Serial dxl(PA_9, PA_10);//UART1 TX, RX F446RE |
stanley1228 | 0:bf4774b25188 | 13 | extern Serial pc; |
stanley1228 | 0:bf4774b25188 | 14 | |
stanley1228 | 0:bf4774b25188 | 15 | extern DigitalOut myled; |
stanley1228 | 0:bf4774b25188 | 16 | |
stanley1228 | 0:bf4774b25188 | 17 | |
stanley1228 | 0:bf4774b25188 | 18 | #define DEF_US_PER_BYTE_1MBPS (20) //roughly 20us/byte for1Mbps use stanley |
stanley1228 | 0:bf4774b25188 | 19 | |
stanley1228 | 0:bf4774b25188 | 20 | int dxl_hal_open( int devIndex, float baudrate ) |
stanley1228 | 0:bf4774b25188 | 21 | { |
stanley1228 | 0:bf4774b25188 | 22 | // Opening device |
stanley1228 | 0:bf4774b25188 | 23 | // devIndex: Device index |
stanley1228 | 0:bf4774b25188 | 24 | // baudrate: Real baudrate (ex> 115200, 57600, 38400...) |
stanley1228 | 0:bf4774b25188 | 25 | // Return: 0(Failed), 1(Succeed) |
stanley1228 | 0:bf4774b25188 | 26 | |
stanley1228 | 0:bf4774b25188 | 27 | gDir=DEF_RX_EN; |
stanley1228 | 0:bf4774b25188 | 28 | dxl.baud((int)baudrate); |
stanley1228 | 0:bf4774b25188 | 29 | |
stanley1228 | 0:bf4774b25188 | 30 | return 1; |
stanley1228 | 0:bf4774b25188 | 31 | } |
stanley1228 | 0:bf4774b25188 | 32 | |
stanley1228 | 0:bf4774b25188 | 33 | void dxl_hal_close() |
stanley1228 | 0:bf4774b25188 | 34 | { |
stanley1228 | 0:bf4774b25188 | 35 | // Closing device |
stanley1228 | 0:bf4774b25188 | 36 | |
stanley1228 | 0:bf4774b25188 | 37 | //is there a close method for Serial class? |
stanley1228 | 0:bf4774b25188 | 38 | |
stanley1228 | 0:bf4774b25188 | 39 | } |
stanley1228 | 0:bf4774b25188 | 40 | |
stanley1228 | 0:bf4774b25188 | 41 | void dxl_hal_clear(void) |
stanley1228 | 0:bf4774b25188 | 42 | { |
stanley1228 | 0:bf4774b25188 | 43 | // Clear communication buffer |
stanley1228 | 0:bf4774b25188 | 44 | //char dumpster=0; |
stanley1228 | 0:bf4774b25188 | 45 | |
stanley1228 | 0:bf4774b25188 | 46 | gDir=DEF_RX_EN; |
stanley1228 | 0:bf4774b25188 | 47 | while (dxl.readable()) |
stanley1228 | 0:bf4774b25188 | 48 | { |
stanley1228 | 0:bf4774b25188 | 49 | dxl.getc(); |
stanley1228 | 0:bf4774b25188 | 50 | } |
stanley1228 | 0:bf4774b25188 | 51 | |
stanley1228 | 0:bf4774b25188 | 52 | //Wait_timer.reset(); // i think they expect a reset on a dxl_hal_clear() |
stanley1228 | 0:bf4774b25188 | 53 | //Wait_timer.stop(); |
stanley1228 | 0:bf4774b25188 | 54 | |
stanley1228 | 0:bf4774b25188 | 55 | } |
stanley1228 | 0:bf4774b25188 | 56 | |
stanley1228 | 0:bf4774b25188 | 57 | int dxl_hal_tx( unsigned char *pPacket, int numPacket ) |
stanley1228 | 0:bf4774b25188 | 58 | { |
stanley1228 | 0:bf4774b25188 | 59 | // Transmiting date |
stanley1228 | 0:bf4774b25188 | 60 | // *pPacket: data array pointer |
stanley1228 | 0:bf4774b25188 | 61 | // numPacket: number of data array |
stanley1228 | 0:bf4774b25188 | 62 | // Return: number of data transmitted. -1 is error. |
stanley1228 | 0:bf4774b25188 | 63 | |
stanley1228 | 0:bf4774b25188 | 64 | int i=0; |
stanley1228 | 0:bf4774b25188 | 65 | |
stanley1228 | 0:bf4774b25188 | 66 | gDir=DEF_TX_EN; |
stanley1228 | 0:bf4774b25188 | 67 | for (i=0; i<numPacket; i++) |
stanley1228 | 0:bf4774b25188 | 68 | { |
stanley1228 | 0:bf4774b25188 | 69 | while ( !dxl.writeable() ); // wait until you can write, may want to add timeout here |
stanley1228 | 0:bf4774b25188 | 70 | dxl.putc(pPacket[i]); //write |
stanley1228 | 0:bf4774b25188 | 71 | } |
stanley1228 | 0:bf4774b25188 | 72 | |
stanley1228 | 0:bf4774b25188 | 73 | wait_us(DEF_US_PER_BYTE_1MBPS*numPacket); |
stanley1228 | 0:bf4774b25188 | 74 | gDir=DEF_RX_EN; |
stanley1228 | 0:bf4774b25188 | 75 | |
stanley1228 | 0:bf4774b25188 | 76 | |
stanley1228 | 0:bf4774b25188 | 77 | //pc.printf("dxl_hal_tx numPacket=%d\n",numPacket);//stanley |
stanley1228 | 0:bf4774b25188 | 78 | |
stanley1228 | 0:bf4774b25188 | 79 | return numPacket; |
stanley1228 | 0:bf4774b25188 | 80 | } |
stanley1228 | 0:bf4774b25188 | 81 | |
stanley1228 | 0:bf4774b25188 | 82 | int dxl_hal_rx( unsigned char *pPacket, int numPacket ) |
stanley1228 | 0:bf4774b25188 | 83 | { |
stanley1228 | 0:bf4774b25188 | 84 | // Recieving date |
stanley1228 | 0:bf4774b25188 | 85 | // *pPacket: data array pointer |
stanley1228 | 0:bf4774b25188 | 86 | // numPacket: number of data array |
stanley1228 | 0:bf4774b25188 | 87 | // Return: number of data recieved. -1 is error. |
stanley1228 | 0:bf4774b25188 | 88 | |
stanley1228 | 0:bf4774b25188 | 89 | int i=0; |
stanley1228 | 0:bf4774b25188 | 90 | |
stanley1228 | 0:bf4774b25188 | 91 | while(dxl.readable()) |
stanley1228 | 0:bf4774b25188 | 92 | { |
stanley1228 | 0:bf4774b25188 | 93 | pPacket[i] = dxl.getc(); |
stanley1228 | 0:bf4774b25188 | 94 | i++; |
stanley1228 | 0:bf4774b25188 | 95 | } |
stanley1228 | 0:bf4774b25188 | 96 | |
stanley1228 | 0:bf4774b25188 | 97 | return i; |
stanley1228 | 0:bf4774b25188 | 98 | |
stanley1228 | 0:bf4774b25188 | 99 | //gDir=DEF_RX_EN; |
stanley1228 | 0:bf4774b25188 | 100 | //pc.printf("gDir=%d\n",gDir); |
stanley1228 | 0:bf4774b25188 | 101 | //for (i=0; i<numPacket; i++) |
stanley1228 | 0:bf4774b25188 | 102 | //{ |
stanley1228 | 0:bf4774b25188 | 103 | // while ( !dxl.readable() ); // wait until you can read, may want to add timeout here |
stanley1228 | 0:bf4774b25188 | 104 | // |
stanley1228 | 0:bf4774b25188 | 105 | // //temp= dxl.readable();//stanley |
stanley1228 | 0:bf4774b25188 | 106 | // //pc.printf("dxl.readable=%d\n",temp); |
stanley1228 | 0:bf4774b25188 | 107 | // pPacket[i] = dxl.getc(); // read |
stanley1228 | 0:bf4774b25188 | 108 | // |
stanley1228 | 0:bf4774b25188 | 109 | //} |
stanley1228 | 0:bf4774b25188 | 110 | |
stanley1228 | 0:bf4774b25188 | 111 | } |
stanley1228 | 0:bf4774b25188 | 112 | |
stanley1228 | 0:bf4774b25188 | 113 | |
stanley1228 | 0:bf4774b25188 | 114 | |
stanley1228 | 0:bf4774b25188 | 115 | Timer Wait_timer; |
stanley1228 | 0:bf4774b25188 | 116 | |
stanley1228 | 0:bf4774b25188 | 117 | float gfRcvWaitTime = 0.0f; |
stanley1228 | 0:bf4774b25188 | 118 | |
stanley1228 | 0:bf4774b25188 | 119 | void dxl_hal_set_timeout( int NumRcvByte ) |
stanley1228 | 0:bf4774b25188 | 120 | { |
stanley1228 | 0:bf4774b25188 | 121 | // Start stop watch |
stanley1228 | 0:bf4774b25188 | 122 | // NumRcvByte: number of recieving data(to calculate maximum waiting time) |
stanley1228 | 0:bf4774b25188 | 123 | |
stanley1228 | 0:bf4774b25188 | 124 | Wait_timer.reset(); |
stanley1228 | 0:bf4774b25188 | 125 | Wait_timer.start(); //start timer |
stanley1228 | 0:bf4774b25188 | 126 | gfRcvWaitTime = 900.0f+NumRcvByte*DEF_US_PER_BYTE_1MBPS; //900+NumRcvByte*20 |
stanley1228 | 0:bf4774b25188 | 127 | |
stanley1228 | 0:bf4774b25188 | 128 | } |
stanley1228 | 0:bf4774b25188 | 129 | |
stanley1228 | 0:bf4774b25188 | 130 | int dxl_hal_timeout(void) |
stanley1228 | 0:bf4774b25188 | 131 | { |
stanley1228 | 0:bf4774b25188 | 132 | // Check timeout |
stanley1228 | 0:bf4774b25188 | 133 | // Return: 0 is false (no timeout), 1 is true(timeout occurred) |
stanley1228 | 0:bf4774b25188 | 134 | |
stanley1228 | 0:bf4774b25188 | 135 | if(Wait_timer.read_us() > gfRcvWaitTime) |
stanley1228 | 0:bf4774b25188 | 136 | { //I'm assuming wait gfRcvWaitTime and gfByteTransTime are in units of (us) |
stanley1228 | 0:bf4774b25188 | 137 | return 1; // timeout! |
stanley1228 | 0:bf4774b25188 | 138 | } |
stanley1228 | 0:bf4774b25188 | 139 | else |
stanley1228 | 0:bf4774b25188 | 140 | return 0; |
stanley1228 | 0:bf4774b25188 | 141 | } |