Diff: dxl_hal.cpp

Revision:

6:1fe7b6875e86

Parent:

5:edccfcb47ab8

--- a/dxl_hal.cpp	Fri Feb 10 22:55:30 2017 +0800
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,141 +0,0 @@
-// Dynamixel SDK platform dependent source
-#include "dxl_hal.h"
-#include "mbed.h"
-#include "Serial.h"
-
-#define DEF_TX_EN 1
-#define DEF_RX_EN 0
-
- 
-
-static DigitalOut gDir(D3);
-Serial dxl(PA_9, PA_10);//UART1 TX, RX F446RE
-extern Serial pc;
-
-extern DigitalOut myled;
-
-
-#define DEF_US_PER_BYTE_1MBPS (20) //roughly 20us/byte for1Mbps use   stanley 
-
-int dxl_hal_open( int devIndex, float baudrate )
-{
-    // Opening device
-    // devIndex: Device index
-    // baudrate: Real baudrate (ex> 115200, 57600, 38400...)
-    // Return: 0(Failed), 1(Succeed)
-   
-    gDir=DEF_RX_EN;
-    dxl.baud((int)baudrate);
-    
-    return 1;
-}
- 
-void dxl_hal_close()
-{
-    // Closing device
-    
-    //is there a close method for Serial class?
- 
-}
- 
-void dxl_hal_clear(void)
-{
-    // Clear communication buffer
-    //char dumpster=0;
-    
-    gDir=DEF_RX_EN;
-    while (dxl.readable())
-    { 
-        dxl.getc(); 
-    } 
-    
-    //Wait_timer.reset(); // i think they expect a reset on a dxl_hal_clear()
-    //Wait_timer.stop();
- 
-}
- 
-int dxl_hal_tx( unsigned char *pPacket, int numPacket )
-{
-    // Transmiting date
-    // *pPacket: data array pointer
-    // numPacket: number of data array
-    // Return: number of data transmitted. -1 is error.
-    
-    int i=0;
- 
-    gDir=DEF_TX_EN;
-    for (i=0; i<numPacket; i++) 
-    {
-       while ( !dxl.writeable() );  // wait until you can write, may want to add timeout here
-       dxl.putc(pPacket[i]);  //write
-    }   
- 
-    wait_us(DEF_US_PER_BYTE_1MBPS*numPacket); 
-    gDir=DEF_RX_EN;
-    
-    
-    //pc.printf("dxl_hal_tx numPacket=%d\n",numPacket);//stanley
- 
-    return numPacket;
-}
- 
-int dxl_hal_rx( unsigned char *pPacket, int numPacket )
-{
-    // Recieving date
-    // *pPacket: data array pointer
-    // numPacket: number of data array
-    // Return: number of data recieved. -1 is error.
-    
-    int i=0;
-
-	while(dxl.readable())
-	{
-		pPacket[i] = dxl.getc();
-		i++;
-	}
-
-	return i;
-
-    //gDir=DEF_RX_EN;
-    //pc.printf("gDir=%d\n",gDir);
-    //for (i=0; i<numPacket; i++) 
-    //{
-    //    while ( !dxl.readable() );  // wait until you can read, may want to add timeout here
-    //    
-    //        //temp= dxl.readable();//stanley
-    //        //pc.printf("dxl.readable=%d\n",temp);
-    //     pPacket[i] = dxl.getc();  // read        
-    //    
-    //}
-    
-}
-
-
-  
-Timer Wait_timer;
- 
-float   gfRcvWaitTime   = 0.0f;
-
-void dxl_hal_set_timeout( int NumRcvByte )
-{
-    // Start stop watch
-    // NumRcvByte: number of recieving data(to calculate maximum waiting time)
-    
-	Wait_timer.reset();
-	Wait_timer.start(); //start timer
-    gfRcvWaitTime = 900.0f+NumRcvByte*DEF_US_PER_BYTE_1MBPS; //900+NumRcvByte*20
- 
-}
- 
-int dxl_hal_timeout(void)
-{
-    // Check timeout
-    // Return: 0 is false (no timeout), 1 is true(timeout occurred)
-    
-    if(Wait_timer.read_us() > gfRcvWaitTime)
-	{ //I'm assuming wait gfRcvWaitTime and gfByteTransTime are in units of (us)
-        return 1; // timeout!
-    } 
-    else 
-		return 0;
-}
\ No newline at end of file