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Dependencies: 3W_8Dir_p2pcontrol mbed
Fork of DXL_SDK_For_F446RE by
Diff: dxl_hal.cpp
- Revision:
- 0:bf4774b25188
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/dxl_hal.cpp Wed Feb 08 02:49:39 2017 +0000 @@ -0,0 +1,141 @@ +// 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