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Dependencies: 3W_8Dir_p2pcontrol mbed
Fork of DXL_SDK_For_F446RE by
dxl_hal.cpp
- Committer:
- stanley1228
- Date:
- 2017-02-08
- Revision:
- 0:bf4774b25188
File content as of revision 0:bf4774b25188:
// 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; }