communication.h

00001 #ifndef ANDANTE_COMMUNICATION_H
00002 #define ANDANTE_COMMUNICATION_H
00003 
00004 #include "mbed.h"
00005 #include "iSerial.h"
00006 #include "protocol.h"
00007 #include "Utilities.h"
00008 
00009 #define ANDANTE_DEBUG
00010 
00011 
00012 class COMMUNICATION
00013 {
00014 private:
00015     Serial *pc; 
00016     iSerial *serialCom;
00017 
00018 public:
00019     /** Send the MX28 packet over the serial half duplex connection.
00020     *
00021     * @param packet The MX28 packet.
00022     * @return MX28_ERRBIT_NONE if succeeded, error code otherwise.
00023     */
00024     uint8_t sendCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
00025     uint8_t receiveCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
00026 
00027     /** Create an MX28 servo object connected to the specified serial half duplex pins,
00028     *   with the specified baudrate.
00029     *
00030     * @param tx Send pin.
00031     * @param rx Receive pin.
00032     * @param baudrate The bus speed.
00033     */
00034     COMMUNICATION(PinName tx, PinName rx, uint32_t baudRate, uint16_t tx_buff=1000, uint16_t rx_buff=1000 );
00035 
00036     /** Destroy an MX28 servo object
00037     */
00038     ~COMMUNICATION();
00039 };
00040 
00041 #endif // MX28_H