Revision 1:cb08e032ef91, committed 2014-04-01

Comitter:

aimen

Date:

Tue Apr 01 06:22:23 2014 +0000

Parent:

0:db8f063d50f0

Commit message:

no change to lib. It is making me do this to publish

Changed in this revision

--- a/AX12.cpp	Wed Oct 05 12:08:21 2011 +0000
+++ b/AX12.cpp	Tue Apr 01 06:22:23 2014 +0000
@@ -22,7 +22,6 @@
  */
 
 #include "AX12.h"
-#include "mbed.h"
 
 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
         : _ax12(tx,rx) {
@@ -64,14 +63,10 @@
     }
 
     // 1023 / 300 * degrees
-    short goal = (1023 * degrees) / 300;
-#ifdef AX12_DEBUG
-    printf("SetGoal to 0x%x\n",goal);
-#endif
+    short goal = (1023 * degrees) / 300;   
 
     data[0] = goal & 0xff; // bottom 8 bits
-    data[1] = goal >> 8;   // top 8 bits
-
+    data[1] = goal >> 8;   // top 8 bits 
     // write the packet, return the error code
     int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
 
@@ -423,15 +418,10 @@
 
 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
-
     char TxBuf[16];
     char sum = 0;
     char Status[6];
 
-#ifdef AX12_WRITE_DEBUG
-    printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
-#endif
-
     // Build the TxPacket first in RAM, then we'll send in one go
 #ifdef AX12_WRITE_DEBUG
     printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
@@ -444,18 +434,10 @@
     TxBuf[2] = ID;
     sum += TxBuf[2];
 
-#ifdef AX12_WRITE_DEBUG
-    printf("  ID : %d\n",TxBuf[2]);
-#endif
-
     // packet Length
     TxBuf[3] = 3+bytes;
     sum += TxBuf[3];
 
-#ifdef AX12_WRITE_DEBUG
-    printf("  Length : %d\n",TxBuf[3]);
-#endif
-
     // Instruction
     if (flag == 1) {
         TxBuf[4]=0x04;
@@ -465,41 +447,24 @@
         sum += TxBuf[4];
     }
 
-#ifdef AX12_WRITE_DEBUG
-    printf("  Instruction : 0x%x\n",TxBuf[4]);
-#endif
-
     // Start Address
     TxBuf[5] = start;
     sum += TxBuf[5];
 
-#ifdef AX12_WRITE_DEBUG
-    printf("  Start : 0x%x\n",TxBuf[5]);
-#endif
-
     // data
     for (char i=0; i<bytes ; i++) {
         TxBuf[6+i] = data[i];
         sum += TxBuf[6+i];
-
-#ifdef AX12_WRITE_DEBUG
-        printf("  Data : 0x%x\n",TxBuf[6+i]);
-#endif
-
     }
 
     // checksum
     TxBuf[6+bytes] = 0xFF - sum;
 
-#ifdef AX12_WRITE_DEBUG
-    printf("  Checksum : 0x%x\n",TxBuf[6+bytes]);
-#endif
-
     // Transmit the packet in one burst with no pausing
-    for (int i = 0; i < (7 + bytes) ; i++) {
-        _ax12.putc(TxBuf[i]);
+    for (int i = 0; i < (7 + bytes); i++) {
+        _ax12.putc(TxBuf[i]); 
     }
-
+    
     // Wait for data to transmit
     wait (0.00002);
 
@@ -528,19 +493,7 @@
             wait (1.0/_baud);
             timeout++;
         }
-
-
         // Build the TxPacket first in RAM, then we'll send in one go
-#ifdef AX12_WRITE_DEBUG
-        printf("\nStatus Packet\n  Header : 0x%X, 0x%X\n",Status[0],Status[1]);
-        printf("  ID : %d\n",Status[2]);
-        printf("  Length : %d\n",Status[3]);
-        printf("  Error : 0x%x\n",Status[4]);
-        printf("  Checksum : 0x%x\n",Status[5]);
-#endif
-
-
     }
-
     return(Status[4]); // return error code
 }

--- a/AX12.h	Wed Oct 05 12:08:21 2011 +0000
+++ b/AX12.h	Tue Apr 01 06:22:23 2014 +0000
@@ -20,16 +20,16 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */
-
 #ifndef MBED_AX12_H
 #define MBED_AX12_H
 
 #include "mbed.h"
+#include "SerialHalfDuplex.h"
 
-//#define AX12_WRITE_DEBUG 0
-//#define AX12_READ_DEBUG 0
-//#define AX12_TRIGGER_DEBUG 0
-//#define AX12_DEBUG 0
+#define AX12_WRITE_DEBUG 0
+#define AX12_READ_DEBUG 0
+#define AX12_TRIGGER_DEBUG 0
+#define AX12_DEBUG 0
 
 #define AX12_REG_ID 0x3
 #define AX12_REG_BAUD 0x4
@@ -183,6 +183,7 @@
 
     int read(int ID, int start, int length, char* data);
     int write(int ID, int start, int length, char* data, int flag=0);
+    char *itoa(short int n );
 
 private :