phirawat rattanachote / Communication_Robot

v2

Fork of Communication_Robot by Betago

communication.h@14:cf43df0ddb93, 2016-06-07 (annotated)

Committer:
palmdotax
Date:
Tue Jun 07 17:22:37 2016 +0000
Revision:
14:cf43df0ddb93
Parent:
4:36edd0a81d8e
Child:
10:dfcb16b99b85
v2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:0c88691e3904 1 #ifndef ANDANTE_COMMUNICATION_H
soulx 0:0c88691e3904 2 #define ANDANTE_COMMUNICATION_H
soulx 0:0c88691e3904 3
soulx 0:0c88691e3904 4 #include "mbed.h"
soulx 0:0c88691e3904 5 #include "iSerial.h"
soulx 0:0c88691e3904 6 #include "protocol.h"
soulx 0:0c88691e3904 7 #include "Utilities.h"
soulx 0:0c88691e3904 8
b0ssiz 4:36edd0a81d8e 9 #define ANDANTE_DEBUG
soulx 1:1f6864549b92 10
soulx 1:1f6864549b92 11
soulx 0:0c88691e3904 12 class COMMUNICATION
soulx 0:0c88691e3904 13 {
soulx 0:0c88691e3904 14 private:
soulx 2:56c1de1612dd 15 Serial *pc;
soulx 0:0c88691e3904 16 iSerial *serialCom;
soulx 0:0c88691e3904 17
soulx 0:0c88691e3904 18 public:
soulx 0:0c88691e3904 19 /** Send the MX28 packet over the serial half duplex connection.
soulx 0:0c88691e3904 20 *
soulx 0:0c88691e3904 21 * @param packet The MX28 packet.
soulx 0:0c88691e3904 22 * @return MX28_ERRBIT_NONE if succeeded, error code otherwise.
soulx 0:0c88691e3904 23 */
soulx 1:1f6864549b92 24 uint8_t sendCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
soulx 1:1f6864549b92 25 uint8_t receiveCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
soulx 0:0c88691e3904 26
soulx 0:0c88691e3904 27 /** Create an MX28 servo object connected to the specified serial half duplex pins,
soulx 0:0c88691e3904 28 * with the specified baudrate.
soulx 0:0c88691e3904 29 *
soulx 0:0c88691e3904 30 * @param tx Send pin.
soulx 0:0c88691e3904 31 * @param rx Receive pin.
soulx 0:0c88691e3904 32 * @param baudrate The bus speed.
soulx 0:0c88691e3904 33 */
soulx 0:0c88691e3904 34 COMMUNICATION(PinName tx, PinName rx, uint32_t baudRate, uint16_t tx_buff=1000, uint16_t rx_buff=1000 );
soulx 0:0c88691e3904 35
soulx 0:0c88691e3904 36 /** Destroy an MX28 servo object
soulx 0:0c88691e3904 37 */
soulx 0:0c88691e3904 38 ~COMMUNICATION();
soulx 0:0c88691e3904 39 };
soulx 0:0c88691e3904 40
soulx 0:0c88691e3904 41 #endif // MX28_H