File content as of revision 5:edccfcb47ab8:

// 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;
}