Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

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Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

SCI.cpp

Committer:
syundo0730
Date:
2013-02-03
Revision:
12:6cd135bf03bd
Child:
13:711f74b2fa33

File content as of revision 12:6cd135bf03bd:

#include "mbed.h"
#include "SCI.h"

SCI::SCI(PinName tx, PinName rx)
{
    serial = new Serial(tx, rx);
}

SCI::~SCI()
{
    delete serial;
}

char SCI::getid()
{
    char comm, id;
    comm = getc_nowait();
    if (comm == 'A') {
        serial->putc(comm);
        serial->printf("command");
        id = getc_wait();
    }
    return id;
}

char SCI::getc_wait()
{
    while (!serial->readable()) {
        serial->printf("waiting..");
    }
    return serial->getc();
}

char SCI::getc_nowait()
{
    uint8_t buf = 0;
    if (serial->readable()) {
        buf = serial->getc();
    }
    return buf;
}

/*uint16_t readint(void)
{
    uint8_t buff[16];
    buff[0] = pc->getc();
    buff[1] = pc->getc();
    uint16_t val;
    val = (uint16_t)(buff[1] << 8) | (uint16_t)buff[0];
    return val;
}

void sendint(uint16_t val)
{
    uint8_t buff[16];
    buff[0] = (uint8_t)(val & 0x00FF);
    buff[1] = (uint8_t)(val >> 8);
    pc.putc(buff[0]);
    pc.putc(buff[1]);
}*/