雄介 太田
Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
Revision 12:7affd17fcb66, committed 2015-05-03
- Comitter:
- yusuke_kyo
- Date:
- Sun May 03 16:17:31 2015 +0000
- Parent:
- 11:cb0d11254b22
- Child:
- 13:4e0038372889
- Commit message:
- Debug;
Changed in this revision
--- a/AX12.cpp Sat Apr 25 06:07:02 2015 +0000
+++ b/AX12.cpp Sun May 03 16:17:31 2015 +0000
@@ -21,6 +21,8 @@
* THE SOFTWARE.
*/
+int timer=0;
+
#include "AX12.h"
#include "mbed.h"
//#include "SerialHalfDuplex.h"
@@ -358,17 +360,44 @@
// Skip if the read was to the broadcast address
if (_ID != 0xFE) {
-
- // Receive the Status packet 6+ number of bytes read
- for (int i=0; i<(6+bytes) ; i++) {
- Status[i] = _ax12.getc();
+ if(timer==0){
+ // Receive the Status packet 6+ number of bytes read
+ for (int i=0; i<(6+bytes) ; i++) {
+ Status[i] = _ax12.getc();
+ }
}
-
+ else{
+ // response packet is always 6 bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. 60 bit periods, round up to 100
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < 100) && (plen<6)) {
+
+ if (_ax12.readable()) {
+ Status[plen] = _ax12.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ // int baudrate = 1000000;
+ // wait (1.0/baudrate);
+ wait(0.01);
+ timeout++;
+ }
+
+ if (timeout == ((6+bytes)*10) ) {
+ return(-1);
+ }
+ }
+
// Copy the data from Status into data for return
for (int i=0; i < Status[3]-2 ; i++) {
data[i] = Status[5+i];
}
-
+
if (AX12_READ_DEBUG) {
printf("\nStatus Packet\n");
printf(" Header : 0x%x\n",Status[0]);
@@ -475,13 +504,38 @@
// we'll only get a reply if it was not broadcast
if (_ID!=0xFE) {
+ if(timer==0){
+ // response is always 6 bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ for (int i=0; i < 6 ; i++) {
+ Status[i] = _ax12.getc();
+ }
+ }
+ else{
- // response is always 6 bytes
- // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
- for (int i=0; i < 6 ; i++) {
- Status[i] = _ax12.getc();
+ // response packet is always 6 + bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. (6+bytes)*10 bit periods
+
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+ if (_ax12.readable()) {
+ Status[plen] = _ax12.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ // int baudrate = 1000000;
+ // wait (1.0/baudrate);
+ wait(0.01);
+ timeout++;
+ }
}
-
+
// Build the TxPacket first in RAM, then we'll send in one go
if (AX12_WRITE_DEBUG) {
printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
--- a/MX28.cpp Sat Apr 25 06:07:02 2015 +0000
+++ b/MX28.cpp Sun May 03 16:17:31 2015 +0000
@@ -21,6 +21,8 @@
* THE SOFTWARE.
*/
+int mx28timer=0;
+
#include "MX28.h"
#include "mbed.h"
//#include "SerialHalfDuplex.h"
@@ -372,12 +374,45 @@
// Skip if the read was to the broadcast address
if (_ID != 0xFE) {
-
- // Receive the Status packet 6+ number of bytes read
- for (int i=0; i<(6+bytes) ; i++) {
- Status[i] = _mx28.getc();
+ if(mx28timer==0){
+ // Receive the Status packet 6+ number of bytes read
+ for (int i=0; i<(6+bytes) ; i++) {
+ Status[i] = _mx28.getc();
+ }
+
+ // Copy the data from Status into data for return
+ for (int i=0; i < Status[3]-2 ; i++) {
+ data[i] = Status[5+i];
+ }
}
-
+ else{
+ // response packet is always 6 + bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. (6+bytes)*10 bit periods
+
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+ if (_mx28.readable()) {
+ Status[plen] = _mx28.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ // int baudrate = 1000000;
+ // wait (1.0/baudrate);
+ wait(0.01);
+ timeout++;
+ }
+
+ if (timeout == ((6+bytes)*10) ) {
+ return(-1);
+ }
+ }
+
// Copy the data from Status into data for return
for (int i=0; i < Status[3]-2 ; i++) {
data[i] = Status[5+i];
@@ -488,13 +523,35 @@
// we'll only get a reply if it was not broadcast
if (_ID!=0xFE) {
-
- // response is always 6 bytes
- // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
- for (int i=0; i < 6 ; i++) {
- Status[i] = _mx28.getc();
+ if(mx28timer==0){
+ // response is always 6 bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ for (int i=0; i < 6 ; i++) {
+ Status[i] = _mx28.getc();
+ }
}
-
+ else{
+ // response packet is always 6 + bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. (6+bytes)*10 bit periods
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+ if (_mx28.readable()) {
+ Status[plen] = _mx28.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ // int baudrate = 1000000;
+ // wait (1.0/baudrate);
+ wait(0.01);
+ timeout++;
+ }
+ }
// Build the TxPacket first in RAM, then we'll send in one go
if (MX28_WRITE_DEBUG) {
printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SerialHalfDuplex.lib Sun May 03 16:17:31 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aimen/code/SerialHalfDuplex/#a5021aaf31d9