need to use Dynamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
Fork of SerialHalfDuplex by
SerialHalfDuplex.cpp@0:7802a25daf3b, 2012-12-06 (annotated)
- Committer:
- mbed_unsupported
- Date:
- Thu Dec 06 12:46:52 2012 +0000
- Revision:
- 0:7802a25daf3b
- Child:
- 1:8fd1fa67565e
Serial Half-Duplex
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_unsupported | 0:7802a25daf3b | 1 | /* mbed Microcontroller Library |
mbed_unsupported | 0:7802a25daf3b | 2 | * Copyright (c) 2006-2012 ARM Limited |
mbed_unsupported | 0:7802a25daf3b | 3 | * |
mbed_unsupported | 0:7802a25daf3b | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
mbed_unsupported | 0:7802a25daf3b | 5 | * of this software and associated documentation files (the "Software"), to deal |
mbed_unsupported | 0:7802a25daf3b | 6 | * in the Software without restriction, including without limitation the rights |
mbed_unsupported | 0:7802a25daf3b | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
mbed_unsupported | 0:7802a25daf3b | 8 | * copies of the Software, and to permit persons to whom the Software is |
mbed_unsupported | 0:7802a25daf3b | 9 | * furnished to do so, subject to the following conditions: |
mbed_unsupported | 0:7802a25daf3b | 10 | * |
mbed_unsupported | 0:7802a25daf3b | 11 | * The above copyright notice and this permission notice shall be included in |
mbed_unsupported | 0:7802a25daf3b | 12 | * all copies or substantial portions of the Software. |
mbed_unsupported | 0:7802a25daf3b | 13 | * |
mbed_unsupported | 0:7802a25daf3b | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
mbed_unsupported | 0:7802a25daf3b | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
mbed_unsupported | 0:7802a25daf3b | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
mbed_unsupported | 0:7802a25daf3b | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
mbed_unsupported | 0:7802a25daf3b | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
mbed_unsupported | 0:7802a25daf3b | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
mbed_unsupported | 0:7802a25daf3b | 20 | * SOFTWARE. |
mbed_unsupported | 0:7802a25daf3b | 21 | * |
mbed_unsupported | 0:7802a25daf3b | 22 | * NOTE: This is an unsupported legacy untested library. |
mbed_unsupported | 0:7802a25daf3b | 23 | */ |
mbed_unsupported | 0:7802a25daf3b | 24 | #include "SerialHalfDuplex.h" |
mbed_unsupported | 0:7802a25daf3b | 25 | |
mbed_unsupported | 0:7802a25daf3b | 26 | #if DEVICE_SERIAL |
mbed_unsupported | 0:7802a25daf3b | 27 | |
mbed_unsupported | 0:7802a25daf3b | 28 | #include "pinmap.h" |
mbed_unsupported | 0:7802a25daf3b | 29 | #include "serial_api.h" |
mbed_unsupported | 0:7802a25daf3b | 30 | #include "gpio_api.h" |
mbed_unsupported | 0:7802a25daf3b | 31 | |
mbed_unsupported | 0:7802a25daf3b | 32 | namespace mbed { |
mbed_unsupported | 0:7802a25daf3b | 33 | |
mbed_unsupported | 0:7802a25daf3b | 34 | SerialHalfDuplex::SerialHalfDuplex(PinName tx, PinName rx, const char *name) |
mbed_unsupported | 0:7802a25daf3b | 35 | : Serial(tx, rx, name) { |
mbed_unsupported | 0:7802a25daf3b | 36 | _txpin = tx; |
mbed_unsupported | 0:7802a25daf3b | 37 | |
mbed_unsupported | 0:7802a25daf3b | 38 | gpio_input(_txpin); // set as input |
mbed_unsupported | 0:7802a25daf3b | 39 | pin_mode(_txpin, PullNone); // no pull |
mbed_unsupported | 0:7802a25daf3b | 40 | pin_function(_txpin, 0); // set as gpio |
mbed_unsupported | 0:7802a25daf3b | 41 | } |
mbed_unsupported | 0:7802a25daf3b | 42 | |
mbed_unsupported | 0:7802a25daf3b | 43 | // To transmit a byte in half duplex mode: |
mbed_unsupported | 0:7802a25daf3b | 44 | // 1. Disable interrupts, so we don't trigger on loopback byte |
mbed_unsupported | 0:7802a25daf3b | 45 | // 2. Set tx pin to UART out |
mbed_unsupported | 0:7802a25daf3b | 46 | // 3. Transmit byte as normal |
mbed_unsupported | 0:7802a25daf3b | 47 | // 4. Read back byte from looped back tx pin - this both confirms that the |
mbed_unsupported | 0:7802a25daf3b | 48 | // transmit has occurred, and also clears the byte from the buffer. |
mbed_unsupported | 0:7802a25daf3b | 49 | // 5. Return pin to input mode |
mbed_unsupported | 0:7802a25daf3b | 50 | // 6. Re-enable interrupts |
mbed_unsupported | 0:7802a25daf3b | 51 | |
mbed_unsupported | 0:7802a25daf3b | 52 | int SerialHalfDuplex::_putc(int c) { |
mbed_unsupported | 0:7802a25daf3b | 53 | int retc; |
mbed_unsupported | 0:7802a25daf3b | 54 | |
mbed_unsupported | 0:7802a25daf3b | 55 | // TODO: We should not disable all interrupts |
mbed_unsupported | 0:7802a25daf3b | 56 | __disable_irq(); |
mbed_unsupported | 0:7802a25daf3b | 57 | |
mbed_unsupported | 0:7802a25daf3b | 58 | serial_pinout_tx(_txpin); |
mbed_unsupported | 0:7802a25daf3b | 59 | |
mbed_unsupported | 0:7802a25daf3b | 60 | Serial::_putc(c); |
mbed_unsupported | 0:7802a25daf3b | 61 | retc = Serial::getc(); // reading also clears any interrupt |
mbed_unsupported | 0:7802a25daf3b | 62 | |
mbed_unsupported | 0:7802a25daf3b | 63 | pin_function(_txpin, 0); |
mbed_unsupported | 0:7802a25daf3b | 64 | |
mbed_unsupported | 0:7802a25daf3b | 65 | __enable_irq(); |
mbed_unsupported | 0:7802a25daf3b | 66 | |
mbed_unsupported | 0:7802a25daf3b | 67 | return retc; |
mbed_unsupported | 0:7802a25daf3b | 68 | } |
mbed_unsupported | 0:7802a25daf3b | 69 | |
mbed_unsupported | 0:7802a25daf3b | 70 | int SerialHalfDuplex::_getc(void) { |
mbed_unsupported | 0:7802a25daf3b | 71 | return Serial::_getc(); |
mbed_unsupported | 0:7802a25daf3b | 72 | } |
mbed_unsupported | 0:7802a25daf3b | 73 | |
mbed_unsupported | 0:7802a25daf3b | 74 | } // End namespace |
mbed_unsupported | 0:7802a25daf3b | 75 | |
mbed_unsupported | 0:7802a25daf3b | 76 | #endif |