James Hilder / Mbed 2 deprecated PR_RobotArmSetup

Code to set up an AX-12 or MX-28 (and to scan for unidentified servos) ready for use in the robot arm.

Dependencies:   mbed

SerialHalfDuplex.cpp@0:03f84c95f73b, 2017-02-16 (annotated)

Committer:
jah128
Date:
Thu Feb 16 20:45:33 2017 +0000
Revision:
0:03f84c95f73b
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:03f84c95f73b 1 /* NB This is part of an older MBED library, included so the older code runs on the
jah128 0:03f84c95f73b 2 * newer MBED library. There is probably a better implementation.... - jah */
jah128 0:03f84c95f73b 3
jah128 0:03f84c95f73b 4 /* mbed Microcontroller Library
jah128 0:03f84c95f73b 5 * Copyright (c) 2006-2012 ARM Limited
jah128 0:03f84c95f73b 6 *
jah128 0:03f84c95f73b 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
jah128 0:03f84c95f73b 8 * of this software and associated documentation files (the "Software"), to deal
jah128 0:03f84c95f73b 9 * in the Software without restriction, including without limitation the rights
jah128 0:03f84c95f73b 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jah128 0:03f84c95f73b 11 * copies of the Software, and to permit persons to whom the Software is
jah128 0:03f84c95f73b 12 * furnished to do so, subject to the following conditions:
jah128 0:03f84c95f73b 13 *
jah128 0:03f84c95f73b 14 * The above copyright notice and this permission notice shall be included in
jah128 0:03f84c95f73b 15 * all copies or substantial portions of the Software.
jah128 0:03f84c95f73b 16 *
jah128 0:03f84c95f73b 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jah128 0:03f84c95f73b 18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jah128 0:03f84c95f73b 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jah128 0:03f84c95f73b 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jah128 0:03f84c95f73b 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jah128 0:03f84c95f73b 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
jah128 0:03f84c95f73b 23 * SOFTWARE.
jah128 0:03f84c95f73b 24 *
jah128 0:03f84c95f73b 25 * NOTE: This is an unsupported legacy untested library.
jah128 0:03f84c95f73b 26 */
jah128 0:03f84c95f73b 27 #include "SerialHalfDuplex.h"
jah128 0:03f84c95f73b 28
jah128 0:03f84c95f73b 29 #if DEVICE_SERIAL
jah128 0:03f84c95f73b 30
jah128 0:03f84c95f73b 31 #include "pinmap.h"
jah128 0:03f84c95f73b 32 #include "serial_api.h"
jah128 0:03f84c95f73b 33 #include "gpio_api.h"
jah128 0:03f84c95f73b 34
jah128 0:03f84c95f73b 35 namespace mbed {
jah128 0:03f84c95f73b 36
jah128 0:03f84c95f73b 37 SerialHalfDuplex::SerialHalfDuplex(PinName tx, PinName rx, const char *name)
jah128 0:03f84c95f73b 38 : Serial(tx, rx, name) {
jah128 0:03f84c95f73b 39 _txpin = tx;
jah128 0:03f84c95f73b 40
jah128 0:03f84c95f73b 41 // set as input
jah128 0:03f84c95f73b 42 gpio_set(_txpin);
jah128 0:03f84c95f73b 43 pin_mode(_txpin, PullNone); // no pull
jah128 0:03f84c95f73b 44 pin_function(_txpin, 0); // set as gpio
jah128 0:03f84c95f73b 45 }
jah128 0:03f84c95f73b 46
jah128 0:03f84c95f73b 47 // To transmit a byte in half duplex mode:
jah128 0:03f84c95f73b 48 // 1. Disable interrupts, so we don't trigger on loopback byte
jah128 0:03f84c95f73b 49 // 2. Set tx pin to UART out
jah128 0:03f84c95f73b 50 // 3. Transmit byte as normal
jah128 0:03f84c95f73b 51 // 4. Read back byte from looped back tx pin - this both confirms that the
jah128 0:03f84c95f73b 52 // transmit has occurred, and also clears the byte from the buffer.
jah128 0:03f84c95f73b 53 // 5. Return pin to input mode
jah128 0:03f84c95f73b 54 // 6. Re-enable interrupts
jah128 0:03f84c95f73b 55
jah128 0:03f84c95f73b 56 int SerialHalfDuplex::_putc(int c) {
jah128 0:03f84c95f73b 57 int retc;
jah128 0:03f84c95f73b 58
jah128 0:03f84c95f73b 59 // TODO: We should not disable all interrupts
jah128 0:03f84c95f73b 60 __disable_irq();
jah128 0:03f84c95f73b 61
jah128 0:03f84c95f73b 62 serial_pinout_tx(_txpin);
jah128 0:03f84c95f73b 63
jah128 0:03f84c95f73b 64 Serial::_putc(c);
jah128 0:03f84c95f73b 65 retc = Serial::getc(); // reading also clears any interrupt
jah128 0:03f84c95f73b 66
jah128 0:03f84c95f73b 67 pin_function(_txpin, 0);
jah128 0:03f84c95f73b 68
jah128 0:03f84c95f73b 69 __enable_irq();
jah128 0:03f84c95f73b 70
jah128 0:03f84c95f73b 71 return retc;
jah128 0:03f84c95f73b 72 }
jah128 0:03f84c95f73b 73
jah128 0:03f84c95f73b 74 int SerialHalfDuplex::_getc(void) {
jah128 0:03f84c95f73b 75 return Serial::_getc();
jah128 0:03f84c95f73b 76 }
jah128 0:03f84c95f73b 77
jah128 0:03f84c95f73b 78 } // End namespace
jah128 0:03f84c95f73b 79
jah128 0:03f84c95f73b 80 #endif