dynamixel protocol engine
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DynamixelBus.cpp@5:8b70bee8059b, 2016-02-04 (annotated)
- Committer:
- henryrawas
- Date:
- Thu Feb 04 20:10:09 2016 +0000
- Revision:
- 5:8b70bee8059b
- Parent:
- 4:fe2a6b66cb85
update copyright
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
henryrawas | 5:8b70bee8059b | 1 | /* Copyright (C) 2016 Telesensorics Inc, MIT License |
henryrawas | 4:fe2a6b66cb85 | 2 | * |
henryrawas | 4:fe2a6b66cb85 | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
henryrawas | 4:fe2a6b66cb85 | 4 | * and associated documentation files (the "Software"), to deal in the Software without restriction, |
henryrawas | 4:fe2a6b66cb85 | 5 | * including without limitation the rights to use, copy, modify, merge, publish, distribute, |
henryrawas | 4:fe2a6b66cb85 | 6 | * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is |
henryrawas | 4:fe2a6b66cb85 | 7 | * furnished to do so, subject to the following conditions: |
henryrawas | 4:fe2a6b66cb85 | 8 | * |
henryrawas | 4:fe2a6b66cb85 | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
henryrawas | 4:fe2a6b66cb85 | 10 | * substantial portions of the Software. |
henryrawas | 4:fe2a6b66cb85 | 11 | * |
henryrawas | 4:fe2a6b66cb85 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
henryrawas | 4:fe2a6b66cb85 | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
henryrawas | 4:fe2a6b66cb85 | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
henryrawas | 4:fe2a6b66cb85 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
henryrawas | 4:fe2a6b66cb85 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
henryrawas | 4:fe2a6b66cb85 | 17 | */ |
henryrawas | 4:fe2a6b66cb85 | 18 | |
jepickett | 0:35c27ebd9e8e | 19 | #include <mbed.h> |
jepickett | 0:35c27ebd9e8e | 20 | #include "DynamixelBus.h" |
jepickett | 0:35c27ebd9e8e | 21 | |
jepickett | 0:35c27ebd9e8e | 22 | |
jepickett | 0:35c27ebd9e8e | 23 | DynamixelBus::DynamixelBus( PinName txUartPin, PinName rxUartPin, PinName txSelectPin, PinName rxSelectPin, int baud ) |
jepickett | 0:35c27ebd9e8e | 24 | : _uart( txUartPin, rxUartPin), _txSelect(txSelectPin, 0), _rxSelect(rxSelectPin, 0) { |
jepickett | 1:c5327c6d6239 | 25 | _responseTimeout = .004; |
jepickett | 0:35c27ebd9e8e | 26 | _baud = baud; |
jepickett | 0:35c27ebd9e8e | 27 | _uart.baud(_baud); |
jepickett | 0:35c27ebd9e8e | 28 | _replyDelay = .0012; |
jepickett | 0:35c27ebd9e8e | 29 | } |
jepickett | 0:35c27ebd9e8e | 30 | |
jepickett | 0:35c27ebd9e8e | 31 | |
jepickett | 0:35c27ebd9e8e | 32 | StatusCode DynamixelBus::Ping( ServoId id ) |
jepickett | 0:35c27ebd9e8e | 33 | { |
jepickett | 0:35c27ebd9e8e | 34 | return send_ping( id ); |
jepickett | 0:35c27ebd9e8e | 35 | } |
jepickett | 0:35c27ebd9e8e | 36 | |
jepickett | 0:35c27ebd9e8e | 37 | |
jepickett | 0:35c27ebd9e8e | 38 | StatusCode DynamixelBus::Read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data ) |
jepickett | 0:35c27ebd9e8e | 39 | { |
jepickett | 0:35c27ebd9e8e | 40 | return send_read( id, controlTableStart, bytesToRead, data ); |
jepickett | 0:35c27ebd9e8e | 41 | } |
jepickett | 0:35c27ebd9e8e | 42 | |
jepickett | 0:35c27ebd9e8e | 43 | |
jepickett | 0:35c27ebd9e8e | 44 | StatusCode DynamixelBus::Write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite ) |
jepickett | 0:35c27ebd9e8e | 45 | { |
jepickett | 0:35c27ebd9e8e | 46 | return send_write( id, controlTableStart, dataToWrite ); |
jepickett | 0:35c27ebd9e8e | 47 | } |
jepickett | 0:35c27ebd9e8e | 48 | |
jepickett | 0:35c27ebd9e8e | 49 | |
jepickett | 0:35c27ebd9e8e | 50 | StatusCode DynamixelBus::WriteAction( ServoId id, unsigned char start, const CommBuffer& dataToWrite ) |
jepickett | 0:35c27ebd9e8e | 51 | { |
jepickett | 0:35c27ebd9e8e | 52 | return 0; |
jepickett | 0:35c27ebd9e8e | 53 | } |
jepickett | 0:35c27ebd9e8e | 54 | |
jepickett | 0:35c27ebd9e8e | 55 | |
jepickett | 0:35c27ebd9e8e | 56 | void DynamixelBus::TriggerAction( ServoId id ) |
jepickett | 0:35c27ebd9e8e | 57 | { |
jepickett | 0:35c27ebd9e8e | 58 | return; |
jepickett | 0:35c27ebd9e8e | 59 | } |
jepickett | 0:35c27ebd9e8e | 60 | |
jepickett | 0:35c27ebd9e8e | 61 | |
jepickett | 0:35c27ebd9e8e | 62 | StatusCode DynamixelBus::HardReset( ServoId id ) |
jepickett | 0:35c27ebd9e8e | 63 | { |
jepickett | 0:35c27ebd9e8e | 64 | return 0; |
jepickett | 0:35c27ebd9e8e | 65 | } |
jepickett | 0:35c27ebd9e8e | 66 | |
jepickett | 0:35c27ebd9e8e | 67 | |
jepickett | 0:35c27ebd9e8e | 68 | StatusCode DynamixelBus::SyncWrite( unsigned char controlTableStart, unsigned char bytesToWrite, vector<SyncIdDataPair>& data ) |
jepickett | 0:35c27ebd9e8e | 69 | { |
jepickett | 0:35c27ebd9e8e | 70 | return 0; |
jepickett | 0:35c27ebd9e8e | 71 | } |
jepickett | 0:35c27ebd9e8e | 72 | |
jepickett | 0:35c27ebd9e8e | 73 | |
jepickett | 0:35c27ebd9e8e | 74 | unsigned char DynamixelBus::CalculateTxPacketChecksum( CommBuffer& packet ) |
jepickett | 0:35c27ebd9e8e | 75 | { |
jepickett | 0:35c27ebd9e8e | 76 | int sum = 0; |
jepickett | 0:35c27ebd9e8e | 77 | for( int n = 0; n < packet.size(); n++ ) |
jepickett | 0:35c27ebd9e8e | 78 | { |
jepickett | 0:35c27ebd9e8e | 79 | if( n == 0 || n == 1 ) |
jepickett | 0:35c27ebd9e8e | 80 | { |
jepickett | 0:35c27ebd9e8e | 81 | continue; |
jepickett | 0:35c27ebd9e8e | 82 | } |
jepickett | 0:35c27ebd9e8e | 83 | |
jepickett | 0:35c27ebd9e8e | 84 | sum += packet[n]; |
jepickett | 0:35c27ebd9e8e | 85 | } |
jepickett | 0:35c27ebd9e8e | 86 | |
jepickett | 0:35c27ebd9e8e | 87 | return (~sum & 0xFF); // AX-12 reference manual p. 10, Section 3-2 |
jepickett | 0:35c27ebd9e8e | 88 | } |
jepickett | 0:35c27ebd9e8e | 89 | |
jepickett | 0:35c27ebd9e8e | 90 | |
jepickett | 0:35c27ebd9e8e | 91 | // pings a servo at a specified ID |
jepickett | 0:35c27ebd9e8e | 92 | // |
jepickett | 0:35c27ebd9e8e | 93 | // returns the status code of the unit if found, otherwise returns 0 |
jepickett | 0:35c27ebd9e8e | 94 | // |
jepickett | 0:35c27ebd9e8e | 95 | // REVIEW: will Ping work if AX-12's StatusReturnLevel is set to not return status packets? |
jepickett | 0:35c27ebd9e8e | 96 | StatusCode DynamixelBus::send_ping( ServoId id ) |
jepickett | 0:35c27ebd9e8e | 97 | { |
jepickett | 0:35c27ebd9e8e | 98 | // 0xff, 0xff, ID, Length, Instruction(ping), Checksum |
jepickett | 1:c5327c6d6239 | 99 | CommBuffer txBuf; |
jepickett | 0:35c27ebd9e8e | 100 | |
jepickett | 0:35c27ebd9e8e | 101 | txBuf.push_back( 0xff ); |
jepickett | 0:35c27ebd9e8e | 102 | txBuf.push_back( 0xff ); |
jepickett | 0:35c27ebd9e8e | 103 | txBuf.push_back( id ); |
jepickett | 0:35c27ebd9e8e | 104 | txBuf.push_back( 2 ); // length of remaining packet |
jepickett | 0:35c27ebd9e8e | 105 | txBuf.push_back( instructionPing ); |
jepickett | 0:35c27ebd9e8e | 106 | txBuf.push_back( CalculateTxPacketChecksum( txBuf ) ); |
jepickett | 0:35c27ebd9e8e | 107 | |
jepickett | 0:35c27ebd9e8e | 108 | _txSelect = 1; |
jepickett | 0:35c27ebd9e8e | 109 | |
jepickett | 0:35c27ebd9e8e | 110 | for( CommBuffer::iterator itSend = txBuf.begin(); itSend != txBuf.end(); itSend++) |
jepickett | 0:35c27ebd9e8e | 111 | { |
jepickett | 0:35c27ebd9e8e | 112 | _uart.putc(*itSend); |
jepickett | 0:35c27ebd9e8e | 113 | } |
jepickett | 0:35c27ebd9e8e | 114 | |
jepickett | 0:35c27ebd9e8e | 115 | // Wait for data to transmit |
jepickett | 1:c5327c6d6239 | 116 | double transmitDelay = (double)txBuf.size() * 8.0 * 1.0/(double)_baud; |
jepickett | 1:c5327c6d6239 | 117 | wait( transmitDelay ); |
jepickett | 0:35c27ebd9e8e | 118 | |
jepickett | 0:35c27ebd9e8e | 119 | // swap inputs for half duplex communication |
jepickett | 0:35c27ebd9e8e | 120 | _txSelect = 0; |
jepickett | 0:35c27ebd9e8e | 121 | _rxSelect = 1; |
jepickett | 0:35c27ebd9e8e | 122 | |
jepickett | 1:c5327c6d6239 | 123 | // 0xff, 0xff, ID, Length, Error, Checksum |
jepickett | 1:c5327c6d6239 | 124 | CommBuffer replyBuf; |
jepickett | 0:35c27ebd9e8e | 125 | |
jepickett | 1:c5327c6d6239 | 126 | // we'll only get a reply if it was not broadcast (TODO: and status reply option is selected in servo) |
jepickett | 0:35c27ebd9e8e | 127 | bool statusReceived = false; |
jepickett | 1:c5327c6d6239 | 128 | Timer t; |
jepickett | 0:35c27ebd9e8e | 129 | if( id != 0xFE ) |
jepickett | 0:35c27ebd9e8e | 130 | { |
jepickett | 1:c5327c6d6239 | 131 | t.start(); |
jepickett | 1:c5327c6d6239 | 132 | |
jepickett | 1:c5327c6d6239 | 133 | while( t.read() < _responseTimeout ) |
jepickett | 0:35c27ebd9e8e | 134 | { |
jepickett | 1:c5327c6d6239 | 135 | if( _uart.readable()) |
jepickett | 0:35c27ebd9e8e | 136 | { |
jepickett | 1:c5327c6d6239 | 137 | // BUGBUG: unsigned char b = _uart.getc(); |
jepickett | 1:c5327c6d6239 | 138 | // Bug with _uart.getc() on FRDM-K64F. Instead read directly from uart |
jepickett | 1:c5327c6d6239 | 139 | char b = UART3->D; |
jepickett | 1:c5327c6d6239 | 140 | |
jepickett | 1:c5327c6d6239 | 141 | replyBuf.push_back( b ); |
jepickett | 0:35c27ebd9e8e | 142 | |
jepickett | 1:c5327c6d6239 | 143 | if( replyBuf.size() == 6) |
jepickett | 1:c5327c6d6239 | 144 | { |
jepickett | 1:c5327c6d6239 | 145 | statusReceived = true; |
jepickett | 1:c5327c6d6239 | 146 | break; |
jepickett | 1:c5327c6d6239 | 147 | } |
jepickett | 0:35c27ebd9e8e | 148 | } |
jepickett | 0:35c27ebd9e8e | 149 | } |
jepickett | 1:c5327c6d6239 | 150 | |
jepickett | 1:c5327c6d6239 | 151 | t.stop(); |
jepickett | 0:35c27ebd9e8e | 152 | } |
jepickett | 1:c5327c6d6239 | 153 | |
jepickett | 0:35c27ebd9e8e | 154 | _rxSelect = 0; |
jepickett | 0:35c27ebd9e8e | 155 | |
jepickett | 0:35c27ebd9e8e | 156 | if( statusReceived ) |
jepickett | 0:35c27ebd9e8e | 157 | { |
jepickett | 1:c5327c6d6239 | 158 | return (unsigned char)(replyBuf[4] | statusValid); |
jepickett | 0:35c27ebd9e8e | 159 | } |
jepickett | 0:35c27ebd9e8e | 160 | else |
jepickett | 0:35c27ebd9e8e | 161 | { |
jepickett | 0:35c27ebd9e8e | 162 | return 0; |
jepickett | 0:35c27ebd9e8e | 163 | } |
jepickett | 0:35c27ebd9e8e | 164 | } |
jepickett | 0:35c27ebd9e8e | 165 | |
jepickett | 0:35c27ebd9e8e | 166 | |
jepickett | 0:35c27ebd9e8e | 167 | StatusCode DynamixelBus::send_read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data ) |
jepickett | 0:35c27ebd9e8e | 168 | { |
jepickett | 0:35c27ebd9e8e | 169 | // 0xff, 0xff, ID, Packet Length, Instruction(read), Control Table Start, Length to Read, Checksum |
jepickett | 0:35c27ebd9e8e | 170 | CommBuffer txBuf; |
jepickett | 0:35c27ebd9e8e | 171 | |
jepickett | 0:35c27ebd9e8e | 172 | txBuf.push_back( 0xff ); |
jepickett | 0:35c27ebd9e8e | 173 | txBuf.push_back( 0xff ); |
jepickett | 0:35c27ebd9e8e | 174 | txBuf.push_back( id ); |
jepickett | 0:35c27ebd9e8e | 175 | txBuf.push_back( 4 ); // length of remaining packet |
jepickett | 0:35c27ebd9e8e | 176 | txBuf.push_back( instructionRead ); |
jepickett | 0:35c27ebd9e8e | 177 | txBuf.push_back( controlTableStart ); |
jepickett | 0:35c27ebd9e8e | 178 | txBuf.push_back( bytesToRead ); |
jepickett | 0:35c27ebd9e8e | 179 | txBuf.push_back( CalculateTxPacketChecksum( txBuf ) ); |
jepickett | 0:35c27ebd9e8e | 180 | |
jepickett | 1:c5327c6d6239 | 181 | _txSelect = 1; |
jepickett | 1:c5327c6d6239 | 182 | |
jepickett | 0:35c27ebd9e8e | 183 | for( CommBuffer::iterator itSend = txBuf.begin(); itSend != txBuf.end(); itSend++) |
jepickett | 0:35c27ebd9e8e | 184 | { |
jepickett | 0:35c27ebd9e8e | 185 | _uart.putc(*itSend); |
jepickett | 0:35c27ebd9e8e | 186 | } |
jepickett | 0:35c27ebd9e8e | 187 | |
jepickett | 0:35c27ebd9e8e | 188 | // Wait for data to transmit |
jepickett | 1:c5327c6d6239 | 189 | double transmitDelay = (double)txBuf.size() * 8.0 * 1.0/(double)_baud; |
jepickett | 1:c5327c6d6239 | 190 | wait( transmitDelay ); |
jepickett | 1:c5327c6d6239 | 191 | |
jepickett | 0:35c27ebd9e8e | 192 | _txSelect = 0; |
jepickett | 0:35c27ebd9e8e | 193 | _rxSelect = 1; |
jepickett | 0:35c27ebd9e8e | 194 | |
jepickett | 0:35c27ebd9e8e | 195 | // 0xff, 0xff, ID, Length, Error, Data, Checksum |
jepickett | 0:35c27ebd9e8e | 196 | int replySize = 6 + bytesToRead; |
jepickett | 1:c5327c6d6239 | 197 | CommBuffer replyBuf; |
jepickett | 0:35c27ebd9e8e | 198 | |
jepickett | 0:35c27ebd9e8e | 199 | // we'll only get a reply if it was not broadcast (and status reply option is selected in servo) |
jepickett | 0:35c27ebd9e8e | 200 | bool statusReceived = false; |
jepickett | 1:c5327c6d6239 | 201 | Timer t; |
jepickett | 0:35c27ebd9e8e | 202 | if( id != 0xFE ) |
jepickett | 0:35c27ebd9e8e | 203 | { |
jepickett | 1:c5327c6d6239 | 204 | t.start(); |
jepickett | 1:c5327c6d6239 | 205 | while( t.read() < _responseTimeout ) |
jepickett | 0:35c27ebd9e8e | 206 | { |
jepickett | 0:35c27ebd9e8e | 207 | if (_uart.readable()) |
jepickett | 0:35c27ebd9e8e | 208 | { |
jepickett | 1:c5327c6d6239 | 209 | // BUGBUG: unsigned char b = _uart.getc(); |
jepickett | 1:c5327c6d6239 | 210 | // Bug with _uart.getc() on FRDM-K64F. Instead read directly from uart |
jepickett | 1:c5327c6d6239 | 211 | char b = UART3->D; |
jepickett | 1:c5327c6d6239 | 212 | replyBuf.push_back( b ); |
jepickett | 1:c5327c6d6239 | 213 | |
jepickett | 1:c5327c6d6239 | 214 | if( replyBuf.size() == replySize ) |
jepickett | 1:c5327c6d6239 | 215 | { |
jepickett | 1:c5327c6d6239 | 216 | statusReceived = true; |
jepickett | 1:c5327c6d6239 | 217 | break; |
jepickett | 1:c5327c6d6239 | 218 | } |
jepickett | 0:35c27ebd9e8e | 219 | } |
jepickett | 0:35c27ebd9e8e | 220 | } |
jepickett | 1:c5327c6d6239 | 221 | t.stop(); |
jepickett | 0:35c27ebd9e8e | 222 | } |
jepickett | 0:35c27ebd9e8e | 223 | |
jepickett | 0:35c27ebd9e8e | 224 | _rxSelect = 0; |
jepickett | 0:35c27ebd9e8e | 225 | |
jepickett | 0:35c27ebd9e8e | 226 | if( statusReceived ) |
jepickett | 0:35c27ebd9e8e | 227 | { |
jepickett | 0:35c27ebd9e8e | 228 | for( int n = 0; n < bytesToRead; n ++ ) |
jepickett | 0:35c27ebd9e8e | 229 | { |
jepickett | 0:35c27ebd9e8e | 230 | data.push_back( replyBuf[5 + n] ); |
jepickett | 0:35c27ebd9e8e | 231 | } |
jepickett | 1:c5327c6d6239 | 232 | return replyBuf[4] | statusValid; |
jepickett | 0:35c27ebd9e8e | 233 | } |
jepickett | 0:35c27ebd9e8e | 234 | else |
jepickett | 0:35c27ebd9e8e | 235 | { |
jepickett | 0:35c27ebd9e8e | 236 | return 0; |
jepickett | 0:35c27ebd9e8e | 237 | } |
jepickett | 0:35c27ebd9e8e | 238 | } |
jepickett | 0:35c27ebd9e8e | 239 | |
jepickett | 0:35c27ebd9e8e | 240 | |
jepickett | 0:35c27ebd9e8e | 241 | StatusCode DynamixelBus::send_write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite ) |
jepickett | 0:35c27ebd9e8e | 242 | { |
jepickett | 0:35c27ebd9e8e | 243 | // 0xff, 0xff, ID, Packet Length, Instruction(write), Control Table Start, data to write, Checksum |
jepickett | 0:35c27ebd9e8e | 244 | CommBuffer txBuf; |
jepickett | 0:35c27ebd9e8e | 245 | |
jepickett | 0:35c27ebd9e8e | 246 | // build packet |
jepickett | 0:35c27ebd9e8e | 247 | txBuf.push_back( 0xff ); |
jepickett | 0:35c27ebd9e8e | 248 | txBuf.push_back( 0xff ); |
jepickett | 0:35c27ebd9e8e | 249 | txBuf.push_back( id ); |
jepickett | 0:35c27ebd9e8e | 250 | txBuf.push_back( 3+dataToWrite.size() ); // length of remaining packet |
jepickett | 0:35c27ebd9e8e | 251 | txBuf.push_back( instructionWrite ); |
jepickett | 0:35c27ebd9e8e | 252 | txBuf.push_back( controlTableStart ); |
jepickett | 0:35c27ebd9e8e | 253 | for( CommBuffer::const_iterator itD = dataToWrite.begin(); itD != dataToWrite.end(); itD++) |
jepickett | 0:35c27ebd9e8e | 254 | { |
jepickett | 0:35c27ebd9e8e | 255 | txBuf.push_back(*itD); |
jepickett | 0:35c27ebd9e8e | 256 | } |
jepickett | 0:35c27ebd9e8e | 257 | txBuf.push_back( CalculateTxPacketChecksum( txBuf ) ); |
jepickett | 0:35c27ebd9e8e | 258 | |
jepickett | 0:35c27ebd9e8e | 259 | // enable transmission |
jepickett | 0:35c27ebd9e8e | 260 | _txSelect = 1; |
jepickett | 0:35c27ebd9e8e | 261 | |
jepickett | 0:35c27ebd9e8e | 262 | for( CommBuffer::iterator itSend = txBuf.begin(); itSend != txBuf.end(); itSend++) |
jepickett | 0:35c27ebd9e8e | 263 | { |
jepickett | 0:35c27ebd9e8e | 264 | _uart.putc(*itSend); |
jepickett | 0:35c27ebd9e8e | 265 | } |
jepickett | 0:35c27ebd9e8e | 266 | |
jepickett | 0:35c27ebd9e8e | 267 | // Wait for data to transmit |
jepickett | 0:35c27ebd9e8e | 268 | double transmitDelay = (double)txBuf.size() * 8.0 * 1.0/(double)_baud; |
jepickett | 0:35c27ebd9e8e | 269 | wait( transmitDelay ); |
jepickett | 0:35c27ebd9e8e | 270 | |
jepickett | 0:35c27ebd9e8e | 271 | // switch inputs for half duplex operation |
jepickett | 0:35c27ebd9e8e | 272 | _txSelect = 0; |
jepickett | 0:35c27ebd9e8e | 273 | _rxSelect = 1; |
jepickett | 0:35c27ebd9e8e | 274 | |
jepickett | 0:35c27ebd9e8e | 275 | // 0xff, 0xff, ID, Length, Error, Data, Checksum |
jepickett | 0:35c27ebd9e8e | 276 | CommBuffer replyBuf; |
jepickett | 0:35c27ebd9e8e | 277 | |
jepickett | 0:35c27ebd9e8e | 278 | // we'll only get a reply if it was not broadcast (TODO: and status reply option is selected in servo) |
jepickett | 0:35c27ebd9e8e | 279 | bool statusReceived = false; |
jepickett | 0:35c27ebd9e8e | 280 | Timer t; |
jepickett | 0:35c27ebd9e8e | 281 | if( id != 0xFE ) |
jepickett | 0:35c27ebd9e8e | 282 | { |
jepickett | 0:35c27ebd9e8e | 283 | t.start(); |
jepickett | 0:35c27ebd9e8e | 284 | |
jepickett | 1:c5327c6d6239 | 285 | while( t.read() < _responseTimeout ) |
jepickett | 0:35c27ebd9e8e | 286 | { |
jepickett | 0:35c27ebd9e8e | 287 | if( _uart.readable()) |
jepickett | 0:35c27ebd9e8e | 288 | { |
jepickett | 1:c5327c6d6239 | 289 | // BUGBUG: unsigned char b = _uart.getc(); |
jepickett | 1:c5327c6d6239 | 290 | // Bug with _uart.getc() on FRDM-K64F. Instead read directly from uart |
jepickett | 0:35c27ebd9e8e | 291 | char b = UART3->D; |
jepickett | 0:35c27ebd9e8e | 292 | replyBuf.push_back( b ); |
jepickett | 0:35c27ebd9e8e | 293 | |
jepickett | 0:35c27ebd9e8e | 294 | if( replyBuf.size() == 6) |
jepickett | 0:35c27ebd9e8e | 295 | { |
jepickett | 0:35c27ebd9e8e | 296 | statusReceived = true; |
jepickett | 0:35c27ebd9e8e | 297 | break; |
jepickett | 0:35c27ebd9e8e | 298 | } |
jepickett | 0:35c27ebd9e8e | 299 | } |
jepickett | 0:35c27ebd9e8e | 300 | } |
jepickett | 0:35c27ebd9e8e | 301 | |
jepickett | 0:35c27ebd9e8e | 302 | t.stop(); |
jepickett | 0:35c27ebd9e8e | 303 | } |
jepickett | 0:35c27ebd9e8e | 304 | |
jepickett | 0:35c27ebd9e8e | 305 | _rxSelect = 0; |
jepickett | 0:35c27ebd9e8e | 306 | |
jepickett | 0:35c27ebd9e8e | 307 | if( statusReceived ) |
jepickett | 0:35c27ebd9e8e | 308 | { |
jepickett | 1:c5327c6d6239 | 309 | return replyBuf[4] | statusValid; |
jepickett | 0:35c27ebd9e8e | 310 | } |
jepickett | 0:35c27ebd9e8e | 311 | else |
jepickett | 0:35c27ebd9e8e | 312 | { |
jepickett | 0:35c27ebd9e8e | 313 | return 0; |
jepickett | 0:35c27ebd9e8e | 314 | } |
jepickett | 0:35c27ebd9e8e | 315 | |
jepickett | 0:35c27ebd9e8e | 316 | } |