int GSM3SoftSerial::begin(long speed)
{
_rx_delay_centering = _rx_delay_intrabit = _rx_delay_stopbit = _tx_delay = 0;
setTX();
setRX();
for (unsigned i=0; i<sizeof(table)/sizeof(table[0]); ++i)
{
long baud = pgm_read_dword(&table[i].baud);
if (baud == speed)
{
_rx_delay_centering = pgm_read_word(&table[i].rx_delay_centering);
_rx_delay_intrabit = pgm_read_word(&table[i].rx_delay_intrabit);
_rx_delay_stopbit = pgm_read_word(&table[i].rx_delay_stopbit);
_tx_delay = pgm_read_word(&table[i].tx_delay);
break;
}
}
// Set up RX interrupts, but only if we have a valid RX baud rate
/*
if (_rx_delay_stopbit)
{
pinMode(__RXPIN__, INPUT_PULLUP);
tunedDelay(_tx_delay); // if we were low this establishes the end
}
*/
io_DisableINT();
io_outpb(CROSSBARBASE + 0x90 + PIN86[__RXPIN__].gpN, 0x08);
_activeObject = this;
io_RestoreINT();
}
// try to read a Dynamixel packet
// return true if successful, false otherwise
uint16_t axReadPacket(uint8_t length){
setRX();
usart_timer = 0;
// wait until the expected number of byte has been read
while( local_rx_buffer_count < length ){
if(usart_timer > g_usbtoaxregs.s.bUSART_ReceiveTimeout){
break;
}
}
setTX();
if (local_rx_buffer_count != length){
return false;
}
// TODO check for error in the packet, so that we don't wait if the status packet says that something went wrong... ?
// compute checksum
uint8_t checksum = 0; // accumulator for checksum
for(uint8_t i=2; i < length; i++){
checksum += local_rx_buffer[i];
}
if((checksum%256) != 255){
return false; // invalid checksum
}else{
return true;
}
}
void SONAR::init(unsigned char pinCtrl,unsigned int baudrate) {
debug();
Serial.begin(baudrate);
setPinCtrl(pinCtrl);
pinMode(getPinCtrl(),OUTPUT);
setTX();
}
unsigned char SONAR::recvDat(unsigned char desiredSize) {
debug();
clearBuf();
init(); // 201209
setRX();
unsigned char datSize=0;
#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)
for(int j=0;datSize<desiredSize && j<15;++j) {
delay(1);
unsigned char ibyte=Serial.read();
if(datSize==0 && ibyte!=0x55) continue;
if(datSize==1 && ibyte!=0xaa) continue;
_recvBuf[datSize++]=ibyte;
}
#else//for arduino
for(int j=0;datSize<desiredSize && j<5000;++j) {
unsigned char ibyte=Serial.read();
if(ibyte!=0xff) {
_recvBuf[datSize++]=ibyte;
}
}
#endif
//SonarPrint.println(Serial.read(), HEX);
setTX();
return datSize;
}
unsigned char SONAR::showDat(unsigned char desiredSize) {
debug();
setTX();
for(int i=0;i<desiredSize;++i) {
SonarPrint.print(_recvBuf[i],HEX);
SonarPrint.print(" ");
}
SonarPrint.println();
return desiredSize;
}
unsigned char SONAR::sendCmd(unsigned char* cmd,unsigned char size) {
debug();
init(); // 201209
setTX();
for(int i=0;i<size;++i) {
Serial.write(cmd[i]); // 201204
}
Serial.flush(); // 201204
return size;
}
//
// Constructor
//
SoftwareSerial::SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic /* = false */) :
_rx_delay_centering(0),
_rx_delay_intrabit(0),
_rx_delay_stopbit(0),
_tx_delay(0),
_buffer_overflow(false),
_inverse_logic(inverse_logic)
{
setTX(transmitPin);
setRX(receivePin);
}
//
// Constructor
//
SoftwareSerial::SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic /* = false */) :
baud(0),
_buffer_overflow(false),
_inverse_logic(inverse_logic)
{
#ifdef DEBUG_SOFTWARESERIAL
printf("SoftwareSerial rx: pin %d, tx: pin %d\n", receivePin, transmitPin);
#endif
setTX(transmitPin);
setRX(receivePin);
}
/** send instruction packet */
void AX12::ax12SendPacket (byte _id, byte datalength, byte instruction, byte* data) {
byte checksum = 0;
setTX();
ax12writeB(0xFF);
ax12writeB(0xFF);
checksum += ax12writeB(_id);
checksum += ax12writeB(datalength + 2);
checksum += ax12writeB(instruction);
for (byte f=0; f<datalength; f++) { // data = parámetros
checksum += ax12writeB(data[f]);
}
// checksum =
ax12writeB(~checksum);
setRX();
}
unsigned char SONAR::setAddr(unsigned char addr) {
debug();
if(addr==0) {
unsigned startTime=millis();
unsigned int delta=0;
bool gotKey=false;
pinMode(keyS7, INPUT); // 201209
while(digitalRead(keyS7)==KEYPRESSED) {
gotKey=true;
delay(100);
SonarPrint.println(delta=millis()-startTime,DEC);
}
if(gotKey) {
setTX();
SonarPrint.print("GOt KeyS7(ms): ");
SonarPrint.println(delta,DEC);
}
delta/=1000;
if(0x1<=delta && delta<=0x30) addr=0x10+delta;
}
unsigned char addrCmd[sizeof(addrCmdTemplate)];
if(0x11<=addr && addr<=0x30) {
generateAddrCmd(addrCmd,addr);
sendCmd(addrCmd,sizeof(addrCmd));
delay(1);
recvDat(addrDatSize);
#ifdef DEBUG
showDat(addrDatSize);
#endif
if(checksum(addrDatSize)==0) {
initAddr(addr);
return addr;
}
}
return 0;
}
//
// Constructor
//
Timer2Serial::Timer2Serial(uint8_t receivePin, uint8_t transmitPin) {
setTX(transmitPin);
}
//
// Constructor
//
SendOnlySoftwareSerial::SendOnlySoftwareSerial(uint8_t transmitPin, bool inverse_logic /* = false */) :
_tx_delay(0),
_inverse_logic(inverse_logic)
{
setTX(transmitPin);
}