int rc100Initialize(uint32 baudrate )
{
/*
* Opening device
* baudrate: Real baudrate (ex> 115200, 57600, 38400...)
* Return: 0(Failed), 1(Succeed)
*
* */
gpio_set_mode(GPIOA, 2, GPIO_AF_OUTPUT_PP);
gpio_set_mode(GPIOA, 3, GPIO_INPUT_FLOATING);
usart_init(USART2);
//TxDStringC("USART clock = ");TxDHex32C(STM32_PCLK2);TxDStringC("\r\n");
usart_set_baud_rate(USART2, STM32_PCLK1, baudrate);
usart_attach_interrupt(USART2,rc100Interrupt);
usart_enable(USART2);
gbRcvFlag = 0;
gwRcvData = 0;
gbRcvPacketNum = 0;
/*Clear rx tx uart2 buffer */
gbPacketWritePointer =0;
gbPacketReadPointer=0;
return 1;
}
void Dynamixel::begin(int baud){
uint32 Baudrate = 0;
if(mDxlUsart == USART1)
afio_remap(AFIO_REMAP_USART1);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
gpio_set_mode(mDirPort, mDirPin, GPIO_OUTPUT_PP);
gpio_write_bit(mDirPort, mDirPin, 0 );// RX Enable
//gpio_set_mode(GPIOB, 5, GPIO_OUTPUT_PP);
// gpio_write_bit(GPIOB, 5, 0 );// RX Enable
#endif
// initialize GPIO D20(PB6), D21(PB7) as DXL TX, RX respectively
gpio_set_mode(mTxPort, mTxPin, GPIO_AF_OUTPUT_PP);
gpio_set_mode(mRxPort, mRxPin, GPIO_INPUT_FLOATING);
//Initialize USART 1 device
usart_init(mDxlUsart);
//Calculate baudrate, refer to ROBOTIS support page.
Baudrate = 2000000 / (baud + 1);
if(mDxlUsart == USART1)
usart_set_baud_rate(mDxlUsart, STM32_PCLK2, Baudrate);
else
usart_set_baud_rate(mDxlUsart, STM32_PCLK1, Baudrate);
nvic_irq_set_priority(mDxlUsart->irq_num, 0);//[ROBOTIS][ADD] 2013-04-10 set to priority 0
usart_attach_interrupt(mDxlUsart, mDxlDevice->handlers);
usart_enable(mDxlUsart);
delay(80);
mDXLtxrxStatus = 0;
mBusUsed = 0;// only 1 when tx/rx is operated
//gbIsDynmixelUsed = 1; //[ROBOTIS]2012-12-13 to notify end of using dynamixel SDK to uart.c
this->clearBuffer();
this->setLibStatusReturnLevel(2);
this->setLibNumberTxRxAttempts(1);
}
//Dynamixel::~Dynamixel() {
// // TODO Auto-generated destructor stub
//}
void Dynamixel::begin(int baud) {
uint32 Baudrate = 0;
mPacketType = DXL_PACKET_TYPE1; //2014-04-02 default packet type is 1.0 -> set as 1
if(mDxlUsart == USART1)
afio_remap(AFIO_REMAP_USART1);
#ifdef BOARD_CM900 //Engineering version case
gpio_set_mode(PORT_ENABLE_TXD, PIN_ENABLE_TXD, GPIO_OUTPUT_PP);
gpio_set_mode(PORT_ENABLE_RXD, PIN_ENABLE_RXD, GPIO_OUTPUT_PP);
gpio_write_bit(PORT_ENABLE_TXD, PIN_ENABLE_TXD, 0 );// TX Disable
gpio_write_bit(PORT_ENABLE_RXD, PIN_ENABLE_RXD, 1 );// RX Enable
#else
if(mDirPort != 0) {
gpio_set_mode(mDirPort, mDirPin, GPIO_OUTPUT_PP);
gpio_write_bit(mDirPort, mDirPin, 0 );// RX Enable
}
//gpio_set_mode(GPIOB, 5, GPIO_OUTPUT_PP);
// gpio_write_bit(GPIOB, 5, 0 );// RX Enable
#endif
// initialize GPIO D20(PB6), D21(PB7) as DXL TX, RX respectively
gpio_set_mode(mTxPort, mTxPin, GPIO_AF_OUTPUT_PP);
gpio_set_mode(mRxPort, mRxPin, GPIO_INPUT_FLOATING);
//Initialize USART 1 device
usart_init(mDxlUsart);
//Calculate baudrate, refer to ROBOTIS support page.
//Baudrate = dxl_get_baudrate(baud); //Dxl 2.0
if(baud == 3)
baud = 1;
else if(baud == 2)
baud = 16;
else if(baud == 1)
baud = 34;
else if(baud == 0)
baud = 207;
Baudrate = 2000000 / (baud + 1);
if(mDxlUsart == USART1)
usart_set_baud_rate(mDxlUsart, STM32_PCLK2, Baudrate);
else
usart_set_baud_rate(mDxlUsart, STM32_PCLK1, Baudrate);
nvic_irq_set_priority(mDxlUsart->irq_num, 0);//[ROBOTIS][ADD] 2013-04-10 set to priority 0
usart_attach_interrupt(mDxlUsart, mDxlDevice->handlers);
usart_enable(mDxlUsart);
delay(100);
mDXLtxrxStatus = 0;
mBusUsed = 0;// only 1 when tx/rx is operated
//gbIsDynmixelUsed = 1; //[ROBOTIS]2012-12-13 to notify end of using dynamixel SDK to uart.c
this->setLibStatusReturnLevel(2);
this->setLibNumberTxRxAttempts(2);
this->clearBuffer();
if(this->checkPacketType()) { // Dxl 2.0
this->setPacketType(DXL_PACKET_TYPE2);
} else { // Dxl 1.0
this->setPacketType(DXL_PACKET_TYPE1);
}
this->setLibNumberTxRxAttempts(1);
this->clearBuffer();
if(mDxlUsart == USART2) { //140508 shin
SmartDelayFlag = 1;
this->setPacketType(DXL_PACKET_TYPE2);
}
}
