dynamixel and prueba1 working

salimoo/Golero/DynamixelCustom/dynamixel.c

@@ -35,12 +35,16 @@ int dxl_initialize( int devIndex, int baudnum )
 
 	//gbCommStatus = COMM_RXSUCCESS;
 	//giBusUsing = 0;
-	return dxl_hal_open(devIndex, baudrate);
+	//return dxl_hal_open(devIndex, baudrate);
+	gbInstructionPacket[0] = 0xff;
+	gbInstructionPacket[1] = 0xff;
+	serial_initialize();
+	return 1;
 }
 
 void dxl_terminate(void)
 {
-	dxl_hal_close();
+	serial_close();
 }
 
 void dxl_tx_packet()
@@ -75,36 +79,38 @@ void dxl_tx_packet()
 		return;
 	}
 
-	gbInstructionPacket[0] = 0xff;
-	gbInstructionPacket[1] = 0xff;
+	//gbInstructionPacket[0] = 0xff;
+	//gbInstructionPacket[1] = 0xff;
 	for( i=0; i<(gbInstructionPacket[LENGTH]+1); i++ )
 		checksum += gbInstructionPacket[i+2];
 	gbInstructionPacket[gbInstructionPacket[LENGTH]+3] = ~checksum;
 
-	if( gbCommStatus == COMM_RXTIMEOUT || gbCommStatus == COMM_RXCORRUPT )
-		dxl_hal_clear();
+	/*if( gbCommStatus == COMM_RXTIMEOUT || gbCommStatus == COMM_RXCORRUPT )
+		dxl_hal_clear();
+		*/
 
 	TxNumByte = gbInstructionPacket[LENGTH] + 4;
 
 	printf("Envio paquete: \n");
-	RealTxNumByte = dxl_hal_tx( (unsigned char*)gbInstructionPacket, TxNumByte );
+	//RealTxNumByte = dxl_hal_tx( (unsigned char*)gbInstructionPacket, TxNumByte );
+    serial_write( (unsigned char*)gbInstructionPacket, TxNumByte );
 
-	if( TxNumByte != RealTxNumByte )
+	/*if( TxNumByte != RealTxNumByte )
 	{
 	    printf("FALLO TRNSMISION: menos bytes de los que deberia");
 		gbCommStatus = COMM_TXFAIL;
 		giBusUsing = 0;
 		return;
 	}
-
+    */
 	if(gbInstructionPacket[INSTRUCTION] == INST_CAPTURE)
 		giBusUsing = 0;
-
+    /*
 	if( gbInstructionPacket[INSTRUCTION] == INST_READ )
 		dxl_hal_set_timeout( gbInstructionPacket[PARAMETER+1] + 6 );
 	else
 		dxl_hal_set_timeout( 6 );
-
+    */
 	gbCommStatus = COMM_TXSUCCESS;
 }
 
@@ -128,9 +134,12 @@ void dxl_rx_packet()
 		gbRxGetLength = 0;
 		gbRxPacketLength = 6;
 	}
+
+//    nRead = dxl_hal_rx( (unsigned char*)&gbStatusPacket[gbRxGetLength], gbRxPacketLength - gbRxGetLength );
+nRead = serial_read((unsigned char*)&gbStatusPacket[gbRxGetLength], gbRxPacketLength - gbRxGetLength );
 
-	nRead = dxl_hal_rx( (unsigned char*)&gbStatusPacket[gbRxGetLength], gbRxPacketLength - gbRxGetLength );
-	gbRxGetLength += nRead;
+	gbRxGetLength += nRead;
+	/*
 	if( gbRxGetLength < gbRxPacketLength )
 	{
 		if( dxl_hal_timeout() == 1 )
@@ -143,7 +152,7 @@ void dxl_rx_packet()
 			return;
 		}
 	}
-
+    */
 	// Find packet header
 	for( i=0; i<(gbRxGetLength-1); i++ )
 	{
@@ -178,10 +187,11 @@ void dxl_rx_packet()
 		return;
 	}
 
-	gbRxPacketLength = gbStatusPacket[LENGTH] + 4;
+	gbRxPacketLength = gbStatusPacket[LENGTH] + 4;
+
 	if( gbRxGetLength < gbRxPacketLength )
 	{
-		nRead = dxl_hal_rx( (unsigned char*)&gbStatusPacket[gbRxGetLength], gbRxPacketLength - gbRxGetLength );
+		nRead = serial_read( (unsigned char*)&gbStatusPacket[gbRxGetLength], gbRxPacketLength - gbRxGetLength );
 		gbRxGetLength += nRead;
 		if( gbRxGetLength < gbRxPacketLength )
 		{

salimoo/Golero/prueba1.c

-#include "Forward.c"
+#include "DynamixelCustom/dynamixel.h"
 #include <stdlib.h>
 #include <unistd.h>
 
 int main (void){
 
-    fsr();
-    sleep(10000);
-    fsr();
+    dxl_initialize(1, 1);
+    dxl_set_txpacket_id(1);
+    dxl_set_txpacket_instruction(3);
+    dxl_set_txpacket_length(5);
+    dxl_set_txpacket_parameter(0, 25);
+    dxl_set_txpacket_parameter(1, 1);
+    dxl_tx_packet();
     return 1;
 }

salimoo/Golero/serial.c

@@ -155,7 +155,7 @@ unsigned char serial_read( unsigned char *pData, int numbyte )
 /*   fd: Serial device descriptor                                   */
 /********************************************************************/
 //void serial_close(int fd)
-int serial_get_qstate(void)
+int serial_close(void)
 {
   close(fd);
   return 1;

salimoo/Golero/serial.h

@@ -19,7 +19,7 @@ int fd;
 void serial_initialize(void);
 void serial_write( unsigned char *pData, int numbyte );
 unsigned char serial_read( unsigned char *pData, int numbyte );
-int serial_get_qstate(void);
+int serial_close(void);
 
 #ifdef __cplusplus
 }