Robotis DX-116 - Manual (Page 32)

31
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL DX-116
C Language Example
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>
#include <mem.h>
#define MCS80
#include "..\..\base.h"
#include "..\lib188es.c"
#define RS485_DIRECTION_BIT 0x2000
#define RS485_TXD (SET_PORT1(RS485_DIRECTION_BIT))
#define RS485_RXD (RESET_PORT1(RS485_DIRECTION_BIT))
#define BROADCASTING_ID
0xfe
#define MEMORY_SPARE 10
#define ADDRESS_TORQUE_ENABLE 20
#define ADDRESS_OPERATING_MODE 19
#define ADDRESS_ID
3
#define ADDRESS_GOAL_POSITION 26
#define INST_PING
0x01
#define INST_READ 0x02
#define INST_WRITE 0x03
#define INST_SET_SCHEDULE 0x04
#define INST_DO_SCHEDULE 0x05
#define INST_RESET 0x06
#define DIGITAL_MODE
0
//Global variable number
byte gbpInterruptRxBuffer[256+MEMORY_SPARE]; //485 RxD Data Buffer
byte gbRxBufferReadPointer,gbRxBufferWritePointer; //Pointers for access the gbpInterruptRxBuffer
void static interrupt far Serial0Interrupt(void);
void PrintBuffer(byte *bpPrintBuffer, byte bLength);
byte TxPacket(byte *bpTxBuffer, byte bID, byte bInstruction, byte *bpParameter, byte bParameterLength);
byte RxPacket(byte *bpRxBuffer);
void main(void)
{
byte bID,bPacketLength;
byte bpTxBuffer[20+MEMORY_SPARE];
byte bpRxBuffer[256+MEMORY_SPARE];
byte bpParameter[256+MEMORY_SPARE];
CLI; //Disable Interrupt
//PortInitialize();
InitPort(OUT, PDATA1, 0xe000); //Set Out(Port30,31:LED,Port29:485Direction)
InitPort(IN, PDATA1, 0x0004); //Set In(Port2:Push SW)
InitPort(NORMAL_USE, PDATA1, 0x00c0); //
RS485_RXD; //Set 485 Direction Select Port to 0
//UartInitialize();
outpw(SP0BAUD,5); //.2MBPS = 16MHz/16/5
outpw(SP1BAUD,17); //57600
outpw(SP0STS,0);
outpw(SP1STS,0);
//InterruptInitialize();
Definition area
Major
Function
CPU dependent Initialize