flange_serial_open

This function opens the flange serial transfer port in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section

bool flange_serial_open(
    int nPort,
    int baudrate = 115200,
    BYTE_SIZE eByteSize = BYTE_SIZE_EIGHTBITS,
    PARITY_CHECK eParity = PARITY_CHECK_NONE,
    STOP_BITS eStopBits = STOPBITS_ONE)
{
    return _flange_serial_open(_rbtCtrl, nPort, baudrate, eByteSize, eParity, eStopBits);
};

Parameter

Parameter Name	Data Type	Default Value	Description
nPort	int		Serial port index 1: X1, 2: X2 (X2 only on M/H models)
baudrate	int	115200	Baudrate setting for serial communication. Supported values: 2400, 4800, 9600, 19200, 38400, 57600, 115200, etc.
eByteSize	BYTE_SIZE	BYTE_SIZE_EIGHTBITS	Data bit length
eParity	PARITY_CHECK	PARITY_CHECK_NONE	Parity configuration
eStopBits	STOP_BITS	STOPBITS_ONE	Stop bit configuration

Note

On a rev2 flange, only nPort is used; baudrate, eByteSize, eParity and eStopBits are ignored. On a rev1 flange, nPort is ignored.

Return

Value	Description
0	Error: failed to open serial port.
1	Success: serial port successfully opened.

Note

The flange board revision used by the flange serial and flange I/O functions is read at open_connection.

Example

char buf[] = "test123";
Drfl.flange_serial_open(1, 115200);
Drfl.flange_serial_write(7, buf, 1);

LPFLANGE_SER_RXD_INFO_EX temp = Drfl.flange_serial_read(4.5, 1);
printf("Serial read : %.*s\n", temp->_iSize, (const char*)temp->_cRxd);
printf("Serial cnt  : %d\n", temp->_iSize);

Drfl.flange_serial_close(1);

This example opens flange serial port 1 (X1) at 115200 baud, sends a 7-byte test string, reads back the response, and closes the serial connection.