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Dependencies:   mbed

AX12/AX12.cpp@0:b127c787a51b, 2015-05-24 (annotated)

Committer:
Jagang
Date:
Sun May 24 12:30:47 2015 +0000
Revision:
0:b127c787a51b
Nettoyage du code d'asserv.; L'asserv ne fonctionne plus, juste test, moteurs ? 20% sur 1m

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:b127c787a51b 1 /* mbed AX-12+ Servo Library
Jagang 0:b127c787a51b 2 *
Jagang 0:b127c787a51b 3 * Copyright (c) 2010, cstyles (http://mbed.org)
Jagang 0:b127c787a51b 4 *
Jagang 0:b127c787a51b 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
Jagang 0:b127c787a51b 6 * of this software and associated documentation files (the "Software"), to deal
Jagang 0:b127c787a51b 7 * in the Software without restriction, including without limitation the rights
Jagang 0:b127c787a51b 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Jagang 0:b127c787a51b 9 * copies of the Software, and to permit persons to whom the Software is
Jagang 0:b127c787a51b 10 * furnished to do so, subject to the following conditions:
Jagang 0:b127c787a51b 11 *
Jagang 0:b127c787a51b 12 * The above copyright notice and this permission notice shall be included in
Jagang 0:b127c787a51b 13 * all copies or substantial portions of the Software.
Jagang 0:b127c787a51b 14 *
Jagang 0:b127c787a51b 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jagang 0:b127c787a51b 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jagang 0:b127c787a51b 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Jagang 0:b127c787a51b 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jagang 0:b127c787a51b 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Jagang 0:b127c787a51b 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Jagang 0:b127c787a51b 21 * THE SOFTWARE.
Jagang 0:b127c787a51b 22 */
Jagang 0:b127c787a51b 23
Jagang 0:b127c787a51b 24 #include "AX12.h"
Jagang 0:b127c787a51b 25 #include "mbed.h"
Jagang 0:b127c787a51b 26
Jagang 0:b127c787a51b 27 extern Serial logger;
Jagang 0:b127c787a51b 28
Jagang 0:b127c787a51b 29 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
Jagang 0:b127c787a51b 30 : _ax12(tx,rx) {
Jagang 0:b127c787a51b 31 _baud = baud;
Jagang 0:b127c787a51b 32 _ID = ID;
Jagang 0:b127c787a51b 33 _ax12.baud(_baud);
Jagang 0:b127c787a51b 34
Jagang 0:b127c787a51b 35 }
Jagang 0:b127c787a51b 36
Jagang 0:b127c787a51b 37 // set the mode of the servo
Jagang 0:b127c787a51b 38 // 0 = Positional (0-300 degrees)
Jagang 0:b127c787a51b 39 // 1 = Rotational -1 to 1 speed
Jagang 0:b127c787a51b 40 int AX12::setMode(int mode) {
Jagang 0:b127c787a51b 41
Jagang 0:b127c787a51b 42 if (mode == 1) { // set CR
Jagang 0:b127c787a51b 43 setCWLimit(0);
Jagang 0:b127c787a51b 44 setCCWLimit(0);
Jagang 0:b127c787a51b 45 setCRSpeed(0.0);
Jagang 0:b127c787a51b 46 } else {
Jagang 0:b127c787a51b 47 setCWLimit(0);
Jagang 0:b127c787a51b 48 setCCWLimit(300);
Jagang 0:b127c787a51b 49 setCRSpeed(0.0);
Jagang 0:b127c787a51b 50 }
Jagang 0:b127c787a51b 51 return(0);
Jagang 0:b127c787a51b 52 }
Jagang 0:b127c787a51b 53
Jagang 0:b127c787a51b 54
Jagang 0:b127c787a51b 55 // if flag[0] is set, were blocking
Jagang 0:b127c787a51b 56 // if flag[1] is set, we're registering
Jagang 0:b127c787a51b 57 // they are mutually exclusive operations
Jagang 0:b127c787a51b 58 int AX12::setGoal(int degrees, int flags) {
Jagang 0:b127c787a51b 59
Jagang 0:b127c787a51b 60 char reg_flag = 0;
Jagang 0:b127c787a51b 61 char data[2];
Jagang 0:b127c787a51b 62 _goal = degrees;
Jagang 0:b127c787a51b 63
Jagang 0:b127c787a51b 64 // set the flag is only the register bit is set in the flag
Jagang 0:b127c787a51b 65 if (flags == 0x2) {
Jagang 0:b127c787a51b 66 reg_flag = 1;
Jagang 0:b127c787a51b 67 }
Jagang 0:b127c787a51b 68
Jagang 0:b127c787a51b 69 // 1023 / 300 * degrees
Jagang 0:b127c787a51b 70 short goal = (1023 * degrees) / 300;
Jagang 0:b127c787a51b 71 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 72 logger.printf("setGoal to 0x%x\n",goal);
Jagang 0:b127c787a51b 73 #endif
Jagang 0:b127c787a51b 74
Jagang 0:b127c787a51b 75 data[0] = goal & 0xff; // bottom 8 bits
Jagang 0:b127c787a51b 76 data[1] = goal >> 8; // top 8 bits
Jagang 0:b127c787a51b 77
Jagang 0:b127c787a51b 78 // write the packet, return the error code
Jagang 0:b127c787a51b 79 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
Jagang 0:b127c787a51b 80
Jagang 0:b127c787a51b 81 if (flags == 1) {
Jagang 0:b127c787a51b 82 // block until it comes to a halt
Jagang 0:b127c787a51b 83 while (isMoving()) {}
Jagang 0:b127c787a51b 84 }
Jagang 0:b127c787a51b 85 return(rVal);
Jagang 0:b127c787a51b 86 }
Jagang 0:b127c787a51b 87
Jagang 0:b127c787a51b 88 int AX12::setMaxTorque(int maxTorque)
Jagang 0:b127c787a51b 89 {
Jagang 0:b127c787a51b 90 char data[2];
Jagang 0:b127c787a51b 91
Jagang 0:b127c787a51b 92 data[0] = maxTorque & 0xFF;
Jagang 0:b127c787a51b 93 data[1] = maxTorque >> 8;
Jagang 0:b127c787a51b 94
Jagang 0:b127c787a51b 95 // write the packet, return the error code
Jagang 0:b127c787a51b 96 int rVal = write(_ID, 0x22, 2, data);
Jagang 0:b127c787a51b 97
Jagang 0:b127c787a51b 98 return(rVal);
Jagang 0:b127c787a51b 99 }
Jagang 0:b127c787a51b 100
Jagang 0:b127c787a51b 101
Jagang 0:b127c787a51b 102 // set continuous rotation speed from -1 to 1
Jagang 0:b127c787a51b 103 int AX12::setCRSpeed(float speed) {
Jagang 0:b127c787a51b 104
Jagang 0:b127c787a51b 105 // bit 10 = direction, 0 = CCW, 1=CW
Jagang 0:b127c787a51b 106 // bits 9-0 = Speed
Jagang 0:b127c787a51b 107 char data[2];
Jagang 0:b127c787a51b 108
Jagang 0:b127c787a51b 109 int goal = (0x3ff * abs(speed));
Jagang 0:b127c787a51b 110
Jagang 0:b127c787a51b 111 // set direction CW if we have a negative speed
Jagang 0:b127c787a51b 112 if (speed < 0) {
Jagang 0:b127c787a51b 113 goal |= (0x1 << 10);
Jagang 0:b127c787a51b 114 }
Jagang 0:b127c787a51b 115
Jagang 0:b127c787a51b 116 data[0] = goal & 0xff; // bottom 8 bits
Jagang 0:b127c787a51b 117 data[1] = goal >> 8; // top 8 bits
Jagang 0:b127c787a51b 118
Jagang 0:b127c787a51b 119 // write the packet, return the error code
Jagang 0:b127c787a51b 120 int rVal = write(_ID, 0x20, 2, data);
Jagang 0:b127c787a51b 121
Jagang 0:b127c787a51b 122 return(rVal);
Jagang 0:b127c787a51b 123 }
Jagang 0:b127c787a51b 124
Jagang 0:b127c787a51b 125
Jagang 0:b127c787a51b 126 int AX12::setCWLimit (int degrees) {
Jagang 0:b127c787a51b 127
Jagang 0:b127c787a51b 128 char data[2];
Jagang 0:b127c787a51b 129
Jagang 0:b127c787a51b 130 // 1023 / 300 * degrees
Jagang 0:b127c787a51b 131 short limit = (1023 * degrees) / 300;
Jagang 0:b127c787a51b 132
Jagang 0:b127c787a51b 133 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 134 logger.printf("setCWLimit to 0x%x\n",limit);
Jagang 0:b127c787a51b 135 #endif
Jagang 0:b127c787a51b 136
Jagang 0:b127c787a51b 137 data[0] = limit & 0xff; // bottom 8 bits
Jagang 0:b127c787a51b 138 data[1] = limit >> 8; // top 8 bits
Jagang 0:b127c787a51b 139
Jagang 0:b127c787a51b 140 // write the packet, return the error code
Jagang 0:b127c787a51b 141 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
Jagang 0:b127c787a51b 142
Jagang 0:b127c787a51b 143 }
Jagang 0:b127c787a51b 144
Jagang 0:b127c787a51b 145 int AX12::setCCWLimit (int degrees) {
Jagang 0:b127c787a51b 146
Jagang 0:b127c787a51b 147 char data[2];
Jagang 0:b127c787a51b 148
Jagang 0:b127c787a51b 149 // 1023 / 300 * degrees
Jagang 0:b127c787a51b 150 short limit = (1023 * degrees) / 300;
Jagang 0:b127c787a51b 151
Jagang 0:b127c787a51b 152 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 153 logger.printf("setCCWLimit to 0x%x\n",limit);
Jagang 0:b127c787a51b 154 #endif
Jagang 0:b127c787a51b 155
Jagang 0:b127c787a51b 156 data[0] = limit & 0xff; // bottom 8 bits
Jagang 0:b127c787a51b 157 data[1] = limit >> 8; // top 8 bits
Jagang 0:b127c787a51b 158
Jagang 0:b127c787a51b 159 // write the packet, return the error code
Jagang 0:b127c787a51b 160 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
Jagang 0:b127c787a51b 161 }
Jagang 0:b127c787a51b 162
Jagang 0:b127c787a51b 163
Jagang 0:b127c787a51b 164 int AX12::setID (int CurrentID, int NewID) {
Jagang 0:b127c787a51b 165
Jagang 0:b127c787a51b 166 char data[1];
Jagang 0:b127c787a51b 167 data[0] = NewID;
Jagang 0:b127c787a51b 168
Jagang 0:b127c787a51b 169 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 170 logger.printf("setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
Jagang 0:b127c787a51b 171 #endif
Jagang 0:b127c787a51b 172
Jagang 0:b127c787a51b 173 return (write(CurrentID, AX12_REG_ID, 1, data));
Jagang 0:b127c787a51b 174
Jagang 0:b127c787a51b 175 }
Jagang 0:b127c787a51b 176
Jagang 0:b127c787a51b 177
Jagang 0:b127c787a51b 178 int AX12::setBaud (int baud) {
Jagang 0:b127c787a51b 179
Jagang 0:b127c787a51b 180 char data[1];
Jagang 0:b127c787a51b 181 data[0] = baud;
Jagang 0:b127c787a51b 182
Jagang 0:b127c787a51b 183 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 184 logger.printf("setting Baud rate to %d\n",baud);
Jagang 0:b127c787a51b 185 #endif
Jagang 0:b127c787a51b 186
Jagang 0:b127c787a51b 187 return (write(0xFE, AX12_REG_BAUD, 1, data));
Jagang 0:b127c787a51b 188
Jagang 0:b127c787a51b 189 }
Jagang 0:b127c787a51b 190
Jagang 0:b127c787a51b 191
Jagang 0:b127c787a51b 192
Jagang 0:b127c787a51b 193 // return 1 is the servo is still in flight
Jagang 0:b127c787a51b 194 int AX12::isMoving(void) {
Jagang 0:b127c787a51b 195
Jagang 0:b127c787a51b 196 char data[1];
Jagang 0:b127c787a51b 197 read(_ID,AX12_REG_MOVING,1,data);
Jagang 0:b127c787a51b 198 return(data[0]);
Jagang 0:b127c787a51b 199 }
Jagang 0:b127c787a51b 200
Jagang 0:b127c787a51b 201
Jagang 0:b127c787a51b 202 void AX12::trigger(void) {
Jagang 0:b127c787a51b 203
Jagang 0:b127c787a51b 204 char TxBuf[16];
Jagang 0:b127c787a51b 205 char sum = 0;
Jagang 0:b127c787a51b 206
Jagang 0:b127c787a51b 207 #ifdef AX12_TRIGGER_DEBUG
Jagang 0:b127c787a51b 208 // Build the TxPacket first in RAM, then we'll send in one go
Jagang 0:b127c787a51b 209 logger.printf("\nTriggered\n");
Jagang 0:b127c787a51b 210 logger.printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
Jagang 0:b127c787a51b 211 #endif
Jagang 0:b127c787a51b 212
Jagang 0:b127c787a51b 213 TxBuf[0] = 0xFF;
Jagang 0:b127c787a51b 214 TxBuf[1] = 0xFF;
Jagang 0:b127c787a51b 215
Jagang 0:b127c787a51b 216 // ID - Broadcast
Jagang 0:b127c787a51b 217 TxBuf[2] = 0xFE;
Jagang 0:b127c787a51b 218 sum += TxBuf[2];
Jagang 0:b127c787a51b 219
Jagang 0:b127c787a51b 220 #ifdef AX12_TRIGGER_DEBUG
Jagang 0:b127c787a51b 221 logger.printf(" ID : %d\n",TxBuf[2]);
Jagang 0:b127c787a51b 222 #endif
Jagang 0:b127c787a51b 223
Jagang 0:b127c787a51b 224 // Length
Jagang 0:b127c787a51b 225 TxBuf[3] = 0x02;
Jagang 0:b127c787a51b 226 sum += TxBuf[3];
Jagang 0:b127c787a51b 227
Jagang 0:b127c787a51b 228 #ifdef AX12_TRIGGER_DEBUG
Jagang 0:b127c787a51b 229 logger.printf(" Length %d\n",TxBuf[3]);
Jagang 0:b127c787a51b 230 #endif
Jagang 0:b127c787a51b 231
Jagang 0:b127c787a51b 232 // Instruction - ACTION
Jagang 0:b127c787a51b 233 TxBuf[4] = 0x04;
Jagang 0:b127c787a51b 234 sum += TxBuf[4];
Jagang 0:b127c787a51b 235
Jagang 0:b127c787a51b 236 #ifdef AX12_TRIGGER_DEBUG
Jagang 0:b127c787a51b 237 logger.printf(" Instruction 0x%X\n",TxBuf[5]);
Jagang 0:b127c787a51b 238 #endif
Jagang 0:b127c787a51b 239
Jagang 0:b127c787a51b 240 // Checksum
Jagang 0:b127c787a51b 241 TxBuf[5] = 0xFF - sum;
Jagang 0:b127c787a51b 242 #ifdef AX12_TRIGGER_DEBUG
Jagang 0:b127c787a51b 243 logger.printf(" Checksum 0x%X\n",TxBuf[5]);
Jagang 0:b127c787a51b 244 #endif
Jagang 0:b127c787a51b 245
Jagang 0:b127c787a51b 246 // Transmit the packet in one burst with no pausing
Jagang 0:b127c787a51b 247 for (int i = 0; i < 6 ; i++) {
Jagang 0:b127c787a51b 248 _ax12.putc(TxBuf[i]);
Jagang 0:b127c787a51b 249 }
Jagang 0:b127c787a51b 250
Jagang 0:b127c787a51b 251 // This is a broadcast packet, so there will be no reply
Jagang 0:b127c787a51b 252 return;
Jagang 0:b127c787a51b 253 }
Jagang 0:b127c787a51b 254
Jagang 0:b127c787a51b 255
Jagang 0:b127c787a51b 256 float AX12::getPosition(void) {
Jagang 0:b127c787a51b 257
Jagang 0:b127c787a51b 258 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 259 logger.printf("\ngetPosition(%d)",_ID);
Jagang 0:b127c787a51b 260 #endif
Jagang 0:b127c787a51b 261
Jagang 0:b127c787a51b 262 char data[2];
Jagang 0:b127c787a51b 263
Jagang 0:b127c787a51b 264 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
Jagang 0:b127c787a51b 265 short position = data[0] + (data[1] << 8);
Jagang 0:b127c787a51b 266 float angle = (position * 300)/1024;
Jagang 0:b127c787a51b 267
Jagang 0:b127c787a51b 268 return (angle);
Jagang 0:b127c787a51b 269 }
Jagang 0:b127c787a51b 270
Jagang 0:b127c787a51b 271
Jagang 0:b127c787a51b 272 float AX12::getTemp (void) {
Jagang 0:b127c787a51b 273
Jagang 0:b127c787a51b 274 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 275 logger.printf("\ngetTemp(%d)",_ID);
Jagang 0:b127c787a51b 276 #endif
Jagang 0:b127c787a51b 277
Jagang 0:b127c787a51b 278 char data[1];
Jagang 0:b127c787a51b 279 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
Jagang 0:b127c787a51b 280 float temp = data[0];
Jagang 0:b127c787a51b 281 return(temp);
Jagang 0:b127c787a51b 282 }
Jagang 0:b127c787a51b 283
Jagang 0:b127c787a51b 284
Jagang 0:b127c787a51b 285 float AX12::getVolts (void) {
Jagang 0:b127c787a51b 286
Jagang 0:b127c787a51b 287 #ifdef AX12_DEBUG
Jagang 0:b127c787a51b 288 logger.printf("\ngetVolts(%d)",_ID);
Jagang 0:b127c787a51b 289 #endif
Jagang 0:b127c787a51b 290
Jagang 0:b127c787a51b 291 char data[1];
Jagang 0:b127c787a51b 292 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
Jagang 0:b127c787a51b 293 float volts = data[0]/10.0;
Jagang 0:b127c787a51b 294 return(volts);
Jagang 0:b127c787a51b 295 }
Jagang 0:b127c787a51b 296
Jagang 0:b127c787a51b 297
Jagang 0:b127c787a51b 298 int AX12::read(int ID, int start, int bytes, char* data) {
Jagang 0:b127c787a51b 299
Jagang 0:b127c787a51b 300 char PacketLength = 0x4;
Jagang 0:b127c787a51b 301 char TxBuf[16];
Jagang 0:b127c787a51b 302 char sum = 0;
Jagang 0:b127c787a51b 303 char Status[16];
Jagang 0:b127c787a51b 304
Jagang 0:b127c787a51b 305 Status[4] = 0xFE; // return code
Jagang 0:b127c787a51b 306
Jagang 0:b127c787a51b 307 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 308 logger.printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
Jagang 0:b127c787a51b 309 #endif
Jagang 0:b127c787a51b 310
Jagang 0:b127c787a51b 311 // Build the TxPacket first in RAM, then we'll send in one go
Jagang 0:b127c787a51b 312 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 313 logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
Jagang 0:b127c787a51b 314 #endif
Jagang 0:b127c787a51b 315
Jagang 0:b127c787a51b 316 TxBuf[0] = 0xff;
Jagang 0:b127c787a51b 317 TxBuf[1] = 0xff;
Jagang 0:b127c787a51b 318
Jagang 0:b127c787a51b 319 // ID
Jagang 0:b127c787a51b 320 TxBuf[2] = ID;
Jagang 0:b127c787a51b 321 sum += TxBuf[2];
Jagang 0:b127c787a51b 322
Jagang 0:b127c787a51b 323 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 324 logger.printf(" ID : %d\n",TxBuf[2]);
Jagang 0:b127c787a51b 325 #endif
Jagang 0:b127c787a51b 326
Jagang 0:b127c787a51b 327 // Packet Length
Jagang 0:b127c787a51b 328 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
Jagang 0:b127c787a51b 329 sum += TxBuf[3]; // Accululate the packet sum
Jagang 0:b127c787a51b 330
Jagang 0:b127c787a51b 331 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 332 logger.printf(" Length : 0x%x\n",TxBuf[3]);
Jagang 0:b127c787a51b 333 #endif
Jagang 0:b127c787a51b 334
Jagang 0:b127c787a51b 335 // Instruction - Read
Jagang 0:b127c787a51b 336 TxBuf[4] = 0x2;
Jagang 0:b127c787a51b 337 sum += TxBuf[4];
Jagang 0:b127c787a51b 338
Jagang 0:b127c787a51b 339 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 340 logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
Jagang 0:b127c787a51b 341 #endif
Jagang 0:b127c787a51b 342
Jagang 0:b127c787a51b 343 // Start Address
Jagang 0:b127c787a51b 344 TxBuf[5] = start;
Jagang 0:b127c787a51b 345 sum += TxBuf[5];
Jagang 0:b127c787a51b 346
Jagang 0:b127c787a51b 347 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 348 logger.printf(" Start Address : 0x%x\n",TxBuf[5]);
Jagang 0:b127c787a51b 349 #endif
Jagang 0:b127c787a51b 350
Jagang 0:b127c787a51b 351 // Bytes to read
Jagang 0:b127c787a51b 352 TxBuf[6] = bytes;
Jagang 0:b127c787a51b 353 sum += TxBuf[6];
Jagang 0:b127c787a51b 354
Jagang 0:b127c787a51b 355 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 356 logger.printf(" No bytes : 0x%x\n",TxBuf[6]);
Jagang 0:b127c787a51b 357 #endif
Jagang 0:b127c787a51b 358
Jagang 0:b127c787a51b 359 // Checksum
Jagang 0:b127c787a51b 360 TxBuf[7] = 0xFF - sum;
Jagang 0:b127c787a51b 361 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 362 logger.printf(" Checksum : 0x%x\n",TxBuf[7]);
Jagang 0:b127c787a51b 363 #endif
Jagang 0:b127c787a51b 364
Jagang 0:b127c787a51b 365 // Transmit the packet in one burst with no pausing
Jagang 0:b127c787a51b 366 for (int i = 0; i<8 ; i++) {
Jagang 0:b127c787a51b 367 _ax12.putc(TxBuf[i]);
Jagang 0:b127c787a51b 368 }
Jagang 0:b127c787a51b 369
Jagang 0:b127c787a51b 370 // Wait for the bytes to be transmitted
Jagang 0:b127c787a51b 371 wait (0.00002);
Jagang 0:b127c787a51b 372
Jagang 0:b127c787a51b 373 // Skip if the read was to the broadcast address
Jagang 0:b127c787a51b 374 if (_ID != 0xFE) {
Jagang 0:b127c787a51b 375
Jagang 0:b127c787a51b 376
Jagang 0:b127c787a51b 377
Jagang 0:b127c787a51b 378 // response packet is always 6 + bytes
Jagang 0:b127c787a51b 379 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
Jagang 0:b127c787a51b 380 // timeout is a little more than the time to transmit
Jagang 0:b127c787a51b 381 // the packet back, i.e. (6+bytes)*10 bit periods
Jagang 0:b127c787a51b 382
Jagang 0:b127c787a51b 383 int timeout = 0;
Jagang 0:b127c787a51b 384 int plen = 0;
Jagang 0:b127c787a51b 385 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
Jagang 0:b127c787a51b 386
Jagang 0:b127c787a51b 387 if (_ax12.readable()) {
Jagang 0:b127c787a51b 388 Status[plen] = _ax12.getc();
Jagang 0:b127c787a51b 389 plen++;
Jagang 0:b127c787a51b 390 timeout = 0;
Jagang 0:b127c787a51b 391 }
Jagang 0:b127c787a51b 392
Jagang 0:b127c787a51b 393 // wait for the bit period
Jagang 0:b127c787a51b 394 wait (1.0/_baud);
Jagang 0:b127c787a51b 395 timeout++;
Jagang 0:b127c787a51b 396 }
Jagang 0:b127c787a51b 397
Jagang 0:b127c787a51b 398 if (timeout == ((6+bytes)*10) ) {
Jagang 0:b127c787a51b 399 return(-1);
Jagang 0:b127c787a51b 400 }
Jagang 0:b127c787a51b 401
Jagang 0:b127c787a51b 402 // Copy the data from Status into data for return
Jagang 0:b127c787a51b 403 for (int i=0; i < Status[3]-2 ; i++) {
Jagang 0:b127c787a51b 404 data[i] = Status[5+i];
Jagang 0:b127c787a51b 405 }
Jagang 0:b127c787a51b 406
Jagang 0:b127c787a51b 407 #ifdef AX12_READ_DEBUG
Jagang 0:b127c787a51b 408 logger.printf("\nStatus Packet\n");
Jagang 0:b127c787a51b 409 logger.printf(" Header : 0x%x\n",Status[0]);
Jagang 0:b127c787a51b 410 logger.printf(" Header : 0x%x\n",Status[1]);
Jagang 0:b127c787a51b 411 logger.printf(" ID : 0x%x\n",Status[2]);
Jagang 0:b127c787a51b 412 logger.printf(" Length : 0x%x\n",Status[3]);
Jagang 0:b127c787a51b 413 logger.printf(" Error Code : 0x%x\n",Status[4]);
Jagang 0:b127c787a51b 414
Jagang 0:b127c787a51b 415 for (int i=0; i < Status[3]-2 ; i++) {
Jagang 0:b127c787a51b 416 logger.printf(" Data : 0x%x\n",Status[5+i]);
Jagang 0:b127c787a51b 417 }
Jagang 0:b127c787a51b 418
Jagang 0:b127c787a51b 419 logger.printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
Jagang 0:b127c787a51b 420 #endif
Jagang 0:b127c787a51b 421
Jagang 0:b127c787a51b 422 } // if (ID!=0xFE)
Jagang 0:b127c787a51b 423
Jagang 0:b127c787a51b 424 return(Status[4]);
Jagang 0:b127c787a51b 425 }
Jagang 0:b127c787a51b 426
Jagang 0:b127c787a51b 427
Jagang 0:b127c787a51b 428 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
Jagang 0:b127c787a51b 429 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
Jagang 0:b127c787a51b 430
Jagang 0:b127c787a51b 431 char TxBuf[16];
Jagang 0:b127c787a51b 432 char sum = 0;
Jagang 0:b127c787a51b 433 char Status[6];
Jagang 0:b127c787a51b 434
Jagang 0:b127c787a51b 435 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 436 logger.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
Jagang 0:b127c787a51b 437 #endif
Jagang 0:b127c787a51b 438
Jagang 0:b127c787a51b 439 // Build the TxPacket first in RAM, then we'll send in one go
Jagang 0:b127c787a51b 440 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 441 logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
Jagang 0:b127c787a51b 442 #endif
Jagang 0:b127c787a51b 443
Jagang 0:b127c787a51b 444 TxBuf[0] = 0xff;
Jagang 0:b127c787a51b 445 TxBuf[1] = 0xff;
Jagang 0:b127c787a51b 446
Jagang 0:b127c787a51b 447 // ID
Jagang 0:b127c787a51b 448 TxBuf[2] = ID;
Jagang 0:b127c787a51b 449 sum += TxBuf[2];
Jagang 0:b127c787a51b 450
Jagang 0:b127c787a51b 451 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 452 logger.printf(" ID : %d\n",TxBuf[2]);
Jagang 0:b127c787a51b 453 #endif
Jagang 0:b127c787a51b 454
Jagang 0:b127c787a51b 455 // packet Length
Jagang 0:b127c787a51b 456 TxBuf[3] = 3+bytes;
Jagang 0:b127c787a51b 457 sum += TxBuf[3];
Jagang 0:b127c787a51b 458
Jagang 0:b127c787a51b 459 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 460 logger.printf(" Length : %d\n",TxBuf[3]);
Jagang 0:b127c787a51b 461 #endif
Jagang 0:b127c787a51b 462
Jagang 0:b127c787a51b 463 // Instruction
Jagang 0:b127c787a51b 464 if (flag == 1) {
Jagang 0:b127c787a51b 465 TxBuf[4]=0x04;
Jagang 0:b127c787a51b 466 sum += TxBuf[4];
Jagang 0:b127c787a51b 467 } else {
Jagang 0:b127c787a51b 468 TxBuf[4]=0x03;
Jagang 0:b127c787a51b 469 sum += TxBuf[4];
Jagang 0:b127c787a51b 470 }
Jagang 0:b127c787a51b 471
Jagang 0:b127c787a51b 472 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 473 logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
Jagang 0:b127c787a51b 474 #endif
Jagang 0:b127c787a51b 475
Jagang 0:b127c787a51b 476 // Start Address
Jagang 0:b127c787a51b 477 TxBuf[5] = start;
Jagang 0:b127c787a51b 478 sum += TxBuf[5];
Jagang 0:b127c787a51b 479
Jagang 0:b127c787a51b 480 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 481 logger.printf(" Start : 0x%x\n",TxBuf[5]);
Jagang 0:b127c787a51b 482 #endif
Jagang 0:b127c787a51b 483
Jagang 0:b127c787a51b 484 // data
Jagang 0:b127c787a51b 485 for (char i=0; i<bytes ; i++) {
Jagang 0:b127c787a51b 486 TxBuf[6+i] = data[i];
Jagang 0:b127c787a51b 487 sum += TxBuf[6+i];
Jagang 0:b127c787a51b 488
Jagang 0:b127c787a51b 489 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 490 logger.printf(" Data : 0x%x\n",TxBuf[6+i]);
Jagang 0:b127c787a51b 491 #endif
Jagang 0:b127c787a51b 492
Jagang 0:b127c787a51b 493 }
Jagang 0:b127c787a51b 494
Jagang 0:b127c787a51b 495 // checksum
Jagang 0:b127c787a51b 496 TxBuf[6+bytes] = 0xFF - sum;
Jagang 0:b127c787a51b 497
Jagang 0:b127c787a51b 498 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 499 logger.printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
Jagang 0:b127c787a51b 500 #endif
Jagang 0:b127c787a51b 501
Jagang 0:b127c787a51b 502 // Transmit the packet in one burst with no pausing
Jagang 0:b127c787a51b 503 for (int i = 0; i < (7 + bytes) ; i++) {
Jagang 0:b127c787a51b 504 _ax12.putc(TxBuf[i]);
Jagang 0:b127c787a51b 505 }
Jagang 0:b127c787a51b 506
Jagang 0:b127c787a51b 507 // Wait for data to transmit
Jagang 0:b127c787a51b 508 wait (0.00002);
Jagang 0:b127c787a51b 509
Jagang 0:b127c787a51b 510 // make sure we have a valid return
Jagang 0:b127c787a51b 511 Status[4]=0x00;
Jagang 0:b127c787a51b 512
Jagang 0:b127c787a51b 513 // we'll only get a reply if it was not broadcast
Jagang 0:b127c787a51b 514 if (_ID!=0xFE) {
Jagang 0:b127c787a51b 515
Jagang 0:b127c787a51b 516
Jagang 0:b127c787a51b 517 // response packet is always 6 bytes
Jagang 0:b127c787a51b 518 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
Jagang 0:b127c787a51b 519 // timeout is a little more than the time to transmit
Jagang 0:b127c787a51b 520 // the packet back, i.e. 60 bit periods, round up to 100
Jagang 0:b127c787a51b 521 int timeout = 0;
Jagang 0:b127c787a51b 522 int plen = 0;
Jagang 0:b127c787a51b 523 while ((timeout < 100) && (plen<6)) {
Jagang 0:b127c787a51b 524
Jagang 0:b127c787a51b 525 if (_ax12.readable()) {
Jagang 0:b127c787a51b 526 Status[plen] = _ax12.getc();
Jagang 0:b127c787a51b 527 plen++;
Jagang 0:b127c787a51b 528 timeout = 0;
Jagang 0:b127c787a51b 529 }
Jagang 0:b127c787a51b 530
Jagang 0:b127c787a51b 531 // wait for the bit period
Jagang 0:b127c787a51b 532 wait (1.0/_baud);
Jagang 0:b127c787a51b 533 timeout++;
Jagang 0:b127c787a51b 534 }
Jagang 0:b127c787a51b 535
Jagang 0:b127c787a51b 536
Jagang 0:b127c787a51b 537 // Build the TxPacket first in RAM, then we'll send in one go
Jagang 0:b127c787a51b 538 #ifdef AX12_WRITE_DEBUG
Jagang 0:b127c787a51b 539 logger.printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
Jagang 0:b127c787a51b 540 logger.printf(" ID : %d\n",Status[2]);
Jagang 0:b127c787a51b 541 logger.printf(" Length : %d\n",Status[3]);
Jagang 0:b127c787a51b 542 logger.printf(" Error : 0x%x\n",Status[4]);
Jagang 0:b127c787a51b 543 logger.printf(" Checksum : 0x%x\n",Status[5]);
Jagang 0:b127c787a51b 544 #endif
Jagang 0:b127c787a51b 545
Jagang 0:b127c787a51b 546
Jagang 0:b127c787a51b 547 }
Jagang 0:b127c787a51b 548
Jagang 0:b127c787a51b 549 return(Status[4]); // return error code
Jagang 0:b127c787a51b 550 }