ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

AX12/AX12.cpp@71:5590dbe8393a, 2016-05-05 (annotated)

Committer:
Jagang
Date:
Thu May 05 03:47:05 2016 +0000
Revision:
71:5590dbe8393a
Parent:
51:1056dd73a748 
Uodate Controlleur, ajout des mouvement d et c, ajout des AX12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 41:b5a2fbc20beb 1 /* mbed AX-12+ Servo Library
sype 41:b5a2fbc20beb 2 *
sype 41:b5a2fbc20beb 3 * Copyright (c) 2010, cstyles (http://mbed.org)
sype 41:b5a2fbc20beb 4 *
sype 41:b5a2fbc20beb 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
sype 41:b5a2fbc20beb 6 * of this software and associated documentation files (the "Software"), to deal
sype 41:b5a2fbc20beb 7 * in the Software without restriction, including without limitation the rights
sype 41:b5a2fbc20beb 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
sype 41:b5a2fbc20beb 9 * copies of the Software, and to permit persons to whom the Software is
sype 41:b5a2fbc20beb 10 * furnished to do so, subject to the following conditions:
sype 41:b5a2fbc20beb 11 *
sype 41:b5a2fbc20beb 12 * The above copyright notice and this permission notice shall be included in
sype 41:b5a2fbc20beb 13 * all copies or substantial portions of the Software.
sype 41:b5a2fbc20beb 14 *
sype 41:b5a2fbc20beb 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
sype 41:b5a2fbc20beb 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
sype 41:b5a2fbc20beb 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
sype 41:b5a2fbc20beb 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
sype 41:b5a2fbc20beb 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
sype 41:b5a2fbc20beb 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
sype 41:b5a2fbc20beb 21 * THE SOFTWARE.
sype 41:b5a2fbc20beb 22 */
sype 41:b5a2fbc20beb 23
sype 41:b5a2fbc20beb 24 #include "AX12.h"
sype 41:b5a2fbc20beb 25 #include "mbed.h"
sype 41:b5a2fbc20beb 26
sype 41:b5a2fbc20beb 27 extern Serial logger;
sype 41:b5a2fbc20beb 28
sype 41:b5a2fbc20beb 29 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
sype 41:b5a2fbc20beb 30 : _ax12(tx,rx) {
sype 41:b5a2fbc20beb 31 _baud = baud;
sype 41:b5a2fbc20beb 32 _ID = ID;
sype 41:b5a2fbc20beb 33 _ax12.baud(_baud);
sype 41:b5a2fbc20beb 34
sype 41:b5a2fbc20beb 35 }
sype 41:b5a2fbc20beb 36
sype 41:b5a2fbc20beb 37 // set the mode of the servo
sype 41:b5a2fbc20beb 38 // 0 = Positional (0-300 degrees)
sype 41:b5a2fbc20beb 39 // 1 = Rotational -1 to 1 speed
sype 41:b5a2fbc20beb 40 int AX12::setMode(int mode) {
sype 41:b5a2fbc20beb 41
sype 41:b5a2fbc20beb 42 if (mode == 1) { // set CR
sype 41:b5a2fbc20beb 43 setCWLimit(0);
sype 41:b5a2fbc20beb 44 setCCWLimit(0);
sype 41:b5a2fbc20beb 45 setCRSpeed(0.0);
sype 41:b5a2fbc20beb 46 } else {
sype 41:b5a2fbc20beb 47 setCWLimit(0);
sype 41:b5a2fbc20beb 48 setCCWLimit(300);
sype 41:b5a2fbc20beb 49 setCRSpeed(0.0);
sype 41:b5a2fbc20beb 50 }
sype 41:b5a2fbc20beb 51 return(0);
sype 41:b5a2fbc20beb 52 }
sype 41:b5a2fbc20beb 53
sype 41:b5a2fbc20beb 54
sype 41:b5a2fbc20beb 55 // if flag[0] is set, were blocking
sype 41:b5a2fbc20beb 56 // if flag[1] is set, we're registering
sype 41:b5a2fbc20beb 57 // they are mutually exclusive operations
sype 41:b5a2fbc20beb 58 int AX12::setGoal(int degrees, int flags) {
sype 41:b5a2fbc20beb 59
sype 41:b5a2fbc20beb 60 char reg_flag = 0;
sype 41:b5a2fbc20beb 61 char data[2];
sype 41:b5a2fbc20beb 62 _goal = degrees;
sype 41:b5a2fbc20beb 63
sype 41:b5a2fbc20beb 64 // set the flag is only the register bit is set in the flag
sype 41:b5a2fbc20beb 65 if (flags == 0x2) {
sype 41:b5a2fbc20beb 66 reg_flag = 1;
sype 41:b5a2fbc20beb 67 }
sype 41:b5a2fbc20beb 68
sype 41:b5a2fbc20beb 69 // 1023 / 300 * degrees
sype 41:b5a2fbc20beb 70 short goal = (1023 * degrees) / 300;
sype 41:b5a2fbc20beb 71 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 72 logger.printf("setGoal to 0x%x\n",goal);
sype 41:b5a2fbc20beb 73 #endif
sype 41:b5a2fbc20beb 74
sype 41:b5a2fbc20beb 75 data[0] = goal & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 76 data[1] = goal >> 8; // top 8 bits
sype 41:b5a2fbc20beb 77
sype 41:b5a2fbc20beb 78 // write the packet, return the error code
sype 41:b5a2fbc20beb 79 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
sype 41:b5a2fbc20beb 80
sype 41:b5a2fbc20beb 81 if (flags == 1) {
sype 41:b5a2fbc20beb 82 // block until it comes to a halt
sype 41:b5a2fbc20beb 83 while (isMoving()) {}
sype 41:b5a2fbc20beb 84 }
sype 41:b5a2fbc20beb 85 return(rVal);
sype 41:b5a2fbc20beb 86 }
sype 41:b5a2fbc20beb 87
sype 41:b5a2fbc20beb 88 int AX12::setMaxTorque(int maxTorque)
sype 41:b5a2fbc20beb 89 {
sype 41:b5a2fbc20beb 90 char data[2];
sype 41:b5a2fbc20beb 91
sype 41:b5a2fbc20beb 92 data[0] = maxTorque & 0xFF;
sype 41:b5a2fbc20beb 93 data[1] = maxTorque >> 8;
sype 41:b5a2fbc20beb 94
sype 41:b5a2fbc20beb 95 // write the packet, return the error code
sype 41:b5a2fbc20beb 96 int rVal = write(_ID, 0x22, 2, data);
sype 41:b5a2fbc20beb 97
sype 41:b5a2fbc20beb 98 return(rVal);
sype 41:b5a2fbc20beb 99 }
sype 41:b5a2fbc20beb 100
Jagang 71:5590dbe8393a 101 int AX12::setSpeed(int speed)
Jagang 71:5590dbe8393a 102 {
Jagang 71:5590dbe8393a 103 char data[2];
Jagang 71:5590dbe8393a 104
Jagang 71:5590dbe8393a 105 data[0] = speed & 0xFF;
Jagang 71:5590dbe8393a 106 data[1] = speed >> 8;
Jagang 71:5590dbe8393a 107
Jagang 71:5590dbe8393a 108 // write the packet, return the error code
Jagang 71:5590dbe8393a 109 int rVal = write(_ID, 0x20, 2, data);
Jagang 71:5590dbe8393a 110
Jagang 71:5590dbe8393a 111 return(rVal);
Jagang 71:5590dbe8393a 112 }
Jagang 71:5590dbe8393a 113
sype 41:b5a2fbc20beb 114
sype 41:b5a2fbc20beb 115 // set continuous rotation speed from -1 to 1
sype 41:b5a2fbc20beb 116 int AX12::setCRSpeed(float speed) {
sype 41:b5a2fbc20beb 117
sype 41:b5a2fbc20beb 118 // bit 10 = direction, 0 = CCW, 1=CW
sype 41:b5a2fbc20beb 119 // bits 9-0 = Speed
sype 41:b5a2fbc20beb 120 char data[2];
sype 41:b5a2fbc20beb 121
sype 41:b5a2fbc20beb 122 int goal = (0x3ff * abs(speed));
sype 41:b5a2fbc20beb 123
sype 41:b5a2fbc20beb 124 // set direction CW if we have a negative speed
sype 41:b5a2fbc20beb 125 if (speed < 0) {
sype 41:b5a2fbc20beb 126 goal |= (0x1 << 10);
sype 41:b5a2fbc20beb 127 }
sype 41:b5a2fbc20beb 128
sype 41:b5a2fbc20beb 129 data[0] = goal & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 130 data[1] = goal >> 8; // top 8 bits
sype 41:b5a2fbc20beb 131
sype 41:b5a2fbc20beb 132 // write the packet, return the error code
sype 41:b5a2fbc20beb 133 int rVal = write(_ID, 0x20, 2, data);
sype 41:b5a2fbc20beb 134
sype 41:b5a2fbc20beb 135 return(rVal);
sype 41:b5a2fbc20beb 136 }
sype 41:b5a2fbc20beb 137
sype 41:b5a2fbc20beb 138
sype 41:b5a2fbc20beb 139 int AX12::setCWLimit (int degrees) {
sype 41:b5a2fbc20beb 140
sype 41:b5a2fbc20beb 141 char data[2];
sype 41:b5a2fbc20beb 142
sype 41:b5a2fbc20beb 143 // 1023 / 300 * degrees
sype 41:b5a2fbc20beb 144 short limit = (1023 * degrees) / 300;
sype 41:b5a2fbc20beb 145
sype 41:b5a2fbc20beb 146 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 147 logger.printf("setCWLimit to 0x%x\n",limit);
sype 41:b5a2fbc20beb 148 #endif
sype 41:b5a2fbc20beb 149
sype 41:b5a2fbc20beb 150 data[0] = limit & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 151 data[1] = limit >> 8; // top 8 bits
sype 41:b5a2fbc20beb 152
sype 41:b5a2fbc20beb 153 // write the packet, return the error code
sype 41:b5a2fbc20beb 154 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
sype 41:b5a2fbc20beb 155
sype 41:b5a2fbc20beb 156 }
sype 41:b5a2fbc20beb 157
sype 41:b5a2fbc20beb 158 int AX12::setCCWLimit (int degrees) {
sype 41:b5a2fbc20beb 159
sype 41:b5a2fbc20beb 160 char data[2];
sype 41:b5a2fbc20beb 161
sype 41:b5a2fbc20beb 162 // 1023 / 300 * degrees
sype 41:b5a2fbc20beb 163 short limit = (1023 * degrees) / 300;
sype 41:b5a2fbc20beb 164
sype 41:b5a2fbc20beb 165 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 166 logger.printf("setCCWLimit to 0x%x\n",limit);
sype 41:b5a2fbc20beb 167 #endif
sype 41:b5a2fbc20beb 168
sype 41:b5a2fbc20beb 169 data[0] = limit & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 170 data[1] = limit >> 8; // top 8 bits
sype 41:b5a2fbc20beb 171
sype 41:b5a2fbc20beb 172 // write the packet, return the error code
sype 41:b5a2fbc20beb 173 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
sype 41:b5a2fbc20beb 174 }
sype 41:b5a2fbc20beb 175
sype 41:b5a2fbc20beb 176
sype 41:b5a2fbc20beb 177 int AX12::setID (int CurrentID, int NewID) {
sype 41:b5a2fbc20beb 178
sype 41:b5a2fbc20beb 179 char data[1];
sype 41:b5a2fbc20beb 180 data[0] = NewID;
sype 41:b5a2fbc20beb 181
sype 41:b5a2fbc20beb 182 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 183 logger.printf("setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
sype 41:b5a2fbc20beb 184 #endif
sype 41:b5a2fbc20beb 185
sype 41:b5a2fbc20beb 186 return (write(CurrentID, AX12_REG_ID, 1, data));
sype 41:b5a2fbc20beb 187
sype 41:b5a2fbc20beb 188 }
sype 41:b5a2fbc20beb 189
sype 41:b5a2fbc20beb 190
sype 41:b5a2fbc20beb 191 int AX12::setBaud (int baud) {
sype 41:b5a2fbc20beb 192
sype 41:b5a2fbc20beb 193 char data[1];
sype 41:b5a2fbc20beb 194 data[0] = baud;
sype 41:b5a2fbc20beb 195
sype 41:b5a2fbc20beb 196 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 197 logger.printf("setting Baud rate to %d\n",baud);
sype 41:b5a2fbc20beb 198 #endif
sype 41:b5a2fbc20beb 199
sype 41:b5a2fbc20beb 200 return (write(0xFE, AX12_REG_BAUD, 1, data));
sype 41:b5a2fbc20beb 201
sype 41:b5a2fbc20beb 202 }
sype 41:b5a2fbc20beb 203
sype 41:b5a2fbc20beb 204
sype 41:b5a2fbc20beb 205
sype 41:b5a2fbc20beb 206 // return 1 is the servo is still in flight
sype 41:b5a2fbc20beb 207 int AX12::isMoving(void) {
sype 41:b5a2fbc20beb 208
sype 41:b5a2fbc20beb 209 char data[1];
sype 41:b5a2fbc20beb 210 read(_ID,AX12_REG_MOVING,1,data);
sype 41:b5a2fbc20beb 211 return(data[0]);
sype 41:b5a2fbc20beb 212 }
sype 41:b5a2fbc20beb 213
sype 41:b5a2fbc20beb 214
sype 41:b5a2fbc20beb 215 void AX12::trigger(void) {
sype 41:b5a2fbc20beb 216
sype 41:b5a2fbc20beb 217 char TxBuf[16];
sype 41:b5a2fbc20beb 218 char sum = 0;
sype 41:b5a2fbc20beb 219
sype 41:b5a2fbc20beb 220 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 221 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 222 logger.printf("\nTriggered\n");
sype 41:b5a2fbc20beb 223 logger.printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
sype 41:b5a2fbc20beb 224 #endif
sype 41:b5a2fbc20beb 225
sype 41:b5a2fbc20beb 226 TxBuf[0] = 0xFF;
sype 41:b5a2fbc20beb 227 TxBuf[1] = 0xFF;
sype 41:b5a2fbc20beb 228
sype 41:b5a2fbc20beb 229 // ID - Broadcast
sype 41:b5a2fbc20beb 230 TxBuf[2] = 0xFE;
sype 41:b5a2fbc20beb 231 sum += TxBuf[2];
sype 41:b5a2fbc20beb 232
sype 41:b5a2fbc20beb 233 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 234 logger.printf(" ID : %d\n",TxBuf[2]);
sype 41:b5a2fbc20beb 235 #endif
sype 41:b5a2fbc20beb 236
sype 41:b5a2fbc20beb 237 // Length
sype 41:b5a2fbc20beb 238 TxBuf[3] = 0x02;
sype 41:b5a2fbc20beb 239 sum += TxBuf[3];
sype 41:b5a2fbc20beb 240
sype 41:b5a2fbc20beb 241 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 242 logger.printf(" Length %d\n",TxBuf[3]);
sype 41:b5a2fbc20beb 243 #endif
sype 41:b5a2fbc20beb 244
sype 41:b5a2fbc20beb 245 // Instruction - ACTION
sype 41:b5a2fbc20beb 246 TxBuf[4] = 0x04;
sype 41:b5a2fbc20beb 247 sum += TxBuf[4];
sype 41:b5a2fbc20beb 248
sype 41:b5a2fbc20beb 249 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 250 logger.printf(" Instruction 0x%X\n",TxBuf[5]);
sype 41:b5a2fbc20beb 251 #endif
sype 41:b5a2fbc20beb 252
sype 41:b5a2fbc20beb 253 // Checksum
sype 41:b5a2fbc20beb 254 TxBuf[5] = 0xFF - sum;
sype 41:b5a2fbc20beb 255 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 256 logger.printf(" Checksum 0x%X\n",TxBuf[5]);
sype 41:b5a2fbc20beb 257 #endif
sype 41:b5a2fbc20beb 258
sype 41:b5a2fbc20beb 259 // Transmit the packet in one burst with no pausing
sype 41:b5a2fbc20beb 260 for (int i = 0; i < 6 ; i++) {
sype 41:b5a2fbc20beb 261 _ax12.putc(TxBuf[i]);
sype 41:b5a2fbc20beb 262 }
sype 41:b5a2fbc20beb 263
sype 41:b5a2fbc20beb 264 // This is a broadcast packet, so there will be no reply
sype 41:b5a2fbc20beb 265 return;
sype 41:b5a2fbc20beb 266 }
sype 41:b5a2fbc20beb 267
sype 41:b5a2fbc20beb 268
sype 41:b5a2fbc20beb 269 float AX12::getPosition(void) {
sype 41:b5a2fbc20beb 270
sype 41:b5a2fbc20beb 271 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 272 logger.printf("\ngetPosition(%d)",_ID);
sype 41:b5a2fbc20beb 273 #endif
sype 41:b5a2fbc20beb 274
sype 41:b5a2fbc20beb 275 char data[2];
sype 41:b5a2fbc20beb 276
sype 41:b5a2fbc20beb 277 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
sype 41:b5a2fbc20beb 278 short position = data[0] + (data[1] << 8);
sype 41:b5a2fbc20beb 279 float angle = (position * 300)/1024;
sype 41:b5a2fbc20beb 280
sype 41:b5a2fbc20beb 281 return (angle);
sype 41:b5a2fbc20beb 282 }
sype 41:b5a2fbc20beb 283
sype 41:b5a2fbc20beb 284
sype 41:b5a2fbc20beb 285 float AX12::getTemp (void) {
sype 41:b5a2fbc20beb 286
sype 41:b5a2fbc20beb 287 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 288 logger.printf("\ngetTemp(%d)",_ID);
sype 41:b5a2fbc20beb 289 #endif
sype 41:b5a2fbc20beb 290
sype 41:b5a2fbc20beb 291 char data[1];
sype 41:b5a2fbc20beb 292 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
sype 41:b5a2fbc20beb 293 float temp = data[0];
sype 41:b5a2fbc20beb 294 return(temp);
sype 41:b5a2fbc20beb 295 }
sype 41:b5a2fbc20beb 296
sype 41:b5a2fbc20beb 297
sype 41:b5a2fbc20beb 298 float AX12::getVolts (void) {
sype 41:b5a2fbc20beb 299
sype 41:b5a2fbc20beb 300 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 301 logger.printf("\ngetVolts(%d)",_ID);
sype 41:b5a2fbc20beb 302 #endif
sype 41:b5a2fbc20beb 303
sype 41:b5a2fbc20beb 304 char data[1];
sype 41:b5a2fbc20beb 305 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
sype 41:b5a2fbc20beb 306 float volts = data[0]/10.0;
sype 41:b5a2fbc20beb 307 return(volts);
sype 41:b5a2fbc20beb 308 }
sype 41:b5a2fbc20beb 309
sype 50:2dea82393beb 310 float AX12::getLoad (void) {
sype 50:2dea82393beb 311 char data[2];
sype 51:1056dd73a748 312 int ErrorCode = read(_ID, AX12_REG_LOAD, 2, data);
sype 51:1056dd73a748 313 short load1 = data[0] + (data[1] << 8);
sype 51:1056dd73a748 314 float load = load1/1023;
sype 51:1056dd73a748 315 return(load); //renvoie la charge en %
sype 50:2dea82393beb 316 }
sype 41:b5a2fbc20beb 317
sype 41:b5a2fbc20beb 318 int AX12::read(int ID, int start, int bytes, char* data) {
sype 41:b5a2fbc20beb 319
sype 41:b5a2fbc20beb 320 char PacketLength = 0x4;
sype 41:b5a2fbc20beb 321 char TxBuf[16];
sype 41:b5a2fbc20beb 322 char sum = 0;
sype 41:b5a2fbc20beb 323 char Status[16];
sype 41:b5a2fbc20beb 324
sype 41:b5a2fbc20beb 325 Status[4] = 0xFE; // return code
sype 41:b5a2fbc20beb 326
sype 41:b5a2fbc20beb 327 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 328 logger.printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
sype 41:b5a2fbc20beb 329 #endif
sype 41:b5a2fbc20beb 330
sype 41:b5a2fbc20beb 331 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 332 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 333 logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
sype 41:b5a2fbc20beb 334 #endif
sype 41:b5a2fbc20beb 335
sype 41:b5a2fbc20beb 336 TxBuf[0] = 0xff;
sype 41:b5a2fbc20beb 337 TxBuf[1] = 0xff;
sype 41:b5a2fbc20beb 338
sype 41:b5a2fbc20beb 339 // ID
sype 41:b5a2fbc20beb 340 TxBuf[2] = ID;
sype 41:b5a2fbc20beb 341 sum += TxBuf[2];
sype 41:b5a2fbc20beb 342
sype 41:b5a2fbc20beb 343 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 344 logger.printf(" ID : %d\n",TxBuf[2]);
sype 41:b5a2fbc20beb 345 #endif
sype 41:b5a2fbc20beb 346
sype 41:b5a2fbc20beb 347 // Packet Length
sype 41:b5a2fbc20beb 348 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
sype 41:b5a2fbc20beb 349 sum += TxBuf[3]; // Accululate the packet sum
sype 41:b5a2fbc20beb 350
sype 41:b5a2fbc20beb 351 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 352 logger.printf(" Length : 0x%x\n",TxBuf[3]);
sype 41:b5a2fbc20beb 353 #endif
sype 41:b5a2fbc20beb 354
sype 41:b5a2fbc20beb 355 // Instruction - Read
sype 41:b5a2fbc20beb 356 TxBuf[4] = 0x2;
sype 41:b5a2fbc20beb 357 sum += TxBuf[4];
sype 41:b5a2fbc20beb 358
sype 41:b5a2fbc20beb 359 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 360 logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
sype 41:b5a2fbc20beb 361 #endif
sype 41:b5a2fbc20beb 362
sype 41:b5a2fbc20beb 363 // Start Address
sype 41:b5a2fbc20beb 364 TxBuf[5] = start;
sype 41:b5a2fbc20beb 365 sum += TxBuf[5];
sype 41:b5a2fbc20beb 366
sype 41:b5a2fbc20beb 367 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 368 logger.printf(" Start Address : 0x%x\n",TxBuf[5]);
sype 41:b5a2fbc20beb 369 #endif
sype 41:b5a2fbc20beb 370
sype 41:b5a2fbc20beb 371 // Bytes to read
sype 41:b5a2fbc20beb 372 TxBuf[6] = bytes;
sype 41:b5a2fbc20beb 373 sum += TxBuf[6];
sype 41:b5a2fbc20beb 374
sype 41:b5a2fbc20beb 375 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 376 logger.printf(" No bytes : 0x%x\n",TxBuf[6]);
sype 41:b5a2fbc20beb 377 #endif
sype 41:b5a2fbc20beb 378
sype 41:b5a2fbc20beb 379 // Checksum
sype 41:b5a2fbc20beb 380 TxBuf[7] = 0xFF - sum;
sype 41:b5a2fbc20beb 381 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 382 logger.printf(" Checksum : 0x%x\n",TxBuf[7]);
sype 41:b5a2fbc20beb 383 #endif
sype 41:b5a2fbc20beb 384
sype 41:b5a2fbc20beb 385 // Transmit the packet in one burst with no pausing
sype 41:b5a2fbc20beb 386 for (int i = 0; i<8 ; i++) {
sype 41:b5a2fbc20beb 387 _ax12.putc(TxBuf[i]);
sype 41:b5a2fbc20beb 388 }
sype 41:b5a2fbc20beb 389
sype 41:b5a2fbc20beb 390 // Wait for the bytes to be transmitted
sype 41:b5a2fbc20beb 391 wait (0.00002);
sype 50:2dea82393beb 392
sype 41:b5a2fbc20beb 393 // Skip if the read was to the broadcast address
sype 41:b5a2fbc20beb 394 if (_ID != 0xFE) {
sype 41:b5a2fbc20beb 395
sype 41:b5a2fbc20beb 396
sype 41:b5a2fbc20beb 397
sype 41:b5a2fbc20beb 398 // response packet is always 6 + bytes
sype 41:b5a2fbc20beb 399 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
sype 41:b5a2fbc20beb 400 // timeout is a little more than the time to transmit
sype 41:b5a2fbc20beb 401 // the packet back, i.e. (6+bytes)*10 bit periods
sype 41:b5a2fbc20beb 402
sype 41:b5a2fbc20beb 403 int timeout = 0;
sype 41:b5a2fbc20beb 404 int plen = 0;
sype 41:b5a2fbc20beb 405 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
sype 41:b5a2fbc20beb 406
sype 41:b5a2fbc20beb 407 if (_ax12.readable()) {
sype 41:b5a2fbc20beb 408 Status[plen] = _ax12.getc();
sype 41:b5a2fbc20beb 409 plen++;
sype 41:b5a2fbc20beb 410 timeout = 0;
sype 41:b5a2fbc20beb 411 }
sype 41:b5a2fbc20beb 412
sype 41:b5a2fbc20beb 413 // wait for the bit period
sype 41:b5a2fbc20beb 414 wait (1.0/_baud);
sype 41:b5a2fbc20beb 415 timeout++;
sype 41:b5a2fbc20beb 416 }
sype 41:b5a2fbc20beb 417
sype 41:b5a2fbc20beb 418 if (timeout == ((6+bytes)*10) ) {
sype 41:b5a2fbc20beb 419 return(-1);
sype 41:b5a2fbc20beb 420 }
sype 41:b5a2fbc20beb 421
sype 41:b5a2fbc20beb 422 // Copy the data from Status into data for return
sype 41:b5a2fbc20beb 423 for (int i=0; i < Status[3]-2 ; i++) {
sype 41:b5a2fbc20beb 424 data[i] = Status[5+i];
sype 41:b5a2fbc20beb 425 }
sype 41:b5a2fbc20beb 426
sype 41:b5a2fbc20beb 427 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 428 logger.printf("\nStatus Packet\n");
sype 41:b5a2fbc20beb 429 logger.printf(" Header : 0x%x\n",Status[0]);
sype 41:b5a2fbc20beb 430 logger.printf(" Header : 0x%x\n",Status[1]);
sype 41:b5a2fbc20beb 431 logger.printf(" ID : 0x%x\n",Status[2]);
sype 41:b5a2fbc20beb 432 logger.printf(" Length : 0x%x\n",Status[3]);
sype 41:b5a2fbc20beb 433 logger.printf(" Error Code : 0x%x\n",Status[4]);
sype 41:b5a2fbc20beb 434
sype 41:b5a2fbc20beb 435 for (int i=0; i < Status[3]-2 ; i++) {
sype 41:b5a2fbc20beb 436 logger.printf(" Data : 0x%x\n",Status[5+i]);
sype 41:b5a2fbc20beb 437 }
sype 41:b5a2fbc20beb 438
sype 41:b5a2fbc20beb 439 logger.printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
sype 41:b5a2fbc20beb 440 #endif
sype 41:b5a2fbc20beb 441
sype 41:b5a2fbc20beb 442 } // if (ID!=0xFE)
sype 41:b5a2fbc20beb 443
sype 41:b5a2fbc20beb 444 return(Status[4]);
sype 41:b5a2fbc20beb 445 }
sype 41:b5a2fbc20beb 446
sype 41:b5a2fbc20beb 447
sype 41:b5a2fbc20beb 448 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
sype 41:b5a2fbc20beb 449 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
sype 41:b5a2fbc20beb 450
sype 41:b5a2fbc20beb 451 char TxBuf[16];
sype 41:b5a2fbc20beb 452 char sum = 0;
sype 41:b5a2fbc20beb 453 char Status[6];
sype 41:b5a2fbc20beb 454
sype 41:b5a2fbc20beb 455 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 456 logger.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
sype 41:b5a2fbc20beb 457 #endif
sype 41:b5a2fbc20beb 458
sype 41:b5a2fbc20beb 459 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 460 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 461 logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
sype 41:b5a2fbc20beb 462 #endif
sype 41:b5a2fbc20beb 463
sype 41:b5a2fbc20beb 464 TxBuf[0] = 0xff;
sype 41:b5a2fbc20beb 465 TxBuf[1] = 0xff;
sype 41:b5a2fbc20beb 466
sype 41:b5a2fbc20beb 467 // ID
sype 41:b5a2fbc20beb 468 TxBuf[2] = ID;
sype 41:b5a2fbc20beb 469 sum += TxBuf[2];
sype 41:b5a2fbc20beb 470
sype 41:b5a2fbc20beb 471 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 472 logger.printf(" ID : %d\n",TxBuf[2]);
sype 41:b5a2fbc20beb 473 #endif
sype 41:b5a2fbc20beb 474
sype 41:b5a2fbc20beb 475 // packet Length
sype 41:b5a2fbc20beb 476 TxBuf[3] = 3+bytes;
sype 41:b5a2fbc20beb 477 sum += TxBuf[3];
sype 41:b5a2fbc20beb 478
sype 41:b5a2fbc20beb 479 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 480 logger.printf(" Length : %d\n",TxBuf[3]);
sype 41:b5a2fbc20beb 481 #endif
sype 41:b5a2fbc20beb 482
sype 41:b5a2fbc20beb 483 // Instruction
sype 41:b5a2fbc20beb 484 if (flag == 1) {
sype 41:b5a2fbc20beb 485 TxBuf[4]=0x04;
sype 41:b5a2fbc20beb 486 sum += TxBuf[4];
sype 41:b5a2fbc20beb 487 } else {
sype 41:b5a2fbc20beb 488 TxBuf[4]=0x03;
sype 41:b5a2fbc20beb 489 sum += TxBuf[4];
sype 41:b5a2fbc20beb 490 }
sype 41:b5a2fbc20beb 491
sype 41:b5a2fbc20beb 492 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 493 logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
sype 41:b5a2fbc20beb 494 #endif
sype 41:b5a2fbc20beb 495
sype 41:b5a2fbc20beb 496 // Start Address
sype 41:b5a2fbc20beb 497 TxBuf[5] = start;
sype 41:b5a2fbc20beb 498 sum += TxBuf[5];
sype 41:b5a2fbc20beb 499
sype 41:b5a2fbc20beb 500 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 501 logger.printf(" Start : 0x%x\n",TxBuf[5]);
sype 41:b5a2fbc20beb 502 #endif
sype 41:b5a2fbc20beb 503
sype 41:b5a2fbc20beb 504 // data
sype 41:b5a2fbc20beb 505 for (char i=0; i<bytes ; i++) {
sype 41:b5a2fbc20beb 506 TxBuf[6+i] = data[i];
sype 41:b5a2fbc20beb 507 sum += TxBuf[6+i];
sype 41:b5a2fbc20beb 508
sype 41:b5a2fbc20beb 509 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 510 logger.printf(" Data : 0x%x\n",TxBuf[6+i]);
sype 41:b5a2fbc20beb 511 #endif
sype 41:b5a2fbc20beb 512
sype 41:b5a2fbc20beb 513 }
sype 41:b5a2fbc20beb 514
sype 41:b5a2fbc20beb 515 // checksum
sype 41:b5a2fbc20beb 516 TxBuf[6+bytes] = 0xFF - sum;
sype 41:b5a2fbc20beb 517
sype 41:b5a2fbc20beb 518 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 519 logger.printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
sype 41:b5a2fbc20beb 520 #endif
sype 41:b5a2fbc20beb 521
sype 41:b5a2fbc20beb 522 // Transmit the packet in one burst with no pausing
sype 41:b5a2fbc20beb 523 for (int i = 0; i < (7 + bytes) ; i++) {
sype 41:b5a2fbc20beb 524 _ax12.putc(TxBuf[i]);
sype 41:b5a2fbc20beb 525 }
sype 41:b5a2fbc20beb 526
sype 41:b5a2fbc20beb 527 // Wait for data to transmit
sype 41:b5a2fbc20beb 528 wait (0.00002);
sype 41:b5a2fbc20beb 529
sype 41:b5a2fbc20beb 530 // make sure we have a valid return
sype 41:b5a2fbc20beb 531 Status[4]=0x00;
sype 41:b5a2fbc20beb 532
sype 41:b5a2fbc20beb 533 // we'll only get a reply if it was not broadcast
sype 41:b5a2fbc20beb 534 if (_ID!=0xFE) {
sype 41:b5a2fbc20beb 535
sype 41:b5a2fbc20beb 536
sype 41:b5a2fbc20beb 537 // response packet is always 6 bytes
sype 41:b5a2fbc20beb 538 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
sype 41:b5a2fbc20beb 539 // timeout is a little more than the time to transmit
sype 41:b5a2fbc20beb 540 // the packet back, i.e. 60 bit periods, round up to 100
sype 41:b5a2fbc20beb 541 int timeout = 0;
sype 41:b5a2fbc20beb 542 int plen = 0;
sype 41:b5a2fbc20beb 543 while ((timeout < 100) && (plen<6)) {
sype 41:b5a2fbc20beb 544
sype 41:b5a2fbc20beb 545 if (_ax12.readable()) {
sype 41:b5a2fbc20beb 546 Status[plen] = _ax12.getc();
sype 41:b5a2fbc20beb 547 plen++;
sype 41:b5a2fbc20beb 548 timeout = 0;
sype 41:b5a2fbc20beb 549 }
sype 41:b5a2fbc20beb 550
sype 41:b5a2fbc20beb 551 // wait for the bit period
sype 41:b5a2fbc20beb 552 wait (1.0/_baud);
sype 41:b5a2fbc20beb 553 timeout++;
sype 41:b5a2fbc20beb 554 }
sype 41:b5a2fbc20beb 555
sype 41:b5a2fbc20beb 556
sype 41:b5a2fbc20beb 557 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 558 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 559 logger.printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
sype 41:b5a2fbc20beb 560 logger.printf(" ID : %d\n",Status[2]);
sype 41:b5a2fbc20beb 561 logger.printf(" Length : %d\n",Status[3]);
sype 41:b5a2fbc20beb 562 logger.printf(" Error : 0x%x\n",Status[4]);
sype 41:b5a2fbc20beb 563 logger.printf(" Checksum : 0x%x\n",Status[5]);
sype 41:b5a2fbc20beb 564 #endif
sype 41:b5a2fbc20beb 565
sype 41:b5a2fbc20beb 566
sype 41:b5a2fbc20beb 567 }
sype 41:b5a2fbc20beb 568
sype 41:b5a2fbc20beb 569 return(Status[4]); // return error code
sype 41:b5a2fbc20beb 570 }