ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

AX12/AX12.cpp@41:b5a2fbc20beb, 2016-04-13 (annotated)

Committer:
sype
Date:
Wed Apr 13 11:27:34 2016 +0000
Revision:
41:b5a2fbc20beb
Child:
50:2dea82393beb
Impl?mentation des dispositifs du robot

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
sype 41:b5a2fbc20beb 101
sype 41:b5a2fbc20beb 102 // set continuous rotation speed from -1 to 1
sype 41:b5a2fbc20beb 103 int AX12::setCRSpeed(float speed) {
sype 41:b5a2fbc20beb 104
sype 41:b5a2fbc20beb 105 // bit 10 = direction, 0 = CCW, 1=CW
sype 41:b5a2fbc20beb 106 // bits 9-0 = Speed
sype 41:b5a2fbc20beb 107 char data[2];
sype 41:b5a2fbc20beb 108
sype 41:b5a2fbc20beb 109 int goal = (0x3ff * abs(speed));
sype 41:b5a2fbc20beb 110
sype 41:b5a2fbc20beb 111 // set direction CW if we have a negative speed
sype 41:b5a2fbc20beb 112 if (speed < 0) {
sype 41:b5a2fbc20beb 113 goal |= (0x1 << 10);
sype 41:b5a2fbc20beb 114 }
sype 41:b5a2fbc20beb 115
sype 41:b5a2fbc20beb 116 data[0] = goal & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 117 data[1] = goal >> 8; // top 8 bits
sype 41:b5a2fbc20beb 118
sype 41:b5a2fbc20beb 119 // write the packet, return the error code
sype 41:b5a2fbc20beb 120 int rVal = write(_ID, 0x20, 2, data);
sype 41:b5a2fbc20beb 121
sype 41:b5a2fbc20beb 122 return(rVal);
sype 41:b5a2fbc20beb 123 }
sype 41:b5a2fbc20beb 124
sype 41:b5a2fbc20beb 125
sype 41:b5a2fbc20beb 126 int AX12::setCWLimit (int degrees) {
sype 41:b5a2fbc20beb 127
sype 41:b5a2fbc20beb 128 char data[2];
sype 41:b5a2fbc20beb 129
sype 41:b5a2fbc20beb 130 // 1023 / 300 * degrees
sype 41:b5a2fbc20beb 131 short limit = (1023 * degrees) / 300;
sype 41:b5a2fbc20beb 132
sype 41:b5a2fbc20beb 133 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 134 logger.printf("setCWLimit to 0x%x\n",limit);
sype 41:b5a2fbc20beb 135 #endif
sype 41:b5a2fbc20beb 136
sype 41:b5a2fbc20beb 137 data[0] = limit & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 138 data[1] = limit >> 8; // top 8 bits
sype 41:b5a2fbc20beb 139
sype 41:b5a2fbc20beb 140 // write the packet, return the error code
sype 41:b5a2fbc20beb 141 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
sype 41:b5a2fbc20beb 142
sype 41:b5a2fbc20beb 143 }
sype 41:b5a2fbc20beb 144
sype 41:b5a2fbc20beb 145 int AX12::setCCWLimit (int degrees) {
sype 41:b5a2fbc20beb 146
sype 41:b5a2fbc20beb 147 char data[2];
sype 41:b5a2fbc20beb 148
sype 41:b5a2fbc20beb 149 // 1023 / 300 * degrees
sype 41:b5a2fbc20beb 150 short limit = (1023 * degrees) / 300;
sype 41:b5a2fbc20beb 151
sype 41:b5a2fbc20beb 152 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 153 logger.printf("setCCWLimit to 0x%x\n",limit);
sype 41:b5a2fbc20beb 154 #endif
sype 41:b5a2fbc20beb 155
sype 41:b5a2fbc20beb 156 data[0] = limit & 0xff; // bottom 8 bits
sype 41:b5a2fbc20beb 157 data[1] = limit >> 8; // top 8 bits
sype 41:b5a2fbc20beb 158
sype 41:b5a2fbc20beb 159 // write the packet, return the error code
sype 41:b5a2fbc20beb 160 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
sype 41:b5a2fbc20beb 161 }
sype 41:b5a2fbc20beb 162
sype 41:b5a2fbc20beb 163
sype 41:b5a2fbc20beb 164 int AX12::setID (int CurrentID, int NewID) {
sype 41:b5a2fbc20beb 165
sype 41:b5a2fbc20beb 166 char data[1];
sype 41:b5a2fbc20beb 167 data[0] = NewID;
sype 41:b5a2fbc20beb 168
sype 41:b5a2fbc20beb 169 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 170 logger.printf("setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
sype 41:b5a2fbc20beb 171 #endif
sype 41:b5a2fbc20beb 172
sype 41:b5a2fbc20beb 173 return (write(CurrentID, AX12_REG_ID, 1, data));
sype 41:b5a2fbc20beb 174
sype 41:b5a2fbc20beb 175 }
sype 41:b5a2fbc20beb 176
sype 41:b5a2fbc20beb 177
sype 41:b5a2fbc20beb 178 int AX12::setBaud (int baud) {
sype 41:b5a2fbc20beb 179
sype 41:b5a2fbc20beb 180 char data[1];
sype 41:b5a2fbc20beb 181 data[0] = baud;
sype 41:b5a2fbc20beb 182
sype 41:b5a2fbc20beb 183 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 184 logger.printf("setting Baud rate to %d\n",baud);
sype 41:b5a2fbc20beb 185 #endif
sype 41:b5a2fbc20beb 186
sype 41:b5a2fbc20beb 187 return (write(0xFE, AX12_REG_BAUD, 1, data));
sype 41:b5a2fbc20beb 188
sype 41:b5a2fbc20beb 189 }
sype 41:b5a2fbc20beb 190
sype 41:b5a2fbc20beb 191
sype 41:b5a2fbc20beb 192
sype 41:b5a2fbc20beb 193 // return 1 is the servo is still in flight
sype 41:b5a2fbc20beb 194 int AX12::isMoving(void) {
sype 41:b5a2fbc20beb 195
sype 41:b5a2fbc20beb 196 char data[1];
sype 41:b5a2fbc20beb 197 read(_ID,AX12_REG_MOVING,1,data);
sype 41:b5a2fbc20beb 198 return(data[0]);
sype 41:b5a2fbc20beb 199 }
sype 41:b5a2fbc20beb 200
sype 41:b5a2fbc20beb 201
sype 41:b5a2fbc20beb 202 void AX12::trigger(void) {
sype 41:b5a2fbc20beb 203
sype 41:b5a2fbc20beb 204 char TxBuf[16];
sype 41:b5a2fbc20beb 205 char sum = 0;
sype 41:b5a2fbc20beb 206
sype 41:b5a2fbc20beb 207 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 208 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 209 logger.printf("\nTriggered\n");
sype 41:b5a2fbc20beb 210 logger.printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
sype 41:b5a2fbc20beb 211 #endif
sype 41:b5a2fbc20beb 212
sype 41:b5a2fbc20beb 213 TxBuf[0] = 0xFF;
sype 41:b5a2fbc20beb 214 TxBuf[1] = 0xFF;
sype 41:b5a2fbc20beb 215
sype 41:b5a2fbc20beb 216 // ID - Broadcast
sype 41:b5a2fbc20beb 217 TxBuf[2] = 0xFE;
sype 41:b5a2fbc20beb 218 sum += TxBuf[2];
sype 41:b5a2fbc20beb 219
sype 41:b5a2fbc20beb 220 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 221 logger.printf(" ID : %d\n",TxBuf[2]);
sype 41:b5a2fbc20beb 222 #endif
sype 41:b5a2fbc20beb 223
sype 41:b5a2fbc20beb 224 // Length
sype 41:b5a2fbc20beb 225 TxBuf[3] = 0x02;
sype 41:b5a2fbc20beb 226 sum += TxBuf[3];
sype 41:b5a2fbc20beb 227
sype 41:b5a2fbc20beb 228 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 229 logger.printf(" Length %d\n",TxBuf[3]);
sype 41:b5a2fbc20beb 230 #endif
sype 41:b5a2fbc20beb 231
sype 41:b5a2fbc20beb 232 // Instruction - ACTION
sype 41:b5a2fbc20beb 233 TxBuf[4] = 0x04;
sype 41:b5a2fbc20beb 234 sum += TxBuf[4];
sype 41:b5a2fbc20beb 235
sype 41:b5a2fbc20beb 236 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 237 logger.printf(" Instruction 0x%X\n",TxBuf[5]);
sype 41:b5a2fbc20beb 238 #endif
sype 41:b5a2fbc20beb 239
sype 41:b5a2fbc20beb 240 // Checksum
sype 41:b5a2fbc20beb 241 TxBuf[5] = 0xFF - sum;
sype 41:b5a2fbc20beb 242 #ifdef AX12_TRIGGER_DEBUG
sype 41:b5a2fbc20beb 243 logger.printf(" Checksum 0x%X\n",TxBuf[5]);
sype 41:b5a2fbc20beb 244 #endif
sype 41:b5a2fbc20beb 245
sype 41:b5a2fbc20beb 246 // Transmit the packet in one burst with no pausing
sype 41:b5a2fbc20beb 247 for (int i = 0; i < 6 ; i++) {
sype 41:b5a2fbc20beb 248 _ax12.putc(TxBuf[i]);
sype 41:b5a2fbc20beb 249 }
sype 41:b5a2fbc20beb 250
sype 41:b5a2fbc20beb 251 // This is a broadcast packet, so there will be no reply
sype 41:b5a2fbc20beb 252 return;
sype 41:b5a2fbc20beb 253 }
sype 41:b5a2fbc20beb 254
sype 41:b5a2fbc20beb 255
sype 41:b5a2fbc20beb 256 float AX12::getPosition(void) {
sype 41:b5a2fbc20beb 257
sype 41:b5a2fbc20beb 258 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 259 logger.printf("\ngetPosition(%d)",_ID);
sype 41:b5a2fbc20beb 260 #endif
sype 41:b5a2fbc20beb 261
sype 41:b5a2fbc20beb 262 char data[2];
sype 41:b5a2fbc20beb 263
sype 41:b5a2fbc20beb 264 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
sype 41:b5a2fbc20beb 265 short position = data[0] + (data[1] << 8);
sype 41:b5a2fbc20beb 266 float angle = (position * 300)/1024;
sype 41:b5a2fbc20beb 267
sype 41:b5a2fbc20beb 268 return (angle);
sype 41:b5a2fbc20beb 269 }
sype 41:b5a2fbc20beb 270
sype 41:b5a2fbc20beb 271
sype 41:b5a2fbc20beb 272 float AX12::getTemp (void) {
sype 41:b5a2fbc20beb 273
sype 41:b5a2fbc20beb 274 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 275 logger.printf("\ngetTemp(%d)",_ID);
sype 41:b5a2fbc20beb 276 #endif
sype 41:b5a2fbc20beb 277
sype 41:b5a2fbc20beb 278 char data[1];
sype 41:b5a2fbc20beb 279 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
sype 41:b5a2fbc20beb 280 float temp = data[0];
sype 41:b5a2fbc20beb 281 return(temp);
sype 41:b5a2fbc20beb 282 }
sype 41:b5a2fbc20beb 283
sype 41:b5a2fbc20beb 284
sype 41:b5a2fbc20beb 285 float AX12::getVolts (void) {
sype 41:b5a2fbc20beb 286
sype 41:b5a2fbc20beb 287 #ifdef AX12_DEBUG
sype 41:b5a2fbc20beb 288 logger.printf("\ngetVolts(%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_VOLTS, 1, data);
sype 41:b5a2fbc20beb 293 float volts = data[0]/10.0;
sype 41:b5a2fbc20beb 294 return(volts);
sype 41:b5a2fbc20beb 295 }
sype 41:b5a2fbc20beb 296
sype 41:b5a2fbc20beb 297
sype 41:b5a2fbc20beb 298 int AX12::read(int ID, int start, int bytes, char* data) {
sype 41:b5a2fbc20beb 299
sype 41:b5a2fbc20beb 300 char PacketLength = 0x4;
sype 41:b5a2fbc20beb 301 char TxBuf[16];
sype 41:b5a2fbc20beb 302 char sum = 0;
sype 41:b5a2fbc20beb 303 char Status[16];
sype 41:b5a2fbc20beb 304
sype 41:b5a2fbc20beb 305 Status[4] = 0xFE; // return code
sype 41:b5a2fbc20beb 306
sype 41:b5a2fbc20beb 307 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 308 logger.printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
sype 41:b5a2fbc20beb 309 #endif
sype 41:b5a2fbc20beb 310
sype 41:b5a2fbc20beb 311 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 312 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 313 logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
sype 41:b5a2fbc20beb 314 #endif
sype 41:b5a2fbc20beb 315
sype 41:b5a2fbc20beb 316 TxBuf[0] = 0xff;
sype 41:b5a2fbc20beb 317 TxBuf[1] = 0xff;
sype 41:b5a2fbc20beb 318
sype 41:b5a2fbc20beb 319 // ID
sype 41:b5a2fbc20beb 320 TxBuf[2] = ID;
sype 41:b5a2fbc20beb 321 sum += TxBuf[2];
sype 41:b5a2fbc20beb 322
sype 41:b5a2fbc20beb 323 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 324 logger.printf(" ID : %d\n",TxBuf[2]);
sype 41:b5a2fbc20beb 325 #endif
sype 41:b5a2fbc20beb 326
sype 41:b5a2fbc20beb 327 // Packet Length
sype 41:b5a2fbc20beb 328 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
sype 41:b5a2fbc20beb 329 sum += TxBuf[3]; // Accululate the packet sum
sype 41:b5a2fbc20beb 330
sype 41:b5a2fbc20beb 331 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 332 logger.printf(" Length : 0x%x\n",TxBuf[3]);
sype 41:b5a2fbc20beb 333 #endif
sype 41:b5a2fbc20beb 334
sype 41:b5a2fbc20beb 335 // Instruction - Read
sype 41:b5a2fbc20beb 336 TxBuf[4] = 0x2;
sype 41:b5a2fbc20beb 337 sum += TxBuf[4];
sype 41:b5a2fbc20beb 338
sype 41:b5a2fbc20beb 339 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 340 logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
sype 41:b5a2fbc20beb 341 #endif
sype 41:b5a2fbc20beb 342
sype 41:b5a2fbc20beb 343 // Start Address
sype 41:b5a2fbc20beb 344 TxBuf[5] = start;
sype 41:b5a2fbc20beb 345 sum += TxBuf[5];
sype 41:b5a2fbc20beb 346
sype 41:b5a2fbc20beb 347 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 348 logger.printf(" Start Address : 0x%x\n",TxBuf[5]);
sype 41:b5a2fbc20beb 349 #endif
sype 41:b5a2fbc20beb 350
sype 41:b5a2fbc20beb 351 // Bytes to read
sype 41:b5a2fbc20beb 352 TxBuf[6] = bytes;
sype 41:b5a2fbc20beb 353 sum += TxBuf[6];
sype 41:b5a2fbc20beb 354
sype 41:b5a2fbc20beb 355 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 356 logger.printf(" No bytes : 0x%x\n",TxBuf[6]);
sype 41:b5a2fbc20beb 357 #endif
sype 41:b5a2fbc20beb 358
sype 41:b5a2fbc20beb 359 // Checksum
sype 41:b5a2fbc20beb 360 TxBuf[7] = 0xFF - sum;
sype 41:b5a2fbc20beb 361 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 362 logger.printf(" Checksum : 0x%x\n",TxBuf[7]);
sype 41:b5a2fbc20beb 363 #endif
sype 41:b5a2fbc20beb 364
sype 41:b5a2fbc20beb 365 // Transmit the packet in one burst with no pausing
sype 41:b5a2fbc20beb 366 for (int i = 0; i<8 ; i++) {
sype 41:b5a2fbc20beb 367 _ax12.putc(TxBuf[i]);
sype 41:b5a2fbc20beb 368 }
sype 41:b5a2fbc20beb 369
sype 41:b5a2fbc20beb 370 // Wait for the bytes to be transmitted
sype 41:b5a2fbc20beb 371 wait (0.00002);
sype 41:b5a2fbc20beb 372
sype 41:b5a2fbc20beb 373 // Skip if the read was to the broadcast address
sype 41:b5a2fbc20beb 374 if (_ID != 0xFE) {
sype 41:b5a2fbc20beb 375
sype 41:b5a2fbc20beb 376
sype 41:b5a2fbc20beb 377
sype 41:b5a2fbc20beb 378 // response packet is always 6 + bytes
sype 41:b5a2fbc20beb 379 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
sype 41:b5a2fbc20beb 380 // timeout is a little more than the time to transmit
sype 41:b5a2fbc20beb 381 // the packet back, i.e. (6+bytes)*10 bit periods
sype 41:b5a2fbc20beb 382
sype 41:b5a2fbc20beb 383 int timeout = 0;
sype 41:b5a2fbc20beb 384 int plen = 0;
sype 41:b5a2fbc20beb 385 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
sype 41:b5a2fbc20beb 386
sype 41:b5a2fbc20beb 387 if (_ax12.readable()) {
sype 41:b5a2fbc20beb 388 Status[plen] = _ax12.getc();
sype 41:b5a2fbc20beb 389 plen++;
sype 41:b5a2fbc20beb 390 timeout = 0;
sype 41:b5a2fbc20beb 391 }
sype 41:b5a2fbc20beb 392
sype 41:b5a2fbc20beb 393 // wait for the bit period
sype 41:b5a2fbc20beb 394 wait (1.0/_baud);
sype 41:b5a2fbc20beb 395 timeout++;
sype 41:b5a2fbc20beb 396 }
sype 41:b5a2fbc20beb 397
sype 41:b5a2fbc20beb 398 if (timeout == ((6+bytes)*10) ) {
sype 41:b5a2fbc20beb 399 return(-1);
sype 41:b5a2fbc20beb 400 }
sype 41:b5a2fbc20beb 401
sype 41:b5a2fbc20beb 402 // Copy the data from Status into data for return
sype 41:b5a2fbc20beb 403 for (int i=0; i < Status[3]-2 ; i++) {
sype 41:b5a2fbc20beb 404 data[i] = Status[5+i];
sype 41:b5a2fbc20beb 405 }
sype 41:b5a2fbc20beb 406
sype 41:b5a2fbc20beb 407 #ifdef AX12_READ_DEBUG
sype 41:b5a2fbc20beb 408 logger.printf("\nStatus Packet\n");
sype 41:b5a2fbc20beb 409 logger.printf(" Header : 0x%x\n",Status[0]);
sype 41:b5a2fbc20beb 410 logger.printf(" Header : 0x%x\n",Status[1]);
sype 41:b5a2fbc20beb 411 logger.printf(" ID : 0x%x\n",Status[2]);
sype 41:b5a2fbc20beb 412 logger.printf(" Length : 0x%x\n",Status[3]);
sype 41:b5a2fbc20beb 413 logger.printf(" Error Code : 0x%x\n",Status[4]);
sype 41:b5a2fbc20beb 414
sype 41:b5a2fbc20beb 415 for (int i=0; i < Status[3]-2 ; i++) {
sype 41:b5a2fbc20beb 416 logger.printf(" Data : 0x%x\n",Status[5+i]);
sype 41:b5a2fbc20beb 417 }
sype 41:b5a2fbc20beb 418
sype 41:b5a2fbc20beb 419 logger.printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
sype 41:b5a2fbc20beb 420 #endif
sype 41:b5a2fbc20beb 421
sype 41:b5a2fbc20beb 422 } // if (ID!=0xFE)
sype 41:b5a2fbc20beb 423
sype 41:b5a2fbc20beb 424 return(Status[4]);
sype 41:b5a2fbc20beb 425 }
sype 41:b5a2fbc20beb 426
sype 41:b5a2fbc20beb 427
sype 41:b5a2fbc20beb 428 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
sype 41:b5a2fbc20beb 429 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
sype 41:b5a2fbc20beb 430
sype 41:b5a2fbc20beb 431 char TxBuf[16];
sype 41:b5a2fbc20beb 432 char sum = 0;
sype 41:b5a2fbc20beb 433 char Status[6];
sype 41:b5a2fbc20beb 434
sype 41:b5a2fbc20beb 435 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 436 logger.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
sype 41:b5a2fbc20beb 437 #endif
sype 41:b5a2fbc20beb 438
sype 41:b5a2fbc20beb 439 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 440 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 441 logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
sype 41:b5a2fbc20beb 442 #endif
sype 41:b5a2fbc20beb 443
sype 41:b5a2fbc20beb 444 TxBuf[0] = 0xff;
sype 41:b5a2fbc20beb 445 TxBuf[1] = 0xff;
sype 41:b5a2fbc20beb 446
sype 41:b5a2fbc20beb 447 // ID
sype 41:b5a2fbc20beb 448 TxBuf[2] = ID;
sype 41:b5a2fbc20beb 449 sum += TxBuf[2];
sype 41:b5a2fbc20beb 450
sype 41:b5a2fbc20beb 451 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 452 logger.printf(" ID : %d\n",TxBuf[2]);
sype 41:b5a2fbc20beb 453 #endif
sype 41:b5a2fbc20beb 454
sype 41:b5a2fbc20beb 455 // packet Length
sype 41:b5a2fbc20beb 456 TxBuf[3] = 3+bytes;
sype 41:b5a2fbc20beb 457 sum += TxBuf[3];
sype 41:b5a2fbc20beb 458
sype 41:b5a2fbc20beb 459 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 460 logger.printf(" Length : %d\n",TxBuf[3]);
sype 41:b5a2fbc20beb 461 #endif
sype 41:b5a2fbc20beb 462
sype 41:b5a2fbc20beb 463 // Instruction
sype 41:b5a2fbc20beb 464 if (flag == 1) {
sype 41:b5a2fbc20beb 465 TxBuf[4]=0x04;
sype 41:b5a2fbc20beb 466 sum += TxBuf[4];
sype 41:b5a2fbc20beb 467 } else {
sype 41:b5a2fbc20beb 468 TxBuf[4]=0x03;
sype 41:b5a2fbc20beb 469 sum += TxBuf[4];
sype 41:b5a2fbc20beb 470 }
sype 41:b5a2fbc20beb 471
sype 41:b5a2fbc20beb 472 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 473 logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
sype 41:b5a2fbc20beb 474 #endif
sype 41:b5a2fbc20beb 475
sype 41:b5a2fbc20beb 476 // Start Address
sype 41:b5a2fbc20beb 477 TxBuf[5] = start;
sype 41:b5a2fbc20beb 478 sum += TxBuf[5];
sype 41:b5a2fbc20beb 479
sype 41:b5a2fbc20beb 480 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 481 logger.printf(" Start : 0x%x\n",TxBuf[5]);
sype 41:b5a2fbc20beb 482 #endif
sype 41:b5a2fbc20beb 483
sype 41:b5a2fbc20beb 484 // data
sype 41:b5a2fbc20beb 485 for (char i=0; i<bytes ; i++) {
sype 41:b5a2fbc20beb 486 TxBuf[6+i] = data[i];
sype 41:b5a2fbc20beb 487 sum += TxBuf[6+i];
sype 41:b5a2fbc20beb 488
sype 41:b5a2fbc20beb 489 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 490 logger.printf(" Data : 0x%x\n",TxBuf[6+i]);
sype 41:b5a2fbc20beb 491 #endif
sype 41:b5a2fbc20beb 492
sype 41:b5a2fbc20beb 493 }
sype 41:b5a2fbc20beb 494
sype 41:b5a2fbc20beb 495 // checksum
sype 41:b5a2fbc20beb 496 TxBuf[6+bytes] = 0xFF - sum;
sype 41:b5a2fbc20beb 497
sype 41:b5a2fbc20beb 498 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 499 logger.printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
sype 41:b5a2fbc20beb 500 #endif
sype 41:b5a2fbc20beb 501
sype 41:b5a2fbc20beb 502 // Transmit the packet in one burst with no pausing
sype 41:b5a2fbc20beb 503 for (int i = 0; i < (7 + bytes) ; i++) {
sype 41:b5a2fbc20beb 504 _ax12.putc(TxBuf[i]);
sype 41:b5a2fbc20beb 505 }
sype 41:b5a2fbc20beb 506
sype 41:b5a2fbc20beb 507 // Wait for data to transmit
sype 41:b5a2fbc20beb 508 wait (0.00002);
sype 41:b5a2fbc20beb 509
sype 41:b5a2fbc20beb 510 // make sure we have a valid return
sype 41:b5a2fbc20beb 511 Status[4]=0x00;
sype 41:b5a2fbc20beb 512
sype 41:b5a2fbc20beb 513 // we'll only get a reply if it was not broadcast
sype 41:b5a2fbc20beb 514 if (_ID!=0xFE) {
sype 41:b5a2fbc20beb 515
sype 41:b5a2fbc20beb 516
sype 41:b5a2fbc20beb 517 // response packet is always 6 bytes
sype 41:b5a2fbc20beb 518 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
sype 41:b5a2fbc20beb 519 // timeout is a little more than the time to transmit
sype 41:b5a2fbc20beb 520 // the packet back, i.e. 60 bit periods, round up to 100
sype 41:b5a2fbc20beb 521 int timeout = 0;
sype 41:b5a2fbc20beb 522 int plen = 0;
sype 41:b5a2fbc20beb 523 while ((timeout < 100) && (plen<6)) {
sype 41:b5a2fbc20beb 524
sype 41:b5a2fbc20beb 525 if (_ax12.readable()) {
sype 41:b5a2fbc20beb 526 Status[plen] = _ax12.getc();
sype 41:b5a2fbc20beb 527 plen++;
sype 41:b5a2fbc20beb 528 timeout = 0;
sype 41:b5a2fbc20beb 529 }
sype 41:b5a2fbc20beb 530
sype 41:b5a2fbc20beb 531 // wait for the bit period
sype 41:b5a2fbc20beb 532 wait (1.0/_baud);
sype 41:b5a2fbc20beb 533 timeout++;
sype 41:b5a2fbc20beb 534 }
sype 41:b5a2fbc20beb 535
sype 41:b5a2fbc20beb 536
sype 41:b5a2fbc20beb 537 // Build the TxPacket first in RAM, then we'll send in one go
sype 41:b5a2fbc20beb 538 #ifdef AX12_WRITE_DEBUG
sype 41:b5a2fbc20beb 539 logger.printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
sype 41:b5a2fbc20beb 540 logger.printf(" ID : %d\n",Status[2]);
sype 41:b5a2fbc20beb 541 logger.printf(" Length : %d\n",Status[3]);
sype 41:b5a2fbc20beb 542 logger.printf(" Error : 0x%x\n",Status[4]);
sype 41:b5a2fbc20beb 543 logger.printf(" Checksum : 0x%x\n",Status[5]);
sype 41:b5a2fbc20beb 544 #endif
sype 41:b5a2fbc20beb 545
sype 41:b5a2fbc20beb 546
sype 41:b5a2fbc20beb 547 }
sype 41:b5a2fbc20beb 548
sype 41:b5a2fbc20beb 549 return(Status[4]); // return error code
sype 41:b5a2fbc20beb 550 }