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Dependencies: CRAC-Strat_2019 SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Dependents: Codeprincipal_2019 CRAC-Strat_2019
AX12-V2/AX12-V2.cpp@8:0edc7dfb7f7e, 2016-04-27 (annotated)
- Committer:
- antbig
- Date:
- Wed Apr 27 13:05:03 2016 +0000
- Revision:
- 8:0edc7dfb7f7e
- Parent:
- 5:dcd817534b57
- Child:
- 12:14729d584500
D?but des actions du gros robot
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| antbig | 0:ad97421fb1fb | 1 | #include "AX12-V2.h" |
| antbig | 0:ad97421fb1fb | 2 | |
| antbig | 0:ad97421fb1fb | 3 | struct S_AX12 AX12_data[MAX_AX12];//La liste de tous les AX12 du robot possible, aussi bien par CAN que en local |
| antbig | 0:ad97421fb1fb | 4 | |
| antbig | 5:dcd817534b57 | 5 | SerialHalfDuplex AX12_Serial1 = SerialHalfDuplex(p9,p10); |
| antbig | 5:dcd817534b57 | 6 | SerialHalfDuplex AX12_Serial2 = SerialHalfDuplex(p28,p27); |
| antbig | 0:ad97421fb1fb | 7 | |
| antbig | 0:ad97421fb1fb | 8 | int lastAX12Use = 0; |
| antbig | 0:ad97421fb1fb | 9 | |
| antbig | 1:116040d14164 | 10 | FunctionPointer AX12_CallbackEnd;//Fonction de callback lors de la fin d'un mouvement d'un AX12 |
| antbig | 1:116040d14164 | 11 | |
| antbig | 0:ad97421fb1fb | 12 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 13 | /* FUNCTION NAME: AX12_register */ |
| antbig | 0:ad97421fb1fb | 14 | /* DESCRIPTION : Indiquer qu'un AX12 est connecté à la carte */ |
| antbig | 0:ad97421fb1fb | 15 | /****************************************************************************************/ |
| antbig | 5:dcd817534b57 | 16 | void AX12_register(unsigned char id, unsigned char serial, unsigned short speed) |
| antbig | 0:ad97421fb1fb | 17 | { |
| antbig | 0:ad97421fb1fb | 18 | int localID = AX12_getLocalID(id); |
| antbig | 8:0edc7dfb7f7e | 19 | |
| antbig | 0:ad97421fb1fb | 20 | AX12_data[localID].isUsingCAN = 0;//On indique que l'AX12 est connecté localement |
| antbig | 0:ad97421fb1fb | 21 | |
| antbig | 0:ad97421fb1fb | 22 | if(speed > 0x3FF) speed = 0x3FF;//La vitesse ne doit pas depasser 1023 |
| antbig | 0:ad97421fb1fb | 23 | |
| antbig | 8:0edc7dfb7f7e | 24 | AX12_data[localID].speed = speed; |
| antbig | 8:0edc7dfb7f7e | 25 | AX12_data[localID].serial = serial; |
| antbig | 8:0edc7dfb7f7e | 26 | //printf("registering AX12 id: %d local: %d\n",id,localID); |
| antbig | 5:dcd817534b57 | 27 | AX12_Serial1.baud(1000000);//On indique la vitesse de transmission des AX12 |
| antbig | 5:dcd817534b57 | 28 | AX12_Serial2.baud(1000000);//On indique la vitesse de transmission des AX12 |
| antbig | 0:ad97421fb1fb | 29 | |
| antbig | 0:ad97421fb1fb | 30 | } |
| antbig | 0:ad97421fb1fb | 31 | |
| antbig | 0:ad97421fb1fb | 32 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 33 | /* FUNCTION NAME: AX12_setGoal */ |
| antbig | 0:ad97421fb1fb | 34 | /* DESCRIPTION : Definir la position d'un ax12, !!Ne déclanche pas le mouvement */ |
| antbig | 0:ad97421fb1fb | 35 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 36 | void AX12_setGoal(unsigned char id, unsigned short goal, unsigned short speed) |
| antbig | 0:ad97421fb1fb | 37 | { |
| antbig | 0:ad97421fb1fb | 38 | int localID = AX12_getLocalID(id);//On récupère les info sur l'AX12 |
| antbig | 0:ad97421fb1fb | 39 | CANMessage msgTx=CANMessage(); |
| antbig | 0:ad97421fb1fb | 40 | |
| antbig | 0:ad97421fb1fb | 41 | AX12_data[localID].needToUpdate = 1; |
| antbig | 0:ad97421fb1fb | 42 | AX12_data[localID].goal = goal; |
| antbig | 0:ad97421fb1fb | 43 | if(speed > 0x3FF) speed = 0x3FF;//La vitesse ne doit pas depasser 1023 |
| antbig | 1:116040d14164 | 44 | if(speed != 0x3FF) |
| antbig | 1:116040d14164 | 45 | AX12_data[localID].speed = speed; |
| antbig | 0:ad97421fb1fb | 46 | |
| antbig | 0:ad97421fb1fb | 47 | if(AX12_data[localID].isUsingCAN != 0) {//Il faut envoyer la trame CAN car l'AX12 est sur une autre carte |
| antbig | 0:ad97421fb1fb | 48 | msgTx.id=SERVO_AX12_SETGOAL; |
| antbig | 1:116040d14164 | 49 | msgTx.len=5; |
| antbig | 0:ad97421fb1fb | 50 | msgTx.format=CANStandard; |
| antbig | 0:ad97421fb1fb | 51 | msgTx.type=CANData; |
| antbig | 0:ad97421fb1fb | 52 | // id de l'AX12 sur 1 octet |
| antbig | 0:ad97421fb1fb | 53 | msgTx.data[0]=(unsigned char)id; |
| antbig | 0:ad97421fb1fb | 54 | // Position de l'AX12 sur 2 octet |
| antbig | 0:ad97421fb1fb | 55 | msgTx.data[1]=(unsigned char)goal; |
| antbig | 0:ad97421fb1fb | 56 | msgTx.data[2]=(unsigned char)(goal>>8); |
| antbig | 0:ad97421fb1fb | 57 | //Vitesse de l'AX12 sur 2 octet |
| antbig | 1:116040d14164 | 58 | msgTx.data[3]=(unsigned char)AX12_data[localID].speed; |
| antbig | 1:116040d14164 | 59 | msgTx.data[4]=(unsigned char)(AX12_data[localID].speed>>8); |
| antbig | 0:ad97421fb1fb | 60 | |
| antbig | 0:ad97421fb1fb | 61 | can1.write(msgTx); |
| antbig | 0:ad97421fb1fb | 62 | } |
| antbig | 0:ad97421fb1fb | 63 | |
| antbig | 0:ad97421fb1fb | 64 | } |
| antbig | 0:ad97421fb1fb | 65 | |
| antbig | 0:ad97421fb1fb | 66 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 67 | /* FUNCTION NAME: AX12_isLocal */ |
| antbig | 0:ad97421fb1fb | 68 | /* DESCRIPTION : Savoir si un AX12 est enregistré sur la carte */ |
| antbig | 0:ad97421fb1fb | 69 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 70 | unsigned char AX12_isLocal(unsigned char id) |
| antbig | 0:ad97421fb1fb | 71 | { |
| antbig | 0:ad97421fb1fb | 72 | int i=0; |
| antbig | 0:ad97421fb1fb | 73 | for(i=0;i<MAX_AX12;i++) |
| antbig | 0:ad97421fb1fb | 74 | { |
| antbig | 0:ad97421fb1fb | 75 | if(AX12_data[i].id == id && AX12_data[i].isUsingCAN == 0) return 1; |
| antbig | 0:ad97421fb1fb | 76 | } |
| antbig | 0:ad97421fb1fb | 77 | return 0; |
| antbig | 0:ad97421fb1fb | 78 | } |
| antbig | 0:ad97421fb1fb | 79 | |
| antbig | 0:ad97421fb1fb | 80 | |
| antbig | 0:ad97421fb1fb | 81 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 82 | /* FUNCTION NAME: AX12_getLocalID */ |
| antbig | 0:ad97421fb1fb | 83 | /* DESCRIPTION : Obtenir les info sur un AX12 ou l'initialiser si non présent */ |
| antbig | 0:ad97421fb1fb | 84 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 85 | int AX12_getLocalID(unsigned char id) |
| antbig | 0:ad97421fb1fb | 86 | { |
| antbig | 0:ad97421fb1fb | 87 | int i=0; |
| antbig | 8:0edc7dfb7f7e | 88 | for(i=0;i<lastAX12Use;i++) |
| antbig | 0:ad97421fb1fb | 89 | { |
| antbig | 0:ad97421fb1fb | 90 | if(AX12_data[i].id == id) return i; |
| antbig | 0:ad97421fb1fb | 91 | } |
| antbig | 0:ad97421fb1fb | 92 | //Si l'AX12 n'est pas déjà initialisé, on l'initialise |
| antbig | 0:ad97421fb1fb | 93 | AX12_data[lastAX12Use].id = id;// |
| antbig | 0:ad97421fb1fb | 94 | AX12_data[lastAX12Use].goal = 0;// |
| antbig | 0:ad97421fb1fb | 95 | AX12_data[lastAX12Use].speed = 0x320;// |
| antbig | 0:ad97421fb1fb | 96 | AX12_data[lastAX12Use].isUsingCAN = 1;//Indique qu'il faut envoyer le message via CAN |
| antbig | 0:ad97421fb1fb | 97 | AX12_data[lastAX12Use].needToUpdate = 0;// |
| antbig | 0:ad97421fb1fb | 98 | lastAX12Use++; |
| antbig | 0:ad97421fb1fb | 99 | return lastAX12Use-1; |
| antbig | 0:ad97421fb1fb | 100 | } |
| antbig | 0:ad97421fb1fb | 101 | |
| antbig | 0:ad97421fb1fb | 102 | /****************************************************************************************/ |
| antbig | 1:116040d14164 | 103 | /* FUNCTION NAME: AX12_notifyCANEnd */ |
| antbig | 1:116040d14164 | 104 | /* DESCRIPTION : indiquer qu'un mouvement d'AX12 CAN est terminé */ |
| antbig | 1:116040d14164 | 105 | /****************************************************************************************/ |
| antbig | 1:116040d14164 | 106 | void AX12_notifyCANEnd(unsigned char id) |
| antbig | 1:116040d14164 | 107 | { |
| antbig | 1:116040d14164 | 108 | if(waitingAckFrom == SERVO_AX12_DONE) { |
| antbig | 1:116040d14164 | 109 | waitingAckFrom = 0; |
| antbig | 1:116040d14164 | 110 | waitingAckID = 0; |
| antbig | 1:116040d14164 | 111 | } |
| antbig | 1:116040d14164 | 112 | } |
| antbig | 1:116040d14164 | 113 | |
| antbig | 1:116040d14164 | 114 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 115 | /* FUNCTION NAME: AX12_doLoop */ |
| antbig | 0:ad97421fb1fb | 116 | /* DESCRIPTION : Boucle de vérification de la position des AX12 */ |
| antbig | 0:ad97421fb1fb | 117 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 118 | void AX12_doLoop(void) |
| antbig | 0:ad97421fb1fb | 119 | { |
| antbig | 1:116040d14164 | 120 | int i=0; |
| antbig | 1:116040d14164 | 121 | CANMessage msgTx=CANMessage(); |
| antbig | 1:116040d14164 | 122 | |
| antbig | 8:0edc7dfb7f7e | 123 | for(i=0;i<lastAX12Use;i++) |
| antbig | 1:116040d14164 | 124 | { |
| antbig | 1:116040d14164 | 125 | if(AX12_data[i].isUsingCAN == 0 && AX12_data[i].needCheckMoving == 1)//Il faut vérifier si l'AX12 a terminé de bouger |
| antbig | 1:116040d14164 | 126 | { |
| antbig | 5:dcd817534b57 | 127 | if(AX12_isMoving(i) == 0) {//L'AX12 a terminé de bouger |
| antbig | 1:116040d14164 | 128 | AX12_data[i].needCheckMoving = 0; |
| antbig | 1:116040d14164 | 129 | |
| antbig | 1:116040d14164 | 130 | msgTx.id=SERVO_AX12_DONE; |
| antbig | 1:116040d14164 | 131 | msgTx.len=1; |
| antbig | 1:116040d14164 | 132 | msgTx.format=CANStandard; |
| antbig | 1:116040d14164 | 133 | msgTx.type=CANData; |
| antbig | 1:116040d14164 | 134 | // id de l'AX12 sur 1 octet |
| antbig | 1:116040d14164 | 135 | msgTx.data[0]=(unsigned char)AX12_data[i].id; |
| antbig | 1:116040d14164 | 136 | can1.write(msgTx); |
| antbig | 1:116040d14164 | 137 | AX12_notifyCANEnd(AX12_data[i].id); |
| antbig | 1:116040d14164 | 138 | } |
| antbig | 1:116040d14164 | 139 | } |
| antbig | 1:116040d14164 | 140 | } |
| antbig | 0:ad97421fb1fb | 141 | } |
| antbig | 0:ad97421fb1fb | 142 | |
| antbig | 0:ad97421fb1fb | 143 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 144 | /* FUNCTION NAME: AX12_processChange */ |
| antbig | 0:ad97421fb1fb | 145 | /* DESCRIPTION : Permet de prendre en compte les changement d'instruction des AX12 */ |
| antbig | 0:ad97421fb1fb | 146 | /* Début du mouvement à partir de l'appel de cette fonction */ |
| antbig | 0:ad97421fb1fb | 147 | /****************************************************************************************/ |
| antbig | 5:dcd817534b57 | 148 | void AX12_processChange(unsigned char fromCan) |
| antbig | 0:ad97421fb1fb | 149 | { |
| antbig | 0:ad97421fb1fb | 150 | int i=0; |
| antbig | 0:ad97421fb1fb | 151 | int dataToSendLength = 0; |
| antbig | 1:116040d14164 | 152 | char dataToSend[100]; |
| antbig | 0:ad97421fb1fb | 153 | |
| antbig | 0:ad97421fb1fb | 154 | |
| antbig | 8:0edc7dfb7f7e | 155 | for(i=0;i<lastAX12Use;i++) |
| antbig | 0:ad97421fb1fb | 156 | { |
| antbig | 8:0edc7dfb7f7e | 157 | //printf("checking AX12 id: %d",AX12_data[i].id); |
| antbig | 0:ad97421fb1fb | 158 | if(AX12_data[i].needToUpdate == 1) //Il faut mettre à jour la position de l'AX12 |
| antbig | 0:ad97421fb1fb | 159 | { |
| antbig | 8:0edc7dfb7f7e | 160 | //printf(" => update"); |
| antbig | 0:ad97421fb1fb | 161 | if(AX12_data[i].isUsingCAN == 0)//Il faut envoyer la trame en local |
| antbig | 0:ad97421fb1fb | 162 | { |
| antbig | 8:0edc7dfb7f7e | 163 | //printf(" local"); |
| antbig | 0:ad97421fb1fb | 164 | if(dataToSendLength == 0) |
| antbig | 1:116040d14164 | 165 | dataToSend[dataToSendLength++] = 4;//length data |
| antbig | 0:ad97421fb1fb | 166 | dataToSend[dataToSendLength++] = AX12_data[i].id;//ID servo1 |
| antbig | 0:ad97421fb1fb | 167 | dataToSend[dataToSendLength++] = ((1023 * AX12_data[i].goal) / 300) & 0xff;// bottom 8 bits |
| antbig | 1:116040d14164 | 168 | dataToSend[dataToSendLength++] = ((1023 * AX12_data[i].goal) / 300) >> 8; // top 8 bits |
| antbig | 1:116040d14164 | 169 | dataToSend[dataToSendLength++] = (AX12_data[i].speed) & 0xff;// bottom 8 bits |
| antbig | 1:116040d14164 | 170 | dataToSend[dataToSendLength++] = (AX12_data[i].speed) >> 8; // top 8 bits |
| antbig | 1:116040d14164 | 171 | AX12_data[i].needCheckMoving = 1; |
| antbig | 0:ad97421fb1fb | 172 | } |
| antbig | 0:ad97421fb1fb | 173 | AX12_data[i].needToUpdate = 0;//Remise à 0 de l'indicatif de mise à jour |
| antbig | 0:ad97421fb1fb | 174 | } |
| antbig | 8:0edc7dfb7f7e | 175 | //printf("\n"); |
| antbig | 0:ad97421fb1fb | 176 | } |
| antbig | 5:dcd817534b57 | 177 | if(fromCan == 0) |
| antbig | 5:dcd817534b57 | 178 | SendRawId(SERVO_AX12_PROCESS);//On indique par CAN qu'il faut bouger les AX12 |
| antbig | 8:0edc7dfb7f7e | 179 | //printf("need to send %d data\n",dataToSendLength); |
| antbig | 0:ad97421fb1fb | 180 | if(dataToSendLength > 0)//Il y a des données à envoyer en local |
| antbig | 0:ad97421fb1fb | 181 | { |
| antbig | 5:dcd817534b57 | 182 | AX12_syncWrite(AX12_Serial1, AX12_REG_GOAL_POSITION, dataToSendLength, dataToSend); |
| antbig | 8:0edc7dfb7f7e | 183 | //wait_ms(10); |
| antbig | 5:dcd817534b57 | 184 | AX12_syncWrite(AX12_Serial2, AX12_REG_GOAL_POSITION, dataToSendLength, dataToSend); |
| antbig | 0:ad97421fb1fb | 185 | } |
| antbig | 0:ad97421fb1fb | 186 | |
| antbig | 0:ad97421fb1fb | 187 | } |
| antbig | 0:ad97421fb1fb | 188 | |
| antbig | 0:ad97421fb1fb | 189 | /****************************************************************************************/ |
| antbig | 1:116040d14164 | 190 | /* FUNCTION NAME: AX12_isMoving */ |
| antbig | 1:116040d14164 | 191 | /* DESCRIPTION : Fonction pour savoir si un AX12 local est entrain de bouger */ |
| antbig | 1:116040d14164 | 192 | /****************************************************************************************/ |
| antbig | 1:116040d14164 | 193 | int AX12_isMoving(unsigned char id) |
| antbig | 1:116040d14164 | 194 | { |
| antbig | 1:116040d14164 | 195 | char data[1]; |
| antbig | 5:dcd817534b57 | 196 | if(AX12_data[id].serial == 0) |
| antbig | 5:dcd817534b57 | 197 | AX12_read(AX12_Serial1,AX12_data[id].id,AX12_REG_MOVING,1,data); |
| antbig | 5:dcd817534b57 | 198 | else |
| antbig | 5:dcd817534b57 | 199 | AX12_read(AX12_Serial2,AX12_data[id].id,AX12_REG_MOVING,1,data); |
| antbig | 1:116040d14164 | 200 | return(data[0]); |
| antbig | 1:116040d14164 | 201 | } |
| antbig | 1:116040d14164 | 202 | |
| antbig | 1:116040d14164 | 203 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 204 | /* FUNCTION NAME: AX12_syncWrite */ |
| antbig | 0:ad97421fb1fb | 205 | /* DESCRIPTION : Fonction pour envoyer des trames aux AX12 en mode syncWrite */ |
| antbig | 0:ad97421fb1fb | 206 | /****************************************************************************************/ |
| antbig | 5:dcd817534b57 | 207 | int AX12_syncWrite(SerialHalfDuplex& AX12_Serial, int start, int bytes, char* data) |
| antbig | 0:ad97421fb1fb | 208 | { |
| antbig | 0:ad97421fb1fb | 209 | //0 : 0xff |
| antbig | 0:ad97421fb1fb | 210 | //1 : 0xff |
| antbig | 0:ad97421fb1fb | 211 | //2 : ID de l'AX12 ou 0xFE pour le broadcast |
| antbig | 0:ad97421fb1fb | 212 | //3 : Length => longueur de la trame |
| antbig | 0:ad97421fb1fb | 213 | //4 : Intruction(write) => id de l'instruction 0x83 pour le syncwrite |
| antbig | 0:ad97421fb1fb | 214 | //5 : Address => addresse du registre à modifier |
| antbig | 0:ad97421fb1fb | 215 | //6+ : Data => les données à transmettre |
| antbig | 0:ad97421fb1fb | 216 | //last : Checksum |
| antbig | 0:ad97421fb1fb | 217 | int ID = 0xFE;//Toujours 0xFE dans le cas d'un broadcast |
| antbig | 0:ad97421fb1fb | 218 | |
| antbig | 0:ad97421fb1fb | 219 | char TxBuf[60]; |
| antbig | 0:ad97421fb1fb | 220 | char sum = 0; |
| antbig | 0:ad97421fb1fb | 221 | |
| antbig | 0:ad97421fb1fb | 222 | int timeout_transmit = 0; |
| antbig | 0:ad97421fb1fb | 223 | int i = 0; |
| antbig | 8:0edc7dfb7f7e | 224 | //printf("Start sending moving trame\n"); |
| antbig | 0:ad97421fb1fb | 225 | // Build the TxPacket first in RAM, then we'll send in one go |
| antbig | 0:ad97421fb1fb | 226 | |
| antbig | 0:ad97421fb1fb | 227 | TxBuf[0] = 0xff; |
| antbig | 0:ad97421fb1fb | 228 | TxBuf[1] = 0xff; |
| antbig | 0:ad97421fb1fb | 229 | |
| antbig | 0:ad97421fb1fb | 230 | // ID |
| antbig | 0:ad97421fb1fb | 231 | TxBuf[2] = ID; |
| antbig | 0:ad97421fb1fb | 232 | sum += TxBuf[2]; |
| antbig | 0:ad97421fb1fb | 233 | |
| antbig | 0:ad97421fb1fb | 234 | // packet Length |
| antbig | 0:ad97421fb1fb | 235 | TxBuf[3] = 3+bytes; |
| antbig | 0:ad97421fb1fb | 236 | sum += TxBuf[3]; |
| antbig | 0:ad97421fb1fb | 237 | |
| antbig | 0:ad97421fb1fb | 238 | |
| antbig | 0:ad97421fb1fb | 239 | // Instruction |
| antbig | 0:ad97421fb1fb | 240 | TxBuf[4]=0x83;//toujours 0x83 dans le cas d'un syncwrite |
| antbig | 0:ad97421fb1fb | 241 | sum += TxBuf[4]; |
| antbig | 0:ad97421fb1fb | 242 | |
| antbig | 0:ad97421fb1fb | 243 | |
| antbig | 0:ad97421fb1fb | 244 | // Start Address |
| antbig | 0:ad97421fb1fb | 245 | TxBuf[5] = start;//addresse du registre à modifier |
| antbig | 0:ad97421fb1fb | 246 | sum += TxBuf[5]; |
| antbig | 0:ad97421fb1fb | 247 | |
| antbig | 0:ad97421fb1fb | 248 | // data |
| antbig | 0:ad97421fb1fb | 249 | for (char i=0; i<bytes ; i++) { |
| antbig | 0:ad97421fb1fb | 250 | TxBuf[6+i] = data[i]; |
| antbig | 0:ad97421fb1fb | 251 | sum += TxBuf[6+i]; |
| antbig | 8:0edc7dfb7f7e | 252 | //printf(" Data : 0x%x\n",TxBuf[6+i]); |
| antbig | 0:ad97421fb1fb | 253 | } |
| antbig | 0:ad97421fb1fb | 254 | |
| antbig | 0:ad97421fb1fb | 255 | // checksum |
| antbig | 0:ad97421fb1fb | 256 | TxBuf[6+bytes] = 0xFF - sum; |
| antbig | 0:ad97421fb1fb | 257 | |
| antbig | 0:ad97421fb1fb | 258 | |
| antbig | 0:ad97421fb1fb | 259 | /* Transmission de la trame construite precedemment dans le tableau TxBuf |
| antbig | 0:ad97421fb1fb | 260 | */ |
| antbig | 0:ad97421fb1fb | 261 | while ((timeout_transmit<100) && (i < (7+bytes))) { |
| antbig | 0:ad97421fb1fb | 262 | if (AX12_Serial.writeable()) { |
| antbig | 0:ad97421fb1fb | 263 | AX12_Serial.putc(TxBuf[i]); |
| antbig | 0:ad97421fb1fb | 264 | i++; |
| antbig | 0:ad97421fb1fb | 265 | timeout_transmit = 0; |
| antbig | 0:ad97421fb1fb | 266 | } else timeout_transmit++; |
| antbig | 0:ad97421fb1fb | 267 | } |
| antbig | 0:ad97421fb1fb | 268 | |
| antbig | 0:ad97421fb1fb | 269 | if (timeout_transmit == 100 ) { // dans le cas d'une sortie en timeout pour ne pas rester bloquer ! |
| antbig | 0:ad97421fb1fb | 270 | return(-1); |
| antbig | 0:ad97421fb1fb | 271 | } |
| antbig | 0:ad97421fb1fb | 272 | |
| antbig | 0:ad97421fb1fb | 273 | // Wait for data to transmit |
| antbig | 0:ad97421fb1fb | 274 | wait (0.005); |
| antbig | 0:ad97421fb1fb | 275 | return(0);//OK trame envoyé |
| antbig | 0:ad97421fb1fb | 276 | } |
| antbig | 0:ad97421fb1fb | 277 | |
| antbig | 0:ad97421fb1fb | 278 | /****************************************************************************************/ |
| antbig | 0:ad97421fb1fb | 279 | /* FUNCTION NAME: AX12_write */ |
| antbig | 0:ad97421fb1fb | 280 | /* DESCRIPTION : Fonction pour envoyer des trames aux AX12 */ |
| antbig | 0:ad97421fb1fb | 281 | /****************************************************************************************/ |
| antbig | 5:dcd817534b57 | 282 | int AX12_write(SerialHalfDuplex& AX12_Serial, int ID, int start, int bytes, char* data, int flag) |
| antbig | 0:ad97421fb1fb | 283 | { |
| antbig | 0:ad97421fb1fb | 284 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
| antbig | 5:dcd817534b57 | 285 | // = AX12_Serial1; |
| antbig | 0:ad97421fb1fb | 286 | char TxBuf[16]; |
| antbig | 0:ad97421fb1fb | 287 | char sum = 0; |
| antbig | 0:ad97421fb1fb | 288 | char Status[6]; |
| antbig | 0:ad97421fb1fb | 289 | |
| antbig | 0:ad97421fb1fb | 290 | int timeout = 0; |
| antbig | 0:ad97421fb1fb | 291 | int plen = 0; |
| antbig | 0:ad97421fb1fb | 292 | int flag_out = 0; |
| antbig | 0:ad97421fb1fb | 293 | int timeout_transmit = 0; |
| antbig | 0:ad97421fb1fb | 294 | int i = 0; |
| antbig | 0:ad97421fb1fb | 295 | /*int poubelle = 0; |
| antbig | 0:ad97421fb1fb | 296 | int count = 0; |
| antbig | 0:ad97421fb1fb | 297 | char vidage[50];*/ |
| antbig | 0:ad97421fb1fb | 298 | |
| antbig | 0:ad97421fb1fb | 299 | typedef enum {Header1, Header2, ident, length, erreur, checksum} type_etat; |
| antbig | 0:ad97421fb1fb | 300 | type_etat etat = Header1; |
| antbig | 0:ad97421fb1fb | 301 | |
| antbig | 0:ad97421fb1fb | 302 | // Build the TxPacket first in RAM, then we'll send in one go |
| antbig | 0:ad97421fb1fb | 303 | TxBuf[0] = 0xff; |
| antbig | 0:ad97421fb1fb | 304 | TxBuf[1] = 0xff; |
| antbig | 0:ad97421fb1fb | 305 | |
| antbig | 0:ad97421fb1fb | 306 | // ID |
| antbig | 0:ad97421fb1fb | 307 | TxBuf[2] = ID; |
| antbig | 0:ad97421fb1fb | 308 | sum += TxBuf[2]; |
| antbig | 0:ad97421fb1fb | 309 | |
| antbig | 0:ad97421fb1fb | 310 | // packet Length |
| antbig | 0:ad97421fb1fb | 311 | TxBuf[3] = 3+bytes; |
| antbig | 0:ad97421fb1fb | 312 | sum += TxBuf[3]; |
| antbig | 0:ad97421fb1fb | 313 | |
| antbig | 0:ad97421fb1fb | 314 | // Instruction |
| antbig | 0:ad97421fb1fb | 315 | if (flag == 1) { |
| antbig | 0:ad97421fb1fb | 316 | TxBuf[4]=0x04; |
| antbig | 0:ad97421fb1fb | 317 | sum += TxBuf[4]; |
| antbig | 0:ad97421fb1fb | 318 | } else { |
| antbig | 0:ad97421fb1fb | 319 | TxBuf[4]=0x03; |
| antbig | 0:ad97421fb1fb | 320 | sum += TxBuf[4]; |
| antbig | 0:ad97421fb1fb | 321 | } |
| antbig | 0:ad97421fb1fb | 322 | |
| antbig | 0:ad97421fb1fb | 323 | // Start Address |
| antbig | 0:ad97421fb1fb | 324 | TxBuf[5] = start; |
| antbig | 0:ad97421fb1fb | 325 | sum += TxBuf[5]; |
| antbig | 0:ad97421fb1fb | 326 | |
| antbig | 0:ad97421fb1fb | 327 | |
| antbig | 0:ad97421fb1fb | 328 | // data |
| antbig | 0:ad97421fb1fb | 329 | for (char i=0; i<bytes ; i++) { |
| antbig | 0:ad97421fb1fb | 330 | TxBuf[6+i] = data[i]; |
| antbig | 0:ad97421fb1fb | 331 | sum += TxBuf[6+i]; |
| antbig | 0:ad97421fb1fb | 332 | } |
| antbig | 0:ad97421fb1fb | 333 | |
| antbig | 0:ad97421fb1fb | 334 | // checksum |
| antbig | 0:ad97421fb1fb | 335 | TxBuf[6+bytes] = 0xFF - sum; |
| antbig | 0:ad97421fb1fb | 336 | |
| antbig | 0:ad97421fb1fb | 337 | |
| antbig | 0:ad97421fb1fb | 338 | |
| antbig | 0:ad97421fb1fb | 339 | /* Transmission de la trame construite precedemment dans le tableau TxBuf |
| antbig | 0:ad97421fb1fb | 340 | */ |
| antbig | 0:ad97421fb1fb | 341 | while ((timeout_transmit<100) && (i < (7+bytes))) { |
| antbig | 0:ad97421fb1fb | 342 | if (AX12_Serial.writeable()) { |
| antbig | 0:ad97421fb1fb | 343 | AX12_Serial.putc(TxBuf[i]); |
| antbig | 0:ad97421fb1fb | 344 | i++; |
| antbig | 0:ad97421fb1fb | 345 | timeout_transmit = 0; |
| antbig | 0:ad97421fb1fb | 346 | } else timeout_transmit++; |
| antbig | 0:ad97421fb1fb | 347 | } |
| antbig | 0:ad97421fb1fb | 348 | |
| antbig | 0:ad97421fb1fb | 349 | if (timeout_transmit == 100 ) { // dans le cas d'une sortie en timeout pour ne pas rester bloquer ! |
| antbig | 0:ad97421fb1fb | 350 | return(-1); |
| antbig | 0:ad97421fb1fb | 351 | } |
| antbig | 0:ad97421fb1fb | 352 | /* Transmission effectuée on va ensuite récuperer la trame de retour renvoyer par le servomoteur |
| antbig | 0:ad97421fb1fb | 353 | */ |
| antbig | 0:ad97421fb1fb | 354 | |
| antbig | 0:ad97421fb1fb | 355 | |
| antbig | 0:ad97421fb1fb | 356 | // Wait for data to transmit |
| antbig | 0:ad97421fb1fb | 357 | wait (0.005); |
| antbig | 0:ad97421fb1fb | 358 | |
| antbig | 0:ad97421fb1fb | 359 | // make sure we have a valid return |
| antbig | 0:ad97421fb1fb | 360 | Status[4]=0x00; |
| antbig | 0:ad97421fb1fb | 361 | |
| antbig | 0:ad97421fb1fb | 362 | // we'll only get a reply if it was not broadcast |
| antbig | 0:ad97421fb1fb | 363 | if (ID!=0xFE) { |
| antbig | 0:ad97421fb1fb | 364 | |
| antbig | 0:ad97421fb1fb | 365 | |
| antbig | 0:ad97421fb1fb | 366 | /* Partie de reception de la trame de retour |
| antbig | 0:ad97421fb1fb | 367 | */ |
| antbig | 0:ad97421fb1fb | 368 | while ((flag_out != 1) && (timeout < MAX_TIMEOUT)) { |
| antbig | 0:ad97421fb1fb | 369 | // Les differents etats de l'automate on été créés au debut de la fonction write ! |
| antbig | 0:ad97421fb1fb | 370 | switch (etat) { |
| antbig | 0:ad97421fb1fb | 371 | case Header1: |
| antbig | 0:ad97421fb1fb | 372 | if (AX12_Serial.readable()) { // reception du premier Header ( 0xFF ) |
| antbig | 0:ad97421fb1fb | 373 | Status[plen] = AX12_Serial.getc(); |
| antbig | 0:ad97421fb1fb | 374 | timeout = 0; |
| antbig | 0:ad97421fb1fb | 375 | if (Status[plen] == 0xFF ) { |
| antbig | 0:ad97421fb1fb | 376 | etat = Header2; |
| antbig | 0:ad97421fb1fb | 377 | plen++; |
| antbig | 0:ad97421fb1fb | 378 | |
| antbig | 0:ad97421fb1fb | 379 | } else etat = Header1; |
| antbig | 0:ad97421fb1fb | 380 | } else timeout++; |
| antbig | 0:ad97421fb1fb | 381 | break; |
| antbig | 0:ad97421fb1fb | 382 | |
| antbig | 0:ad97421fb1fb | 383 | |
| antbig | 0:ad97421fb1fb | 384 | case Header2: |
| antbig | 0:ad97421fb1fb | 385 | if (AX12_Serial.readable()) { // reception du second Header ( 0xFF ) |
| antbig | 0:ad97421fb1fb | 386 | Status[plen] = AX12_Serial.getc(); |
| antbig | 0:ad97421fb1fb | 387 | timeout = 0; |
| antbig | 0:ad97421fb1fb | 388 | if (Status[plen] == 0xFF ) { |
| antbig | 0:ad97421fb1fb | 389 | etat = ident; |
| antbig | 0:ad97421fb1fb | 390 | plen++; |
| antbig | 0:ad97421fb1fb | 391 | } else { |
| antbig | 0:ad97421fb1fb | 392 | etat = Header1; |
| antbig | 0:ad97421fb1fb | 393 | plen = 0; |
| antbig | 0:ad97421fb1fb | 394 | } |
| antbig | 0:ad97421fb1fb | 395 | } else timeout++; |
| antbig | 0:ad97421fb1fb | 396 | break; |
| antbig | 0:ad97421fb1fb | 397 | |
| antbig | 0:ad97421fb1fb | 398 | case ident: |
| antbig | 0:ad97421fb1fb | 399 | if (AX12_Serial.readable()) { // reception de l'octet correspondant à l'ID du servomoteur |
| antbig | 0:ad97421fb1fb | 400 | Status[plen] = AX12_Serial.getc(); |
| antbig | 0:ad97421fb1fb | 401 | timeout = 0; |
| antbig | 0:ad97421fb1fb | 402 | if (Status[plen] == ID ) { |
| antbig | 0:ad97421fb1fb | 403 | etat = length; |
| antbig | 0:ad97421fb1fb | 404 | plen++; |
| antbig | 0:ad97421fb1fb | 405 | } else { |
| antbig | 0:ad97421fb1fb | 406 | etat = Header1; |
| antbig | 0:ad97421fb1fb | 407 | plen = 0; |
| antbig | 0:ad97421fb1fb | 408 | } |
| antbig | 0:ad97421fb1fb | 409 | } else timeout++; |
| antbig | 0:ad97421fb1fb | 410 | break; |
| antbig | 0:ad97421fb1fb | 411 | |
| antbig | 0:ad97421fb1fb | 412 | case length: |
| antbig | 0:ad97421fb1fb | 413 | if (AX12_Serial.readable()) { // reception de l'octet correspondant à la taille ( taille = 2 + nombre de paramètres ) |
| antbig | 0:ad97421fb1fb | 414 | Status[plen] = AX12_Serial.getc(); |
| antbig | 0:ad97421fb1fb | 415 | timeout = 0; |
| antbig | 0:ad97421fb1fb | 416 | if (Status[plen] == 2 ) { // dans la trame de retour d'un write il n'y a pas de paramètre la taille vaudra donc 2!! |
| antbig | 0:ad97421fb1fb | 417 | etat = erreur; |
| antbig | 0:ad97421fb1fb | 418 | plen++; |
| antbig | 0:ad97421fb1fb | 419 | } else { |
| antbig | 0:ad97421fb1fb | 420 | etat = Header1; |
| antbig | 0:ad97421fb1fb | 421 | plen = 0; |
| antbig | 0:ad97421fb1fb | 422 | } |
| antbig | 0:ad97421fb1fb | 423 | } else timeout++; |
| antbig | 0:ad97421fb1fb | 424 | break; |
| antbig | 0:ad97421fb1fb | 425 | |
| antbig | 0:ad97421fb1fb | 426 | case erreur: |
| antbig | 0:ad97421fb1fb | 427 | if (AX12_Serial.readable()) { //reception de l'octet correspondant au code d'erreurs eventuels ( 0 = pas d'erreur ) |
| antbig | 0:ad97421fb1fb | 428 | Status[plen] = AX12_Serial.getc(); |
| antbig | 0:ad97421fb1fb | 429 | timeout = 0; |
| antbig | 0:ad97421fb1fb | 430 | plen++; |
| antbig | 0:ad97421fb1fb | 431 | etat = checksum; |
| antbig | 0:ad97421fb1fb | 432 | } else timeout++; |
| antbig | 0:ad97421fb1fb | 433 | |
| antbig | 0:ad97421fb1fb | 434 | case checksum: |
| antbig | 0:ad97421fb1fb | 435 | if (AX12_Serial.readable()) { // recpetion du dernier octet ( Checksum ) >>> checksum = NOT ( ID + length ) >>>> dans le cas de la reception d'un write |
| antbig | 0:ad97421fb1fb | 436 | Status[plen] = AX12_Serial.getc(); |
| antbig | 0:ad97421fb1fb | 437 | timeout = 0; |
| antbig | 0:ad97421fb1fb | 438 | flag_out = 1; |
| antbig | 0:ad97421fb1fb | 439 | etat = Header1; |
| antbig | 0:ad97421fb1fb | 440 | } else timeout++; |
| antbig | 0:ad97421fb1fb | 441 | break; |
| antbig | 0:ad97421fb1fb | 442 | } |
| antbig | 0:ad97421fb1fb | 443 | } |
| antbig | 0:ad97421fb1fb | 444 | |
| antbig | 0:ad97421fb1fb | 445 | if (timeout == MAX_TIMEOUT ) { // permet d'afficher si il y a une erreur de timeout et de ne pas rester bloquer si il y a des erreurs de trames |
| antbig | 0:ad97421fb1fb | 446 | return(-1); |
| antbig | 0:ad97421fb1fb | 447 | } |
| antbig | 0:ad97421fb1fb | 448 | |
| antbig | 0:ad97421fb1fb | 449 | // Build the TxPacket first in RAM, then we'll send in one go |
| antbig | 0:ad97421fb1fb | 450 | } |
| antbig | 0:ad97421fb1fb | 451 | |
| antbig | 0:ad97421fb1fb | 452 | return(Status[4]); // retourne le code d'erreur ( octect 5 de la trame de retour ) |
| antbig | 0:ad97421fb1fb | 453 | } |
| antbig | 1:116040d14164 | 454 | |
| antbig | 1:116040d14164 | 455 | |
| antbig | 1:116040d14164 | 456 | /****************************************************************************************/ |
| antbig | 1:116040d14164 | 457 | /* FUNCTION NAME: AX12_read */ |
| antbig | 1:116040d14164 | 458 | /* DESCRIPTION : Lire des données dans un registre de l'AX12 */ |
| antbig | 1:116040d14164 | 459 | /****************************************************************************************/ |
| antbig | 5:dcd817534b57 | 460 | int AX12_read(SerialHalfDuplex& AX12_Serial, int ID, int start, int bytes, char* data) |
| antbig | 1:116040d14164 | 461 | { |
| antbig | 1:116040d14164 | 462 | |
| antbig | 5:dcd817534b57 | 463 | //SerialHalfDuplex AX12_Serial = AX12_Serial1; |
| antbig | 1:116040d14164 | 464 | char PacketLength = 0x3; |
| antbig | 1:116040d14164 | 465 | char TxBuf[16]; |
| antbig | 1:116040d14164 | 466 | char sum = 0; |
| antbig | 1:116040d14164 | 467 | char Status[16]; |
| antbig | 1:116040d14164 | 468 | |
| antbig | 1:116040d14164 | 469 | int timeout = 0; |
| antbig | 1:116040d14164 | 470 | int plen = 0; |
| antbig | 1:116040d14164 | 471 | int flag_out = 0; |
| antbig | 1:116040d14164 | 472 | int timeout_transmit = 0; |
| antbig | 1:116040d14164 | 473 | int i = 0; |
| antbig | 1:116040d14164 | 474 | int enable = 0; |
| antbig | 1:116040d14164 | 475 | // int poubelle = 0; |
| antbig | 1:116040d14164 | 476 | // int count = 0; |
| antbig | 1:116040d14164 | 477 | // char vidage[50]; |
| antbig | 1:116040d14164 | 478 | |
| antbig | 1:116040d14164 | 479 | typedef enum {Header1, Header2, ident, length, erreur, reception, checksum} type_etat; |
| antbig | 1:116040d14164 | 480 | type_etat etat = Header1; |
| antbig | 1:116040d14164 | 481 | |
| antbig | 1:116040d14164 | 482 | Status[4] = 0xFE; // return code |
| antbig | 1:116040d14164 | 483 | |
| antbig | 1:116040d14164 | 484 | |
| antbig | 1:116040d14164 | 485 | |
| antbig | 1:116040d14164 | 486 | |
| antbig | 1:116040d14164 | 487 | |
| antbig | 1:116040d14164 | 488 | /*********************************** CREATION DE LA TRAME A EVOYER *****************************************/ |
| antbig | 1:116040d14164 | 489 | |
| antbig | 1:116040d14164 | 490 | |
| antbig | 1:116040d14164 | 491 | // Build the TxPacket first in RAM, then we'll send in one go |
| antbig | 1:116040d14164 | 492 | |
| antbig | 1:116040d14164 | 493 | TxBuf[0] = 0xff; |
| antbig | 1:116040d14164 | 494 | TxBuf[1] = 0xff; |
| antbig | 1:116040d14164 | 495 | |
| antbig | 1:116040d14164 | 496 | // ID |
| antbig | 1:116040d14164 | 497 | TxBuf[2] = ID; |
| antbig | 1:116040d14164 | 498 | sum += TxBuf[2]; |
| antbig | 1:116040d14164 | 499 | |
| antbig | 1:116040d14164 | 500 | // Packet Length |
| antbig | 1:116040d14164 | 501 | TxBuf[3] = PacketLength+bytes; // Length = 4 ; 2 + 1 (start) = 1 (bytes) |
| antbig | 1:116040d14164 | 502 | sum += TxBuf[3]; // Accululate the packet sum |
| antbig | 1:116040d14164 | 503 | |
| antbig | 1:116040d14164 | 504 | |
| antbig | 1:116040d14164 | 505 | // Instruction - Read |
| antbig | 1:116040d14164 | 506 | TxBuf[4] = 0x2; |
| antbig | 1:116040d14164 | 507 | sum += TxBuf[4]; |
| antbig | 1:116040d14164 | 508 | |
| antbig | 1:116040d14164 | 509 | // Start Address |
| antbig | 1:116040d14164 | 510 | TxBuf[5] = start; |
| antbig | 1:116040d14164 | 511 | sum += TxBuf[5]; |
| antbig | 1:116040d14164 | 512 | |
| antbig | 1:116040d14164 | 513 | // Bytes to read |
| antbig | 1:116040d14164 | 514 | TxBuf[6] = bytes; |
| antbig | 1:116040d14164 | 515 | sum += TxBuf[6]; |
| antbig | 1:116040d14164 | 516 | |
| antbig | 1:116040d14164 | 517 | // Checksum |
| antbig | 1:116040d14164 | 518 | TxBuf[7] = 0xFF - sum; |
| antbig | 1:116040d14164 | 519 | |
| antbig | 1:116040d14164 | 520 | /********************************************TRAME CONSTRUITE DANS TxBuf***************************************/ |
| antbig | 1:116040d14164 | 521 | |
| antbig | 1:116040d14164 | 522 | |
| antbig | 1:116040d14164 | 523 | |
| antbig | 1:116040d14164 | 524 | |
| antbig | 1:116040d14164 | 525 | /* Transmission de la trame construite precedemment dans le tableau TxBuf |
| antbig | 1:116040d14164 | 526 | */ |
| antbig | 1:116040d14164 | 527 | while ((timeout_transmit<1000) && (i < (7+bytes))) { |
| antbig | 1:116040d14164 | 528 | if (AX12_Serial.writeable()) { |
| antbig | 1:116040d14164 | 529 | AX12_Serial.putc(TxBuf[i]); |
| antbig | 1:116040d14164 | 530 | i++; |
| antbig | 1:116040d14164 | 531 | timeout_transmit = 0; |
| antbig | 1:116040d14164 | 532 | } else timeout_transmit++; |
| antbig | 1:116040d14164 | 533 | } |
| antbig | 1:116040d14164 | 534 | |
| antbig | 1:116040d14164 | 535 | if (timeout_transmit == 1000 ) { // dans le cas d'une sortie en timeout pour ne pas rester bloquer ! |
| antbig | 1:116040d14164 | 536 | return(-1); |
| antbig | 1:116040d14164 | 537 | } |
| antbig | 1:116040d14164 | 538 | /* Transmission effectuée on va ensuite récuperer la trame de retour renvoyer par le servomoteur |
| antbig | 1:116040d14164 | 539 | */ |
| antbig | 1:116040d14164 | 540 | // Wait for the bytes to be transmitted |
| antbig | 1:116040d14164 | 541 | wait (0.001); |
| antbig | 1:116040d14164 | 542 | |
| antbig | 1:116040d14164 | 543 | // Skip if the read was to the broadcast address |
| antbig | 1:116040d14164 | 544 | if (ID != 0xFE) { |
| antbig | 1:116040d14164 | 545 | |
| antbig | 1:116040d14164 | 546 | /* Partie de reception de la trame de retour |
| antbig | 1:116040d14164 | 547 | */ |
| antbig | 1:116040d14164 | 548 | while ((flag_out != 1) && (timeout < (1000*bytes))) { |
| antbig | 1:116040d14164 | 549 | // Les differents etats de l'automate on été créés au debut de la fonction write ! |
| antbig | 1:116040d14164 | 550 | switch (etat) { |
| antbig | 1:116040d14164 | 551 | case Header1: |
| antbig | 1:116040d14164 | 552 | if (AX12_Serial.readable()) { // reception du premier Header ( 0xFF ) |
| antbig | 1:116040d14164 | 553 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 554 | timeout = 0; |
| antbig | 1:116040d14164 | 555 | if (Status[plen] == 0xFF ) { |
| antbig | 1:116040d14164 | 556 | etat = Header2; |
| antbig | 1:116040d14164 | 557 | plen++; |
| antbig | 1:116040d14164 | 558 | |
| antbig | 1:116040d14164 | 559 | } else etat = Header1; |
| antbig | 1:116040d14164 | 560 | } else timeout++; |
| antbig | 1:116040d14164 | 561 | break; |
| antbig | 1:116040d14164 | 562 | |
| antbig | 1:116040d14164 | 563 | |
| antbig | 1:116040d14164 | 564 | case Header2: |
| antbig | 1:116040d14164 | 565 | if (AX12_Serial.readable()) { // reception du second Header ( 0xFF ) |
| antbig | 1:116040d14164 | 566 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 567 | timeout = 0; |
| antbig | 1:116040d14164 | 568 | if (Status[plen] == 0xFF ) { |
| antbig | 1:116040d14164 | 569 | etat = ident; |
| antbig | 1:116040d14164 | 570 | plen++; |
| antbig | 1:116040d14164 | 571 | |
| antbig | 1:116040d14164 | 572 | } else if (Status[plen] == ID ) { // PERMET D'EVITER CERTAINES ERREUR LORSQU'ON LIT PLUSIEURS REGISTRES !!!! |
| antbig | 1:116040d14164 | 573 | Status[plen] = 0; |
| antbig | 1:116040d14164 | 574 | plen++; |
| antbig | 1:116040d14164 | 575 | Status[plen] = ID; |
| antbig | 1:116040d14164 | 576 | etat = length; |
| antbig | 1:116040d14164 | 577 | plen++; |
| antbig | 1:116040d14164 | 578 | |
| antbig | 1:116040d14164 | 579 | } else { |
| antbig | 1:116040d14164 | 580 | |
| antbig | 1:116040d14164 | 581 | etat = Header1; |
| antbig | 1:116040d14164 | 582 | plen = 0; |
| antbig | 1:116040d14164 | 583 | } |
| antbig | 1:116040d14164 | 584 | } else timeout++; |
| antbig | 1:116040d14164 | 585 | break; |
| antbig | 1:116040d14164 | 586 | |
| antbig | 1:116040d14164 | 587 | case ident: |
| antbig | 1:116040d14164 | 588 | if (AX12_Serial.readable()) { // reception de l'octet correspondant à l'ID du servomoteur |
| antbig | 1:116040d14164 | 589 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 590 | timeout = 0; |
| antbig | 1:116040d14164 | 591 | if (Status[plen] == ID ) { |
| antbig | 1:116040d14164 | 592 | etat = length; |
| antbig | 1:116040d14164 | 593 | plen++; |
| antbig | 1:116040d14164 | 594 | |
| antbig | 1:116040d14164 | 595 | } else { |
| antbig | 1:116040d14164 | 596 | etat = Header1; |
| antbig | 1:116040d14164 | 597 | plen = 0; |
| antbig | 1:116040d14164 | 598 | } |
| antbig | 1:116040d14164 | 599 | } else timeout++; |
| antbig | 1:116040d14164 | 600 | break; |
| antbig | 1:116040d14164 | 601 | |
| antbig | 1:116040d14164 | 602 | case length: |
| antbig | 1:116040d14164 | 603 | if (AX12_Serial.readable()) { // reception de l'octet correspondant à la taille ( taille = 2 + nombre de paramètres ) |
| antbig | 1:116040d14164 | 604 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 605 | timeout = 0; |
| antbig | 1:116040d14164 | 606 | if (Status[plen] == (bytes+2) ) { |
| antbig | 1:116040d14164 | 607 | etat = erreur; |
| antbig | 1:116040d14164 | 608 | plen++; |
| antbig | 1:116040d14164 | 609 | |
| antbig | 1:116040d14164 | 610 | } else { |
| antbig | 1:116040d14164 | 611 | etat = Header1; |
| antbig | 1:116040d14164 | 612 | plen = 0; |
| antbig | 1:116040d14164 | 613 | } |
| antbig | 1:116040d14164 | 614 | } else timeout++; |
| antbig | 1:116040d14164 | 615 | break; |
| antbig | 1:116040d14164 | 616 | |
| antbig | 1:116040d14164 | 617 | case erreur: |
| antbig | 1:116040d14164 | 618 | if (AX12_Serial.readable()) { //reception de l'octet correspondant au code d'erreurs eventuels ( 0 = pas d'erreur ) |
| antbig | 1:116040d14164 | 619 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 620 | timeout = 0; |
| antbig | 1:116040d14164 | 621 | plen++; |
| antbig | 1:116040d14164 | 622 | |
| antbig | 1:116040d14164 | 623 | etat = reception; |
| antbig | 1:116040d14164 | 624 | } else timeout++; |
| antbig | 1:116040d14164 | 625 | |
| antbig | 1:116040d14164 | 626 | case reception: |
| antbig | 1:116040d14164 | 627 | while ( enable < bytes ) { // reception du ou des octect(s) de donnés ( suivant la valeur de la variable length ) |
| antbig | 1:116040d14164 | 628 | if (AX12_Serial.readable()) { |
| antbig | 1:116040d14164 | 629 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 630 | timeout = 0; |
| antbig | 1:116040d14164 | 631 | plen++; |
| antbig | 1:116040d14164 | 632 | enable++; |
| antbig | 1:116040d14164 | 633 | |
| antbig | 1:116040d14164 | 634 | } else timeout++; |
| antbig | 1:116040d14164 | 635 | } |
| antbig | 1:116040d14164 | 636 | etat = checksum; |
| antbig | 1:116040d14164 | 637 | break; |
| antbig | 1:116040d14164 | 638 | |
| antbig | 1:116040d14164 | 639 | case checksum: |
| antbig | 1:116040d14164 | 640 | if (AX12_Serial.readable()) { // reception du dernier octet ( Checksum ) >>> checksum = NOT ( ID + length + somme des données ) >>>> dans le cas d'un retour d'un read!! |
| antbig | 1:116040d14164 | 641 | Status[plen] = AX12_Serial.getc(); |
| antbig | 1:116040d14164 | 642 | timeout = 0; |
| antbig | 1:116040d14164 | 643 | flag_out = 1; |
| antbig | 1:116040d14164 | 644 | etat = Header1; |
| antbig | 1:116040d14164 | 645 | } else timeout++; |
| antbig | 1:116040d14164 | 646 | break; |
| antbig | 1:116040d14164 | 647 | |
| antbig | 1:116040d14164 | 648 | default: |
| antbig | 1:116040d14164 | 649 | break; |
| antbig | 1:116040d14164 | 650 | } |
| antbig | 1:116040d14164 | 651 | } |
| antbig | 1:116040d14164 | 652 | |
| antbig | 1:116040d14164 | 653 | |
| antbig | 1:116040d14164 | 654 | if (timeout == (1000*bytes) ) { // permet d'afficher si il y a une erreur de timeout et de ne pas rester bloquer si il y a des erreurs de trames |
| antbig | 1:116040d14164 | 655 | return(-1); |
| antbig | 1:116040d14164 | 656 | } |
| antbig | 1:116040d14164 | 657 | |
| antbig | 1:116040d14164 | 658 | |
| antbig | 1:116040d14164 | 659 | // copie des données dans le tableau data |
| antbig | 1:116040d14164 | 660 | for (int i=0; i < Status[3]-2 ; i++) { |
| antbig | 1:116040d14164 | 661 | data[i] = Status[5+i]; |
| antbig | 1:116040d14164 | 662 | } |
| antbig | 1:116040d14164 | 663 | |
| antbig | 1:116040d14164 | 664 | } // toute la partie precedente ne s'effectue pas dans le cas d'un appel avec un broadcast ID (ID!=0xFE) |
| antbig | 1:116040d14164 | 665 | |
| antbig | 1:116040d14164 | 666 | return(Status[4]); // retourne le code d'erreur ( octect 5 de la trame de retour ) |
| antbig | 1:116040d14164 | 667 | } |
| antbig | 1:116040d14164 | 668 | |
| antbig | 1:116040d14164 | 669 |