mbedos senza corrente
MX.cpp
- Committer:
- anfontanelli
- Date:
- 2019-11-05
- Revision:
- 21:fe5dd48bebc6
- Parent:
- 20:029e0fe30b0a
- Child:
- 22:5d3f37356915
File content as of revision 21:fe5dd48bebc6:
#include "MX.h" MX::MX(){ } MX::MX(int* broadcastID, int Nmotor, int MotorBaud, UARTSerial_half* pCommLayer){ _MotorBaud = MotorBaud; _pCommLayer = pCommLayer; _broadcastID = broadcastID ; _Nmotor = Nmotor; } int MX::SyncTorqueEnable(bool enableVal[], int ID) { int Nmotor = _Nmotor; char data[1*Nmotor]; for (int i=0 ; i<Nmotor ; i++){ data[i] = enableVal[i]; } #if SYNC_TORQUE_ENABLE_DEBUG printf("\n SYNC TORQUE ENABLE\n"); for (int i=0 ; i<Nmotor ; i++){ printf("\n Torque Enable value for ID[%d] = %d",_broadcastID[i], enableVal[i]); } #endif int rVal = SyncSendPacket(MX_REG_TORQUE_ENABLE, 1, data, ID); return(rVal); } int MX::SyncSetBaud(int MotorBaud[], int ID) { int Nmotor = _Nmotor; char data[1*Nmotor]; for (int i=0 ; i<Nmotor ; i++){ data[i] = MotorBaud[i]; } #if SYNC_SET_BAUD_DEBUG printf("\n SYNC_SET_BAUD_DEBUG\n"); for (int i=0 ; i<Nmotor ; i++){ printf("Set Baud rate value to: 0x%02x\n",MotorBaud[i]); } printf( "* 0x00 = 9,600 bps \n" "* 0x01 = 57,600 bps (DEFAULT)\n" "* 0x02 = 115,200 bps \n" "* 0x03 = 1 Mbps \n" "* 0x04 = 2 Mbps \n" "* 0x05 = 3 Mbps \n" "* 0x06 = 4 Mbps \n" "* 0x06 = 4,5 Mbps \n"); for (int i=0 ; i<Nmotor ; i++){ printf("\n Operating mode value for ID[%d] = %d",_broadcastID[i], MotorBaud[i]); } #endif int rVal = SyncSendPacket(MX_REG_OPERATING_MODE, 1, data, ID); return(rVal); } int MX::SyncSetGoal(float degrees, int ID) { float goal = (degrees) * (float)(4095/360); goal = goal+2048; char data[4]; for (int j = 0 ; j < 4 ; j++){ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits } #if SYNC_SETGOAL_DEBUG printf("\n SYNC SET GOAL\n "); printf("\nGOAL CHOSEN FOR EACH MOTOR\n"); printf("goal[ID]: value(0-4095) - value(0 - 360)\n"); printf("goal[%d]: %f - %.02f\n",ID,goal,degrees); printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n"); for (int j = 0 ; j < 4; j++){ printf("data[%d]: %02x\n",j+(4),data[j+(4)]); //debug data } #endif int rVal = SyncSendPacket(MX_REG_GOAL_POSITION, 4, data, ID); return(rVal); } int MX::SyncSetGoal(float degrees[]) { char data[4*_Nmotor]; //4 is dimension in bytes of instruction int goal[_Nmotor]; for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float) goal[i] = (degrees[i]) * (float)(4095/360); goal[i] = goal[i]+2048; } for (int i=0 ; i<_Nmotor ; i++){ //set data array in 4 bytes sequence (split RAW(uint32) in 4x bytes(uint8) 0-255 for (int j = 0 ; j < 4; j++){ data[j+(i*4)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits } } #if SYNC_SETGOAL_DEBUG printf("\n SYNC SET GOAL\n "); printf("\nGOAL CHOSEN FOR EACH MOTOR\n"); printf("goal[ID]: value(0-4095) - value(0 - 360)\n"); for (int i=0; i<_Nmotor ; i++){ printf("goal[%d]: %d - %.02f\n",_broadcastID[i],goal[i],degrees[i]); } printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n"); for (int i=0 ; i<_Nmotor ; i++){ //set data array in 4 bytes sequence (split RAW(uint32) in 4x bytes(uint8) for (int j = 0 ; j < 4; j++){ printf("data[%d]: %02x\n",j+(i*4),data[j+(i*4)]); //debug data } printf("\n"); } #endif // write the packet, and return the error code int rVal = SyncSendPacket(MX_REG_GOAL_POSITION, 4, data); return(rVal); } int MX::SyncOperatingMode(int mode[], int ID) { int Nmotor = _Nmotor; char data[1*Nmotor]; for (int i=0 ; i<Nmotor ; i++){ data[i] = mode[i]; } #if SYNC_OPERATING_MODE_DEBUG printf("\n SYNC OPERATING MODE DEBUG\n"); for (int i=0 ; i<Nmotor ; i++){ printf("Set Operating Mode value to: 0x%02x\n",mode[i]); } printf( "* 0x00 = Current Control Mode\n" "* 0x01 = Velocity Control Mode\n" "* 0x03 = Position Control Mode (DEFAULT)\n" "* 0x04 = Extended Position Control Mode(Multi-turn)\n" "* 0x05 = Current-based Position Control Mode\n" "* 0x16 = PWM Control Mode (Voltage Control Mode)\n"); for (int i=0 ; i<Nmotor ; i++){ printf("\n Operating mode value for ID[%d] = %d",_broadcastID[i], mode[i]); } #endif int rVal = SyncSendPacket(MX_REG_OPERATING_MODE, 1, data, ID); return(rVal); } int MX::SyncCurrentLimit(float mAmpere, int ID) { uint8_t byte = 2; //2 is dimension in bytes of instruction float goal = (mAmpere) * (float)(1941/6521.76); char data[byte]; for (int j = 0 ; j < byte ; j++){ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits } #if SYNC_CURRENT_LIMIT_DEBUG printf("\n SYNC CURRENT LIMIT DEBUG\n "); printf("\nCURRENT LIMIT CHOSEN FOR EACH MOTOR\n"); printf("Current limit[ID]: value(0-1941) - value(0mA - 6521.76mA)\n"); printf("Current[%d]: %f - %.02f\n",ID,goal,mAmpere); printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n"); for (int j = 0 ; j < byte; j++){ printf("data[%d]: %02x\n",j+(byte),data[j+(byte)]); //debug data } #endif int rVal = SyncSendPacket(MX_REG_CURRENT_LIMIT, byte, data, ID); return(rVal); } int MX::SyncCurrentLimit(float mAmpere[]) { uint8_t byte = 2; //2 is dimension in bytes of instruction char data[byte*_Nmotor]; int goal[_Nmotor]; for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float) goal[i] = (mAmpere[i]) * (float)(1941/6521.76); } for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8) for (int j = 0 ; j < byte; j++){ data[j+(i*byte)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits } } #if SYNC_CURRENT_LIMIT_DEBUG printf("\n SYNC CURRENT LIMIT DEBUG\n "); printf("\nCURRENT LIMIT CHOSEN FOR EACH MOTOR\n"); printf("Current limit[ID]: value(0-1941) - value(0mA - 6521.76mA)\n"); for (int i=0; i<_Nmotor ; i++){ printf("goal[%d]: %d - %.02f\n",_broadcastID[i],goal[i],mAmpere[i]); } printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n"); for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8) for (int j = 0 ; j < byte; j++){ printf("data[%d]: %02x\n",j+(i*byte),data[j+(i*byte)]); //debug data } printf("\n"); } #endif // write the packet, and return the error code int rVal = SyncSendPacket(MX_REG_CURRENT_LIMIT, byte, data); return(rVal); } int MX::SyncGoalCurrent(float mAmpere, int ID) { uint8_t byte = 2; //2 is dimension in bytes of instruction float goal = (mAmpere) * (float)(1941/6521.76); char data[byte]; for (int j = 0 ; j < byte ; j++){ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits } #if SYNC_GOAL_CURRENT_DEBUG printf("\n SYNC GOAL CURRENT\n "); printf("\nGOAL CHOSEN FOR EACH MOTOR\n"); printf("goal[ID]: value(-1941-1941) - value(-6521.76mA - 6521.76mA)\n"); printf("goal[%d]: %f - %.02f\n",ID,goal,mAmpere); printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n"); for (int j = 0 ; j < byte; j++){ printf("data[%d]: %02x\n",j+(byte),data[j+(byte)]); //debug data } #endif int rVal = SyncSendPacket(MX_REG_GOAL_CURRENT, byte, data, ID); return(rVal); } int MX::SyncGoalCurrent(float mAmpere[]) { uint8_t byte = 2; //2 is dimension in bytes of instruction char data[byte*_Nmotor]; int goal[_Nmotor]; for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float) goal[i] = (mAmpere[i]) * (float)(1941/6521.76); } for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8) for (int j = 0 ; j < byte; j++){ data[j+(i*byte)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits } } #if SYNC_GOAL_CURRENT_DEBUG printf("\n SYNC GOAL CURRENT\n "); printf("\nGOAL CHOSEN FOR EACH MOTOR\n"); printf("goal[ID]: value(0-1941) - value(-6521.76mA - 6521.76mA)\n"); for (int i=0; i<_Nmotor ; i++){ printf("goal[%d]: %d - %.02f\n",_broadcastID[i],goal[i],mAmpere[i]); } printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n"); for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8) for (int j = 0 ; j < byte; j++){ printf("data[%d]: %02x\n",j+(i*byte),data[j+(i*byte)]); //debug data } printf("\n"); } #endif // write the packet, and return the error code int rVal = SyncSendPacket(MX_REG_GOAL_CURRENT, byte, data); return(rVal); } int MX::SyncGoalPWM(float values[], int ID) { uint8_t byte = 2; //2 is dimension in bytes of instruction char data[byte*_Nmotor]; int goal[_Nmotor]; for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float) goal[i] = (values[i]) * (float)(885/100); } for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8) for (int j = 0 ; j < byte; j++){ data[j+(i*byte)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits } } // write the packet, and return the error code int rVal = SyncSendPacket(MX_REG_GOAL_PWM, byte, data, ID); return(rVal); } void MX::SyncGetPosition(float* angle) { int bytes = 4; int NumberOfMotor = _Nmotor; char data[(11+bytes)*NumberOfMotor]; int32_t position[NumberOfMotor]; int IDreceived[NumberOfMotor]; float ScaleFactor = (float)360/4095; SyncReadPacket(MX_REG_PRESENT_POSITION, bytes,data); for (int i=0 ;i<_Nmotor ;i++){ IDreceived[i] = (int)data[4 +(11+bytes)*i]; position[i] = (int)data[12+(11+bytes)*i] << 24; position[i] |= (int)data[11+(11+bytes)*i] << 16; position[i] |= (int)data[10+(11+bytes)*i] << 8; position[i] |= (int)data[9 +(11+bytes)*i]; } for (int i=0 ;i<_Nmotor ;i++){ // angle(degree) obtained from position(0 - 4095) position[i] = position[i]-2048; angle[i] = (float)position[i]*ScaleFactor; } #if SYNC_GET_POSITION_DEBUG for (int i=0 ;i<_Nmotor ;i++){ printf("\nGet RAW position data from ID: %d\n",IDreceived[i]); printf(" Data[%d]: 0x%02x\n",(9 +(11+bytes)*i),data[9 +(11+bytes)*i]); printf(" Data[%d]: 0x%02x\n",(10 +(11+bytes)*i),data[10 +(11+bytes)*i]); printf(" Data[%d]: 0x%02x\n",(11 +(11+bytes)*i),data[11 +(11+bytes)*i]); printf(" Data[%d]: 0x%02x\n",(12 +(11+bytes)*i),data[12 +(11+bytes)*i]); printf("Converted position (0 - 4095): %d\n",position[i]); printf("Converted angle %f\n\n",angle[i]); } #endif //return angle; } void MX::SyncGetCurrent(float* presentCurrent) { int bytes = 2; char data[(11+bytes)*_Nmotor]; int32_t current[bytes]; int NumberOfMotor = sizeof(_Nmotor); int IDreceived[NumberOfMotor]; //float presentCurrent[NumberOfMotor] ; float scaleFactor = (float)3.36; // 3.36mA is a unit for scale from 0 to 1941 in DEC //char Status[(11+bytes)*_Nmotor]; (11+bytes) SyncReadPacket(MX_REG_PRESENT_CURRENT, bytes, data); for (int i=0 ;i<_Nmotor ;i++){ IDreceived[i] = (int)data[4 +(11+bytes)*i]; current[i] = (int)data[10+(11+bytes)*i] << 8; current[i] |= (int)data[9 +(11+bytes)*i]; } for (int i=0 ;i<_Nmotor ;i++){ // PresentCurrent (mA) obtained from current (0 - 1941) presentCurrent[i] = (float)current[i]*scaleFactor; } #if SYNC_GET_CURRENT_DEBUG for (int i=0 ;i<_Nmotor ;i++){ printf("\nGet RAW current data from ID: %d\n",IDreceived[i]); printf(" Data[%d]: 0x%02x\n",(9 +(11+bytes)*i),data[9 +(11+bytes)*i]); printf(" Data[%d]: 0x%02x\n",(10 +(11+bytes)*i),data[10 +(11+bytes)*i]); printf("Converted Current (0 - 1941): %d\n",current[i]); printf("Converted Present Current %f\n\n",presentCurrent[i]); } #endif } int MX::SyncSendPacket(int start, int bytes, char* data, int ID) { int Nmotor ; if (ID == -1){ Nmotor = _Nmotor; } else{ Nmotor = 1; } char TxBuf[12+((bytes+1)*Nmotor)+2]; char Status[11]; int TxBufSize = sizeof(TxBuf); // initialization of vector TxBuf for (int i=0; i<TxBufSize ; i++){ TxBuf[i] = 0x00; } // Inizialization Status[8]=0x00; //The error is set to zero // Build the TxPacket first in RAM, then we'll send in one go TxBuf[0] = 0xff; //H1 TxBuf[1] = 0xff; //H2 TxBuf[2] = 0xfd; //H3 TxBuf[3] = 0x00; //Reserved TxBuf[4] = 0xfe; //Broadcast ID // Length TxBuf[5] = (7+( (bytes+1)*Nmotor) ) & 0xff; //packet length low 8 = inst(1bytes)+ param(instr.bytes+1)+CRC(2bytes) TxBuf[6] = (7+( (bytes+1)*Nmotor) ) >> 8; //packet length high // Instruction TxBuf[7] = 0x83; //Sync Write // Parameters TxBuf[8] = start & 0xff; //Low order byte from starting address TxBuf[9] = start >> 8; //High order byte from starting address // Bytes lenght needed for instruction TxBuf[10] = bytes & 0xff; //Low order byte from starting address TxBuf[11] = bytes >> 8; //High order byte from starting address // data // Motor parameters for each motors #if SYNC_SENDPACKET_DEBUG printf("\nDEBUG DI SyncSendPacket"); printf("\nTxBuf length : %d\n",TxBufSize ); printf("\nTxBuf before data and CRC adding:\n "); for (int i=0; i<TxBufSize ; i++){ printf("\nTxBuf[%d] = %x ",i,TxBuf[i]); } printf("\n\nData to add"); for (int i=0; i<(Nmotor*bytes) ; i++){ printf("\ndata[%d] = %02x ",i,data[i]); } #endif for (int i=0; i<Nmotor ; i++){ // t is a index of TxBuf int t = 12 +((bytes+1)*i); // (bytes+1) => instruction dim + 1 (for ID) * i (for each motor) if (Nmotor == 1){ #if SYNC_SENDPACKET_DEBUG printf("\nSINGLE MOTOR "); #endif TxBuf[t] = ID; }else{ TxBuf[t] = _broadcastID[i]; #if SYNC_SENDPACKET_DEBUG printf("\n\nMULTI MOTOR"); printf("\nbroadcastID: %d", _broadcastID[i]); #endif } for (int j = 0; j < bytes ; j++){ //Little endian TxBuf[t+j+1] = data[j+(i*(bytes))]; //(first byte is a low order byte, second byte are High order byte) #if SYNC_SENDPACKET_DEBUG printf("\nTxBuf[%d] = data[%d] = %x ",t+j+1,j+(i*bytes),data[j+(i*bytes)]); #endif } } // CRC // uint16_t crc16 ; int dataSize = TxBufSize-2; crc16 = update_crc(0, TxBuf, dataSize); TxBuf[TxBufSize-2] = (crc16 & 0x00FF); TxBuf[TxBufSize-1] = (crc16>>8) & 0x00FF; //printf("\nCRC 1 : %02x CRC 1 : %02x ",TxBuf[14+((bytes)*Nmotor)],TxBuf[15+((bytes)*Nmotor)]); #if SYNC_SENDPACKET_DEBUG_PACKETONLY printf("\n\n Complete Packet to send of %d elements\n", TxBufSize); for (int i=0; i<TxBufSize ; i++){ printf("\nTxBuf[%d] = %02x ",i,TxBuf[i]); } printf("\n SYNC SEND PACKET \n"); for (int i=0; i<TxBufSize ; i++){ printf("|%02x",TxBuf[i]); } printf("\n \n"); #endif // Build the TxPacket first in RAM, then we'll send in one go _pCommLayer->flush(); _pCommLayer->write(TxBuf,TxBufSize); // UART-write return(Status[8]); // return error code } void MX::SyncReadPacket(int start, int bytes, char* data) { char TxBuf[12+(_Nmotor)+2]; char Status[(11+bytes)*_Nmotor]; int TxBufSize = sizeof(TxBuf); //char data[(11+bytes)*_Nmotor]; Status[8] = 0x00; // The error is set to zero // Build the TxPacket (FIXED !) first in RAM, then we'll send in one go //Header TxBuf[0] = 0xff; //H1 TxBuf[1] = 0xff; //H2 TxBuf[2] = 0xfd; //H3 // Reserved TxBuf[3] = 0x00; // ID TxBuf[4] = 0xfe; // Broadcast // Lenght 7 bytes = inst(1)+ param(4 + numbers of motors)+CRC(2) TxBuf[5] = 7+(_Nmotor) & 0xff; // packet length low TxBuf[6] = (7+(_Nmotor)) >> 8; // packet length high // Instruction TxBuf[7] = 0x82; // Param TxBuf[8] = start & 0xFF; // Address TxBuf[9] = start >> 8; TxBuf[10] = bytes & 0xFF;; // Lenght of reply TxBuf[11] = bytes >> 8; for (int i=0; i<_Nmotor ;i++){ TxBuf[12+i] = _broadcastID[i]; } // CRC uint16_t crc16 ; int dataSize = TxBufSize-2; crc16 = update_crc(0, TxBuf, dataSize); TxBuf[TxBufSize-2] = (crc16 & 0x00FF); TxBuf[TxBufSize-1] = (crc16>>8) & 0x00FF; #if SYNC_READPACKET_DEBUG_PACKETONLY printf("\n\n Complete Packet to send of %d elements\n", TxBufSize); for (int i=0; i<TxBufSize ; i++){ printf("\nTxBuf[%d] = %02x ",i,TxBuf[i]); } printf("\n SYNC READ PACKET \n"); for (int i=0; i<TxBufSize ; i++){ printf("|%02x",TxBuf[i]); } printf("\n \n"); #endif _pCommLayer->flush(); _pCommLayer->write(TxBuf,TxBufSize); // UART-write wait_us(200); _pCommLayer->read_timeout(Status, (11+bytes)*_Nmotor, 2.0); // Take data from 8th cell of status array // first byte contain error code, for this we use (bytes+1) for (int i=0; i<(11+bytes)*_Nmotor ; i++){ data[i] = Status[i]; } #if SYNC_READPACKET_DEBUG_PACKETONLY printf("\n SYNC-READ (entire buffer RAW values)\n"); for (int i=0; i<(11+bytes)*_Nmotor ; i++){ printf("Status[%d]:%02x\n",i,Status[i]); } #endif //return(data); // return error code } /////////////////////////////////////////////////////////////////////////////// ////////////////////////SINGLE OPERATIONS////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// int MX::SetGoalSpeed(int speed, int flags) { char reg_flag = 0; char data[4]; // set the flag is only the register bit is set in the flag if (flags == 0x2) { reg_flag = 1; } int goal = (speed) ; data[0] = goal & 0xff; // bottom 8 bits data[1] = goal >> 8 & 0xff; // top 8 bits data[2] = goal >> 16 & 0xff; // top 8 bits data[3] = goal >> 24 & 0xff; // top 8 bits // write the packet, return the error code int rVal = sendPacket( MX_REG_GOAL_VELOCITY, 4, data, reg_flag); if (flags == 1) { // block until it comes to a halt while (isMoving()) {} } #if SETGOAL_SPEED_DEBUG int16_t sp = speed * float(234.27/1023); //rev/min printf("\nSetGoal to: %d Velocity in [rev/min]%d \n" ,speed,sp); printf("Goal L: 0x%02x ; H: 0x%02x\n",data[0],data[1]); #endif return(rVal); } int MX::SetGoal(float degrees, int flags) { char reg_flag = 0; char data[4]; // set the flag is only the register bit is set in the flag if (flags == 0x2) { reg_flag = 1; } int goal = (degrees) * (float)(4095/360); data[0] = goal & 0xff; // bottom 8 bits data[1] = goal >> 8 & 0xff; // top 8 bits data[2] = goal >> 16 & 0xff; // top 8 bits data[3] = goal >> 24 & 0xff; // top 8 bits // write the packet, return the error code int rVal = sendPacket( MX_REG_GOAL_POSITION, 4, data, reg_flag ); if (flags == 1) { // block until it comes to a halt while (isMoving()) {} } #if SETGOAL_DEBUG printf("\n SetGoal to: %d in degree is: %f\n",goal,degrees); printf(" Goal L: 0x%02x ; H: 0x%02x\n",data[0],data[1]); #endif return(rVal); } // if flag[0] is set, were blocking // if flag[1] is set, we're registering // they are mutually exclusive operations int MX::OperatingMode(int mode) { char data[1]; data[0] = mode; // bottom 8 bits #if OPERATING_MODE_DEBUG printf("\nOPERATING_MODE_DEBUG\n"); printf("Set Operating Mode value to: 0x%02x\n",mode); printf( "* 0x00 = Current Control Mode\n" "* 0x01 = Velocity Control Mode\n" "* 0x03 = Position Control Mode (DEFAULT)\n" "* 0x04 = Extended Position Control Mode(Multi-turn)\n" "* 0x05 = Current-based Position Control Mode\n" "* 0x16 = PWM Control Mode (Voltage Control Mode)\n"); #endif //sendPacket(Motor ID, Address, Lenght, data); //return give back a error code of sendPacket function return (sendPacket( MX_REG_OPERATING_MODE, 1, data)); } // return 1 is the servo is still in flight bool MX::isMoving(void) { bool data[1]; data[0] = 1; data[0] = readPacket( MX_REG_MOVING,1 ); return(data[0]); } int MX::motorSetBaud (int MotorBaud) { char data[1]; data[0] = MotorBaud; #if SETBAUD_DEBUG printf("\nSTATUS Packet - SETBAUD_DEBUG\n"); printf("Set Baud rate value to: 0x%02x\n",MotorBaud); printf( "* 0x00 = 9,600 bps \n" "* 0x01 = 57,600 bps (DEFAULT)\n" "* 0x02 = 115,200 bps \n" "* 0x03 = 1 Mbps \n" "* 0x04 = 2 Mbps \n" "* 0x05 = 3 Mbps \n" "* 0x06 = 4 Mbps \n" "* 0x06 = 4,5 Mbps \n"); #endif //sendPacket(Motor ID, Address, Lenght, data); //return give back a error code of sendPacket function return (sendPacket( MX_REG_BAUD, 1, data)); } void MX::Reboot() { char TxBuf[10]; char Status[11]; Status[8]=0x00; //The error is set to zero // Build the TxPacket first in RAM, then we'll send in one go TxBuf[0] = 0xff; //H1 TxBuf[1] = 0xff; //H2 TxBuf[2] = 0xfd; //H3 TxBuf[3] = 0x00; //Reserved TxBuf[4] = _ID; //ID // packet Length TxBuf[5] = 0x03; //packet length low TxBuf[6] = 0x00; //packet length high // Instruction TxBuf[7] = 0x08; // Instruction to reboot Device /*****************CRC***********************/ uint16_t crc16 ; int dataSize = sizeof(TxBuf)-2; crc16 = update_crc(0, TxBuf, dataSize /*5+bytes*/); TxBuf[8] = (crc16 & 0x00FF); TxBuf[9] = (crc16>>8) & 0x00FF; // Build the TxPacket first in RAM, then we'll send in one go _pCommLayer->flush(); _pCommLayer->write(TxBuf,10); // UART-write _pCommLayer->read_timeout(Status, 11, 2.0); #if REBOOT_ENABLE_DEBUG printf("\n Reboot Motor: (%d)",enableVal); #endif } int MX::TorqueEnable(bool enableVal) { char data[1]; data[0] = enableVal; #if TORQUE_ENABLE_DEBUG printf("\n Setting Torque Enable value: (%d)",enableVal); #endif return (sendPacket( MX_REG_TORQUE_ENABLE, 1, data)); } float MX::GetPosition(void) { printf("\nGET POSITION "); char* data; int32_t position; float angle = 0; float ScaleFactor = (float)360/4095; data = readPacket( MX_REG_PRESENT_POSITION, 4); position = (uint32_t)data[3] << 24; position |= (uint32_t)data[2] << 16; position |= (uint32_t)data[1] << 8; position |= (uint32_t)data[0]; // angle(degree) obtained from position(0 - 4095) angle = (float)position*ScaleFactor; #if GETPOSITION_DEBUG printf("\nGetPosition from ID: %d\n",_ID); for (uint16_t i=0; i<4 ; i++) { printf(" Data[%d] : 0x%02x\n",(i+1),data[i]); } printf(" Read position (0 - 4095): %d\n",position); printf(" Converted angle %f\n",angle); #endif return (angle); } int MX::sendPacket( int start, int bytes, char* data, int flag) { char TxBuf[12+bytes]; char Status[11]; Status[8]=0x00; //The error is set to zero // Build the TxPacket first in RAM, then we'll send in one go TxBuf[0] = 0xff; //H1 TxBuf[1] = 0xff; //H2 TxBuf[2] = 0xfd; //H3 TxBuf[3] = 0x00; //Reserved TxBuf[4] = _ID; //ID // packet Length TxBuf[5] = (5+bytes) & 0xff; //packet length low TxBuf[6] = (5+bytes) >> 8; //packet length high // Instruction if (flag == 1) { TxBuf[7]=0x04; } else { TxBuf[7]=0x03; } // Start Address TxBuf[8] = start & 0xFF; TxBuf[9] = start >> 8; // data for (int i = bytes-1; i>=0 ; i--) { //little endian TxBuf[10+i] = data[i]; } /*****************CRC***********************/ uint16_t crc16 ; int dataSize = sizeof(TxBuf)-2; crc16 = update_crc(0, TxBuf, dataSize /*5+bytes*/); TxBuf[10+bytes] = (crc16 & 0x00FF); TxBuf[11+bytes] = (crc16>>8) & 0x00FF; // Build the TxPacket first in RAM, then we'll send in one go _pCommLayer->flush(); _pCommLayer->write(TxBuf,bytes+12); // UART-write _pCommLayer->read_timeout(Status, 11, 2.0); #if SENDPACKET_DEBUG printf("\nWRITE input parameters:\n"); printf(" (ID: %d, Address: 0x%x, Bytes: %d, flag: %d)\n",_ID,start,bytes,flag); printf(" Data written:\n"); for (int i=0; i < bytes ; i++) { printf(" Data[%d]: 0x%x\n",i,data[i]); } #endif #if SENDPACKET_DEBUG_INSTRUCTION_PKT printf("\nINSTRUCTIONS Packet - WRITE_DEBUG \n"); printf(" H1 : 0x%02x\n",TxBuf[0]); printf(" H2 : 0x%02x\n",TxBuf[1]); printf(" H3 : 0x%02x\n",TxBuf[2]); printf(" Reserved : 0x%02x\n",TxBuf[3]); printf(" ID : 0x%02x\n",TxBuf[4]); printf(" Length L : 0x%02x\n",TxBuf[5]); printf(" Length H : 0x%02x\n",TxBuf[6]); printf(" Instruction : 0x%02x\n",TxBuf[7]); printf(" Cmd L : 0x%02x\n",TxBuf[8]); printf(" Cmd H : 0x%02x\n",TxBuf[9]); for (uint16_t i=0; i<bytes ; i++) { printf(" Data : 0x%02x\n",TxBuf[10+i]); } printf(" CRC1 : 0x%02x\n",TxBuf[10+bytes]); printf(" CRC2 : 0x%02x\n",TxBuf[11+bytes]); printf(" TxBuf = "); for (int i = 0; i < sizeof(TxBuf) ; i++) { printf(" [0x%02x]",TxBuf[i]); } printf("\n"); #endif #if SENDPACKET_DEBUG_STATUS_PKT printf("\nSTATUS Packet - WRITE_DEBUG\n"); printf(" H1 : 0x%02x\n",Status[0]); printf(" H2 : 0x%02x\n",Status[1]); printf(" H3 : 0x%02x\n",Status[2]); printf(" Reserved : 0x%02x\n",Status[3]); printf(" ID : 0x%02x\n",Status[4]); printf(" Length L : 0x%02x\n",Status[5]); printf(" Length H : 0x%02x\n",Status[6]); printf(" Instruction : 0x%02x\n",Status[7]); printf(" Error : 0x%02x\n",Status[8]); printf(" CRC1 : 0x%02x\n",Status[9]); printf(" CRC2 : 0x%02x\n",Status[10]); printf(" Status = "); for (int i = 0; i < sizeof(Status) ; i++) { printf(" [0x%02x]",Status[i]); } printf("\n"); #endif return(Status[8]); // return error code } char* MX::readPacket(int start, int bytes, int flag) { char TxBuf[14]; char Status[11+bytes]; char* data; Status[8] = 0x00; //The error is set to zero // Build the TxPacket (FIXED !) first in RAM, then we'll send in one go TxBuf[0] = 0xff; //H1 TxBuf[1] = 0xff; //H2 TxBuf[2] = 0xfd; //H3 TxBuf[3] = 0x00; //Reserved TxBuf[4] = _ID; //ID TxBuf[5] = 0x07; //packet length low TxBuf[6] = 0x00; //packet length high TxBuf[7] = 0x02; // Instruction TxBuf[8] = start & 0xFF; // Start Address TxBuf[9] = start >> 8; // N param TxBuf[10] = 0x04; TxBuf[11] = 0x00; /*****************CRC***********************/ uint16_t crc16 ; int dataSize = sizeof(TxBuf)-2; crc16 = update_crc(0, TxBuf, dataSize); TxBuf[12] = (crc16 & 0x00FF); TxBuf[13] = (crc16>>8) & 0x00FF; _pCommLayer->flush(); _pCommLayer->write(TxBuf,sizeof(TxBuf)); // UART-write wait(0.0002); _pCommLayer->read_timeout(Status, 11+bytes, 2.0); #if MX_READPACKET_DEBUG printf("\nREAD input parameters:\n"); printf(" (ID: %d, Address: 0x%x, Bytes: %d, flag: %d)\n",_ID,start,bytes,flag); printf(" Data written:\n"); for (int i=0; i < bytes ; i++) { printf(" Data[%d]: 0x%x\n",i,data[i]); } #endif #if MX_READPACKET_DEBUG_INSTRUCTION_PKT printf("\nINSTRUCTIONS Packet - READ_DEBUG \n"); printf(" H1 - Header : 0x%02x\n",TxBuf[0]); printf(" H2 - Header : 0x%02x\n",TxBuf[1]); printf(" H3 - Header : 0x%02x\n",TxBuf[2]); printf(" RESERVED : 0x%02x\n",TxBuf[3]); printf(" ID : 0x%02x\n",TxBuf[4]); printf(" Length L : 0x%02x\n",TxBuf[5]); printf(" Length H : 0x%02x\n",TxBuf[6]); printf(" Instruction : 0x%02x\n",TxBuf[7]); printf(" Param1 - Cmd L : 0x%02x\n",TxBuf[8]); printf(" Param2 - Cmd H : 0x%02x\n",TxBuf[9]); printf(" Param3 : 0x%02x\n",TxBuf[10]); printf(" Param4 : 0x%02x\n",TxBuf[11]); printf(" CRC1 : 0x%02x\n",TxBuf[12]); printf(" CRC2 : 0x%02x\n",TxBuf[13]); printf(" TxBuf = "); for (int i = 0; i < 14 ; i++) { printf(" [0x%02x]",TxBuf[i]); } printf("\n\n"); #endif #if MX_READPACKET_DEBUG_STATUS_PKT printf("\nSTATUS Packet - READ_DEBUG \n"); printf(" H1 - Header : 0x%02x\n",Status[0]); printf(" H2 - Header : 0x%02x\n",Status[1]); printf(" H3 - Header : 0x%02x\n",Status[2]); printf(" Reserved : 0x%02x\n",Status[3]); printf(" ID : 0x%02x\n",Status[4]); printf(" Length L : 0x%02x\n",Status[5]); printf(" Length H : 0x%02x\n",Status[6]); printf(" Instruction : 0x%02x\n",Status[7]); printf(" Error : 0x%02x\n",Status[8]); for (uint16_t i=0; i<bytes ; i++) { printf(" Param%d : 0x%02x\n",(i+1),Status[9+i]); } printf(" Crc1 : 0x%02x\n",Status[13]); printf(" Crc2 : 0x%02x\n",Status[14]); printf(" Status = "); for (int i = 0; i < sizeof(Status) ; i++) { printf(" [0x%02x]",Status[i]); } printf("\n"); #endif for (uint16_t i=0; i<bytes ; i++) { data[i] = Status[9+i]; } return(data); // return error code } unsigned short MX::update_crc(unsigned short crc_accum, char *data_blk_ptr, unsigned short data_blk_size) { unsigned short i, j; unsigned short crc_table[256] = { 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 }; for(j = 0; j < data_blk_size; j++) { i = ((unsigned short)(crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF; crc_accum = (crc_accum << 8) ^ crc_table[i]; } return crc_accum; }