PSL_2021 / Mbed OS prog_robot_1_Eve_v4

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Dependencies:   mbed-os nRF24L01P

MX12.h@14:1b41c5adf46e, 2022-10-13 (annotated)

Committer:
evedelegue
Date:
Thu Oct 13 10:39:25 2022 +0000
Revision:
14:1b41c5adf46e
Parent:
9:67d737d8a349 
je ne sais plus si je l'avais bien commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
evedelegue 9:67d737d8a349 1 /**
evedelegue 9:67d737d8a349 2 * @file MX12.h
evedelegue 9:67d737d8a349 3 * @brief this header file contains all required definitions and
evedelegue 9:67d737d8a349 4 * basic utilities functions to manage au bus of servomotor
evedelegue 9:67d737d8a349 5 * Dynaminel MX12
evedelegue 9:67d737d8a349 6 */
evedelegue 9:67d737d8a349 7 #ifndef MBED_MX12_H_
evedelegue 9:67d737d8a349 8 #define MBED_MX12_H_
evedelegue 9:67d737d8a349 9
evedelegue 9:67d737d8a349 10 #include "mbed.h"
evedelegue 9:67d737d8a349 11
evedelegue 9:67d737d8a349 12 #define MX12_PACKET_MAX_SIZE 32
evedelegue 9:67d737d8a349 13 #define MX12_MAX_MOTOR_COUNT 16
evedelegue 9:67d737d8a349 14
evedelegue 9:67d737d8a349 15 #define MX12_SPEED_QUANTA_RPM 0.916 /* Data from MX12 e-manual */
evedelegue 9:67d737d8a349 16 #define MX12_ABSOLUTE_MAX_SPEED_RAD_S 98.13
evedelegue 9:67d737d8a349 17
evedelegue 9:67d737d8a349 18
evedelegue 9:67d737d8a349 19
evedelegue 9:67d737d8a349 20 /* Dynamixel protocol v1.0 : Instructions
evedelegue 9:67d737d8a349 21 ******************************************/
evedelegue 9:67d737d8a349 22 #define PROTOCOL_INSTRUCTION_PING 0x01
evedelegue 9:67d737d8a349 23 #define PROTOCOL_INSTRUCTION_READ 0x02
evedelegue 9:67d737d8a349 24 #define PROTOCOL_INSTRUCTION_WRITE 0x03
evedelegue 9:67d737d8a349 25 #define PROTOCOL_INSTRUCTION_REG_WRITE 0x04
evedelegue 9:67d737d8a349 26 #define PROTOCOL_INSTRUCTION_ACTION 0x05
evedelegue 9:67d737d8a349 27 #define PROTOCOL_INSTRUCTION_FACTORY_RESET 0x06
evedelegue 9:67d737d8a349 28 #define PROTOCOL_INSTRUCTION_REBOOT 0x08
evedelegue 9:67d737d8a349 29 #define PROTOCOL_INSTRUCTION_SYNC_WRITE 0x83
evedelegue 9:67d737d8a349 30 #define PROTOCOL_INSTRUCTION_BULK_READ 0x92
evedelegue 9:67d737d8a349 31
evedelegue 9:67d737d8a349 32 /* Dynamixel protocol v1.0 : Contro table content
evedelegue 9:67d737d8a349 33 ************************************************/
evedelegue 9:67d737d8a349 34 #define CONTROL_TABLE_MODEL_NUMBER 0
evedelegue 9:67d737d8a349 35 #define CONTROL_TABLE_FIRMWARE_VERSION 2
evedelegue 9:67d737d8a349 36 #define CONTROL_TABLE_ID 3
evedelegue 9:67d737d8a349 37 #define CONTROL_TABLE_BAUD_RATE 4
evedelegue 9:67d737d8a349 38 #define CONTROL_TABLE_RETURN_DELAY_TIME 5
evedelegue 9:67d737d8a349 39 #define CONTROL_TABLE_CW_ANGLE_LIMIT 6
evedelegue 9:67d737d8a349 40 #define CONTROL_TABLE_CCW_ANGLE_LIMIT 8
evedelegue 9:67d737d8a349 41 #define CONTROL_TABLE_TEMPERATURE_LIMIT 11
evedelegue 9:67d737d8a349 42 #define CONTROL_TABLE_MIN_VOLTAGE_LIMIT 12
evedelegue 9:67d737d8a349 43 #define CONTROL_TABLE_MAX_VOLTAGE_LIMIT 13
evedelegue 9:67d737d8a349 44 #define CONTROL_TABLE_MAX_TORQUE 14
evedelegue 9:67d737d8a349 45 #define CONTROL_TABLE_STATUS_RETURN_LEVEL 16
evedelegue 9:67d737d8a349 46 #define CONTROL_TABLE_ALARM_LED 17
evedelegue 9:67d737d8a349 47 #define CONTROL_TABLE_SHUTDOWN 18
evedelegue 9:67d737d8a349 48 #define CONTROL_TABLE_MULTITURN_OFFSET 20
evedelegue 9:67d737d8a349 49 #define CONTROL_TABLE_RESOLUTION_DIVIDER 22
evedelegue 9:67d737d8a349 50 #define CONTROL_TABLE_TORQUE_ENABLE 24
evedelegue 9:67d737d8a349 51 #define CONTROL_TABLE_LED 25
evedelegue 9:67d737d8a349 52 #define CONTROL_TABLE_P_GAIN 26
evedelegue 9:67d737d8a349 53 #define CONTROL_TABLE_I_GAIN 27
evedelegue 9:67d737d8a349 54 #define CONTROL_TABLE_D_GAIN 28
evedelegue 9:67d737d8a349 55 #define CONTROL_TABLE_GOAL_POSITION 30
evedelegue 9:67d737d8a349 56 #define CONTROL_TABLE_MOVING_SPEED 32
evedelegue 9:67d737d8a349 57 #define CONTROL_TABLE_TORQUE_LIMIT 34
evedelegue 9:67d737d8a349 58 #define CONTROL_TABLE_PRESENT_POSITION 36
evedelegue 9:67d737d8a349 59 #define CONTROL_TABLE_PRESENT_SPEED 38
evedelegue 9:67d737d8a349 60 #define CONTROL_TABLE_PRESENT_LOAD 40
evedelegue 9:67d737d8a349 61 #define CONTROL_TABLE_PRESENT_VOLTAGE 42
evedelegue 9:67d737d8a349 62 #define CONTROL_TABLE_PRESENT_TEMPERATURE 43
evedelegue 9:67d737d8a349 63 #define CONTROL_TABLE_REGISTRED_INSTRUCTION 44
evedelegue 9:67d737d8a349 64 #define CONTROL_TABLE_MOVING 46
evedelegue 9:67d737d8a349 65 #define CONTROL_TABLE_LOCK 47
evedelegue 9:67d737d8a349 66 #define CONTROL_TABLE_PUNCH 48
evedelegue 9:67d737d8a349 67 #define CONTROL_TABLE_GOAL_ACCELERATION 73
evedelegue 9:67d737d8a349 68
evedelegue 9:67d737d8a349 69 /**
evedelegue 9:67d737d8a349 70 * @brief Class to communicate with Dynamixel MX12 servomotors
evedelegue 9:67d737d8a349 71 *
evedelegue 9:67d737d8a349 72 * @details
evedelegue 9:67d737d8a349 73 *
evedelegue 9:67d737d8a349 74 * The servomotors are daisy chained to a serial link of the target
evedelegue 9:67d737d8a349 75 * microcontroller. The class ensures the initialization of serial link
evedelegue 9:67d737d8a349 76 * and the management of communications mainly to control rotational
evedelegue 9:67d737d8a349 77 * speed of servomotors.
evedelegue 9:67d737d8a349 78 *
evedelegue 9:67d737d8a349 79 * Transmission of messages to the servomotors is blocking while
evedelegue 9:67d737d8a349 80 * reception is non-blocking thanks to the use of an interrupt routine.
evedelegue 9:67d737d8a349 81 *
evedelegue 9:67d737d8a349 82 * @author Titouan Soulard (creator and maintainer until April 2021)
evedelegue 9:67d737d8a349 83 * @author Bruno Denis (Doxygen documentation and code rearrangement)
evedelegue 9:67d737d8a349 84 *
evedelegue 9:67d737d8a349 85 * @see Control table of Dynamixel MX12 servomotor
evedelegue 9:67d737d8a349 86 * @see https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/
evedelegue 9:67d737d8a349 87 * @see Dynamixel protocol v1.0 manual
evedelegue 9:67d737d8a349 88 * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
evedelegue 9:67d737d8a349 89 *
evedelegue 9:67d737d8a349 90 * Example of class usage to send two instruction packets to servomotor #1
evedelegue 9:67d737d8a349 91 * with one second gap. First ask to move at 10% of maximum speed and the
evedelegue 9:67d737d8a349 92 * stop the movement.
evedelegue 9:67d737d8a349 93 *
evedelegue 9:67d737d8a349 94 * @code
evedelegue 9:67d737d8a349 95 * #include "mbed.h"
evedelegue 9:67d737d8a349 96 * #include "MX12.h"
evedelegue 9:67d737d8a349 97 *
evedelegue 9:67d737d8a349 98 * #define SERVO_TX_PIN PC_4
evedelegue 9:67d737d8a349 99 * #define SERVO_RX_PIN PC_5
evedelegue 9:67d737d8a349 100 * #define SERVO_BAUD 115200
evedelegue 9:67d737d8a349 101 * #define SERVO_ID 1
evedelegue 9:67d737d8a349 102 *
evedelegue 9:67d737d8a349 103 * #define DELAY_1000ms 1000
evedelegue 9:67d737d8a349 104 * #define DELAY_1ms 1
evedelegue 9:67d737d8a349 105 *
evedelegue 9:67d737d8a349 106 * MX12 servo_bus(SERVO_TX_PIN, SERVO_RX_PIN, SERVO_BAUD);
evedelegue 9:67d737d8a349 107 * float relative_speed;
evedelegue 9:67d737d8a349 108 *
evedelegue 9:67d737d8a349 109 * int main()
evedelegue 9:67d737d8a349 110 * {
evedelegue 9:67d737d8a349 111 * // Set speed of SERVO_ID servomotor to 10%
evedelegue 9:67d737d8a349 112 * // Send on servo_bus to SERVO_ID motor the instruction "moving speed"
evedelegue 9:67d737d8a349 113 * // with parameter 0.1 (10% of maximum speed)
evedelegue 9:67d737d8a349 114 * relative_speed = 0.1;
evedelegue 9:67d737d8a349 115 * servo_bus.SetSpeed(SERVO_ID, relative_speed);
evedelegue 9:67d737d8a349 116 *
evedelegue 9:67d737d8a349 117 * // wait for one second
evedelegue 9:67d737d8a349 118 * thread_sleep_for(DELAY_1000ms);
evedelegue 9:67d737d8a349 119 *
evedelegue 9:67d737d8a349 120 * // set speed of SERVO_ID servomotor to 0%
evedelegue 9:67d737d8a349 121 * relative_speed = 0.0;
evedelegue 9:67d737d8a349 122 * servo_bus.SetSpeed(SERVO_ID, relative_speed);
evedelegue 9:67d737d8a349 123 *
evedelegue 9:67d737d8a349 124 * // infinite loop
evedelegue 9:67d737d8a349 125 * while (true) thread_sleep_for(DELAY_1000ms);
evedelegue 9:67d737d8a349 126 * }
evedelegue 9:67d737d8a349 127 * @endcode
evedelegue 9:67d737d8a349 128 *
evedelegue 9:67d737d8a349 129 * @warning
evedelegue 9:67d737d8a349 130 * Warning: receipt of packets from servomotors has not been tested
evedelegue 9:67d737d8a349 131 * (hardwre problem). However, sending move speed instruction is operational.
evedelegue 9:67d737d8a349 132 *
evedelegue 9:67d737d8a349 133 * @warning
evedelegue 9:67d737d8a349 134 * Warning: Error field of status packet if decoded by GetStatus() returns
evedelegue 9:67d737d8a349 135 * an enumation type "Status". As several errors can be reported
evedelegue 9:67d737d8a349 136 * simultaneously the type enum is not suitable (B. Denis 11/2021).
evedelegue 9:67d737d8a349 137 *
evedelegue 9:67d737d8a349 138 * @bug
evedelegue 9:67d737d8a349 139 * Bug: GetStatus() method has a hazardous behavior because it provides
evedelegue 9:67d737d8a349 140 * a result by reading the content of the variable _current_frame
evedelegue 9:67d737d8a349 141 * which can be modified at any time by the private ISR _Rx_interrupt().
evedelegue 9:67d737d8a349 142 *
evedelegue 9:67d737d8a349 143 */
evedelegue 9:67d737d8a349 144 class MX12
evedelegue 9:67d737d8a349 145 {
evedelegue 9:67d737d8a349 146 public:
evedelegue 9:67d737d8a349 147
evedelegue 9:67d737d8a349 148 /** Error status occurred during the operation of servomotor.
evedelegue 9:67d737d8a349 149 *
evedelegue 9:67d737d8a349 150 * @warning
evedelegue 9:67d737d8a349 151 * Enumaration type is not suitable for all error status because
evedelegue 9:67d737d8a349 152 * it can denote only one error at a time (B. Denis 11/2021)
evedelegue 9:67d737d8a349 153 */
evedelegue 9:67d737d8a349 154 enum Status {
evedelegue 9:67d737d8a349 155 InstructionError, /**< In case of sending an undefined instruction
evedelegue 9:67d737d8a349 156 or delivering the action instruction
evedelegue 9:67d737d8a349 157 without the Reg Write instruction */
evedelegue 9:67d737d8a349 158 OverloadError, /**< When the current load cannot be controlled
evedelegue 9:67d737d8a349 159 by the set Torque */
evedelegue 9:67d737d8a349 160 ChecksumError, /**< When the Checksum of the transmitted
evedelegue 9:67d737d8a349 161 Instruction Packet is incorrect */
evedelegue 9:67d737d8a349 162 RangeError, /**< When an instruction is out of the range
evedelegue 9:67d737d8a349 163 for use */
evedelegue 9:67d737d8a349 164 OverheatingError, /**< When internal temperature of servomotor
evedelegue 9:67d737d8a349 165 is out of the range of operating
evedelegue 9:67d737d8a349 166 temperature set in the Control table */
evedelegue 9:67d737d8a349 167 AngleLimitError, /**< When Goal Position is written out of the
evedelegue 9:67d737d8a349 168 range from CW Angle Limit to CCW Angle
evedelegue 9:67d737d8a349 169 Limit */
evedelegue 9:67d737d8a349 170 InputVoltageError, /**< When the applied voltage is out of the
evedelegue 9:67d737d8a349 171 range of operating voltage set in the
evedelegue 9:67d737d8a349 172 Control table */
evedelegue 9:67d737d8a349 173 Unknown, /**< Combination of several errors (Caution:
evedelegue 9:67d737d8a349 174 limit of enum approach to code errors) */
evedelegue 9:67d737d8a349 175 Ok ///< no error
evedelegue 9:67d737d8a349 176 };
evedelegue 9:67d737d8a349 177
evedelegue 9:67d737d8a349 178 /** Enumeration of states of the medium acces control (MAC)
evedelegue 9:67d737d8a349 179 * of the master-slave protocol of the communication between
evedelegue 9:67d737d8a349 180 * the robot controller (master) and the servomotors (slaves).
evedelegue 9:67d737d8a349 181 */
evedelegue 9:67d737d8a349 182 enum SerialState {
evedelegue 9:67d737d8a349 183 Writing, /**< Robot controller send an "instruction packet"
evedelegue 9:67d737d8a349 184 (request) to a servomotor */
evedelegue 9:67d737d8a349 185 Reading, /**< Robot controller receive a "status packet" from a
evedelegue 9:67d737d8a349 186 requested servomotor */
evedelegue 9:67d737d8a349 187 Idle ///< Robot controller ready for a new cycle request-answer
evedelegue 9:67d737d8a349 188 };
evedelegue 9:67d737d8a349 189
evedelegue 9:67d737d8a349 190 /** Structure of store status packet (also known as return packet)
evedelegue 9:67d737d8a349 191 * according tne Dynamixel protocol v1.0, which are messages sent
evedelegue 9:67d737d8a349 192 * by servomotors to contriller in response of an instruction packet
evedelegue 9:67d737d8a349 193 */
evedelegue 9:67d737d8a349 194 struct Status_packet {
evedelegue 9:67d737d8a349 195 unsigned char raw[MX12_PACKET_MAX_SIZE]; /**< bytes received */
evedelegue 9:67d737d8a349 196 unsigned char n_byte; /**< Number of received byte */
evedelegue 9:67d737d8a349 197 unsigned char servo_id; /**< Identifier field denoted servomotor
evedelegue 9:67d737d8a349 198 * involved in the message */
evedelegue 9:67d737d8a349 199 unsigned char length; /**< Length field of status packet */
evedelegue 9:67d737d8a349 200 unsigned char error; /**< Error field of status packet */
evedelegue 9:67d737d8a349 201 unsigned char n_param; /**< Number of received parameter*/
evedelegue 9:67d737d8a349 202 unsigned char param[MX12_PACKET_MAX_SIZE]; /**< array of received
evedelegue 9:67d737d8a349 203 * parameters */
evedelegue 9:67d737d8a349 204 unsigned char received_checksum; /**< Received checksum field */
evedelegue 9:67d737d8a349 205 unsigned char calculated_checksum; /**< Calculated checksum */
evedelegue 9:67d737d8a349 206 bool parsed; /**< status packet is correctly parsed */
evedelegue 9:67d737d8a349 207 bool valid; /**< received_checksum == calculated_checksum */
evedelegue 9:67d737d8a349 208 };
evedelegue 9:67d737d8a349 209
evedelegue 9:67d737d8a349 210 /**
evedelegue 9:67d737d8a349 211 * @brief Discrete states of the packet parser.
evedelegue 9:67d737d8a349 212 *
evedelegue 9:67d737d8a349 213 * @detail
evedelegue 9:67d737d8a349 214 * Each value corresponding to a field that the parser
evedelegue 9:67d737d8a349 215 * can identify according the Dynamixel protocol v1.0.
evedelegue 9:67d737d8a349 216 * Enumeration include field of instruction packets
evedelegue 9:67d737d8a349 217 * (packets sent to servomotors) and field of status packets
evedelegue 9:67d737d8a349 218 * (packets received from servomotors).
evedelegue 9:67d737d8a349 219 */
evedelegue 9:67d737d8a349 220 enum PacketField {
evedelegue 9:67d737d8a349 221 Header1, ///< Heading1 field of instruction or status packet
evedelegue 9:67d737d8a349 222 Header2, ///< Heading2 field of instruction or status packet
evedelegue 9:67d737d8a349 223 Id, ///< ID field of instruction or status packet
evedelegue 9:67d737d8a349 224 Length, ///< Length field of status packet
evedelegue 9:67d737d8a349 225 Error, ///< Error status field of status packet
evedelegue 9:67d737d8a349 226 Instruction, ///< Instruction field of instruction packet
evedelegue 9:67d737d8a349 227 Data, ///< expect to read parameter fields of status packet
evedelegue 9:67d737d8a349 228 Checksum ///< expect to read Checksum field of status packet
evedelegue 9:67d737d8a349 229 };
evedelegue 9:67d737d8a349 230
evedelegue 9:67d737d8a349 231 /** Structure to store the current state of packet parserComplement to the ParsingState enumeration to store the reading
evedelegue 9:67d737d8a349 232 * progress of each section of the status packet.
evedelegue 9:67d737d8a349 233 */
evedelegue 9:67d737d8a349 234 struct ParserState {
evedelegue 9:67d737d8a349 235 MX12::PacketField expected_field; ///< next expected field
evedelegue 9:67d737d8a349 236 unsigned char byte_index; ///< index of byte already parsed
evedelegue 9:67d737d8a349 237 unsigned char param_index; ///< index of parameter already parsed
evedelegue 9:67d737d8a349 238 };
evedelegue 9:67d737d8a349 239
evedelegue 9:67d737d8a349 240 /** Create an instance of MX12 and attach it to a serial link
evedelegue 9:67d737d8a349 241 *
evedelegue 9:67d737d8a349 242 * @param tx board pin used for transmission in UART daisy chain link
evedelegue 9:67d737d8a349 243 * to servomotors
evedelegue 9:67d737d8a349 244 * @param rx board pin used for reception in UART daisy chain link
evedelegue 9:67d737d8a349 245 * to servomotors
evedelegue 9:67d737d8a349 246 * @param baud modulation rate of UART signal, unit: Baud
evedelegue 9:67d737d8a349 247 * to servomotors
evedelegue 9:67d737d8a349 248 */
evedelegue 9:67d737d8a349 249 MX12(PinName tx, PinName rx, int baud=115200);
evedelegue 9:67d737d8a349 250
evedelegue 9:67d737d8a349 251 /** Send desired normalized speed to a specific servomotor
evedelegue 9:67d737d8a349 252 *
evedelegue 9:67d737d8a349 253 * @param mot_id a unique value in the daisy chain network to identify
evedelegue 9:67d737d8a349 254 * each servomotor
evedelegue 9:67d737d8a349 255 * @param speed a float between -1 and 1 that represents the percentage
evedelegue 9:67d737d8a349 256 * of maximum requested speed
evedelegue 9:67d737d8a349 257 */
evedelegue 9:67d737d8a349 258 void SetSpeed(unsigned char mot_id, float speed);
evedelegue 9:67d737d8a349 259
evedelegue 9:67d737d8a349 260 /** Send desired ablosute speed to a specific servomotor
evedelegue 9:67d737d8a349 261 *
evedelegue 9:67d737d8a349 262 * @param mot_id a unique value in the daisy chain network to identify
evedelegue 9:67d737d8a349 263 * each servomotor
evedelegue 9:67d737d8a349 264 * @param speed desired speed in radians per second
evedelegue 9:67d737d8a349 265 */
evedelegue 9:67d737d8a349 266 void SetSpeed_rad_s(unsigned char mot_id, float speed);
evedelegue 9:67d737d8a349 267
evedelegue 9:67d737d8a349 268 /** Informs about the availability of the bus for a new transmission
evedelegue 9:67d737d8a349 269 * of instruction packet (Method Access Control)
evedelegue 9:67d737d8a349 270 *
evedelegue 9:67d737d8a349 271 * @returns true if bus ready for a new transmission, otherwise false
evedelegue 9:67d737d8a349 272 */
evedelegue 9:67d737d8a349 273 char IsAvailable(void);
evedelegue 9:67d737d8a349 274
evedelegue 9:67d737d8a349 275 /**
evedelegue 9:67d737d8a349 276 * @brief Build and send an instruction packet to a servomotor
evedelegue 9:67d737d8a349 277 * according Dynamixel Protocol 1.0
evedelegue 9:67d737d8a349 278 *
evedelegue 9:67d737d8a349 279 * @detail This method is limited to only two kind of instruction :
evedelegue 9:67d737d8a349 280 * read data from a servomoteur et write data on servomotor.
evedelegue 9:67d737d8a349 281 * Ping, Reg Write, Action, Factory Reset, Rebbot, Sync Write
evedelegue 9:67d737d8a349 282 * and Bulk Read are not supported.
evedelegue 9:67d737d8a349 283 *
evedelegue 9:67d737d8a349 284 * For the method to issue a read instruction, set the data
evedelegue 9:67d737d8a349 285 * parameter to NULL, otherwise the method issue a
evedelegue 9:67d737d8a349 286 * write instruction
evedelegue 9:67d737d8a349 287 *
evedelegue 9:67d737d8a349 288 * @param[in] mot_id indicates the ID of the device (servomotor) that
evedelegue 9:67d737d8a349 289 * should receive the Instruction Packet and process it
evedelegue 9:67d737d8a349 290 * @param[in] address data address in the "Control Table of RAM Area"
evedelegue 9:67d737d8a349 291 * of a servomotor MX12
evedelegue 9:67d737d8a349 292 * (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
evedelegue 9:67d737d8a349 293 * @param[in] len if it is a write instruction, size in bytes
evedelegue 9:67d737d8a349 294 * of the data to write in the "Control Table of RAM Area"
evedelegue 9:67d737d8a349 295 * @param[in] data array of char containing parameter of Danamixel
evedelegue 9:67d737d8a349 296 * protocol that are the instruction’s auxiliary data field.
evedelegue 9:67d737d8a349 297 * Set to NULL for read instruction, otherwise the method issue
evedelegue 9:67d737d8a349 298 * a write instruction
evedelegue 9:67d737d8a349 299 *
evedelegue 9:67d737d8a349 300 * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
evedelegue 9:67d737d8a349 301 *
evedelegue 9:67d737d8a349 302 * Structure of instruction Packet
evedelegue 9:67d737d8a349 303 *
evedelegue 9:67d737d8a349 304 * <PRE>
evedelegue 9:67d737d8a349 305 * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
evedelegue 9:67d737d8a349 306 * |-------|-------|---------|------|-----------|---------------|--------|
evedelegue 9:67d737d8a349 307 * | 0xFF | 0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
evedelegue 9:67d737d8a349 308 * | cmd[0]| cmd[1]| cmd[2] |cmd[3]| cmd[4] |cmd[5]... | |
evedelegue 9:67d737d8a349 309 * \\__ ___/ \\_ _/ \\__ __/
evedelegue 9:67d737d8a349 310 * \/ \/ \/
evedelegue 9:67d737d8a349 311 * mot_id address data
evedelegue 9:67d737d8a349 312 * (len = N-1)
evedelegue 9:67d737d8a349 313 * </PRE>
evedelegue 9:67d737d8a349 314 */
evedelegue 9:67d737d8a349 315 void rw(unsigned char mot_id, char address, char len, char *data);
evedelegue 9:67d737d8a349 316
evedelegue 9:67d737d8a349 317 /**
evedelegue 9:67d737d8a349 318 * Display status packet in hexadecimal format
evedelegue 9:67d737d8a349 319 *
evedelegue 9:67d737d8a349 320 * @warning
evedelegue 9:67d737d8a349 321 * Use console without any previous declaration. Assume console is
evedelegue 9:67d737d8a349 322 * setup by calling program
evedelegue 9:67d737d8a349 323 */
evedelegue 9:67d737d8a349 324 void PrintSerial();
evedelegue 9:67d737d8a349 325
evedelegue 9:67d737d8a349 326 /**
evedelegue 9:67d737d8a349 327 * Get information from de Error byte of the last status packet
evedelegue 9:67d737d8a349 328 * received from a servomotor
evedelegue 9:67d737d8a349 329 *
evedelegue 9:67d737d8a349 330 * @return
evedelegue 9:67d737d8a349 331 * One of enum MX12::Status value to describe errors. 'Ok' is
evedelegue 9:67d737d8a349 332 * returns if no error occurred during the last operation of
evedelegue 9:67d737d8a349 333 * servomotor.
evedelegue 9:67d737d8a349 334 *
evedelegue 9:67d737d8a349 335 * @warning
evedelegue 9:67d737d8a349 336 * Warning: if a combination of several errors is reported the function
evedelegue 9:67d737d8a349 337 * returns "Unknown".
evedelegue 9:67d737d8a349 338 *
evedelegue 9:67d737d8a349 339 * @bug
evedelegue 9:67d737d8a349 340 * Bug: this method has a hazardous behavior because it provides
evedelegue 9:67d737d8a349 341 * a result by reading the content of the variable _current_frame
evedelegue 9:67d737d8a349 342 * which can be modified at any time by the private ISR _Rx_interrupt()
evedelegue 9:67d737d8a349 343 */
evedelegue 9:67d737d8a349 344 MX12::Status GetStatus(void);
evedelegue 9:67d737d8a349 345
evedelegue 9:67d737d8a349 346 /* function aivailaible in a previous version of the class
evedelegue 9:67d737d8a349 347 */
evedelegue 9:67d737d8a349 348 // MX12::Status GetStatus(void);
evedelegue 9:67d737d8a349 349 // void ReadPosition(unsigned char mot_id);
evedelegue 9:67d737d8a349 350 // float GetPosition(unsigned char mot_id);
evedelegue 9:67d737d8a349 351
evedelegue 9:67d737d8a349 352 void cmd_moteur(float Vavance, float Vlat, float Wz);
evedelegue 9:67d737d8a349 353 // envoie la commande moteur de manière à avancer d'une vitesse Vavance en
evedelegue 9:67d737d8a349 354 // mètres par seconde, d'une vitesse Vlat en mètre par seconde et d'une
evedelegue 9:67d737d8a349 355 // vitesse de rotation Wz en rad/s
evedelegue 9:67d737d8a349 356
evedelegue 9:67d737d8a349 357 void eteindre_moteurs();
evedelegue 9:67d737d8a349 358 // permet d'enlever le couple dans les moteurs
evedelegue 9:67d737d8a349 359
evedelegue 9:67d737d8a349 360 void cmd_moteur_multiturn(float pos1, float pos2, float pos3);
evedelegue 9:67d737d8a349 361
evedelegue 9:67d737d8a349 362
evedelegue 9:67d737d8a349 363 protected:
evedelegue 9:67d737d8a349 364
evedelegue 9:67d737d8a349 365 /** Serial port where servomotor bus is connected
evedelegue 9:67d737d8a349 366 */
evedelegue 9:67d737d8a349 367 UnbufferedSerial _mx12;
evedelegue 9:67d737d8a349 368
evedelegue 9:67d737d8a349 369
evedelegue 9:67d737d8a349 370 /** Servomotor bus state to managed medium acces control (MAC)
evedelegue 9:67d737d8a349 371 */
evedelegue 9:67d737d8a349 372 MX12::SerialState _bus_state;
evedelegue 9:67d737d8a349 373
evedelegue 9:67d737d8a349 374 /** Structure filled by ISR (Interrupt Service Routine) ReadCallback()
evedelegue 9:67d737d8a349 375 * parser to store message received from servomotor byte after byte
evedelegue 9:67d737d8a349 376 */
evedelegue 9:67d737d8a349 377 MX12::Status_packet _status_pck;
evedelegue 9:67d737d8a349 378
evedelegue 9:67d737d8a349 379 /** Structure update by ISR (Interrupt Service Routine) ReadCallback()
evedelegue 9:67d737d8a349 380 * parser to model its current state
evedelegue 9:67d737d8a349 381 */
evedelegue 9:67d737d8a349 382 MX12::ParserState _parser_state;
evedelegue 9:67d737d8a349 383
evedelegue 9:67d737d8a349 384
evedelegue 9:67d737d8a349 385 unsigned char _answer;
evedelegue 9:67d737d8a349 386
evedelegue 9:67d737d8a349 387 /**
evedelegue 9:67d737d8a349 388 * @brief
evedelegue 9:67d737d8a349 389 * Interupt service routine (ISR) to read and parse received message
evedelegue 9:67d737d8a349 390 *
evedelegue 9:67d737d8a349 391 * @detail
evedelegue 9:67d737d8a349 392 * This interupt routine is attached to reception event on servomoteur
evedelegue 9:67d737d8a349 393 * bus and is called for each character received on bus.
evedelegue 9:67d737d8a349 394 *
evedelegue 9:67d737d8a349 395 * As the characters are received, the progress of the parser
evedelegue 9:67d737d8a349 396 * is stored in _parser_state and the result of the analysis
evedelegue 9:67d737d8a349 397 * is stored in _status_pck.
evedelegue 9:67d737d8a349 398 */
evedelegue 9:67d737d8a349 399 void _Rx_interrupt();
evedelegue 9:67d737d8a349 400
evedelegue 9:67d737d8a349 401 };
evedelegue 9:67d737d8a349 402
evedelegue 9:67d737d8a349 403 #endif /* MBED_MX12_H_ */