PSL_2021 / robot_lorenzo

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Dependencies:   servomotor_MX12_Lorenzo

MX12.h@11:9bc7f5e2ccee, 2021-11-06 (annotated)

Committer:
denis2nis
Date:
Sat Nov 06 17:24:30 2021 +0000
Revision:
11:9bc7f5e2ccee
Parent:
10:ca9afe156ee1
Child:
12:acfd6c46954b
Arrange and comment (cont.)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
denis2nis 1:a9ba9cf928fe 1 /**
denis2nis 9:b4a5187fdec6 2 * @file MX12.h
denis2nis 8:e74ef93ae660 3 * @brief this header file will contain all required definitions and
denis2nis 8:e74ef93ae660 4 * basic utilities functions to manage au bus of servomotor
denis2nis 8:e74ef93ae660 5 * Dynaminel MX12
denis2nis 8:e74ef93ae660 6 *
denis2nis 8:e74ef93ae660 7 */
denis2nis 8:e74ef93ae660 8 #ifndef MBED_MX12_H_
denis2nis 8:e74ef93ae660 9 #define MBED_MX12_H_
denis2nis 0:7556356a8bcd 10
denis2nis 0:7556356a8bcd 11 #include "mbed.h"
denis2nis 0:7556356a8bcd 12
denis2nis 5:0cf54586a4be 13 #define MX12_DATA_MAX_SIZE 256
denis2nis 5:0cf54586a4be 14 #define MX12_MAX_MOTOR_COUNT 16
denis2nis 5:0cf54586a4be 15
denis2nis 2:02f3323a107d 16 /* Dynamixel protocol v1.0 : Instructions
denis2nis 2:02f3323a107d 17 ******************************************/
denis2nis 2:02f3323a107d 18 #define PROTOCOL_INSTRUCTION_PING 0x01
denis2nis 2:02f3323a107d 19 #define PROTOCOL_INSTRUCTION_READ 0x02
denis2nis 2:02f3323a107d 20 #define PROTOCOL_INSTRUCTION_WRITE 0x03
denis2nis 2:02f3323a107d 21 #define PROTOCOL_INSTRUCTION_REG_WRITE 0x04
denis2nis 2:02f3323a107d 22 #define PROTOCOL_INSTRUCTION_ACTION 0x05
denis2nis 2:02f3323a107d 23 #define PROTOCOL_INSTRUCTION_FACTORY_RESET 0x06
denis2nis 2:02f3323a107d 24 #define PROTOCOL_INSTRUCTION_REBOOT 0x08
denis2nis 2:02f3323a107d 25 #define PROTOCOL_INSTRUCTION_SYNC_WRITE 0x83
denis2nis 2:02f3323a107d 26 #define PROTOCOL_INSTRUCTION_BULK_READ 0x92
denis2nis 2:02f3323a107d 27
denis2nis 5:0cf54586a4be 28 /* Dynamixel protocol v1.0 : Contro table content
denis2nis 5:0cf54586a4be 29 ************************************************/
denis2nis 5:0cf54586a4be 30 #define CONTROL_TABLE_MODEL_NUMBER 0
denis2nis 5:0cf54586a4be 31 #define CONTROL_TABLE_FIRMWARE_VERSION 2
denis2nis 5:0cf54586a4be 32 #define CONTROL_TABLE_ID 3
denis2nis 5:0cf54586a4be 33 #define CONTROL_TABLE_BAUD_RATE 4
denis2nis 5:0cf54586a4be 34 #define CONTROL_TABLE_RETURN_DELAY_TIME 5
denis2nis 5:0cf54586a4be 35 #define CONTROL_TABLE_CW_ANGLE_LIMIT 6
denis2nis 5:0cf54586a4be 36 #define CONTROL_TABLE_CCW_ANGLE_LIMIT 8
denis2nis 5:0cf54586a4be 37 #define CONTROL_TABLE_TEMPERATURE_LIMIT 11
denis2nis 5:0cf54586a4be 38 #define CONTROL_TABLE_MIN_VOLTAGE_LIMIT 12
denis2nis 5:0cf54586a4be 39 #define CONTROL_TABLE_MAX_VOLTAGE_LIMIT 13
denis2nis 5:0cf54586a4be 40 #define CONTROL_TABLE_MAX_TORQUE 14
denis2nis 5:0cf54586a4be 41 #define CONTROL_TABLE_STATUS_RETURN_LEVEL 16
denis2nis 5:0cf54586a4be 42 #define CONTROL_TABLE_ALARM_LED 17
denis2nis 5:0cf54586a4be 43 #define CONTROL_TABLE_SHUTDOWN 18
denis2nis 5:0cf54586a4be 44 #define CONTROL_TABLE_MULTITURN_OFFSET 20
denis2nis 5:0cf54586a4be 45 #define CONTROL_TABLE_RESOLUTION_DIVIDER 22
denis2nis 5:0cf54586a4be 46 #define CONTROL_TABLE_TORQUE_ENABLE 24
denis2nis 5:0cf54586a4be 47 #define CONTROL_TABLE_LED 25
denis2nis 5:0cf54586a4be 48 #define CONTROL_TABLE_P_GAIN 26
denis2nis 5:0cf54586a4be 49 #define CONTROL_TABLE_I_GAIN 27
denis2nis 5:0cf54586a4be 50 #define CONTROL_TABLE_D_GAIN 28
denis2nis 5:0cf54586a4be 51 #define CONTROL_TABLE_GOAL_POSITION 30
denis2nis 5:0cf54586a4be 52 #define CONTROL_TABLE_MOVING_SPEED 32
denis2nis 5:0cf54586a4be 53 #define CONTROL_TABLE_TORQUE_LIMIT 34
denis2nis 5:0cf54586a4be 54 #define CONTROL_TABLE_PRESENT_POSITION 36
denis2nis 5:0cf54586a4be 55 #define CONTROL_TABLE_PRESENT_SPEED 38
denis2nis 5:0cf54586a4be 56 #define CONTROL_TABLE_PRESENT_LOAD 40
denis2nis 5:0cf54586a4be 57 #define CONTROL_TABLE_PRESENT_VOLTAGE 42
denis2nis 5:0cf54586a4be 58 #define CONTROL_TABLE_PRESENT_TEMPERATURE 43
denis2nis 5:0cf54586a4be 59 #define CONTROL_TABLE_REGISTRED_INSTRUCTION 44
denis2nis 5:0cf54586a4be 60 #define CONTROL_TABLE_MOVING 46
denis2nis 5:0cf54586a4be 61 #define CONTROL_TABLE_LOCK 47
denis2nis 5:0cf54586a4be 62 #define CONTROL_TABLE_PUNCH 48
denis2nis 5:0cf54586a4be 63 #define CONTROL_TABLE_GOAL_ACCELERATION 73
denis2nis 2:02f3323a107d 64
denis2nis 2:02f3323a107d 65 /**
denis2nis 8:e74ef93ae660 66 * @brief Class to communicate with Dynamixel MX12 servomotors
denis2nis 1:a9ba9cf928fe 67 *
denis2nis 2:02f3323a107d 68 * @details
denis2nis 8:e74ef93ae660 69 *
denis2nis 2:02f3323a107d 70 * The servomotors are daisy chained to a serial link of the target
denis2nis 2:02f3323a107d 71 * microcontroller. The class ensures the initialization of serial link
denis2nis 8:e74ef93ae660 72 * and the management of communications mainly to control rotational
denis2nis 8:e74ef93ae660 73 * speed of servomotors.
denis2nis 8:e74ef93ae660 74 *
denis2nis 2:02f3323a107d 75 * Transmission of messages to the servomotors is blocking while
denis2nis 2:02f3323a107d 76 * reception is non-blocking thanks to the use of an interrupt routine.
denis2nis 5:0cf54586a4be 77 *
denis2nis 5:0cf54586a4be 78 * @author Titouan Soulard (creator and maintainer until April 2021)
denis2nis 5:0cf54586a4be 79 * @author Bruno Denis (Doxygen documentation and code rearrangement)
denis2nis 1:a9ba9cf928fe 80 *
denis2nis 5:0cf54586a4be 81 * @see Control table of Dynamixel MX12 servomotor
denis2nis 5:0cf54586a4be 82 * @see https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/
denis2nis 5:0cf54586a4be 83 * @see Dynamixel protocol v1.0 manual
denis2nis 5:0cf54586a4be 84 * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
denis2nis 11:9bc7f5e2ccee 85
denis2nis 11:9bc7f5e2ccee 86 @code
denis2nis 11:9bc7f5e2ccee 87
denis2nis 11:9bc7f5e2ccee 88 #include "mbed.h"
denis2nis 11:9bc7f5e2ccee 89 #include "MX12.h"
denis2nis 11:9bc7f5e2ccee 90
denis2nis 11:9bc7f5e2ccee 91 #define SERVO_TX_PIN PC_4
denis2nis 11:9bc7f5e2ccee 92 #define SERVO_RX_PIN PC_5
denis2nis 11:9bc7f5e2ccee 93 #define SERVO_BAUD 115200
denis2nis 11:9bc7f5e2ccee 94 #define SERVO_ID 1
denis2nis 11:9bc7f5e2ccee 95
denis2nis 11:9bc7f5e2ccee 96 #define DELAY_1000ms 1000
denis2nis 11:9bc7f5e2ccee 97 #define DELAY_1ms 1
denis2nis 11:9bc7f5e2ccee 98
denis2nis 11:9bc7f5e2ccee 99 MX12 servo_bus(SERVO_TX_PIN, SERVO_RX_PIN, SERVO_BAUD);
denis2nis 11:9bc7f5e2ccee 100 float relative_speed;
denis2nis 11:9bc7f5e2ccee 101
denis2nis 11:9bc7f5e2ccee 102 int main()
denis2nis 11:9bc7f5e2ccee 103 {
denis2nis 11:9bc7f5e2ccee 104 // Set speed of SERVO_ID servomotor to 10%
denis2nis 11:9bc7f5e2ccee 105 // Send on servo_bus to SERVO_ID motor the instruction "moving speed"
denis2nis 11:9bc7f5e2ccee 106 // with parameter 0.1 (10% of maximum speed)
denis2nis 11:9bc7f5e2ccee 107 relative_speed = 0.1;
denis2nis 11:9bc7f5e2ccee 108 servo_bus.SetSpeed(SERVO_ID, relative_speed);
denis2nis 11:9bc7f5e2ccee 109
denis2nis 11:9bc7f5e2ccee 110 // wait for one second
denis2nis 11:9bc7f5e2ccee 111 thread_sleep_for(DELAY_1000ms);
denis2nis 11:9bc7f5e2ccee 112
denis2nis 11:9bc7f5e2ccee 113 // set speed of SERVO_ID servomotor to 0%
denis2nis 11:9bc7f5e2ccee 114 relative_speed = 0.0;
denis2nis 11:9bc7f5e2ccee 115 servo_bus.SetSpeed(SERVO_ID, relative_speed);
denis2nis 11:9bc7f5e2ccee 116
denis2nis 11:9bc7f5e2ccee 117 // infinite loop
denis2nis 11:9bc7f5e2ccee 118 while (true) thread_sleep_for(DELAY_1000ms);
denis2nis 11:9bc7f5e2ccee 119 }
denis2nis 11:9bc7f5e2ccee 120
denis2nis 11:9bc7f5e2ccee 121 @endcode
denis2nis 11:9bc7f5e2ccee 122
denis2nis 5:0cf54586a4be 123 *
denis2nis 8:e74ef93ae660 124 * @warning
denis2nis 8:e74ef93ae660 125 *
denis2nis 11:9bc7f5e2ccee 126 * Error field of status packet if decoded by GetStatus()
denis2nis 10:ca9afe156ee1 127 * Doxygen Release 1.7.2 returns an enumation type "Status". As several
denis2nis 10:ca9afe156ee1 128 * errors can be reported simultaneously the type enum is not suitable
denis2nis 10:ca9afe156ee1 129 * (B. Denis 11/2021).
denis2nis 10:ca9afe156ee1 130 *
denis2nis 11:9bc7f5e2ccee 131 * @bug
denis2nis 8:e74ef93ae660 132 *
denis2nis 11:9bc7f5e2ccee 133 * Bug: _frame_pointer variable is used by private _ReadCallback() ISR
denis2nis 10:ca9afe156ee1 134 * to store the current size for message (status packet) received from
denis2nis 10:ca9afe156ee1 135 * servomotor. This variable is NOT initialised and NEVER reset to zero
denis2nis 10:ca9afe156ee1 136 * at each new message.
denis2nis 9:b4a5187fdec6 137 *
denis2nis 10:ca9afe156ee1 138 * Bug: GetStatus() method has a hazardous behavior because it provides
denis2nis 10:ca9afe156ee1 139 * a result by reading the content of the variable _current_frame
denis2nis 11:9bc7f5e2ccee 140 * which can be modified at any time by the private ISR _ReadCallback().
denis2nis 8:e74ef93ae660 141 *
denis2nis 1:a9ba9cf928fe 142 */
denis2nis 0:7556356a8bcd 143 class MX12
denis2nis 0:7556356a8bcd 144 {
denis2nis 0:7556356a8bcd 145 public:
denis2nis 0:7556356a8bcd 146
denis2nis 8:e74ef93ae660 147 /** Error status occurred during the operation of servomotor.
denis2nis 8:e74ef93ae660 148 *
denis2nis 8:e74ef93ae660 149 * @warning
denis2nis 8:e74ef93ae660 150 * Enumaration type is not suitable for all error status because
denis2nis 8:e74ef93ae660 151 * it can denote only one error at a time (B. Denis 11/2021)
denis2nis 8:e74ef93ae660 152 */
denis2nis 8:e74ef93ae660 153 enum Status {
denis2nis 8:e74ef93ae660 154 InstructionError, /**< In case of sending an undefined instruction
denis2nis 8:e74ef93ae660 155 or delivering the action instruction
denis2nis 8:e74ef93ae660 156 without the Reg Write instruction */
denis2nis 8:e74ef93ae660 157 OverloadError, /**< When the current load cannot be controlled
denis2nis 8:e74ef93ae660 158 by the set Torque */
denis2nis 8:e74ef93ae660 159 ChecksumError, /**< When the Checksum of the transmitted
denis2nis 8:e74ef93ae660 160 Instruction Packet is incorrect */
denis2nis 8:e74ef93ae660 161 RangeError, /**< When an instruction is out of the range
denis2nis 8:e74ef93ae660 162 for use */
denis2nis 8:e74ef93ae660 163 OverheatingError, /**< When internal temperature of servomotor
denis2nis 8:e74ef93ae660 164 is out of the range of operating
denis2nis 8:e74ef93ae660 165 temperature set in the Control table */
denis2nis 8:e74ef93ae660 166 AngleLimitError, /**< When Goal Position is written out of the
denis2nis 8:e74ef93ae660 167 range from CW Angle Limit to CCW Angle
denis2nis 8:e74ef93ae660 168 Limit */
denis2nis 8:e74ef93ae660 169 InputVoltageError, /**< When the applied voltage is out of the
denis2nis 8:e74ef93ae660 170 range of operating voltage set in the
denis2nis 8:e74ef93ae660 171 Control table */
denis2nis 8:e74ef93ae660 172 Unknown, /**< Combination of several errors (Caution:
denis2nis 8:e74ef93ae660 173 limit of enum approach to code errors) */
denis2nis 8:e74ef93ae660 174 Ok ///< no error
denis2nis 8:e74ef93ae660 175 };
denis2nis 8:e74ef93ae660 176
denis2nis 8:e74ef93ae660 177 /** Enumeration of states of the acces methode of the master-slave
denis2nis 8:e74ef93ae660 178 * protocol of the communication between the robot controller (master)
denis2nis 8:e74ef93ae660 179 * and the servomotors (slaves).
denis2nis 8:e74ef93ae660 180 */
denis2nis 8:e74ef93ae660 181 enum SerialState {
denis2nis 8:e74ef93ae660 182 Writing, /**< Robot controller send an "instruction packet"
denis2nis 8:e74ef93ae660 183 (request) to a servomotor */
denis2nis 8:e74ef93ae660 184 Reading, /**< Robot controller receive a "status packet" from a
denis2nis 8:e74ef93ae660 185 requested servomotor */
denis2nis 8:e74ef93ae660 186 Idle ///< Robot controller ready for a new cycle request-answer
denis2nis 8:e74ef93ae660 187 };
denis2nis 8:e74ef93ae660 188
denis2nis 8:e74ef93ae660 189 /** Structure of store status packet (also known as return packet)
denis2nis 8:e74ef93ae660 190 * according tne Dynamixel protocol v1.0, which are messages sent
denis2nis 8:e74ef93ae660 191 * by servomotors to contriller in response of an instruction packet
denis2nis 8:e74ef93ae660 192 */
denis2nis 8:e74ef93ae660 193 struct Frame {
denis2nis 8:e74ef93ae660 194 unsigned char motorId; /**< Identifier of the servomotor involved
denis2nis 8:e74ef93ae660 195 in this exchange */
denis2nis 8:e74ef93ae660 196 unsigned char length; /**< */
denis2nis 8:e74ef93ae660 197 unsigned char data[MX12_DATA_MAX_SIZE]; /**< */
denis2nis 11:9bc7f5e2ccee 198 unsigned char valid; /**< */
denis2nis 8:e74ef93ae660 199 };
denis2nis 8:e74ef93ae660 200
denis2nis 9:b4a5187fdec6 201 /** State of packet parser store which section of a status packet
denis2nis 9:b4a5187fdec6 202 * (according the Dynamixel according the Dynamixel) is currently reading
denis2nis 9:b4a5187fdec6 203 * from a servomotor return message.
denis2nis 9:b4a5187fdec6 204 */
denis2nis 9:b4a5187fdec6 205 enum ParsingState {
denis2nis 9:b4a5187fdec6 206 Header, ///< reading the two heading bytes
denis2nis 9:b4a5187fdec6 207 Id, ///< reading the servomotor ID byte
denis2nis 9:b4a5187fdec6 208 Length, ///< reading byte length of the instruction
denis2nis 9:b4a5187fdec6 209 Data, ///< reading parameters
denis2nis 9:b4a5187fdec6 210 Checksum ///< reading one bytes checksum
denis2nis 9:b4a5187fdec6 211 };
denis2nis 9:b4a5187fdec6 212
denis2nis 9:b4a5187fdec6 213 /** Complement to the ParsingState enumeration to store the reading
denis2nis 9:b4a5187fdec6 214 * progress of each section of the status packet.
denis2nis 8:e74ef93ae660 215 */
denis2nis 8:e74ef93ae660 216 struct StateContext {
denis2nis 8:e74ef93ae660 217 unsigned char headingCount;
denis2nis 8:e74ef93ae660 218 unsigned char dataCount;
denis2nis 8:e74ef93ae660 219 unsigned char checksum;
denis2nis 8:e74ef93ae660 220 };
denis2nis 5:0cf54586a4be 221
denis2nis 8:e74ef93ae660 222 /** Create MX12 instance
denis2nis 8:e74ef93ae660 223 *
denis2nis 8:e74ef93ae660 224 * @param tx board pin used for transmission in UART daisy chain link
denis2nis 8:e74ef93ae660 225 * to servomotors
denis2nis 8:e74ef93ae660 226 * @param rx board pin used for reception in UART daisy chain link
denis2nis 8:e74ef93ae660 227 * to servomotors
denis2nis 8:e74ef93ae660 228 * @param baud modulation rate of UART signal, unit: Baud
denis2nis 8:e74ef93ae660 229 * to servomotors
denis2nis 8:e74ef93ae660 230 */
denis2nis 8:e74ef93ae660 231 MX12(PinName tx, PinName rx, int baud=115200);
denis2nis 8:e74ef93ae660 232
denis2nis 8:e74ef93ae660 233 /** Send desired speed to a specific servomotor
denis2nis 8:e74ef93ae660 234 *
denis2nis 8:e74ef93ae660 235 * @param mot_id a unique value in the daisy chain network to identify
denis2nis 8:e74ef93ae660 236 * each servomotor
denis2nis 8:e74ef93ae660 237 * @param speed a float between -1 and 1 that represents the percentage
denis2nis 8:e74ef93ae660 238 * of maximum requested speed
denis2nis 8:e74ef93ae660 239 */
denis2nis 8:e74ef93ae660 240 void SetSpeed(unsigned char mot_id, float speed);
denis2nis 8:e74ef93ae660 241
denis2nis 10:ca9afe156ee1 242 /** Informs about the availability of the bus for a new transmission
denis2nis 10:ca9afe156ee1 243 * of instruction packet (Method Access Control)
denis2nis 10:ca9afe156ee1 244 *
denis2nis 10:ca9afe156ee1 245 * @returns true if bus ready for a new transmission, otherwise false
denis2nis 9:b4a5187fdec6 246 */
denis2nis 8:e74ef93ae660 247 char IsAvailable(void);
denis2nis 8:e74ef93ae660 248
denis2nis 8:e74ef93ae660 249 /**
denis2nis 8:e74ef93ae660 250 * Build and send an instruction packet to a servomotor according
denis2nis 8:e74ef93ae660 251 * DYNAMIXEL Protocol 1.0 (online protocol documentation
denis2nis 8:e74ef93ae660 252 * https://emanual.robotis.com/docs/en/dxl/protocol1/)
denis2nis 8:e74ef93ae660 253 *
denis2nis 8:e74ef93ae660 254 * @param[in] mot_id indicates the ID of the device (servomotor) that
denis2nis 8:e74ef93ae660 255 * should receive the Instruction Packet and process it
denis2nis 8:e74ef93ae660 256 * @param[in] address data address in the "Control Table of RAM Area"
denis2nis 8:e74ef93ae660 257 * of a servomotor MX12
denis2nis 8:e74ef93ae660 258 * (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
denis2nis 8:e74ef93ae660 259 * @param[in] len if it is a write instruction, size in bytes
denis2nis 8:e74ef93ae660 260 * of the data to write in the "Control Table of RAM Area"
denis2nis 8:e74ef93ae660 261 * @param[in] data array of char containing parameter of Danamixel
denis2nis 8:e74ef93ae660 262 * protocol that are the instruction’s auxiliary data field
denis2nis 8:e74ef93ae660 263 *
denis2nis 8:e74ef93ae660 264 * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
denis2nis 8:e74ef93ae660 265 *
denis2nis 8:e74ef93ae660 266 * Packet sent
denis2nis 8:e74ef93ae660 267 * <PRE>
denis2nis 8:e74ef93ae660 268 * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
denis2nis 8:e74ef93ae660 269 * |-------|-------|---------|------|-----------|---------------|--------|
denis2nis 8:e74ef93ae660 270 * | 0xFF | 0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
denis2nis 8:e74ef93ae660 271 * | cmd[0]| cmd[1]| cmd[2] |cmd[3]| cmd[4] |cmd[5]... | |
denis2nis 8:e74ef93ae660 272 * \\__ ___/ \\_ _/ \\__ __/
denis2nis 8:e74ef93ae660 273 * \/ \/ \/
denis2nis 8:e74ef93ae660 274 * mot_id address data
denis2nis 8:e74ef93ae660 275 * (len = N-1)
denis2nis 8:e74ef93ae660 276 * </PRE>
denis2nis 11:9bc7f5e2ccee 277 *
denis2nis 11:9bc7f5e2ccee 278 * Code simple
denis2nis 11:9bc7f5e2ccee 279 *
denis2nis 11:9bc7f5e2ccee 280 @code
denis2nis 11:9bc7f5e2ccee 281 * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
denis2nis 11:9bc7f5e2ccee 282 * |-------|-------|---------|------|-----------|---------------|--------|
denis2nis 11:9bc7f5e2ccee 283 * | 0xFF | 0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
denis2nis 11:9bc7f5e2ccee 284 * | cmd[0]| cmd[1]| cmd[2] |cmd[3]| cmd[4] |cmd[5]... | |
denis2nis 11:9bc7f5e2ccee 285 * \__ ___/ \_ _/ \__ __/
denis2nis 11:9bc7f5e2ccee 286 * \/ \/ \/
denis2nis 11:9bc7f5e2ccee 287 * mot_id address data
denis2nis 11:9bc7f5e2ccee 288 * (len = N-1)
denis2nis 11:9bc7f5e2ccee 289 @endcode
denis2nis 11:9bc7f5e2ccee 290 *
denis2nis 11:9bc7f5e2ccee 291 * Code simple {.unparsed}
denis2nis 11:9bc7f5e2ccee 292 *
denis2nis 11:9bc7f5e2ccee 293 @code{.unparsed}
denis2nis 11:9bc7f5e2ccee 294 * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
denis2nis 11:9bc7f5e2ccee 295 * |-------|-------|---------|------|-----------|---------------|--------|
denis2nis 11:9bc7f5e2ccee 296 * | 0xFF | 0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
denis2nis 11:9bc7f5e2ccee 297 * | cmd[0]| cmd[1]| cmd[2] |cmd[3]| cmd[4] |cmd[5]... | |
denis2nis 11:9bc7f5e2ccee 298 * \__ ___/ \_ _/ \__ __/
denis2nis 11:9bc7f5e2ccee 299 * \/ \/ \/
denis2nis 11:9bc7f5e2ccee 300 * mot_id address data
denis2nis 11:9bc7f5e2ccee 301 * (len = N-1)
denis2nis 11:9bc7f5e2ccee 302 @endcode
denis2nis 8:e74ef93ae660 303 */
denis2nis 8:e74ef93ae660 304 void rw(unsigned char mot_id, char address, char len, char *data);
denis2nis 8:e74ef93ae660 305
denis2nis 8:e74ef93ae660 306 /**
denis2nis 8:e74ef93ae660 307 *
denis2nis 8:e74ef93ae660 308 * @warning
denis2nis 8:e74ef93ae660 309 *
denis2nis 8:e74ef93ae660 310 */
denis2nis 8:e74ef93ae660 311 void PrintSerial();
denis2nis 8:e74ef93ae660 312
denis2nis 8:e74ef93ae660 313 /**
denis2nis 8:e74ef93ae660 314 * Get information from de Error byte of the last status packet
denis2nis 8:e74ef93ae660 315 * received from a servomotor
denis2nis 8:e74ef93ae660 316 *
denis2nis 8:e74ef93ae660 317 * @return
denis2nis 8:e74ef93ae660 318 * One of enum MX12::Status value to describe errors. 'Ok' is
denis2nis 8:e74ef93ae660 319 * returns if no error occurred during the last operation of
denis2nis 8:e74ef93ae660 320 * servomotor.
denis2nis 8:e74ef93ae660 321 *
denis2nis 8:e74ef93ae660 322 * @warning
denis2nis 10:ca9afe156ee1 323 *
denis2nis 10:ca9afe156ee1 324 * Warning: if a combination of several errors is reported the function
denis2nis 10:ca9afe156ee1 325 * returns 'Unknown' (B. Denis 11/2021).
denis2nis 9:b4a5187fdec6 326 *
denis2nis 9:b4a5187fdec6 327 * @bug
denis2nis 10:ca9afe156ee1 328 *
denis2nis 10:ca9afe156ee1 329 * Bug: this method has a hazardous behavior because it provides
denis2nis 10:ca9afe156ee1 330 * a result by reading the content of the variable _current_frame
denis2nis 10:ca9afe156ee1 331 * which can be modified at any time by the private ISR _ReadCallback()
denis2nis 8:e74ef93ae660 332 */
denis2nis 8:e74ef93ae660 333 MX12::Status GetStatus(void);
denis2nis 5:0cf54586a4be 334
denis2nis 8:e74ef93ae660 335 /* function aivailaible in a previous version of the class
denis2nis 8:e74ef93ae660 336 */
denis2nis 8:e74ef93ae660 337 // MX12::Status GetStatus(void);
denis2nis 8:e74ef93ae660 338 // void ReadPosition(unsigned char mot_id);
denis2nis 8:e74ef93ae660 339 // float GetPosition(unsigned char mot_id);
denis2nis 8:e74ef93ae660 340
denis2nis 10:ca9afe156ee1 341 protected:
denis2nis 5:0cf54586a4be 342
denis2nis 9:b4a5187fdec6 343 /*
denis2nis 9:b4a5187fdec6 344 */
denis2nis 8:e74ef93ae660 345 UnbufferedSerial _mx12;
denis2nis 8:e74ef93ae660 346 MX12::ParsingState _pstate;
denis2nis 8:e74ef93ae660 347 MX12::SerialState _sstate;
denis2nis 8:e74ef93ae660 348
denis2nis 8:e74ef93ae660 349 /** Structure used only by ISR (Interrupt Service Routine) ReadCallback()
denis2nis 8:e74ef93ae660 350 */
denis2nis 8:e74ef93ae660 351 MX12::StateContext _scontext;
denis2nis 8:e74ef93ae660 352 MX12::Frame _current_frame;
denis2nis 8:e74ef93ae660 353
denis2nis 8:e74ef93ae660 354 unsigned char _answer;
denis2nis 8:e74ef93ae660 355
denis2nis 8:e74ef93ae660 356 /** Character array to store status message received from servomotors.
denis2nis 8:e74ef93ae660 357 * _ReadCallback() ISR fill this array character by character and
denis2nis 8:e74ef93ae660 358 * update the size of the message currently received in the variable
denis2nis 8:e74ef93ae660 359 * _frame_pointer.
denis2nis 8:e74ef93ae660 360 */
denis2nis 8:e74ef93ae660 361 unsigned char _stored_frame[MX12_DATA_MAX_SIZE];
denis2nis 8:e74ef93ae660 362
denis2nis 8:e74ef93ae660 363 /** Size of the message currently received from servomotor. This variable
denis2nis 8:e74ef93ae660 364 * is update at each call of _ReadCallback() ISR. The content of the
denis2nis 8:e74ef93ae660 365 * message is store into _stored_frame array.
denis2nis 8:e74ef93ae660 366 *
denis2nis 8:e74ef93ae660 367 * @warning
denis2nis 8:e74ef93ae660 368 */
denis2nis 8:e74ef93ae660 369 unsigned char _frame_pointer;
denis2nis 9:b4a5187fdec6 370
denis2nis 8:e74ef93ae660 371 /** Interupt service routine (ISR) to read and parse the response message
denis2nis 8:e74ef93ae660 372 * comming from servomotor on UART (serial port). This routine is called
denis2nis 8:e74ef93ae660 373 * when each character is received on the servomotor bus.
denis2nis 8:e74ef93ae660 374 *
denis2nis 8:e74ef93ae660 375 * As the characters are received, the progress of the parser
denis2nis 8:e74ef93ae660 376 * is stored in the two state variables _pstate and _scontext,
denis2nis 8:e74ef93ae660 377 * and the result of the analysis is stored in _current_frame.
denis2nis 8:e74ef93ae660 378 */
denis2nis 8:e74ef93ae660 379 void _ReadCallback();
denis2nis 8:e74ef93ae660 380
denis2nis 0:7556356a8bcd 381 };
denis2nis 0:7556356a8bcd 382
denis2nis 8:e74ef93ae660 383 #endif /* MBED_MX12_H_ */