PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

MX12.h@12:acfd6c46954b, 2021-11-06 (annotated)

Committer:
denis2nis
Date:
Sat Nov 06 17:42:25 2021 +0000
Revision:
12:acfd6c46954b
Parent:
11:9bc7f5e2ccee
Child:
13:ccda9a56fef1
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 12:acfd6c46954b 85 *
denis2nis 12:acfd6c46954b 86 * Example of class usage to send two instruction packets to servomotor #1
denis2nis 12:acfd6c46954b 87 * with one second gap. First ask to move at 10% of maximum speed and the
denis2nis 12:acfd6c46954b 88 * stop the movement.
denis2nis 12:acfd6c46954b 89 *
denis2nis 12:acfd6c46954b 90 * @code
denis2nis 12:acfd6c46954b 91 * #include "mbed.h"
denis2nis 12:acfd6c46954b 92 * #include "MX12.h"
denis2nis 12:acfd6c46954b 93 *
denis2nis 12:acfd6c46954b 94 * #define SERVO_TX_PIN PC_4
denis2nis 12:acfd6c46954b 95 * #define SERVO_RX_PIN PC_5
denis2nis 12:acfd6c46954b 96 * #define SERVO_BAUD 115200
denis2nis 12:acfd6c46954b 97 * #define SERVO_ID 1
denis2nis 12:acfd6c46954b 98 *
denis2nis 12:acfd6c46954b 99 * #define DELAY_1000ms 1000
denis2nis 12:acfd6c46954b 100 * #define DELAY_1ms 1
denis2nis 12:acfd6c46954b 101 *
denis2nis 12:acfd6c46954b 102 * MX12 servo_bus(SERVO_TX_PIN, SERVO_RX_PIN, SERVO_BAUD);
denis2nis 12:acfd6c46954b 103 * float relative_speed;
denis2nis 12:acfd6c46954b 104 *
denis2nis 12:acfd6c46954b 105 * int main()
denis2nis 12:acfd6c46954b 106 * {
denis2nis 12:acfd6c46954b 107 * // Set speed of SERVO_ID servomotor to 10%
denis2nis 12:acfd6c46954b 108 * // Send on servo_bus to SERVO_ID motor the instruction "moving speed"
denis2nis 12:acfd6c46954b 109 * // with parameter 0.1 (10% of maximum speed)
denis2nis 12:acfd6c46954b 110 * relative_speed = 0.1;
denis2nis 12:acfd6c46954b 111 * servo_bus.SetSpeed(SERVO_ID, relative_speed);
denis2nis 12:acfd6c46954b 112 *
denis2nis 12:acfd6c46954b 113 * // wait for one second
denis2nis 12:acfd6c46954b 114 * thread_sleep_for(DELAY_1000ms);
denis2nis 12:acfd6c46954b 115 *
denis2nis 12:acfd6c46954b 116 * // set speed of SERVO_ID servomotor to 0%
denis2nis 12:acfd6c46954b 117 * relative_speed = 0.0;
denis2nis 12:acfd6c46954b 118 * servo_bus.SetSpeed(SERVO_ID, relative_speed);
denis2nis 12:acfd6c46954b 119 *
denis2nis 12:acfd6c46954b 120 * // infinite loop
denis2nis 12:acfd6c46954b 121 * while (true) thread_sleep_for(DELAY_1000ms);
denis2nis 12:acfd6c46954b 122 * }
denis2nis 12:acfd6c46954b 123 * @endcode
denis2nis 5:0cf54586a4be 124 *
denis2nis 8:e74ef93ae660 125 * @warning
denis2nis 8:e74ef93ae660 126 *
denis2nis 11:9bc7f5e2ccee 127 * Error field of status packet if decoded by GetStatus()
denis2nis 10:ca9afe156ee1 128 * Doxygen Release 1.7.2 returns an enumation type "Status". As several
denis2nis 10:ca9afe156ee1 129 * errors can be reported simultaneously the type enum is not suitable
denis2nis 10:ca9afe156ee1 130 * (B. Denis 11/2021).
denis2nis 10:ca9afe156ee1 131 *
denis2nis 11:9bc7f5e2ccee 132 * @bug
denis2nis 8:e74ef93ae660 133 *
denis2nis 11:9bc7f5e2ccee 134 * Bug: _frame_pointer variable is used by private _ReadCallback() ISR
denis2nis 10:ca9afe156ee1 135 * to store the current size for message (status packet) received from
denis2nis 10:ca9afe156ee1 136 * servomotor. This variable is NOT initialised and NEVER reset to zero
denis2nis 10:ca9afe156ee1 137 * at each new message.
denis2nis 9:b4a5187fdec6 138 *
denis2nis 10:ca9afe156ee1 139 * Bug: GetStatus() method has a hazardous behavior because it provides
denis2nis 10:ca9afe156ee1 140 * a result by reading the content of the variable _current_frame
denis2nis 11:9bc7f5e2ccee 141 * which can be modified at any time by the private ISR _ReadCallback().
denis2nis 8:e74ef93ae660 142 *
denis2nis 1:a9ba9cf928fe 143 */
denis2nis 0:7556356a8bcd 144 class MX12
denis2nis 0:7556356a8bcd 145 {
denis2nis 0:7556356a8bcd 146 public:
denis2nis 0:7556356a8bcd 147
denis2nis 8:e74ef93ae660 148 /** Error status occurred during the operation of servomotor.
denis2nis 8:e74ef93ae660 149 *
denis2nis 8:e74ef93ae660 150 * @warning
denis2nis 8:e74ef93ae660 151 * Enumaration type is not suitable for all error status because
denis2nis 8:e74ef93ae660 152 * it can denote only one error at a time (B. Denis 11/2021)
denis2nis 8:e74ef93ae660 153 */
denis2nis 8:e74ef93ae660 154 enum Status {
denis2nis 8:e74ef93ae660 155 InstructionError, /**< In case of sending an undefined instruction
denis2nis 8:e74ef93ae660 156 or delivering the action instruction
denis2nis 8:e74ef93ae660 157 without the Reg Write instruction */
denis2nis 8:e74ef93ae660 158 OverloadError, /**< When the current load cannot be controlled
denis2nis 8:e74ef93ae660 159 by the set Torque */
denis2nis 8:e74ef93ae660 160 ChecksumError, /**< When the Checksum of the transmitted
denis2nis 8:e74ef93ae660 161 Instruction Packet is incorrect */
denis2nis 8:e74ef93ae660 162 RangeError, /**< When an instruction is out of the range
denis2nis 8:e74ef93ae660 163 for use */
denis2nis 8:e74ef93ae660 164 OverheatingError, /**< When internal temperature of servomotor
denis2nis 8:e74ef93ae660 165 is out of the range of operating
denis2nis 8:e74ef93ae660 166 temperature set in the Control table */
denis2nis 8:e74ef93ae660 167 AngleLimitError, /**< When Goal Position is written out of the
denis2nis 8:e74ef93ae660 168 range from CW Angle Limit to CCW Angle
denis2nis 8:e74ef93ae660 169 Limit */
denis2nis 8:e74ef93ae660 170 InputVoltageError, /**< When the applied voltage is out of the
denis2nis 8:e74ef93ae660 171 range of operating voltage set in the
denis2nis 8:e74ef93ae660 172 Control table */
denis2nis 8:e74ef93ae660 173 Unknown, /**< Combination of several errors (Caution:
denis2nis 8:e74ef93ae660 174 limit of enum approach to code errors) */
denis2nis 8:e74ef93ae660 175 Ok ///< no error
denis2nis 8:e74ef93ae660 176 };
denis2nis 8:e74ef93ae660 177
denis2nis 8:e74ef93ae660 178 /** Enumeration of states of the acces methode of the master-slave
denis2nis 8:e74ef93ae660 179 * protocol of the communication between the robot controller (master)
denis2nis 8:e74ef93ae660 180 * and the servomotors (slaves).
denis2nis 8:e74ef93ae660 181 */
denis2nis 8:e74ef93ae660 182 enum SerialState {
denis2nis 8:e74ef93ae660 183 Writing, /**< Robot controller send an "instruction packet"
denis2nis 8:e74ef93ae660 184 (request) to a servomotor */
denis2nis 8:e74ef93ae660 185 Reading, /**< Robot controller receive a "status packet" from a
denis2nis 8:e74ef93ae660 186 requested servomotor */
denis2nis 8:e74ef93ae660 187 Idle ///< Robot controller ready for a new cycle request-answer
denis2nis 8:e74ef93ae660 188 };
denis2nis 8:e74ef93ae660 189
denis2nis 8:e74ef93ae660 190 /** Structure of store status packet (also known as return packet)
denis2nis 8:e74ef93ae660 191 * according tne Dynamixel protocol v1.0, which are messages sent
denis2nis 8:e74ef93ae660 192 * by servomotors to contriller in response of an instruction packet
denis2nis 8:e74ef93ae660 193 */
denis2nis 8:e74ef93ae660 194 struct Frame {
denis2nis 8:e74ef93ae660 195 unsigned char motorId; /**< Identifier of the servomotor involved
denis2nis 8:e74ef93ae660 196 in this exchange */
denis2nis 8:e74ef93ae660 197 unsigned char length; /**< */
denis2nis 8:e74ef93ae660 198 unsigned char data[MX12_DATA_MAX_SIZE]; /**< */
denis2nis 11:9bc7f5e2ccee 199 unsigned char valid; /**< */
denis2nis 8:e74ef93ae660 200 };
denis2nis 8:e74ef93ae660 201
denis2nis 9:b4a5187fdec6 202 /** State of packet parser store which section of a status packet
denis2nis 9:b4a5187fdec6 203 * (according the Dynamixel according the Dynamixel) is currently reading
denis2nis 9:b4a5187fdec6 204 * from a servomotor return message.
denis2nis 9:b4a5187fdec6 205 */
denis2nis 9:b4a5187fdec6 206 enum ParsingState {
denis2nis 9:b4a5187fdec6 207 Header, ///< reading the two heading bytes
denis2nis 9:b4a5187fdec6 208 Id, ///< reading the servomotor ID byte
denis2nis 9:b4a5187fdec6 209 Length, ///< reading byte length of the instruction
denis2nis 9:b4a5187fdec6 210 Data, ///< reading parameters
denis2nis 9:b4a5187fdec6 211 Checksum ///< reading one bytes checksum
denis2nis 9:b4a5187fdec6 212 };
denis2nis 9:b4a5187fdec6 213
denis2nis 9:b4a5187fdec6 214 /** Complement to the ParsingState enumeration to store the reading
denis2nis 9:b4a5187fdec6 215 * progress of each section of the status packet.
denis2nis 8:e74ef93ae660 216 */
denis2nis 8:e74ef93ae660 217 struct StateContext {
denis2nis 8:e74ef93ae660 218 unsigned char headingCount;
denis2nis 8:e74ef93ae660 219 unsigned char dataCount;
denis2nis 8:e74ef93ae660 220 unsigned char checksum;
denis2nis 8:e74ef93ae660 221 };
denis2nis 5:0cf54586a4be 222
denis2nis 8:e74ef93ae660 223 /** Create MX12 instance
denis2nis 8:e74ef93ae660 224 *
denis2nis 8:e74ef93ae660 225 * @param tx board pin used for transmission in UART daisy chain link
denis2nis 8:e74ef93ae660 226 * to servomotors
denis2nis 8:e74ef93ae660 227 * @param rx board pin used for reception in UART daisy chain link
denis2nis 8:e74ef93ae660 228 * to servomotors
denis2nis 8:e74ef93ae660 229 * @param baud modulation rate of UART signal, unit: Baud
denis2nis 8:e74ef93ae660 230 * to servomotors
denis2nis 8:e74ef93ae660 231 */
denis2nis 8:e74ef93ae660 232 MX12(PinName tx, PinName rx, int baud=115200);
denis2nis 8:e74ef93ae660 233
denis2nis 8:e74ef93ae660 234 /** Send desired speed to a specific servomotor
denis2nis 8:e74ef93ae660 235 *
denis2nis 8:e74ef93ae660 236 * @param mot_id a unique value in the daisy chain network to identify
denis2nis 8:e74ef93ae660 237 * each servomotor
denis2nis 8:e74ef93ae660 238 * @param speed a float between -1 and 1 that represents the percentage
denis2nis 8:e74ef93ae660 239 * of maximum requested speed
denis2nis 8:e74ef93ae660 240 */
denis2nis 8:e74ef93ae660 241 void SetSpeed(unsigned char mot_id, float speed);
denis2nis 8:e74ef93ae660 242
denis2nis 10:ca9afe156ee1 243 /** Informs about the availability of the bus for a new transmission
denis2nis 10:ca9afe156ee1 244 * of instruction packet (Method Access Control)
denis2nis 10:ca9afe156ee1 245 *
denis2nis 10:ca9afe156ee1 246 * @returns true if bus ready for a new transmission, otherwise false
denis2nis 9:b4a5187fdec6 247 */
denis2nis 8:e74ef93ae660 248 char IsAvailable(void);
denis2nis 8:e74ef93ae660 249
denis2nis 8:e74ef93ae660 250 /**
denis2nis 8:e74ef93ae660 251 * Build and send an instruction packet to a servomotor according
denis2nis 8:e74ef93ae660 252 * DYNAMIXEL Protocol 1.0 (online protocol documentation
denis2nis 8:e74ef93ae660 253 * https://emanual.robotis.com/docs/en/dxl/protocol1/)
denis2nis 8:e74ef93ae660 254 *
denis2nis 8:e74ef93ae660 255 * @param[in] mot_id indicates the ID of the device (servomotor) that
denis2nis 8:e74ef93ae660 256 * should receive the Instruction Packet and process it
denis2nis 8:e74ef93ae660 257 * @param[in] address data address in the "Control Table of RAM Area"
denis2nis 8:e74ef93ae660 258 * of a servomotor MX12
denis2nis 8:e74ef93ae660 259 * (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
denis2nis 8:e74ef93ae660 260 * @param[in] len if it is a write instruction, size in bytes
denis2nis 8:e74ef93ae660 261 * of the data to write in the "Control Table of RAM Area"
denis2nis 8:e74ef93ae660 262 * @param[in] data array of char containing parameter of Danamixel
denis2nis 8:e74ef93ae660 263 * protocol that are the instruction’s auxiliary data field
denis2nis 8:e74ef93ae660 264 *
denis2nis 8:e74ef93ae660 265 * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
denis2nis 8:e74ef93ae660 266 *
denis2nis 8:e74ef93ae660 267 * Packet sent
denis2nis 8:e74ef93ae660 268 * <PRE>
denis2nis 8:e74ef93ae660 269 * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
denis2nis 8:e74ef93ae660 270 * |-------|-------|---------|------|-----------|---------------|--------|
denis2nis 8:e74ef93ae660 271 * | 0xFF | 0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
denis2nis 8:e74ef93ae660 272 * | cmd[0]| cmd[1]| cmd[2] |cmd[3]| cmd[4] |cmd[5]... | |
denis2nis 8:e74ef93ae660 273 * \\__ ___/ \\_ _/ \\__ __/
denis2nis 8:e74ef93ae660 274 * \/ \/ \/
denis2nis 8:e74ef93ae660 275 * mot_id address data
denis2nis 8:e74ef93ae660 276 * (len = N-1)
denis2nis 8:e74ef93ae660 277 * </PRE>
denis2nis 8:e74ef93ae660 278 */
denis2nis 8:e74ef93ae660 279 void rw(unsigned char mot_id, char address, char len, char *data);
denis2nis 8:e74ef93ae660 280
denis2nis 8:e74ef93ae660 281 /**
denis2nis 8:e74ef93ae660 282 *
denis2nis 8:e74ef93ae660 283 * @warning
denis2nis 8:e74ef93ae660 284 *
denis2nis 8:e74ef93ae660 285 */
denis2nis 8:e74ef93ae660 286 void PrintSerial();
denis2nis 8:e74ef93ae660 287
denis2nis 8:e74ef93ae660 288 /**
denis2nis 8:e74ef93ae660 289 * Get information from de Error byte of the last status packet
denis2nis 8:e74ef93ae660 290 * received from a servomotor
denis2nis 8:e74ef93ae660 291 *
denis2nis 8:e74ef93ae660 292 * @return
denis2nis 8:e74ef93ae660 293 * One of enum MX12::Status value to describe errors. 'Ok' is
denis2nis 8:e74ef93ae660 294 * returns if no error occurred during the last operation of
denis2nis 8:e74ef93ae660 295 * servomotor.
denis2nis 8:e74ef93ae660 296 *
denis2nis 8:e74ef93ae660 297 * @warning
denis2nis 10:ca9afe156ee1 298 *
denis2nis 10:ca9afe156ee1 299 * Warning: if a combination of several errors is reported the function
denis2nis 10:ca9afe156ee1 300 * returns 'Unknown' (B. Denis 11/2021).
denis2nis 9:b4a5187fdec6 301 *
denis2nis 9:b4a5187fdec6 302 * @bug
denis2nis 10:ca9afe156ee1 303 *
denis2nis 10:ca9afe156ee1 304 * Bug: this method has a hazardous behavior because it provides
denis2nis 10:ca9afe156ee1 305 * a result by reading the content of the variable _current_frame
denis2nis 10:ca9afe156ee1 306 * which can be modified at any time by the private ISR _ReadCallback()
denis2nis 8:e74ef93ae660 307 */
denis2nis 8:e74ef93ae660 308 MX12::Status GetStatus(void);
denis2nis 5:0cf54586a4be 309
denis2nis 8:e74ef93ae660 310 /* function aivailaible in a previous version of the class
denis2nis 8:e74ef93ae660 311 */
denis2nis 8:e74ef93ae660 312 // MX12::Status GetStatus(void);
denis2nis 8:e74ef93ae660 313 // void ReadPosition(unsigned char mot_id);
denis2nis 8:e74ef93ae660 314 // float GetPosition(unsigned char mot_id);
denis2nis 8:e74ef93ae660 315
denis2nis 10:ca9afe156ee1 316 protected:
denis2nis 5:0cf54586a4be 317
denis2nis 9:b4a5187fdec6 318 /*
denis2nis 9:b4a5187fdec6 319 */
denis2nis 8:e74ef93ae660 320 UnbufferedSerial _mx12;
denis2nis 8:e74ef93ae660 321 MX12::ParsingState _pstate;
denis2nis 8:e74ef93ae660 322 MX12::SerialState _sstate;
denis2nis 8:e74ef93ae660 323
denis2nis 8:e74ef93ae660 324 /** Structure used only by ISR (Interrupt Service Routine) ReadCallback()
denis2nis 8:e74ef93ae660 325 */
denis2nis 8:e74ef93ae660 326 MX12::StateContext _scontext;
denis2nis 8:e74ef93ae660 327 MX12::Frame _current_frame;
denis2nis 8:e74ef93ae660 328
denis2nis 8:e74ef93ae660 329 unsigned char _answer;
denis2nis 8:e74ef93ae660 330
denis2nis 8:e74ef93ae660 331 /** Character array to store status message received from servomotors.
denis2nis 8:e74ef93ae660 332 * _ReadCallback() ISR fill this array character by character and
denis2nis 8:e74ef93ae660 333 * update the size of the message currently received in the variable
denis2nis 8:e74ef93ae660 334 * _frame_pointer.
denis2nis 8:e74ef93ae660 335 */
denis2nis 8:e74ef93ae660 336 unsigned char _stored_frame[MX12_DATA_MAX_SIZE];
denis2nis 8:e74ef93ae660 337
denis2nis 8:e74ef93ae660 338 /** Size of the message currently received from servomotor. This variable
denis2nis 8:e74ef93ae660 339 * is update at each call of _ReadCallback() ISR. The content of the
denis2nis 8:e74ef93ae660 340 * message is store into _stored_frame array.
denis2nis 8:e74ef93ae660 341 *
denis2nis 8:e74ef93ae660 342 * @warning
denis2nis 8:e74ef93ae660 343 */
denis2nis 8:e74ef93ae660 344 unsigned char _frame_pointer;
denis2nis 9:b4a5187fdec6 345
denis2nis 8:e74ef93ae660 346 /** Interupt service routine (ISR) to read and parse the response message
denis2nis 8:e74ef93ae660 347 * comming from servomotor on UART (serial port). This routine is called
denis2nis 8:e74ef93ae660 348 * when each character is received on the servomotor bus.
denis2nis 8:e74ef93ae660 349 *
denis2nis 8:e74ef93ae660 350 * As the characters are received, the progress of the parser
denis2nis 8:e74ef93ae660 351 * is stored in the two state variables _pstate and _scontext,
denis2nis 8:e74ef93ae660 352 * and the result of the analysis is stored in _current_frame.
denis2nis 8:e74ef93ae660 353 */
denis2nis 8:e74ef93ae660 354 void _ReadCallback();
denis2nis 8:e74ef93ae660 355
denis2nis 0:7556356a8bcd 356 };
denis2nis 0:7556356a8bcd 357
denis2nis 8:e74ef93ae660 358 #endif /* MBED_MX12_H_ */