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Dependencies: mbed
Fork of AX12 by
AX12.cpp@4:1200e221d94d, 2016-04-22 (annotated)
- Committer:
- dconsoli
- Date:
- Fri Apr 22 17:52:24 2016 +0000
- Revision:
- 4:1200e221d94d
- Parent:
- 3:ced71d1b2558
ok;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chris | 0:be51952765ec | 1 | /* mbed AX-12+ Servo Library |
chris | 0:be51952765ec | 2 | * |
chris | 0:be51952765ec | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
chris | 0:be51952765ec | 4 | * |
chris | 0:be51952765ec | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
chris | 0:be51952765ec | 6 | * of this software and associated documentation files (the "Software"), to deal |
chris | 0:be51952765ec | 7 | * in the Software without restriction, including without limitation the rights |
chris | 0:be51952765ec | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
chris | 0:be51952765ec | 9 | * copies of the Software, and to permit persons to whom the Software is |
chris | 0:be51952765ec | 10 | * furnished to do so, subject to the following conditions: |
chris | 0:be51952765ec | 11 | * |
chris | 0:be51952765ec | 12 | * The above copyright notice and this permission notice shall be included in |
chris | 0:be51952765ec | 13 | * all copies or substantial portions of the Software. |
chris | 0:be51952765ec | 14 | * |
chris | 0:be51952765ec | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
chris | 0:be51952765ec | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
chris | 0:be51952765ec | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
chris | 0:be51952765ec | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
chris | 0:be51952765ec | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
chris | 0:be51952765ec | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
chris | 0:be51952765ec | 21 | * THE SOFTWARE. |
chris | 0:be51952765ec | 22 | */ |
chris | 0:be51952765ec | 23 | |
chris | 0:be51952765ec | 24 | #include "AX12.h" |
chris | 0:be51952765ec | 25 | #include "mbed.h" |
chris | 0:be51952765ec | 26 | |
dconsoli | 4:1200e221d94d | 27 | AX12::AX12(PinName tx, PinName rx, PinName en, int ID, int baud) |
dconsoli | 4:1200e221d94d | 28 | : _ax12(tx,rx), |
dconsoli | 4:1200e221d94d | 29 | direction_port(en) { |
dconsoli | 4:1200e221d94d | 30 | direction_port = 0; |
chris | 2:5ea99c37a2d7 | 31 | _baud = baud; |
chris | 2:5ea99c37a2d7 | 32 | _ID = ID; |
chris | 2:5ea99c37a2d7 | 33 | _ax12.baud(_baud); |
chris | 0:be51952765ec | 34 | |
chris | 0:be51952765ec | 35 | } |
chris | 0:be51952765ec | 36 | |
chris | 1:93ad80f5fde7 | 37 | // Set the mode of the servo |
chris | 1:93ad80f5fde7 | 38 | // 0 = Positional (0-300 degrees) |
chris | 1:93ad80f5fde7 | 39 | // 1 = Rotational -1 to 1 speed |
chris | 1:93ad80f5fde7 | 40 | int AX12::SetMode(int mode) { |
chris | 1:93ad80f5fde7 | 41 | |
chris | 1:93ad80f5fde7 | 42 | if (mode == 1) { // set CR |
chris | 1:93ad80f5fde7 | 43 | SetCWLimit(0); |
chris | 1:93ad80f5fde7 | 44 | SetCCWLimit(0); |
chris | 1:93ad80f5fde7 | 45 | SetCRSpeed(0.0); |
chris | 1:93ad80f5fde7 | 46 | } else { |
chris | 1:93ad80f5fde7 | 47 | SetCWLimit(0); |
chris | 1:93ad80f5fde7 | 48 | SetCCWLimit(300); |
chris | 1:93ad80f5fde7 | 49 | SetCRSpeed(0.0); |
chris | 1:93ad80f5fde7 | 50 | } |
chris | 1:93ad80f5fde7 | 51 | return(0); |
chris | 1:93ad80f5fde7 | 52 | } |
chris | 1:93ad80f5fde7 | 53 | |
chris | 1:93ad80f5fde7 | 54 | |
chris | 1:93ad80f5fde7 | 55 | // if flag[0] is set, were blocking |
chris | 1:93ad80f5fde7 | 56 | // if flag[1] is set, we're registering |
chris | 1:93ad80f5fde7 | 57 | // they are mutually exclusive operations |
chris | 1:93ad80f5fde7 | 58 | int AX12::SetGoal(int degrees, int flags) { |
chris | 0:be51952765ec | 59 | |
chris | 1:93ad80f5fde7 | 60 | char reg_flag = 0; |
chris | 1:93ad80f5fde7 | 61 | char data[2]; |
chris | 1:93ad80f5fde7 | 62 | |
chris | 1:93ad80f5fde7 | 63 | // set the flag is only the register bit is set in the flag |
chris | 1:93ad80f5fde7 | 64 | if (flags == 0x2) { |
chris | 1:93ad80f5fde7 | 65 | reg_flag = 1; |
chris | 1:93ad80f5fde7 | 66 | } |
chris | 1:93ad80f5fde7 | 67 | |
chris | 1:93ad80f5fde7 | 68 | // 1023 / 300 * degrees |
chris | 1:93ad80f5fde7 | 69 | short goal = (1023 * degrees) / 300; |
chris | 2:5ea99c37a2d7 | 70 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 71 | printf("SetGoal to 0x%x\n",goal); |
chris | 2:5ea99c37a2d7 | 72 | #endif |
chris | 1:93ad80f5fde7 | 73 | |
chris | 1:93ad80f5fde7 | 74 | data[0] = goal & 0xff; // bottom 8 bits |
chris | 1:93ad80f5fde7 | 75 | data[1] = goal >> 8; // top 8 bits |
chris | 1:93ad80f5fde7 | 76 | |
chris | 1:93ad80f5fde7 | 77 | // write the packet, return the error code |
chris | 1:93ad80f5fde7 | 78 | int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag); |
chris | 1:93ad80f5fde7 | 79 | |
chris | 1:93ad80f5fde7 | 80 | if (flags == 1) { |
chris | 1:93ad80f5fde7 | 81 | // block until it comes to a halt |
chris | 1:93ad80f5fde7 | 82 | while (isMoving()) {} |
chris | 1:93ad80f5fde7 | 83 | } |
chris | 1:93ad80f5fde7 | 84 | return(rVal); |
chris | 0:be51952765ec | 85 | } |
chris | 0:be51952765ec | 86 | |
chris | 1:93ad80f5fde7 | 87 | |
chris | 0:be51952765ec | 88 | // Set continuous rotation speed from -1 to 1 |
chris | 0:be51952765ec | 89 | int AX12::SetCRSpeed(float speed) { |
chris | 0:be51952765ec | 90 | |
chris | 0:be51952765ec | 91 | // bit 10 = direction, 0 = CCW, 1=CW |
chris | 0:be51952765ec | 92 | // bits 9-0 = Speed |
chris | 0:be51952765ec | 93 | char data[2]; |
chris | 0:be51952765ec | 94 | |
chris | 0:be51952765ec | 95 | int goal = (0x3ff * abs(speed)); |
chris | 0:be51952765ec | 96 | |
chris | 0:be51952765ec | 97 | // Set direction CW if we have a negative speed |
chris | 0:be51952765ec | 98 | if (speed < 0) { |
chris | 0:be51952765ec | 99 | goal |= (0x1 << 10); |
chris | 0:be51952765ec | 100 | } |
chris | 0:be51952765ec | 101 | |
chris | 0:be51952765ec | 102 | data[0] = goal & 0xff; // bottom 8 bits |
chris | 0:be51952765ec | 103 | data[1] = goal >> 8; // top 8 bits |
chris | 0:be51952765ec | 104 | |
chris | 0:be51952765ec | 105 | // write the packet, return the error code |
chris | 0:be51952765ec | 106 | int rVal = write(_ID, 0x20, 2, data); |
chris | 0:be51952765ec | 107 | |
chris | 0:be51952765ec | 108 | return(rVal); |
chris | 0:be51952765ec | 109 | } |
chris | 0:be51952765ec | 110 | |
chris | 1:93ad80f5fde7 | 111 | |
chris | 1:93ad80f5fde7 | 112 | int AX12::SetCWLimit (int degrees) { |
chris | 1:93ad80f5fde7 | 113 | |
chris | 1:93ad80f5fde7 | 114 | char data[2]; |
chris | 2:5ea99c37a2d7 | 115 | |
chris | 1:93ad80f5fde7 | 116 | // 1023 / 300 * degrees |
chris | 1:93ad80f5fde7 | 117 | short limit = (1023 * degrees) / 300; |
chris | 0:be51952765ec | 118 | |
chris | 2:5ea99c37a2d7 | 119 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 120 | printf("SetCWLimit to 0x%x\n",limit); |
chris | 2:5ea99c37a2d7 | 121 | #endif |
chris | 1:93ad80f5fde7 | 122 | |
chris | 1:93ad80f5fde7 | 123 | data[0] = limit & 0xff; // bottom 8 bits |
chris | 1:93ad80f5fde7 | 124 | data[1] = limit >> 8; // top 8 bits |
chris | 1:93ad80f5fde7 | 125 | |
chris | 1:93ad80f5fde7 | 126 | // write the packet, return the error code |
chris | 1:93ad80f5fde7 | 127 | return (write(_ID, AX12_REG_CW_LIMIT, 2, data)); |
chris | 1:93ad80f5fde7 | 128 | |
chris | 0:be51952765ec | 129 | } |
chris | 0:be51952765ec | 130 | |
chris | 1:93ad80f5fde7 | 131 | int AX12::SetCCWLimit (int degrees) { |
chris | 1:93ad80f5fde7 | 132 | |
chris | 1:93ad80f5fde7 | 133 | char data[2]; |
chris | 1:93ad80f5fde7 | 134 | |
chris | 1:93ad80f5fde7 | 135 | // 1023 / 300 * degrees |
chris | 1:93ad80f5fde7 | 136 | short limit = (1023 * degrees) / 300; |
chris | 0:be51952765ec | 137 | |
chris | 2:5ea99c37a2d7 | 138 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 139 | printf("SetCCWLimit to 0x%x\n",limit); |
chris | 2:5ea99c37a2d7 | 140 | #endif |
chris | 1:93ad80f5fde7 | 141 | |
chris | 1:93ad80f5fde7 | 142 | data[0] = limit & 0xff; // bottom 8 bits |
chris | 1:93ad80f5fde7 | 143 | data[1] = limit >> 8; // top 8 bits |
chris | 1:93ad80f5fde7 | 144 | |
chris | 1:93ad80f5fde7 | 145 | // write the packet, return the error code |
chris | 1:93ad80f5fde7 | 146 | return (write(_ID, AX12_REG_CCW_LIMIT, 2, data)); |
chris | 0:be51952765ec | 147 | } |
chris | 0:be51952765ec | 148 | |
chris | 1:93ad80f5fde7 | 149 | |
chris | 1:93ad80f5fde7 | 150 | int AX12::SetID (int CurrentID, int NewID) { |
chris | 1:93ad80f5fde7 | 151 | |
chris | 0:be51952765ec | 152 | char data[1]; |
chris | 1:93ad80f5fde7 | 153 | data[0] = NewID; |
chris | 2:5ea99c37a2d7 | 154 | |
chris | 2:5ea99c37a2d7 | 155 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 156 | printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); |
chris | 2:5ea99c37a2d7 | 157 | #endif |
chris | 2:5ea99c37a2d7 | 158 | |
chris | 1:93ad80f5fde7 | 159 | return (write(CurrentID, AX12_REG_ID, 1, data)); |
chris | 1:93ad80f5fde7 | 160 | |
chris | 0:be51952765ec | 161 | } |
chris | 0:be51952765ec | 162 | |
chris | 1:93ad80f5fde7 | 163 | |
chris | 3:ced71d1b2558 | 164 | int AX12::SetBaud (int baud) { |
chris | 3:ced71d1b2558 | 165 | |
chris | 3:ced71d1b2558 | 166 | char data[1]; |
chris | 3:ced71d1b2558 | 167 | data[0] = baud; |
chris | 3:ced71d1b2558 | 168 | |
chris | 3:ced71d1b2558 | 169 | #ifdef AX12_DEBUG |
chris | 3:ced71d1b2558 | 170 | printf("Setting Baud rate to %d\n",baud); |
chris | 3:ced71d1b2558 | 171 | #endif |
chris | 3:ced71d1b2558 | 172 | |
chris | 3:ced71d1b2558 | 173 | return (write(0xFE, AX12_REG_BAUD, 1, data)); |
chris | 3:ced71d1b2558 | 174 | |
chris | 3:ced71d1b2558 | 175 | } |
chris | 3:ced71d1b2558 | 176 | |
chris | 3:ced71d1b2558 | 177 | |
chris | 3:ced71d1b2558 | 178 | |
chris | 1:93ad80f5fde7 | 179 | // return 1 is the servo is still in flight |
chris | 1:93ad80f5fde7 | 180 | int AX12::isMoving(void) { |
chris | 1:93ad80f5fde7 | 181 | |
chris | 1:93ad80f5fde7 | 182 | char data[1]; |
chris | 1:93ad80f5fde7 | 183 | read(_ID,AX12_REG_MOVING,1,data); |
chris | 1:93ad80f5fde7 | 184 | return(data[0]); |
chris | 1:93ad80f5fde7 | 185 | } |
chris | 1:93ad80f5fde7 | 186 | |
chris | 1:93ad80f5fde7 | 187 | |
chris | 0:be51952765ec | 188 | void AX12::trigger(void) { |
chris | 0:be51952765ec | 189 | |
chris | 0:be51952765ec | 190 | char TxBuf[16]; |
chris | 0:be51952765ec | 191 | char sum = 0; |
chris | 0:be51952765ec | 192 | |
chris | 2:5ea99c37a2d7 | 193 | #ifdef AX12_TRIGGER_DEBUG |
chris | 0:be51952765ec | 194 | // Build the TxPacket first in RAM, then we'll send in one go |
chris | 2:5ea99c37a2d7 | 195 | printf("\nTriggered\n"); |
chris | 2:5ea99c37a2d7 | 196 | printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); |
chris | 2:5ea99c37a2d7 | 197 | #endif |
chris | 0:be51952765ec | 198 | |
chris | 0:be51952765ec | 199 | TxBuf[0] = 0xFF; |
chris | 0:be51952765ec | 200 | TxBuf[1] = 0xFF; |
chris | 0:be51952765ec | 201 | |
chris | 0:be51952765ec | 202 | // ID - Broadcast |
chris | 0:be51952765ec | 203 | TxBuf[2] = 0xFE; |
chris | 0:be51952765ec | 204 | sum += TxBuf[2]; |
chris | 0:be51952765ec | 205 | |
chris | 2:5ea99c37a2d7 | 206 | #ifdef AX12_TRIGGER_DEBUG |
chris | 2:5ea99c37a2d7 | 207 | printf(" ID : %d\n",TxBuf[2]); |
chris | 2:5ea99c37a2d7 | 208 | #endif |
chris | 0:be51952765ec | 209 | |
chris | 0:be51952765ec | 210 | // Length |
chris | 0:be51952765ec | 211 | TxBuf[3] = 0x02; |
chris | 0:be51952765ec | 212 | sum += TxBuf[3]; |
chris | 2:5ea99c37a2d7 | 213 | |
chris | 2:5ea99c37a2d7 | 214 | #ifdef AX12_TRIGGER_DEBUG |
chris | 2:5ea99c37a2d7 | 215 | printf(" Length %d\n",TxBuf[3]); |
chris | 2:5ea99c37a2d7 | 216 | #endif |
chris | 0:be51952765ec | 217 | |
chris | 0:be51952765ec | 218 | // Instruction - ACTION |
chris | 0:be51952765ec | 219 | TxBuf[4] = 0x04; |
chris | 0:be51952765ec | 220 | sum += TxBuf[4]; |
chris | 2:5ea99c37a2d7 | 221 | |
chris | 2:5ea99c37a2d7 | 222 | #ifdef AX12_TRIGGER_DEBUG |
chris | 2:5ea99c37a2d7 | 223 | printf(" Instruction 0x%X\n",TxBuf[5]); |
chris | 2:5ea99c37a2d7 | 224 | #endif |
chris | 0:be51952765ec | 225 | |
chris | 0:be51952765ec | 226 | // Checksum |
chris | 0:be51952765ec | 227 | TxBuf[5] = 0xFF - sum; |
chris | 2:5ea99c37a2d7 | 228 | #ifdef AX12_TRIGGER_DEBUG |
chris | 2:5ea99c37a2d7 | 229 | printf(" Checksum 0x%X\n",TxBuf[5]); |
chris | 2:5ea99c37a2d7 | 230 | #endif |
chris | 0:be51952765ec | 231 | |
chris | 0:be51952765ec | 232 | // Transmit the packet in one burst with no pausing |
chris | 0:be51952765ec | 233 | for (int i = 0; i < 6 ; i++) { |
chris | 0:be51952765ec | 234 | _ax12.putc(TxBuf[i]); |
chris | 0:be51952765ec | 235 | } |
chris | 1:93ad80f5fde7 | 236 | |
chris | 0:be51952765ec | 237 | // This is a broadcast packet, so there will be no reply |
chris | 0:be51952765ec | 238 | return; |
chris | 0:be51952765ec | 239 | } |
chris | 0:be51952765ec | 240 | |
chris | 0:be51952765ec | 241 | |
chris | 0:be51952765ec | 242 | float AX12::GetPosition(void) { |
chris | 0:be51952765ec | 243 | |
chris | 2:5ea99c37a2d7 | 244 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 245 | printf("\nGetPosition(%d)",_ID); |
chris | 2:5ea99c37a2d7 | 246 | #endif |
chris | 0:be51952765ec | 247 | |
chris | 0:be51952765ec | 248 | char data[2]; |
chris | 0:be51952765ec | 249 | |
chris | 0:be51952765ec | 250 | int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data); |
chris | 0:be51952765ec | 251 | short position = data[0] + (data[1] << 8); |
chris | 0:be51952765ec | 252 | float angle = (position * 300)/1024; |
chris | 0:be51952765ec | 253 | |
chris | 0:be51952765ec | 254 | return (angle); |
chris | 0:be51952765ec | 255 | } |
chris | 0:be51952765ec | 256 | |
chris | 0:be51952765ec | 257 | |
chris | 1:93ad80f5fde7 | 258 | float AX12::GetTemp (void) { |
chris | 0:be51952765ec | 259 | |
chris | 2:5ea99c37a2d7 | 260 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 261 | printf("\nGetTemp(%d)",_ID); |
chris | 2:5ea99c37a2d7 | 262 | #endif |
chris | 2:5ea99c37a2d7 | 263 | |
chris | 1:93ad80f5fde7 | 264 | char data[1]; |
chris | 1:93ad80f5fde7 | 265 | int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data); |
chris | 1:93ad80f5fde7 | 266 | float temp = data[0]; |
chris | 1:93ad80f5fde7 | 267 | return(temp); |
chris | 0:be51952765ec | 268 | } |
chris | 0:be51952765ec | 269 | |
chris | 0:be51952765ec | 270 | |
chris | 1:93ad80f5fde7 | 271 | float AX12::GetVolts (void) { |
chris | 2:5ea99c37a2d7 | 272 | |
chris | 2:5ea99c37a2d7 | 273 | #ifdef AX12_DEBUG |
chris | 2:5ea99c37a2d7 | 274 | printf("\nGetVolts(%d)",_ID); |
chris | 2:5ea99c37a2d7 | 275 | #endif |
chris | 2:5ea99c37a2d7 | 276 | |
chris | 0:be51952765ec | 277 | char data[1]; |
chris | 1:93ad80f5fde7 | 278 | int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data); |
chris | 1:93ad80f5fde7 | 279 | float volts = data[0]/10.0; |
chris | 1:93ad80f5fde7 | 280 | return(volts); |
chris | 0:be51952765ec | 281 | } |
chris | 0:be51952765ec | 282 | |
chris | 0:be51952765ec | 283 | |
chris | 0:be51952765ec | 284 | int AX12::read(int ID, int start, int bytes, char* data) { |
chris | 0:be51952765ec | 285 | |
chris | 0:be51952765ec | 286 | char PacketLength = 0x4; |
chris | 0:be51952765ec | 287 | char TxBuf[16]; |
chris | 0:be51952765ec | 288 | char sum = 0; |
chris | 0:be51952765ec | 289 | char Status[16]; |
chris | 0:be51952765ec | 290 | |
chris | 0:be51952765ec | 291 | Status[4] = 0xFE; // return code |
chris | 0:be51952765ec | 292 | |
chris | 2:5ea99c37a2d7 | 293 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 294 | printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); |
chris | 2:5ea99c37a2d7 | 295 | #endif |
chris | 0:be51952765ec | 296 | |
chris | 0:be51952765ec | 297 | // Build the TxPacket first in RAM, then we'll send in one go |
chris | 2:5ea99c37a2d7 | 298 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 299 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
chris | 2:5ea99c37a2d7 | 300 | #endif |
chris | 0:be51952765ec | 301 | |
chris | 0:be51952765ec | 302 | TxBuf[0] = 0xff; |
chris | 0:be51952765ec | 303 | TxBuf[1] = 0xff; |
chris | 0:be51952765ec | 304 | |
chris | 0:be51952765ec | 305 | // ID |
chris | 0:be51952765ec | 306 | TxBuf[2] = ID; |
chris | 0:be51952765ec | 307 | sum += TxBuf[2]; |
chris | 2:5ea99c37a2d7 | 308 | |
chris | 2:5ea99c37a2d7 | 309 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 310 | printf(" ID : %d\n",TxBuf[2]); |
chris | 2:5ea99c37a2d7 | 311 | #endif |
chris | 0:be51952765ec | 312 | |
chris | 0:be51952765ec | 313 | // Packet Length |
chris | 0:be51952765ec | 314 | TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) |
chris | 0:be51952765ec | 315 | sum += TxBuf[3]; // Accululate the packet sum |
chris | 2:5ea99c37a2d7 | 316 | |
chris | 2:5ea99c37a2d7 | 317 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 318 | printf(" Length : 0x%x\n",TxBuf[3]); |
chris | 2:5ea99c37a2d7 | 319 | #endif |
chris | 0:be51952765ec | 320 | |
chris | 0:be51952765ec | 321 | // Instruction - Read |
chris | 0:be51952765ec | 322 | TxBuf[4] = 0x2; |
chris | 0:be51952765ec | 323 | sum += TxBuf[4]; |
chris | 2:5ea99c37a2d7 | 324 | |
chris | 2:5ea99c37a2d7 | 325 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 326 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
chris | 2:5ea99c37a2d7 | 327 | #endif |
chris | 0:be51952765ec | 328 | |
chris | 0:be51952765ec | 329 | // Start Address |
chris | 0:be51952765ec | 330 | TxBuf[5] = start; |
chris | 0:be51952765ec | 331 | sum += TxBuf[5]; |
chris | 2:5ea99c37a2d7 | 332 | |
chris | 2:5ea99c37a2d7 | 333 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 334 | printf(" Start Address : 0x%x\n",TxBuf[5]); |
chris | 2:5ea99c37a2d7 | 335 | #endif |
chris | 0:be51952765ec | 336 | |
chris | 0:be51952765ec | 337 | // Bytes to read |
chris | 0:be51952765ec | 338 | TxBuf[6] = bytes; |
chris | 0:be51952765ec | 339 | sum += TxBuf[6]; |
chris | 2:5ea99c37a2d7 | 340 | |
chris | 2:5ea99c37a2d7 | 341 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 342 | printf(" No bytes : 0x%x\n",TxBuf[6]); |
chris | 2:5ea99c37a2d7 | 343 | #endif |
chris | 0:be51952765ec | 344 | |
chris | 0:be51952765ec | 345 | // Checksum |
chris | 0:be51952765ec | 346 | TxBuf[7] = 0xFF - sum; |
chris | 2:5ea99c37a2d7 | 347 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 348 | printf(" Checksum : 0x%x\n",TxBuf[7]); |
chris | 2:5ea99c37a2d7 | 349 | #endif |
dconsoli | 4:1200e221d94d | 350 | direction_port = 1; |
chris | 0:be51952765ec | 351 | // Transmit the packet in one burst with no pausing |
chris | 0:be51952765ec | 352 | for (int i = 0; i<8 ; i++) { |
chris | 0:be51952765ec | 353 | _ax12.putc(TxBuf[i]); |
chris | 0:be51952765ec | 354 | } |
chris | 0:be51952765ec | 355 | |
chris | 0:be51952765ec | 356 | // Wait for the bytes to be transmitted |
chris | 0:be51952765ec | 357 | wait (0.00002); |
dconsoli | 4:1200e221d94d | 358 | direction_port = 0; |
chris | 0:be51952765ec | 359 | // Skip if the read was to the broadcast address |
chris | 0:be51952765ec | 360 | if (_ID != 0xFE) { |
chris | 0:be51952765ec | 361 | |
chris | 2:5ea99c37a2d7 | 362 | |
chris | 2:5ea99c37a2d7 | 363 | |
chris | 2:5ea99c37a2d7 | 364 | // response packet is always 6 + bytes |
chris | 2:5ea99c37a2d7 | 365 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
chris | 2:5ea99c37a2d7 | 366 | // timeout is a little more than the time to transmit |
chris | 2:5ea99c37a2d7 | 367 | // the packet back, i.e. (6+bytes)*10 bit periods |
chris | 2:5ea99c37a2d7 | 368 | |
chris | 2:5ea99c37a2d7 | 369 | int timeout = 0; |
chris | 2:5ea99c37a2d7 | 370 | int plen = 0; |
chris | 2:5ea99c37a2d7 | 371 | while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) { |
chris | 2:5ea99c37a2d7 | 372 | |
chris | 2:5ea99c37a2d7 | 373 | if (_ax12.readable()) { |
chris | 2:5ea99c37a2d7 | 374 | Status[plen] = _ax12.getc(); |
chris | 2:5ea99c37a2d7 | 375 | plen++; |
chris | 2:5ea99c37a2d7 | 376 | timeout = 0; |
chris | 2:5ea99c37a2d7 | 377 | } |
chris | 2:5ea99c37a2d7 | 378 | |
chris | 2:5ea99c37a2d7 | 379 | // wait for the bit period |
chris | 2:5ea99c37a2d7 | 380 | wait (1.0/_baud); |
chris | 2:5ea99c37a2d7 | 381 | timeout++; |
chris | 2:5ea99c37a2d7 | 382 | } |
chris | 2:5ea99c37a2d7 | 383 | |
chris | 2:5ea99c37a2d7 | 384 | if (timeout == ((6+bytes)*10) ) { |
chris | 2:5ea99c37a2d7 | 385 | return(-1); |
chris | 0:be51952765ec | 386 | } |
chris | 0:be51952765ec | 387 | |
chris | 0:be51952765ec | 388 | // Copy the data from Status into data for return |
chris | 0:be51952765ec | 389 | for (int i=0; i < Status[3]-2 ; i++) { |
chris | 0:be51952765ec | 390 | data[i] = Status[5+i]; |
chris | 0:be51952765ec | 391 | } |
chris | 0:be51952765ec | 392 | |
chris | 2:5ea99c37a2d7 | 393 | #ifdef AX12_READ_DEBUG |
chris | 2:5ea99c37a2d7 | 394 | printf("\nStatus Packet\n"); |
chris | 2:5ea99c37a2d7 | 395 | printf(" Header : 0x%x\n",Status[0]); |
chris | 2:5ea99c37a2d7 | 396 | printf(" Header : 0x%x\n",Status[1]); |
chris | 2:5ea99c37a2d7 | 397 | printf(" ID : 0x%x\n",Status[2]); |
chris | 2:5ea99c37a2d7 | 398 | printf(" Length : 0x%x\n",Status[3]); |
chris | 2:5ea99c37a2d7 | 399 | printf(" Error Code : 0x%x\n",Status[4]); |
chris | 0:be51952765ec | 400 | |
chris | 2:5ea99c37a2d7 | 401 | for (int i=0; i < Status[3]-2 ; i++) { |
chris | 2:5ea99c37a2d7 | 402 | printf(" Data : 0x%x\n",Status[5+i]); |
chris | 2:5ea99c37a2d7 | 403 | } |
chris | 0:be51952765ec | 404 | |
chris | 2:5ea99c37a2d7 | 405 | printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); |
chris | 2:5ea99c37a2d7 | 406 | #endif |
chris | 0:be51952765ec | 407 | |
chris | 0:be51952765ec | 408 | } // if (ID!=0xFE) |
chris | 0:be51952765ec | 409 | |
chris | 0:be51952765ec | 410 | return(Status[4]); |
chris | 0:be51952765ec | 411 | } |
chris | 0:be51952765ec | 412 | |
chris | 1:93ad80f5fde7 | 413 | |
chris | 2:5ea99c37a2d7 | 414 | int AX12::write(int ID, int start, int bytes, char* data, int flag) { |
chris | 0:be51952765ec | 415 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
chris | 0:be51952765ec | 416 | |
chris | 0:be51952765ec | 417 | char TxBuf[16]; |
chris | 0:be51952765ec | 418 | char sum = 0; |
chris | 0:be51952765ec | 419 | char Status[6]; |
chris | 0:be51952765ec | 420 | |
chris | 2:5ea99c37a2d7 | 421 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 422 | printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); |
chris | 2:5ea99c37a2d7 | 423 | #endif |
chris | 0:be51952765ec | 424 | |
chris | 0:be51952765ec | 425 | // Build the TxPacket first in RAM, then we'll send in one go |
chris | 2:5ea99c37a2d7 | 426 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 427 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
chris | 2:5ea99c37a2d7 | 428 | #endif |
chris | 0:be51952765ec | 429 | |
chris | 0:be51952765ec | 430 | TxBuf[0] = 0xff; |
chris | 0:be51952765ec | 431 | TxBuf[1] = 0xff; |
chris | 0:be51952765ec | 432 | |
chris | 0:be51952765ec | 433 | // ID |
chris | 0:be51952765ec | 434 | TxBuf[2] = ID; |
chris | 0:be51952765ec | 435 | sum += TxBuf[2]; |
chris | 0:be51952765ec | 436 | |
chris | 2:5ea99c37a2d7 | 437 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 438 | printf(" ID : %d\n",TxBuf[2]); |
chris | 2:5ea99c37a2d7 | 439 | #endif |
chris | 0:be51952765ec | 440 | |
chris | 0:be51952765ec | 441 | // packet Length |
chris | 0:be51952765ec | 442 | TxBuf[3] = 3+bytes; |
chris | 0:be51952765ec | 443 | sum += TxBuf[3]; |
chris | 0:be51952765ec | 444 | |
chris | 2:5ea99c37a2d7 | 445 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 446 | printf(" Length : %d\n",TxBuf[3]); |
chris | 2:5ea99c37a2d7 | 447 | #endif |
chris | 0:be51952765ec | 448 | |
chris | 0:be51952765ec | 449 | // Instruction |
chris | 0:be51952765ec | 450 | if (flag == 1) { |
chris | 0:be51952765ec | 451 | TxBuf[4]=0x04; |
chris | 0:be51952765ec | 452 | sum += TxBuf[4]; |
chris | 0:be51952765ec | 453 | } else { |
chris | 0:be51952765ec | 454 | TxBuf[4]=0x03; |
chris | 0:be51952765ec | 455 | sum += TxBuf[4]; |
chris | 0:be51952765ec | 456 | } |
chris | 0:be51952765ec | 457 | |
chris | 2:5ea99c37a2d7 | 458 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 459 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
chris | 2:5ea99c37a2d7 | 460 | #endif |
chris | 0:be51952765ec | 461 | |
chris | 0:be51952765ec | 462 | // Start Address |
chris | 0:be51952765ec | 463 | TxBuf[5] = start; |
chris | 0:be51952765ec | 464 | sum += TxBuf[5]; |
chris | 2:5ea99c37a2d7 | 465 | |
chris | 2:5ea99c37a2d7 | 466 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 467 | printf(" Start : 0x%x\n",TxBuf[5]); |
chris | 2:5ea99c37a2d7 | 468 | #endif |
chris | 0:be51952765ec | 469 | |
chris | 0:be51952765ec | 470 | // data |
chris | 0:be51952765ec | 471 | for (char i=0; i<bytes ; i++) { |
chris | 0:be51952765ec | 472 | TxBuf[6+i] = data[i]; |
chris | 0:be51952765ec | 473 | sum += TxBuf[6+i]; |
chris | 2:5ea99c37a2d7 | 474 | |
chris | 2:5ea99c37a2d7 | 475 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 476 | printf(" Data : 0x%x\n",TxBuf[6+i]); |
chris | 2:5ea99c37a2d7 | 477 | #endif |
chris | 2:5ea99c37a2d7 | 478 | |
chris | 0:be51952765ec | 479 | } |
chris | 0:be51952765ec | 480 | |
chris | 0:be51952765ec | 481 | // checksum |
chris | 0:be51952765ec | 482 | TxBuf[6+bytes] = 0xFF - sum; |
chris | 2:5ea99c37a2d7 | 483 | |
chris | 2:5ea99c37a2d7 | 484 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 485 | printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); |
chris | 2:5ea99c37a2d7 | 486 | #endif |
chris | 0:be51952765ec | 487 | |
chris | 0:be51952765ec | 488 | // Transmit the packet in one burst with no pausing |
dconsoli | 4:1200e221d94d | 489 | direction_port = 1; |
chris | 0:be51952765ec | 490 | for (int i = 0; i < (7 + bytes) ; i++) { |
chris | 0:be51952765ec | 491 | _ax12.putc(TxBuf[i]); |
chris | 0:be51952765ec | 492 | } |
chris | 0:be51952765ec | 493 | |
chris | 0:be51952765ec | 494 | // Wait for data to transmit |
chris | 0:be51952765ec | 495 | wait (0.00002); |
dconsoli | 4:1200e221d94d | 496 | direction_port = 0; |
chris | 0:be51952765ec | 497 | // make sure we have a valid return |
chris | 0:be51952765ec | 498 | Status[4]=0x00; |
chris | 0:be51952765ec | 499 | |
chris | 0:be51952765ec | 500 | // we'll only get a reply if it was not broadcast |
chris | 0:be51952765ec | 501 | if (_ID!=0xFE) { |
chris | 0:be51952765ec | 502 | |
chris | 2:5ea99c37a2d7 | 503 | |
chris | 2:5ea99c37a2d7 | 504 | // response packet is always 6 bytes |
chris | 0:be51952765ec | 505 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
chris | 2:5ea99c37a2d7 | 506 | // timeout is a little more than the time to transmit |
chris | 2:5ea99c37a2d7 | 507 | // the packet back, i.e. 60 bit periods, round up to 100 |
chris | 2:5ea99c37a2d7 | 508 | int timeout = 0; |
chris | 2:5ea99c37a2d7 | 509 | int plen = 0; |
chris | 2:5ea99c37a2d7 | 510 | while ((timeout < 100) && (plen<6)) { |
chris | 2:5ea99c37a2d7 | 511 | |
chris | 2:5ea99c37a2d7 | 512 | if (_ax12.readable()) { |
chris | 2:5ea99c37a2d7 | 513 | Status[plen] = _ax12.getc(); |
chris | 2:5ea99c37a2d7 | 514 | plen++; |
chris | 2:5ea99c37a2d7 | 515 | timeout = 0; |
chris | 2:5ea99c37a2d7 | 516 | } |
chris | 2:5ea99c37a2d7 | 517 | |
chris | 2:5ea99c37a2d7 | 518 | // wait for the bit period |
chris | 2:5ea99c37a2d7 | 519 | wait (1.0/_baud); |
chris | 2:5ea99c37a2d7 | 520 | timeout++; |
chris | 0:be51952765ec | 521 | } |
chris | 0:be51952765ec | 522 | |
chris | 2:5ea99c37a2d7 | 523 | |
chris | 0:be51952765ec | 524 | // Build the TxPacket first in RAM, then we'll send in one go |
chris | 2:5ea99c37a2d7 | 525 | #ifdef AX12_WRITE_DEBUG |
chris | 2:5ea99c37a2d7 | 526 | printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); |
chris | 2:5ea99c37a2d7 | 527 | printf(" ID : %d\n",Status[2]); |
chris | 2:5ea99c37a2d7 | 528 | printf(" Length : %d\n",Status[3]); |
chris | 2:5ea99c37a2d7 | 529 | printf(" Error : 0x%x\n",Status[4]); |
chris | 2:5ea99c37a2d7 | 530 | printf(" Checksum : 0x%x\n",Status[5]); |
chris | 2:5ea99c37a2d7 | 531 | #endif |
chris | 0:be51952765ec | 532 | |
chris | 0:be51952765ec | 533 | |
chris | 0:be51952765ec | 534 | } |
chris | 0:be51952765ec | 535 | |
chris | 0:be51952765ec | 536 | return(Status[4]); // return error code |
chris | 0:be51952765ec | 537 | } |