Team DIANA / AX12_final

Debugged library

Dependents:   MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale

Fork of AX12_v2 by Team DIANA

AX12.cpp@7:ac233ac0ba11, 2016-04-29 (annotated)

Committer:
dconsoli
Date:
Fri Apr 29 13:22:00 2016 +0000
Revision:
7:ac233ac0ba11
Parent:
5:04c4615a2221
Child:
8:ae950cba6bc9
Debugged libraries and exampe main

Who changed what in which revision?

UserRevisionLine numberNew 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"
ilaria 4:36f451ee0a3c 26 #define AX12_DEBUG 1
chris 0:be51952765ec 27
chris 0:be51952765ec 28 AX12::AX12(PinName tx, PinName rx, int ID)
chris 0:be51952765ec 29 : _ax12(tx,rx) {
chris 0:be51952765ec 30
dconsoli 7:ac233ac0ba11 31 _ax12.baud(9600);
chris 0:be51952765ec 32 _ID = ID;
chris 0:be51952765ec 33 }
chris 0:be51952765ec 34
chris 1:93ad80f5fde7 35 // Set the mode of the servo
chris 1:93ad80f5fde7 36 // 0 = Positional (0-300 degrees)
chris 1:93ad80f5fde7 37 // 1 = Rotational -1 to 1 speed
chris 1:93ad80f5fde7 38 int AX12::SetMode(int mode) {
chris 1:93ad80f5fde7 39
chris 1:93ad80f5fde7 40 if (mode == 1) { // set CR
chris 1:93ad80f5fde7 41 SetCWLimit(0);
chris 1:93ad80f5fde7 42 SetCCWLimit(0);
chris 1:93ad80f5fde7 43 SetCRSpeed(0.0);
chris 1:93ad80f5fde7 44 } else {
chris 1:93ad80f5fde7 45 SetCWLimit(0);
chris 1:93ad80f5fde7 46 SetCCWLimit(300);
chris 1:93ad80f5fde7 47 SetCRSpeed(0.0);
chris 1:93ad80f5fde7 48 }
chris 1:93ad80f5fde7 49 return(0);
chris 1:93ad80f5fde7 50 }
chris 1:93ad80f5fde7 51
chris 1:93ad80f5fde7 52
chris 1:93ad80f5fde7 53 // if flag[0] is set, were blocking
chris 1:93ad80f5fde7 54 // if flag[1] is set, we're registering
chris 1:93ad80f5fde7 55 // they are mutually exclusive operations
chris 1:93ad80f5fde7 56 int AX12::SetGoal(int degrees, int flags) {
chris 0:be51952765ec 57
chris 1:93ad80f5fde7 58 char reg_flag = 0;
chris 1:93ad80f5fde7 59 char data[2];
chris 1:93ad80f5fde7 60
chris 1:93ad80f5fde7 61 // set the flag is only the register bit is set in the flag
chris 1:93ad80f5fde7 62 if (flags == 0x2) {
chris 1:93ad80f5fde7 63 reg_flag = 1;
chris 1:93ad80f5fde7 64 }
chris 1:93ad80f5fde7 65
chris 1:93ad80f5fde7 66 // 1023 / 300 * degrees
chris 1:93ad80f5fde7 67 short goal = (1023 * degrees) / 300;
chris 1:93ad80f5fde7 68 if (AX12_DEBUG) {
chris 1:93ad80f5fde7 69 printf("SetGoal to 0x%x\n",goal);
chris 1:93ad80f5fde7 70 }
chris 1:93ad80f5fde7 71
chris 1:93ad80f5fde7 72 data[0] = goal & 0xff; // bottom 8 bits
chris 1:93ad80f5fde7 73 data[1] = goal >> 8; // top 8 bits
chris 1:93ad80f5fde7 74
chris 1:93ad80f5fde7 75 // write the packet, return the error code
chris 1:93ad80f5fde7 76 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
chris 1:93ad80f5fde7 77
chris 1:93ad80f5fde7 78 if (flags == 1) {
chris 1:93ad80f5fde7 79 // block until it comes to a halt
chris 1:93ad80f5fde7 80 while (isMoving()) {}
chris 1:93ad80f5fde7 81 }
chris 1:93ad80f5fde7 82 return(rVal);
chris 0:be51952765ec 83 }
chris 0:be51952765ec 84
chris 1:93ad80f5fde7 85
chris 0:be51952765ec 86 // Set continuous rotation speed from -1 to 1
chris 0:be51952765ec 87 int AX12::SetCRSpeed(float speed) {
chris 0:be51952765ec 88
chris 0:be51952765ec 89 // bit 10 = direction, 0 = CCW, 1=CW
chris 0:be51952765ec 90 // bits 9-0 = Speed
chris 0:be51952765ec 91 char data[2];
chris 0:be51952765ec 92
chris 0:be51952765ec 93 int goal = (0x3ff * abs(speed));
chris 0:be51952765ec 94
chris 0:be51952765ec 95 // Set direction CW if we have a negative speed
chris 0:be51952765ec 96 if (speed < 0) {
chris 0:be51952765ec 97 goal |= (0x1 << 10);
chris 0:be51952765ec 98 }
chris 0:be51952765ec 99
chris 0:be51952765ec 100 data[0] = goal & 0xff; // bottom 8 bits
chris 0:be51952765ec 101 data[1] = goal >> 8; // top 8 bits
dconsoli 7:ac233ac0ba11 102
chris 0:be51952765ec 103 // write the packet, return the error code
chris 0:be51952765ec 104 int rVal = write(_ID, 0x20, 2, data);
chris 0:be51952765ec 105
chris 0:be51952765ec 106 return(rVal);
chris 0:be51952765ec 107 }
chris 0:be51952765ec 108
chris 1:93ad80f5fde7 109
chris 1:93ad80f5fde7 110 int AX12::SetCWLimit (int degrees) {
chris 1:93ad80f5fde7 111
chris 1:93ad80f5fde7 112 char data[2];
chris 1:93ad80f5fde7 113
chris 1:93ad80f5fde7 114 // 1023 / 300 * degrees
chris 1:93ad80f5fde7 115 short limit = (1023 * degrees) / 300;
chris 0:be51952765ec 116
chris 1:93ad80f5fde7 117 if (AX12_DEBUG) {
chris 1:93ad80f5fde7 118 printf("SetCWLimit to 0x%x\n",limit);
chris 0:be51952765ec 119 }
chris 1:93ad80f5fde7 120
chris 1:93ad80f5fde7 121 data[0] = limit & 0xff; // bottom 8 bits
chris 1:93ad80f5fde7 122 data[1] = limit >> 8; // top 8 bits
chris 1:93ad80f5fde7 123
chris 1:93ad80f5fde7 124 // write the packet, return the error code
chris 1:93ad80f5fde7 125 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
chris 1:93ad80f5fde7 126
chris 0:be51952765ec 127 }
chris 0:be51952765ec 128
chris 1:93ad80f5fde7 129 int AX12::SetCCWLimit (int degrees) {
chris 1:93ad80f5fde7 130
chris 1:93ad80f5fde7 131 char data[2];
chris 1:93ad80f5fde7 132
chris 1:93ad80f5fde7 133 // 1023 / 300 * degrees
chris 1:93ad80f5fde7 134 short limit = (1023 * degrees) / 300;
chris 0:be51952765ec 135
chris 0:be51952765ec 136 if (AX12_DEBUG) {
chris 1:93ad80f5fde7 137 printf("SetCCWLimit to 0x%x\n",limit);
chris 0:be51952765ec 138 }
chris 1:93ad80f5fde7 139
chris 1:93ad80f5fde7 140 data[0] = limit & 0xff; // bottom 8 bits
chris 1:93ad80f5fde7 141 data[1] = limit >> 8; // top 8 bits
chris 1:93ad80f5fde7 142
chris 1:93ad80f5fde7 143 // write the packet, return the error code
chris 1:93ad80f5fde7 144 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
chris 0:be51952765ec 145 }
chris 0:be51952765ec 146
chris 1:93ad80f5fde7 147
chris 1:93ad80f5fde7 148 int AX12::SetID (int CurrentID, int NewID) {
chris 1:93ad80f5fde7 149
chris 0:be51952765ec 150 char data[1];
chris 1:93ad80f5fde7 151 data[0] = NewID;
chris 1:93ad80f5fde7 152 if (AX12_DEBUG) {
chris 1:93ad80f5fde7 153 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
chris 1:93ad80f5fde7 154 }
chris 1:93ad80f5fde7 155 return (write(CurrentID, AX12_REG_ID, 1, data));
chris 1:93ad80f5fde7 156
chris 0:be51952765ec 157 }
chris 0:be51952765ec 158
chris 1:93ad80f5fde7 159
chris 1:93ad80f5fde7 160 // return 1 is the servo is still in flight
chris 1:93ad80f5fde7 161 int AX12::isMoving(void) {
chris 1:93ad80f5fde7 162
chris 1:93ad80f5fde7 163 char data[1];
chris 1:93ad80f5fde7 164 read(_ID,AX12_REG_MOVING,1,data);
chris 1:93ad80f5fde7 165 return(data[0]);
chris 1:93ad80f5fde7 166 }
chris 1:93ad80f5fde7 167
chris 1:93ad80f5fde7 168
chris 0:be51952765ec 169 void AX12::trigger(void) {
chris 0:be51952765ec 170
chris 0:be51952765ec 171 char TxBuf[16];
chris 0:be51952765ec 172 char sum = 0;
chris 0:be51952765ec 173
chris 0:be51952765ec 174 if (AX12_TRIGGER_DEBUG) {
chris 0:be51952765ec 175 printf("\nTriggered\n");
chris 0:be51952765ec 176 }
chris 0:be51952765ec 177
chris 0:be51952765ec 178 // Build the TxPacket first in RAM, then we'll send in one go
chris 0:be51952765ec 179 if (AX12_TRIGGER_DEBUG) {
chris 0:be51952765ec 180 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
chris 0:be51952765ec 181 }
chris 0:be51952765ec 182
chris 0:be51952765ec 183 TxBuf[0] = 0xFF;
chris 0:be51952765ec 184 TxBuf[1] = 0xFF;
chris 0:be51952765ec 185
chris 0:be51952765ec 186 // ID - Broadcast
chris 0:be51952765ec 187 TxBuf[2] = 0xFE;
chris 0:be51952765ec 188 sum += TxBuf[2];
chris 0:be51952765ec 189
chris 0:be51952765ec 190 if (AX12_TRIGGER_DEBUG) {
chris 0:be51952765ec 191 printf(" ID : %d\n",TxBuf[2]);
chris 0:be51952765ec 192 }
chris 0:be51952765ec 193
chris 0:be51952765ec 194 // Length
chris 0:be51952765ec 195 TxBuf[3] = 0x02;
chris 0:be51952765ec 196 sum += TxBuf[3];
chris 0:be51952765ec 197 if (AX12_TRIGGER_DEBUG) {
chris 0:be51952765ec 198 printf(" Length %d\n",TxBuf[3]);
chris 0:be51952765ec 199 }
chris 0:be51952765ec 200
chris 0:be51952765ec 201 // Instruction - ACTION
chris 0:be51952765ec 202 TxBuf[4] = 0x04;
chris 0:be51952765ec 203 sum += TxBuf[4];
chris 0:be51952765ec 204 if (AX12_TRIGGER_DEBUG) {
chris 0:be51952765ec 205 printf(" Instruction 0x%X\n",TxBuf[5]);
chris 0:be51952765ec 206 }
chris 0:be51952765ec 207
chris 0:be51952765ec 208 // Checksum
chris 0:be51952765ec 209 TxBuf[5] = 0xFF - sum;
chris 0:be51952765ec 210 if (AX12_TRIGGER_DEBUG) {
chris 0:be51952765ec 211 printf(" Checksum 0x%X\n",TxBuf[5]);
chris 0:be51952765ec 212 }
chris 0:be51952765ec 213
chris 0:be51952765ec 214 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 215 for (int i = 0; i < 6 ; i++) {
chris 0:be51952765ec 216 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 217 }
chris 1:93ad80f5fde7 218
chris 0:be51952765ec 219 // This is a broadcast packet, so there will be no reply
chris 0:be51952765ec 220
chris 0:be51952765ec 221 return;
chris 0:be51952765ec 222 }
chris 0:be51952765ec 223
chris 0:be51952765ec 224
chris 0:be51952765ec 225 float AX12::GetPosition(void) {
chris 0:be51952765ec 226
chris 0:be51952765ec 227 if (AX12_DEBUG) {
chris 0:be51952765ec 228 printf("\nGetPosition(%d)",_ID);
chris 0:be51952765ec 229 }
chris 0:be51952765ec 230
chris 0:be51952765ec 231 char data[2];
chris 0:be51952765ec 232
chris 0:be51952765ec 233 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
chris 0:be51952765ec 234 short position = data[0] + (data[1] << 8);
chris 0:be51952765ec 235 float angle = (position * 300)/1024;
chris 0:be51952765ec 236
chris 0:be51952765ec 237 return (angle);
chris 0:be51952765ec 238 }
chris 0:be51952765ec 239
chris 0:be51952765ec 240
chris 1:93ad80f5fde7 241 float AX12::GetTemp (void) {
chris 0:be51952765ec 242
chris 0:be51952765ec 243 if (AX12_DEBUG) {
chris 1:93ad80f5fde7 244 printf("\nGetTemp(%d)",_ID);
chris 0:be51952765ec 245 }
chris 1:93ad80f5fde7 246 char data[1];
chris 1:93ad80f5fde7 247 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
chris 1:93ad80f5fde7 248 float temp = data[0];
chris 1:93ad80f5fde7 249 return(temp);
chris 0:be51952765ec 250 }
chris 0:be51952765ec 251
chris 0:be51952765ec 252
chris 1:93ad80f5fde7 253 float AX12::GetVolts (void) {
chris 0:be51952765ec 254 if (AX12_DEBUG) {
chris 1:93ad80f5fde7 255 printf("\nGetVolts(%d)",_ID);
chris 0:be51952765ec 256 }
chris 0:be51952765ec 257 char data[1];
chris 1:93ad80f5fde7 258 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
chris 1:93ad80f5fde7 259 float volts = data[0]/10.0;
chris 1:93ad80f5fde7 260 return(volts);
chris 0:be51952765ec 261 }
chris 0:be51952765ec 262
chris 0:be51952765ec 263
chris 0:be51952765ec 264 int AX12::read(int ID, int start, int bytes, char* data) {
chris 0:be51952765ec 265
chris 0:be51952765ec 266 char PacketLength = 0x4;
chris 0:be51952765ec 267 char TxBuf[16];
chris 0:be51952765ec 268 char sum = 0;
chris 0:be51952765ec 269 char Status[16];
chris 0:be51952765ec 270
chris 0:be51952765ec 271 Status[4] = 0xFE; // return code
chris 0:be51952765ec 272
chris 0:be51952765ec 273 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 274 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
chris 0:be51952765ec 275 }
chris 0:be51952765ec 276
chris 0:be51952765ec 277 // Build the TxPacket first in RAM, then we'll send in one go
chris 0:be51952765ec 278 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 279 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris 0:be51952765ec 280 }
chris 0:be51952765ec 281
chris 0:be51952765ec 282 TxBuf[0] = 0xff;
chris 0:be51952765ec 283 TxBuf[1] = 0xff;
chris 0:be51952765ec 284
chris 0:be51952765ec 285 // ID
chris 0:be51952765ec 286 TxBuf[2] = ID;
chris 0:be51952765ec 287 sum += TxBuf[2];
chris 0:be51952765ec 288 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 289 printf(" ID : %d\n",TxBuf[2]);
chris 0:be51952765ec 290 }
chris 0:be51952765ec 291
chris 0:be51952765ec 292 // Packet Length
chris 0:be51952765ec 293 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
chris 0:be51952765ec 294 sum += TxBuf[3]; // Accululate the packet sum
chris 0:be51952765ec 295 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 296 printf(" Length : 0x%x\n",TxBuf[3]);
chris 0:be51952765ec 297 }
chris 0:be51952765ec 298
chris 0:be51952765ec 299 // Instruction - Read
chris 0:be51952765ec 300 TxBuf[4] = 0x2;
chris 0:be51952765ec 301 sum += TxBuf[4];
chris 0:be51952765ec 302 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 303 printf(" Instruction : 0x%x\n",TxBuf[4]);
chris 0:be51952765ec 304 }
chris 0:be51952765ec 305
chris 0:be51952765ec 306 // Start Address
chris 0:be51952765ec 307 TxBuf[5] = start;
chris 0:be51952765ec 308 sum += TxBuf[5];
chris 0:be51952765ec 309 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 310 printf(" Start Address : 0x%x\n",TxBuf[5]);
chris 0:be51952765ec 311 }
chris 0:be51952765ec 312
chris 0:be51952765ec 313 // Bytes to read
chris 0:be51952765ec 314 TxBuf[6] = bytes;
chris 0:be51952765ec 315 sum += TxBuf[6];
chris 0:be51952765ec 316 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 317 printf(" No bytes : 0x%x\n",TxBuf[6]);
chris 0:be51952765ec 318 }
chris 0:be51952765ec 319
chris 0:be51952765ec 320 // Checksum
chris 0:be51952765ec 321 TxBuf[7] = 0xFF - sum;
chris 0:be51952765ec 322 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 323 printf(" Checksum : 0x%x\n",TxBuf[7]);
chris 0:be51952765ec 324 }
chris 0:be51952765ec 325
chris 0:be51952765ec 326 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 327 for (int i = 0; i<8 ; i++) {
ilaria 4:36f451ee0a3c 328 // printf("Inizio scrittura numero %d\n",i);
chris 0:be51952765ec 329 _ax12.putc(TxBuf[i]);
ilaria 4:36f451ee0a3c 330 //printf("Fine scrittura numero %d\n",i);
chris 0:be51952765ec 331 }
chris 0:be51952765ec 332
chris 0:be51952765ec 333 // Wait for the bytes to be transmitted
dconsoli 7:ac233ac0ba11 334 // wait (0.00002);
chris 0:be51952765ec 335
chris 0:be51952765ec 336 // Skip if the read was to the broadcast address
chris 0:be51952765ec 337 if (_ID != 0xFE) {
chris 0:be51952765ec 338
chris 0:be51952765ec 339 // Receive the Status packet 6+ number of bytes read
chris 0:be51952765ec 340 for (int i=0; i<(6+bytes) ; i++) {
dconsoli 7:ac233ac0ba11 341 //printf("Inizio lettura numero %d\n",i);
chris 0:be51952765ec 342 Status[i] = _ax12.getc();
dconsoli 7:ac233ac0ba11 343
chris 0:be51952765ec 344 }
chris 0:be51952765ec 345
chris 0:be51952765ec 346 // Copy the data from Status into data for return
chris 0:be51952765ec 347 for (int i=0; i < Status[3]-2 ; i++) {
chris 0:be51952765ec 348 data[i] = Status[5+i];
chris 0:be51952765ec 349 }
chris 0:be51952765ec 350
chris 0:be51952765ec 351 if (AX12_READ_DEBUG) {
chris 0:be51952765ec 352 printf("\nStatus Packet\n");
chris 0:be51952765ec 353 printf(" Header : 0x%x\n",Status[0]);
chris 0:be51952765ec 354 printf(" Header : 0x%x\n",Status[1]);
chris 0:be51952765ec 355 printf(" ID : 0x%x\n",Status[2]);
chris 0:be51952765ec 356 printf(" Length : 0x%x\n",Status[3]);
chris 0:be51952765ec 357 printf(" Error Code : 0x%x\n",Status[4]);
chris 0:be51952765ec 358
chris 0:be51952765ec 359 for (int i=0; i < Status[3]-2 ; i++) {
chris 0:be51952765ec 360 printf(" Data : 0x%x\n",Status[5+i]);
chris 0:be51952765ec 361 }
chris 0:be51952765ec 362
chris 0:be51952765ec 363 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
chris 0:be51952765ec 364 }
chris 0:be51952765ec 365
chris 0:be51952765ec 366 } // if (ID!=0xFE)
chris 0:be51952765ec 367
chris 0:be51952765ec 368 return(Status[4]);
chris 0:be51952765ec 369 }
chris 0:be51952765ec 370
chris 1:93ad80f5fde7 371
chris 0:be51952765ec 372 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
chris 0:be51952765ec 373 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
chris 0:be51952765ec 374
chris 0:be51952765ec 375 char TxBuf[16];
chris 0:be51952765ec 376 char sum = 0;
chris 0:be51952765ec 377 char Status[6];
chris 0:be51952765ec 378
chris 0:be51952765ec 379 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 380 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
chris 0:be51952765ec 381 }
chris 0:be51952765ec 382
chris 0:be51952765ec 383 // Build the TxPacket first in RAM, then we'll send in one go
chris 0:be51952765ec 384 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 385 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris 0:be51952765ec 386 }
chris 0:be51952765ec 387
chris 0:be51952765ec 388 TxBuf[0] = 0xff;
chris 0:be51952765ec 389 TxBuf[1] = 0xff;
chris 0:be51952765ec 390
chris 0:be51952765ec 391 // ID
chris 0:be51952765ec 392 TxBuf[2] = ID;
chris 0:be51952765ec 393 sum += TxBuf[2];
chris 0:be51952765ec 394
chris 0:be51952765ec 395 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 396 printf(" ID : %d\n",TxBuf[2]);
chris 0:be51952765ec 397 }
chris 0:be51952765ec 398
chris 0:be51952765ec 399 // packet Length
chris 0:be51952765ec 400 TxBuf[3] = 3+bytes;
chris 0:be51952765ec 401 sum += TxBuf[3];
chris 0:be51952765ec 402
chris 0:be51952765ec 403 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 404 printf(" Length : %d\n",TxBuf[3]);
chris 0:be51952765ec 405 }
chris 0:be51952765ec 406
chris 0:be51952765ec 407 // Instruction
chris 0:be51952765ec 408 if (flag == 1) {
chris 0:be51952765ec 409 TxBuf[4]=0x04;
chris 0:be51952765ec 410 sum += TxBuf[4];
chris 0:be51952765ec 411 } else {
chris 0:be51952765ec 412 TxBuf[4]=0x03;
chris 0:be51952765ec 413 sum += TxBuf[4];
chris 0:be51952765ec 414 }
chris 0:be51952765ec 415
chris 0:be51952765ec 416 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 417 printf(" Instruction : 0x%x\n",TxBuf[4]);
chris 0:be51952765ec 418 }
chris 0:be51952765ec 419
chris 0:be51952765ec 420 // Start Address
chris 0:be51952765ec 421 TxBuf[5] = start;
chris 0:be51952765ec 422 sum += TxBuf[5];
chris 0:be51952765ec 423 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 424 printf(" Start : 0x%x\n",TxBuf[5]);
chris 0:be51952765ec 425 }
chris 0:be51952765ec 426
chris 0:be51952765ec 427 // data
chris 0:be51952765ec 428 for (char i=0; i<bytes ; i++) {
chris 0:be51952765ec 429 TxBuf[6+i] = data[i];
chris 0:be51952765ec 430 sum += TxBuf[6+i];
chris 0:be51952765ec 431 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 432 printf(" Data : 0x%x\n",TxBuf[6+i]);
chris 0:be51952765ec 433 }
chris 0:be51952765ec 434 }
chris 0:be51952765ec 435
chris 0:be51952765ec 436 // checksum
chris 0:be51952765ec 437 TxBuf[6+bytes] = 0xFF - sum;
chris 0:be51952765ec 438 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 439 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
chris 0:be51952765ec 440 }
chris 0:be51952765ec 441
chris 0:be51952765ec 442 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 443 for (int i = 0; i < (7 + bytes) ; i++) {
chris 0:be51952765ec 444 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 445 }
chris 0:be51952765ec 446
chris 0:be51952765ec 447 // Wait for data to transmit
chris 0:be51952765ec 448 wait (0.00002);
chris 0:be51952765ec 449
chris 0:be51952765ec 450 // make sure we have a valid return
chris 0:be51952765ec 451 Status[4]=0x00;
chris 0:be51952765ec 452
chris 0:be51952765ec 453 // we'll only get a reply if it was not broadcast
chris 0:be51952765ec 454 if (_ID!=0xFE) {
chris 0:be51952765ec 455
chris 0:be51952765ec 456 // response is always 6 bytes
chris 0:be51952765ec 457 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
chris 0:be51952765ec 458 for (int i=0; i < 6 ; i++) {
chris 0:be51952765ec 459 Status[i] = _ax12.getc();
chris 0:be51952765ec 460 }
chris 0:be51952765ec 461
chris 0:be51952765ec 462 // Build the TxPacket first in RAM, then we'll send in one go
chris 0:be51952765ec 463 if (AX12_WRITE_DEBUG) {
chris 0:be51952765ec 464 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
chris 0:be51952765ec 465 printf(" ID : %d\n",Status[2]);
chris 0:be51952765ec 466 printf(" Length : %d\n",Status[3]);
chris 0:be51952765ec 467 printf(" Error : 0x%x\n",Status[4]);
chris 0:be51952765ec 468 printf(" Checksum : 0x%x\n",Status[5]);
chris 0:be51952765ec 469 }
chris 0:be51952765ec 470
chris 0:be51952765ec 471
chris 0:be51952765ec 472 }
chris 0:be51952765ec 473
chris 0:be51952765ec 474 return(Status[4]); // return error code
chris 0:be51952765ec 475 }