DynamixelBus.h

00001 /* Copyright (C) 2016 Telesensorics Inc, MIT License
00002  *
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004  * and associated documentation files (the "Software"), to deal in the Software without restriction,
00005  * including without limitation the rights to use, copy, modify, merge, publish, distribute,
00006  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
00007  * furnished to do so, subject to the following conditions:
00008  *
00009  * The above copyright notice and this permission notice shall be included in all copies or
00010  * substantial portions of the Software.
00011  *
00012  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017  */
00018  
00019 
00020 #ifndef __DYNAMIXEL_BUS_H__
00021 #define __DYNAMIXEL_BUS_H__
00022 
00023 #include "mbed.h"
00024 
00025 #include <vector>
00026 using namespace std;
00027 
00028 
00029 enum InstructionTable
00030 {
00031     instructionPing            = 0x1,          // no action. obtain status packet.
00032     instructionRead            = 0x2,          // write values in control table
00033     instructionWrite           = 0x3,          // read values in control table
00034     instructionWriteAction     = 0x4,          // write actions to be performed upon triggering
00035     instructionTriggerAction   = 0x5,          // trigger stored actions
00036     instructionReset           = 0x6,          // changes ALL control table vaalues to factory default
00037     instructionSyncWrite       = 0x83          // write to many servos at once
00038 };
00039 
00040 
00041 enum StatusCodes
00042 {
00043     statusValid       = 0x80,       // REVIEW: Not in spec. I am overloading this for Ping, such that a 0 return value = unit not found
00044     instructionError  = 0x40,
00045     overloadError     = 0x20,
00046     checksumError     = 0x10,
00047     rangeError        = 0x08,
00048     overheatingError  = 0x04,
00049     angleLimitError   = 0x02,
00050     inputVoltageError = 0x01
00051 };
00052 
00053 typedef unsigned char StatusCode;
00054 
00055 typedef vector<unsigned char> CommBuffer;
00056 
00057 typedef unsigned char ServoId;
00058 
00059 typedef pair< ServoId, CommBuffer > SyncIdDataPair;
00060     
00061 class DynamixelBus
00062 {
00063 public:
00064     DynamixelBus( PinName txUartPin, PinName rxUartPin, PinName txSelectPin, PinName rxSelectPin, int baud );
00065     
00066     StatusCode  Ping( ServoId id );
00067     StatusCode  Read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data );
00068     StatusCode  Write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite );
00069     StatusCode  WriteAction( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite );
00070     void        TriggerAction( ServoId id );
00071     StatusCode  HardReset( ServoId id );
00072     StatusCode  SyncWrite( unsigned char controlTableStart, unsigned char bytesToWrite, vector<SyncIdDataPair>& data );
00073 
00074 private:
00075     unsigned char CalculateTxPacketChecksum( CommBuffer& packet );
00076     StatusCode send_ping( ServoId id );
00077     StatusCode send_write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite );
00078     StatusCode send_read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data );
00079         
00080 private:
00081     Serial      _uart;      // The uart the servos live on.
00082     DigitalOut _txSelect;   // Turn on to enable the tri-state buffer before sending data over the bus. Turn off when data has been sent.
00083     DigitalOut _rxSelect;   // Turn on to enable the tri-state buffer before receiving data over the bus. Turn off when data has been received.
00084     
00085     float _replyDelay;      // The delay time between command being sent and response being sent by the servo.
00086     int _baud;              // baud of all connected servos
00087     float _responseTimeout;
00088 };
00089 
00090 #endif // __DYNAMIXEL_BUS_H__