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Dependencies:   mbed

AX12.cpp@0:5de67898f1cc, 2010-12-14 (annotated)

Committer:
DrCyberBob
Date:
Tue Dec 14 15:08:27 2010 +0000
Revision:
0:5de67898f1cc
Update to use constant for the servo ID (Robotis Servos default to 1)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrCyberBob 0:5de67898f1cc 1 /* mbed AX-12+ Servo Library
DrCyberBob 0:5de67898f1cc 2 *
DrCyberBob 0:5de67898f1cc 3 * Copyright (c) 2010, cstyles (http://mbed.org)
DrCyberBob 0:5de67898f1cc 4 *
DrCyberBob 0:5de67898f1cc 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
DrCyberBob 0:5de67898f1cc 6 * of this software and associated documentation files (the "Software"), to deal
DrCyberBob 0:5de67898f1cc 7 * in the Software without restriction, including without limitation the rights
DrCyberBob 0:5de67898f1cc 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DrCyberBob 0:5de67898f1cc 9 * copies of the Software, and to permit persons to whom the Software is
DrCyberBob 0:5de67898f1cc 10 * furnished to do so, subject to the following conditions:
DrCyberBob 0:5de67898f1cc 11 *
DrCyberBob 0:5de67898f1cc 12 * The above copyright notice and this permission notice shall be included in
DrCyberBob 0:5de67898f1cc 13 * all copies or substantial portions of the Software.
DrCyberBob 0:5de67898f1cc 14 *
DrCyberBob 0:5de67898f1cc 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DrCyberBob 0:5de67898f1cc 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DrCyberBob 0:5de67898f1cc 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DrCyberBob 0:5de67898f1cc 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DrCyberBob 0:5de67898f1cc 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DrCyberBob 0:5de67898f1cc 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
DrCyberBob 0:5de67898f1cc 21 * THE SOFTWARE.
DrCyberBob 0:5de67898f1cc 22 */
DrCyberBob 0:5de67898f1cc 23
DrCyberBob 0:5de67898f1cc 24 #include "AX12.h"
DrCyberBob 0:5de67898f1cc 25 #include "mbed.h"
DrCyberBob 0:5de67898f1cc 26
DrCyberBob 0:5de67898f1cc 27 AX12::AX12(PinName tx, PinName rx, int ID)
DrCyberBob 0:5de67898f1cc 28 : _ax12(tx,rx) {
DrCyberBob 0:5de67898f1cc 29
DrCyberBob 0:5de67898f1cc 30 _ax12.baud(1000000);
DrCyberBob 0:5de67898f1cc 31 _ID = ID;
DrCyberBob 0:5de67898f1cc 32 }
DrCyberBob 0:5de67898f1cc 33
DrCyberBob 0:5de67898f1cc 34 // return 1 is the servo is still in flight
DrCyberBob 0:5de67898f1cc 35 int AX12::isMoving(void) {
DrCyberBob 0:5de67898f1cc 36
DrCyberBob 0:5de67898f1cc 37 char data[1];
DrCyberBob 0:5de67898f1cc 38 printf( "in is moving ....");
DrCyberBob 0:5de67898f1cc 39 read(_ID,AX12_REG_MOVING,1,data);
DrCyberBob 0:5de67898f1cc 40 return(data[0]);
DrCyberBob 0:5de67898f1cc 41 }
DrCyberBob 0:5de67898f1cc 42
DrCyberBob 0:5de67898f1cc 43 // Set continuous rotation speed from -1 to 1
DrCyberBob 0:5de67898f1cc 44 int AX12::SetCRSpeed(float speed) {
DrCyberBob 0:5de67898f1cc 45
DrCyberBob 0:5de67898f1cc 46 // bit 10 = direction, 0 = CCW, 1=CW
DrCyberBob 0:5de67898f1cc 47 // bits 9-0 = Speed
DrCyberBob 0:5de67898f1cc 48 char data[2];
DrCyberBob 0:5de67898f1cc 49
DrCyberBob 0:5de67898f1cc 50 int goal = (0x3ff * abs(speed));
DrCyberBob 0:5de67898f1cc 51
DrCyberBob 0:5de67898f1cc 52 // Set direction CW if we have a negative speed
DrCyberBob 0:5de67898f1cc 53 if (speed < 0) {
DrCyberBob 0:5de67898f1cc 54 goal |= (0x1 << 10);
DrCyberBob 0:5de67898f1cc 55 }
DrCyberBob 0:5de67898f1cc 56
DrCyberBob 0:5de67898f1cc 57 data[0] = goal & 0xff; // bottom 8 bits
DrCyberBob 0:5de67898f1cc 58 data[1] = goal >> 8; // top 8 bits
DrCyberBob 0:5de67898f1cc 59
DrCyberBob 0:5de67898f1cc 60 // write the packet, return the error code
DrCyberBob 0:5de67898f1cc 61 int rVal = write(_ID, 0x20, 2, data);
DrCyberBob 0:5de67898f1cc 62
DrCyberBob 0:5de67898f1cc 63 return(rVal);
DrCyberBob 0:5de67898f1cc 64 }
DrCyberBob 0:5de67898f1cc 65
DrCyberBob 0:5de67898f1cc 66 // Set the mode of the servo
DrCyberBob 0:5de67898f1cc 67 // 0 = Positional (0-300 degrees)
DrCyberBob 0:5de67898f1cc 68 // 1 = Rotational -1 to 1 speed
DrCyberBob 0:5de67898f1cc 69 int AX12::SetMode(int mode) {
DrCyberBob 0:5de67898f1cc 70
DrCyberBob 0:5de67898f1cc 71 if (mode == 1) { // set CR
DrCyberBob 0:5de67898f1cc 72 SetCWLimit(0);
DrCyberBob 0:5de67898f1cc 73 SetCCWLimit(0);
DrCyberBob 0:5de67898f1cc 74 SetCRSpeed(0.0);
DrCyberBob 0:5de67898f1cc 75 } else {
DrCyberBob 0:5de67898f1cc 76 SetCWLimit(0);
DrCyberBob 0:5de67898f1cc 77 SetCCWLimit(300);
DrCyberBob 0:5de67898f1cc 78 SetCRSpeed(0.0);
DrCyberBob 0:5de67898f1cc 79 }
DrCyberBob 0:5de67898f1cc 80 return(0);
DrCyberBob 0:5de67898f1cc 81 }
DrCyberBob 0:5de67898f1cc 82
DrCyberBob 0:5de67898f1cc 83 float AX12::GetTemp (void) {
DrCyberBob 0:5de67898f1cc 84
DrCyberBob 0:5de67898f1cc 85 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 86 printf("\nGetTemp(%d)",_ID);
DrCyberBob 0:5de67898f1cc 87 }
DrCyberBob 0:5de67898f1cc 88 char data[1];
DrCyberBob 0:5de67898f1cc 89 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
DrCyberBob 0:5de67898f1cc 90 float temp = data[0];
DrCyberBob 0:5de67898f1cc 91 return(temp);
DrCyberBob 0:5de67898f1cc 92 }
DrCyberBob 0:5de67898f1cc 93
DrCyberBob 0:5de67898f1cc 94 float AX12::GetVolts (void) {
DrCyberBob 0:5de67898f1cc 95 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 96 printf("\nGetVolts(%d)",_ID);
DrCyberBob 0:5de67898f1cc 97 }
DrCyberBob 0:5de67898f1cc 98 char data[1];
DrCyberBob 0:5de67898f1cc 99 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
DrCyberBob 0:5de67898f1cc 100 float volts = data[0]/10.0;
DrCyberBob 0:5de67898f1cc 101 return(volts);
DrCyberBob 0:5de67898f1cc 102 }
DrCyberBob 0:5de67898f1cc 103
DrCyberBob 0:5de67898f1cc 104 void AX12::trigger(void) {
DrCyberBob 0:5de67898f1cc 105
DrCyberBob 0:5de67898f1cc 106 char TxBuf[16];
DrCyberBob 0:5de67898f1cc 107 char sum = 0;
DrCyberBob 0:5de67898f1cc 108
DrCyberBob 0:5de67898f1cc 109 if (AX12_TRIGGER_DEBUG) {
DrCyberBob 0:5de67898f1cc 110 printf("\nTriggered\n");
DrCyberBob 0:5de67898f1cc 111 }
DrCyberBob 0:5de67898f1cc 112
DrCyberBob 0:5de67898f1cc 113 // Build the TxPacket first in RAM, then we'll send in one go
DrCyberBob 0:5de67898f1cc 114 if (AX12_TRIGGER_DEBUG) {
DrCyberBob 0:5de67898f1cc 115 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
DrCyberBob 0:5de67898f1cc 116 }
DrCyberBob 0:5de67898f1cc 117
DrCyberBob 0:5de67898f1cc 118 TxBuf[0] = 0xFF;
DrCyberBob 0:5de67898f1cc 119 TxBuf[1] = 0xFF;
DrCyberBob 0:5de67898f1cc 120
DrCyberBob 0:5de67898f1cc 121 // ID - Broadcast
DrCyberBob 0:5de67898f1cc 122 TxBuf[2] = 0xFE;
DrCyberBob 0:5de67898f1cc 123 sum += TxBuf[2];
DrCyberBob 0:5de67898f1cc 124
DrCyberBob 0:5de67898f1cc 125 if (AX12_TRIGGER_DEBUG) {
DrCyberBob 0:5de67898f1cc 126 printf(" ID : %d\n",TxBuf[2]);
DrCyberBob 0:5de67898f1cc 127 }
DrCyberBob 0:5de67898f1cc 128
DrCyberBob 0:5de67898f1cc 129 // Length
DrCyberBob 0:5de67898f1cc 130 TxBuf[3] = 0x02;
DrCyberBob 0:5de67898f1cc 131 sum += TxBuf[3];
DrCyberBob 0:5de67898f1cc 132 if (AX12_TRIGGER_DEBUG) {
DrCyberBob 0:5de67898f1cc 133 printf(" Length %d\n",TxBuf[3]);
DrCyberBob 0:5de67898f1cc 134 }
DrCyberBob 0:5de67898f1cc 135
DrCyberBob 0:5de67898f1cc 136 // Instruction - ACTION
DrCyberBob 0:5de67898f1cc 137 TxBuf[4] = 0x04;
DrCyberBob 0:5de67898f1cc 138 sum += TxBuf[4];
DrCyberBob 0:5de67898f1cc 139 if (AX12_TRIGGER_DEBUG) {
DrCyberBob 0:5de67898f1cc 140 printf(" Instruction 0x%X\n",TxBuf[5]);
DrCyberBob 0:5de67898f1cc 141 }
DrCyberBob 0:5de67898f1cc 142
DrCyberBob 0:5de67898f1cc 143 // Checksum
DrCyberBob 0:5de67898f1cc 144 TxBuf[5] = 0xFF - sum;
DrCyberBob 0:5de67898f1cc 145 if (AX12_TRIGGER_DEBUG) {
DrCyberBob 0:5de67898f1cc 146 printf(" Checksum 0x%X\n",TxBuf[5]);
DrCyberBob 0:5de67898f1cc 147 }
DrCyberBob 0:5de67898f1cc 148
DrCyberBob 0:5de67898f1cc 149 // Transmit the packet in one burst with no pausing
DrCyberBob 0:5de67898f1cc 150 for (int i = 0; i < 6 ; i++) {
DrCyberBob 0:5de67898f1cc 151 _ax12.putc(TxBuf[i]);
DrCyberBob 0:5de67898f1cc 152 }
DrCyberBob 0:5de67898f1cc 153
DrCyberBob 0:5de67898f1cc 154 // This is a broadcast packet, so there will be no reply
DrCyberBob 0:5de67898f1cc 155
DrCyberBob 0:5de67898f1cc 156 return;
DrCyberBob 0:5de67898f1cc 157 }
DrCyberBob 0:5de67898f1cc 158
DrCyberBob 0:5de67898f1cc 159 int AX12::SetGoal(int degrees, int flags) {
DrCyberBob 0:5de67898f1cc 160
DrCyberBob 0:5de67898f1cc 161 // if flag[0] is set, were blocking
DrCyberBob 0:5de67898f1cc 162 // if flag[1] is set, we're registering
DrCyberBob 0:5de67898f1cc 163 // they are mutually exclusive operations
DrCyberBob 0:5de67898f1cc 164
DrCyberBob 0:5de67898f1cc 165 char reg_flag = 0;
DrCyberBob 0:5de67898f1cc 166
DrCyberBob 0:5de67898f1cc 167 char data[2];
DrCyberBob 0:5de67898f1cc 168
DrCyberBob 0:5de67898f1cc 169 // set the flag is only the register bit is set in the flag
DrCyberBob 0:5de67898f1cc 170 if (flags == 0x2) {
DrCyberBob 0:5de67898f1cc 171 reg_flag = 1;
DrCyberBob 0:5de67898f1cc 172 }
DrCyberBob 0:5de67898f1cc 173
DrCyberBob 0:5de67898f1cc 174 // 1023 / 300 * degrees
DrCyberBob 0:5de67898f1cc 175 short goal = (1023 * degrees) / 300;
DrCyberBob 0:5de67898f1cc 176 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 177 printf("SetGoal to 0x%x\n",goal);
DrCyberBob 0:5de67898f1cc 178 }
DrCyberBob 0:5de67898f1cc 179
DrCyberBob 0:5de67898f1cc 180 data[0] = goal & 0xff; // bottom 8 bits
DrCyberBob 0:5de67898f1cc 181 data[1] = goal >> 8; // top 8 bits
DrCyberBob 0:5de67898f1cc 182
DrCyberBob 0:5de67898f1cc 183 // write the packet, return the error code
DrCyberBob 0:5de67898f1cc 184 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
DrCyberBob 0:5de67898f1cc 185
DrCyberBob 0:5de67898f1cc 186 if (flags == 1) {
DrCyberBob 0:5de67898f1cc 187 // block until it comes to a halt
DrCyberBob 0:5de67898f1cc 188 while (isMoving()) {}
DrCyberBob 0:5de67898f1cc 189 }
DrCyberBob 0:5de67898f1cc 190
DrCyberBob 0:5de67898f1cc 191 return(rVal);
DrCyberBob 0:5de67898f1cc 192
DrCyberBob 0:5de67898f1cc 193 }
DrCyberBob 0:5de67898f1cc 194
DrCyberBob 0:5de67898f1cc 195 float AX12::GetPosition(void) {
DrCyberBob 0:5de67898f1cc 196
DrCyberBob 0:5de67898f1cc 197 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 198 printf("\nGetPosition(%d)",_ID);
DrCyberBob 0:5de67898f1cc 199 }
DrCyberBob 0:5de67898f1cc 200
DrCyberBob 0:5de67898f1cc 201 char data[2];
DrCyberBob 0:5de67898f1cc 202
DrCyberBob 0:5de67898f1cc 203 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
DrCyberBob 0:5de67898f1cc 204 short position = data[0] + (data[1] << 8);
DrCyberBob 0:5de67898f1cc 205 float angle = (position * 300)/1024;
DrCyberBob 0:5de67898f1cc 206
DrCyberBob 0:5de67898f1cc 207 return (angle);
DrCyberBob 0:5de67898f1cc 208 }
DrCyberBob 0:5de67898f1cc 209
DrCyberBob 0:5de67898f1cc 210 int AX12::SetCWLimit (int degrees) {
DrCyberBob 0:5de67898f1cc 211
DrCyberBob 0:5de67898f1cc 212 char data[2];
DrCyberBob 0:5de67898f1cc 213
DrCyberBob 0:5de67898f1cc 214 // 1023 / 300 * degrees
DrCyberBob 0:5de67898f1cc 215 short limit = (1023 * degrees) / 300;
DrCyberBob 0:5de67898f1cc 216
DrCyberBob 0:5de67898f1cc 217 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 218 printf("SetCWLimit to 0x%x\n",limit);
DrCyberBob 0:5de67898f1cc 219 }
DrCyberBob 0:5de67898f1cc 220
DrCyberBob 0:5de67898f1cc 221 data[0] = limit & 0xff; // bottom 8 bits
DrCyberBob 0:5de67898f1cc 222 data[1] = limit >> 8; // top 8 bits
DrCyberBob 0:5de67898f1cc 223
DrCyberBob 0:5de67898f1cc 224 // write the packet, return the error code
DrCyberBob 0:5de67898f1cc 225 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
DrCyberBob 0:5de67898f1cc 226
DrCyberBob 0:5de67898f1cc 227 }
DrCyberBob 0:5de67898f1cc 228
DrCyberBob 0:5de67898f1cc 229 int AX12::SetCCWLimit (int degrees) {
DrCyberBob 0:5de67898f1cc 230
DrCyberBob 0:5de67898f1cc 231 char data[2];
DrCyberBob 0:5de67898f1cc 232
DrCyberBob 0:5de67898f1cc 233 // 1023 / 300 * degrees
DrCyberBob 0:5de67898f1cc 234 short limit = (1023 * degrees) / 300;
DrCyberBob 0:5de67898f1cc 235
DrCyberBob 0:5de67898f1cc 236 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 237 printf("SetCCWLimit to 0x%x\n",limit);
DrCyberBob 0:5de67898f1cc 238 }
DrCyberBob 0:5de67898f1cc 239
DrCyberBob 0:5de67898f1cc 240 data[0] = limit & 0xff; // bottom 8 bits
DrCyberBob 0:5de67898f1cc 241 data[1] = limit >> 8; // top 8 bits
DrCyberBob 0:5de67898f1cc 242
DrCyberBob 0:5de67898f1cc 243 // write the packet, return the error code
DrCyberBob 0:5de67898f1cc 244 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
DrCyberBob 0:5de67898f1cc 245 }
DrCyberBob 0:5de67898f1cc 246
DrCyberBob 0:5de67898f1cc 247 int AX12::SetID (int CurrentID, int NewID) {
DrCyberBob 0:5de67898f1cc 248
DrCyberBob 0:5de67898f1cc 249 char data[1];
DrCyberBob 0:5de67898f1cc 250 data[0] = NewID;
DrCyberBob 0:5de67898f1cc 251 if (AX12_DEBUG) {
DrCyberBob 0:5de67898f1cc 252 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
DrCyberBob 0:5de67898f1cc 253 }
DrCyberBob 0:5de67898f1cc 254 return (write(CurrentID, AX12_REG_ID, 1, data));
DrCyberBob 0:5de67898f1cc 255
DrCyberBob 0:5de67898f1cc 256 }
DrCyberBob 0:5de67898f1cc 257
DrCyberBob 0:5de67898f1cc 258
DrCyberBob 0:5de67898f1cc 259 int AX12::read(int ID, int start, int bytes, char* data) {
DrCyberBob 0:5de67898f1cc 260
DrCyberBob 0:5de67898f1cc 261 char PacketLength = 0x4;
DrCyberBob 0:5de67898f1cc 262 char TxBuf[16];
DrCyberBob 0:5de67898f1cc 263 char sum = 0;
DrCyberBob 0:5de67898f1cc 264 char Status[16];
DrCyberBob 0:5de67898f1cc 265
DrCyberBob 0:5de67898f1cc 266 Status[4] = 0xFE; // return code
DrCyberBob 0:5de67898f1cc 267
DrCyberBob 0:5de67898f1cc 268 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 269 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
DrCyberBob 0:5de67898f1cc 270 }
DrCyberBob 0:5de67898f1cc 271
DrCyberBob 0:5de67898f1cc 272 // Build the TxPacket first in RAM, then we'll send in one go
DrCyberBob 0:5de67898f1cc 273 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 274 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
DrCyberBob 0:5de67898f1cc 275 }
DrCyberBob 0:5de67898f1cc 276
DrCyberBob 0:5de67898f1cc 277 TxBuf[0] = 0xff;
DrCyberBob 0:5de67898f1cc 278 TxBuf[1] = 0xff;
DrCyberBob 0:5de67898f1cc 279
DrCyberBob 0:5de67898f1cc 280 // ID
DrCyberBob 0:5de67898f1cc 281 TxBuf[2] = ID;
DrCyberBob 0:5de67898f1cc 282 sum += TxBuf[2];
DrCyberBob 0:5de67898f1cc 283 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 284 printf(" ID : %d\n",TxBuf[2]);
DrCyberBob 0:5de67898f1cc 285 }
DrCyberBob 0:5de67898f1cc 286
DrCyberBob 0:5de67898f1cc 287 // Packet Length
DrCyberBob 0:5de67898f1cc 288 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
DrCyberBob 0:5de67898f1cc 289 sum += TxBuf[3]; // Accululate the packet sum
DrCyberBob 0:5de67898f1cc 290 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 291 printf(" Length : 0x%x\n",TxBuf[3]);
DrCyberBob 0:5de67898f1cc 292 }
DrCyberBob 0:5de67898f1cc 293
DrCyberBob 0:5de67898f1cc 294 // Instruction - Read
DrCyberBob 0:5de67898f1cc 295 TxBuf[4] = 0x2;
DrCyberBob 0:5de67898f1cc 296 sum += TxBuf[4];
DrCyberBob 0:5de67898f1cc 297 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 298 printf(" Instruction : 0x%x\n",TxBuf[4]);
DrCyberBob 0:5de67898f1cc 299 }
DrCyberBob 0:5de67898f1cc 300
DrCyberBob 0:5de67898f1cc 301 // Start Address
DrCyberBob 0:5de67898f1cc 302 TxBuf[5] = start;
DrCyberBob 0:5de67898f1cc 303 sum += TxBuf[5];
DrCyberBob 0:5de67898f1cc 304 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 305 printf(" Start Address : 0x%x\n",TxBuf[5]);
DrCyberBob 0:5de67898f1cc 306 }
DrCyberBob 0:5de67898f1cc 307
DrCyberBob 0:5de67898f1cc 308 // Bytes to read
DrCyberBob 0:5de67898f1cc 309 TxBuf[6] = bytes;
DrCyberBob 0:5de67898f1cc 310 sum += TxBuf[6];
DrCyberBob 0:5de67898f1cc 311 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 312 printf(" No bytes : 0x%x\n",TxBuf[6]);
DrCyberBob 0:5de67898f1cc 313 }
DrCyberBob 0:5de67898f1cc 314
DrCyberBob 0:5de67898f1cc 315 // Checksum
DrCyberBob 0:5de67898f1cc 316 TxBuf[7] = 0xFF - sum;
DrCyberBob 0:5de67898f1cc 317 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 318 printf(" Checksum : 0x%x\n",TxBuf[7]);
DrCyberBob 0:5de67898f1cc 319 }
DrCyberBob 0:5de67898f1cc 320
DrCyberBob 0:5de67898f1cc 321 // Transmit the packet in one burst with no pausing
DrCyberBob 0:5de67898f1cc 322 for (int i = 0; i<8 ; i++) {
DrCyberBob 0:5de67898f1cc 323 _ax12.putc(TxBuf[i]);
DrCyberBob 0:5de67898f1cc 324 }
DrCyberBob 0:5de67898f1cc 325
DrCyberBob 0:5de67898f1cc 326 // Wait for the bytes to be transmitted
DrCyberBob 0:5de67898f1cc 327 wait (0.00002);
DrCyberBob 0:5de67898f1cc 328
DrCyberBob 0:5de67898f1cc 329 // Skip if the read was to the broadcast address
DrCyberBob 0:5de67898f1cc 330 if (_ID != 0xFE) {
DrCyberBob 0:5de67898f1cc 331
DrCyberBob 0:5de67898f1cc 332 // Receive the Status packet 6+ number of bytes read
DrCyberBob 0:5de67898f1cc 333 for (int i=0; i<(6+bytes) ; i++) {
DrCyberBob 0:5de67898f1cc 334 Status[i] = _ax12.getc();
DrCyberBob 0:5de67898f1cc 335 }
DrCyberBob 0:5de67898f1cc 336
DrCyberBob 0:5de67898f1cc 337 // Copy the data from Status into data for return
DrCyberBob 0:5de67898f1cc 338 for (int i=0; i < Status[3]-2 ; i++) {
DrCyberBob 0:5de67898f1cc 339 data[i] = Status[5+i];
DrCyberBob 0:5de67898f1cc 340 }
DrCyberBob 0:5de67898f1cc 341
DrCyberBob 0:5de67898f1cc 342 if (AX12_READ_DEBUG) {
DrCyberBob 0:5de67898f1cc 343 printf("\nStatus Packet\n");
DrCyberBob 0:5de67898f1cc 344 printf(" Header : 0x%x\n",Status[0]);
DrCyberBob 0:5de67898f1cc 345 printf(" Header : 0x%x\n",Status[1]);
DrCyberBob 0:5de67898f1cc 346 printf(" ID : 0x%x\n",Status[2]);
DrCyberBob 0:5de67898f1cc 347 printf(" Length : 0x%x\n",Status[3]);
DrCyberBob 0:5de67898f1cc 348 printf(" Error Code : 0x%x\n",Status[4]);
DrCyberBob 0:5de67898f1cc 349
DrCyberBob 0:5de67898f1cc 350 for (int i=0; i < Status[3]-2 ; i++) {
DrCyberBob 0:5de67898f1cc 351 printf(" Data : 0x%x\n",Status[5+i]);
DrCyberBob 0:5de67898f1cc 352 }
DrCyberBob 0:5de67898f1cc 353
DrCyberBob 0:5de67898f1cc 354 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
DrCyberBob 0:5de67898f1cc 355 }
DrCyberBob 0:5de67898f1cc 356
DrCyberBob 0:5de67898f1cc 357 } // if (ID!=0xFE)
DrCyberBob 0:5de67898f1cc 358
DrCyberBob 0:5de67898f1cc 359 return(Status[4]);
DrCyberBob 0:5de67898f1cc 360 }
DrCyberBob 0:5de67898f1cc 361
DrCyberBob 0:5de67898f1cc 362 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
DrCyberBob 0:5de67898f1cc 363
DrCyberBob 0:5de67898f1cc 364 // number of bytes in packet
DrCyberBob 0:5de67898f1cc 365 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
DrCyberBob 0:5de67898f1cc 366 // 7 + bytes
DrCyberBob 0:5de67898f1cc 367
DrCyberBob 0:5de67898f1cc 368 char TxBuf[16];
DrCyberBob 0:5de67898f1cc 369 char sum = 0;
DrCyberBob 0:5de67898f1cc 370 char Status[6];
DrCyberBob 0:5de67898f1cc 371
DrCyberBob 0:5de67898f1cc 372 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 373 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
DrCyberBob 0:5de67898f1cc 374 }
DrCyberBob 0:5de67898f1cc 375
DrCyberBob 0:5de67898f1cc 376 // Build the TxPacket first in RAM, then we'll send in one go
DrCyberBob 0:5de67898f1cc 377 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 378 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
DrCyberBob 0:5de67898f1cc 379 }
DrCyberBob 0:5de67898f1cc 380
DrCyberBob 0:5de67898f1cc 381 TxBuf[0] = 0xff;
DrCyberBob 0:5de67898f1cc 382 TxBuf[1] = 0xff;
DrCyberBob 0:5de67898f1cc 383
DrCyberBob 0:5de67898f1cc 384 // ID
DrCyberBob 0:5de67898f1cc 385 TxBuf[2] = ID;
DrCyberBob 0:5de67898f1cc 386 sum += TxBuf[2];
DrCyberBob 0:5de67898f1cc 387
DrCyberBob 0:5de67898f1cc 388 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 389 printf(" ID : %d\n",TxBuf[2]);
DrCyberBob 0:5de67898f1cc 390 }
DrCyberBob 0:5de67898f1cc 391
DrCyberBob 0:5de67898f1cc 392 // packet Length
DrCyberBob 0:5de67898f1cc 393 TxBuf[3] = 3+bytes;
DrCyberBob 0:5de67898f1cc 394 sum += TxBuf[3];
DrCyberBob 0:5de67898f1cc 395
DrCyberBob 0:5de67898f1cc 396 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 397 printf(" Length : %d\n",TxBuf[3]);
DrCyberBob 0:5de67898f1cc 398 }
DrCyberBob 0:5de67898f1cc 399
DrCyberBob 0:5de67898f1cc 400 // Instruction
DrCyberBob 0:5de67898f1cc 401 if (flag == 1) {
DrCyberBob 0:5de67898f1cc 402 TxBuf[4]=0x04;
DrCyberBob 0:5de67898f1cc 403 sum += TxBuf[4];
DrCyberBob 0:5de67898f1cc 404 } else {
DrCyberBob 0:5de67898f1cc 405 TxBuf[4]=0x03;
DrCyberBob 0:5de67898f1cc 406 sum += TxBuf[4];
DrCyberBob 0:5de67898f1cc 407 }
DrCyberBob 0:5de67898f1cc 408
DrCyberBob 0:5de67898f1cc 409 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 410 printf(" Instruction : 0x%x\n",TxBuf[4]);
DrCyberBob 0:5de67898f1cc 411 }
DrCyberBob 0:5de67898f1cc 412
DrCyberBob 0:5de67898f1cc 413 // Start Address
DrCyberBob 0:5de67898f1cc 414 TxBuf[5] = start;
DrCyberBob 0:5de67898f1cc 415 sum += TxBuf[5];
DrCyberBob 0:5de67898f1cc 416 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 417 printf(" Start : 0x%x\n",TxBuf[5]);
DrCyberBob 0:5de67898f1cc 418 }
DrCyberBob 0:5de67898f1cc 419
DrCyberBob 0:5de67898f1cc 420 // data
DrCyberBob 0:5de67898f1cc 421 for (char i=0; i<bytes ; i++) {
DrCyberBob 0:5de67898f1cc 422 TxBuf[6+i] = data[i];
DrCyberBob 0:5de67898f1cc 423 sum += TxBuf[6+i];
DrCyberBob 0:5de67898f1cc 424 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 425 printf(" Data : 0x%x\n",TxBuf[6+i]);
DrCyberBob 0:5de67898f1cc 426 }
DrCyberBob 0:5de67898f1cc 427 }
DrCyberBob 0:5de67898f1cc 428
DrCyberBob 0:5de67898f1cc 429 // checksum
DrCyberBob 0:5de67898f1cc 430 TxBuf[6+bytes] = 0xFF - sum;
DrCyberBob 0:5de67898f1cc 431 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 432 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
DrCyberBob 0:5de67898f1cc 433 }
DrCyberBob 0:5de67898f1cc 434
DrCyberBob 0:5de67898f1cc 435
DrCyberBob 0:5de67898f1cc 436 // Transmit the packet in one burst with no pausing
DrCyberBob 0:5de67898f1cc 437 for (int i = 0; i < (7 + bytes) ; i++) {
DrCyberBob 0:5de67898f1cc 438 _ax12.putc(TxBuf[i]);
DrCyberBob 0:5de67898f1cc 439 }
DrCyberBob 0:5de67898f1cc 440
DrCyberBob 0:5de67898f1cc 441
DrCyberBob 0:5de67898f1cc 442 // Wait for data to transmit
DrCyberBob 0:5de67898f1cc 443 wait (0.00002);
DrCyberBob 0:5de67898f1cc 444
DrCyberBob 0:5de67898f1cc 445 // make sure we have a valid return
DrCyberBob 0:5de67898f1cc 446 Status[4]=0x00;
DrCyberBob 0:5de67898f1cc 447
DrCyberBob 0:5de67898f1cc 448 // we'll only get a reply if it was not broadcast
DrCyberBob 0:5de67898f1cc 449 if (_ID!=0xFE) {
DrCyberBob 0:5de67898f1cc 450
DrCyberBob 0:5de67898f1cc 451 // response is always 6 bytes
DrCyberBob 0:5de67898f1cc 452 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
DrCyberBob 0:5de67898f1cc 453 for (int i=0; i < 6 ; i++) {
DrCyberBob 0:5de67898f1cc 454 Status[i] = _ax12.getc();
DrCyberBob 0:5de67898f1cc 455 }
DrCyberBob 0:5de67898f1cc 456
DrCyberBob 0:5de67898f1cc 457 // Build the TxPacket first in RAM, then we'll send in one go
DrCyberBob 0:5de67898f1cc 458 if (AX12_WRITE_DEBUG) {
DrCyberBob 0:5de67898f1cc 459 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
DrCyberBob 0:5de67898f1cc 460 printf(" ID : %d\n",Status[2]);
DrCyberBob 0:5de67898f1cc 461 printf(" Length : %d\n",Status[3]);
DrCyberBob 0:5de67898f1cc 462 printf(" Error : 0x%x\n",Status[4]);
DrCyberBob 0:5de67898f1cc 463 printf(" Checksum : 0x%x\n",Status[5]);
DrCyberBob 0:5de67898f1cc 464 }
DrCyberBob 0:5de67898f1cc 465
DrCyberBob 0:5de67898f1cc 466
DrCyberBob 0:5de67898f1cc 467 }
DrCyberBob 0:5de67898f1cc 468
DrCyberBob 0:5de67898f1cc 469 return(Status[4]); // return error code
DrCyberBob 0:5de67898f1cc 470 }