Diff: Protocol.h

Revision:

0:ea5b951002cf

Child:

1:5f537df9dca8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol.h	Sun Sep 09 22:09:00 2012 +0000
@@ -0,0 +1,124 @@
+/* Dynamixel MX28 servo library
+ * Copyright (c) 2012 Georgios Petrou, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+ * and associated documentation files (the "Software"), to deal in the Software without restriction, 
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or 
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+ 
+#ifndef PROTOCOL_H
+#define PROTOCOL_H
+
+#include "mbed.h"
+
+#define MX28_BUFFER_SIZE            0x8F
+
+#define MX28_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS   200
+
+#define MX28_PROTOCOL_HEADER_0      0xFF
+#define MX28_PROTOCOL_HEADER_1      0xFF
+
+#define MX28_PROTOCOL_BROADCAST_ID  0xFE
+
+// EEPROM Area
+#define MX28_MODEL_NUMBER_L         0x00
+#define MX28_MODEL_NUMBER_H         0x01
+#define MX28_VERSION                0x02
+#define MX28_ID                     0x03
+#define MX28_BAUD_RATE              0x04
+#define MX28_RETURN_DELAY_TIME      0x05
+#define MX28_CW_ANGLE_LIMIT_L       0x06
+#define MX28_CW_ANGLE_LIMIT_H       0x07
+#define MX28_CCW_ANGLE_LIMIT_L      0x08
+#define MX28_CCW_ANGLE_LIMIT_H      0x09
+#define MX28_UP_LIMIT_TEMPERATURE   0x0B
+#define MX28_DOWN_LIMIT_VOLTAGE     0x0C
+#define MX28_UP_LIMIT_VOLTAGE       0x0D
+#define MX28_MAX_TORQUE_L           0x0E
+#define MX28_MAX_TORQUE_H           0x0F
+#define MX28_STATUS_RETURN_LEVEL    0x10
+#define MX28_ALARM_LED              0x11
+#define MX28_ALARM_SHUTDOWN         0x12
+
+// RAM Area
+#define MX28_TORQUE_ENABLE          0x18
+#define MX28_LED_ENABLE             0x19
+#define MX28_D_GAIN                 0x1A
+#define MX28_I_GAIN                 0x1B
+#define MX28_P_GAIN                 0x1C
+#define MX28_GOAL_POSITION_L        0x1E
+#define MX28_GOAL_POSITION_H        0x1F
+#define MX28_MOVING_SPEED_L         0x20
+#define MX28_MOVING_SPEED_H         0x21
+#define MX28_TORQUE_LIMIT_L         0x22
+#define MX28_TORQUE_LIMIT_H         0x23
+#define MX28_PRESENT_POSITION_L     0x24
+#define MX28_PRESENT_POSITION_H     0x25
+#define MX28_PRESENT_SPEED_L        0x26
+#define MX28_PRESENT_SPEED_H        0x27
+#define MX28_PRESENT_LOAD_L         0x28
+#define MX28_PRESENT_LOAD_H         0x29
+#define MX28_PRESENT_VOLTAGE        0x2A
+#define MX28_PRESENT_TEMPERATURE    0x2B
+#define MX28_REGISTERED_INSTRUCTION 0x2C
+#define MX28_MOVING                 0x3E
+#define MX28_LOCK                   0x2F
+#define MX28_PUNCH_L                0x30
+#define MX28_PUNCH_H                0x31
+
+// Instruction set 
+#define MX28_PING                   0x01
+#define MX28_READ_DATA              0x02
+#define MX28_WRITE_DATA             0x03
+#define MX28_REG_WRITE              0x04
+#define MX28_ACTION                 0x05
+#define MX28_RESET                  0x06
+#define MX28_SYNC_WRITE             0x83
+
+// Errors
+#define MX28_ERRBIT_NONE            0x00
+#define MX28_ERRBIT_VOLTAGE         0x01
+#define MX28_ERRBIT_ANGLE           0x02
+#define MX28_ERRBIT_OVERHEAT        0x04
+#define MX28_ERRBIT_RANGE           0x08
+#define MX28_ERRBIT_CHECKSUM        0x10
+#define MX28_ERRBIT_OVERLOAD        0x20
+#define MX28_ERRBIT_INSTRUCTION     0x40
+
+// Extra errors
+#define MX28_ERRBIT_WRITE_TIMEOUT   0xFD
+#define MX28_ERRBIT_READ_TIMEOUT    0xFE
+#define MX28_ERRBIT_MASTER_CHECKSUM 0xFF
+
+struct MX28_PROTOCOL_PACKET
+{
+    uint8_t servoId;
+    uint8_t length;    
+    uint8_t instructionErrorId;   
+    uint8_t parameter[MX28_BUFFER_SIZE];
+    uint8_t checkSum;
+};
+
+enum MX28_PROTOCOL_ENCODER_DECODER_STATE
+{
+    WAIT_ON_HEADER_0,
+    WAIT_ON_HEADER_1,
+    WAIT_ON_ADDRESSED_NODE_ID,   
+    WAIT_ON_LENGTH,
+    WAIT_ON_INSTRUCTION_ERROR_ID,
+    WAIT_ON_PARAMETER,
+    WAIT_ON_CHECK_SUM
+};
+
+#endif // PROTOCOL_H 
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