Panda House / Mbed 2 deprecated mbed_RS30X_Program_sample

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Dependencies:   mbed

main.cpp@0:6d54a81f6e58, 2011-12-01 (annotated)

Committer:
PandaHouse
Date:
Thu Dec 01 08:38:18 2011 +0000
Revision:
0:6d54a81f6e58
Child:
1:b9dfa2be76db
Futaba RS30X RS485 sample

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PandaHouse 0:6d54a81f6e58 1 #include "mbed.h"
PandaHouse 0:6d54a81f6e58 2 Serial device(p9, p10); // tx = P9, rx = P10
PandaHouse 0:6d54a81f6e58 3 DigitalOut REDE(p11); // RS485 Transmit Enable
PandaHouse 0:6d54a81f6e58 4 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 5 /* Funcyion : mbed initialize */
PandaHouse 0:6d54a81f6e58 6 /* NAME : init */
PandaHouse 0:6d54a81f6e58 7 /* Argument : --- */
PandaHouse 0:6d54a81f6e58 8 /* Return value : --- */
PandaHouse 0:6d54a81f6e58 9 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 10 void init(void){
PandaHouse 0:6d54a81f6e58 11 device.baud(115200); // baud Rate = 115.2kbps [Futaba default]
PandaHouse 0:6d54a81f6e58 12 REDE = 0; // RS485 Transmit disable
PandaHouse 0:6d54a81f6e58 13 }
PandaHouse 0:6d54a81f6e58 14 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 15 /* Funcyion : servo torque enable */
PandaHouse 0:6d54a81f6e58 16 /* NAME : torque */
PandaHouse 0:6d54a81f6e58 17 /* Argument : ID (Servo ID) */
PandaHouse 0:6d54a81f6e58 18 /* : data (Torque enable) */
PandaHouse 0:6d54a81f6e58 19 /* Return value : --- */
PandaHouse 0:6d54a81f6e58 20 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 21 void torque (unsigned char ID, unsigned char data){
PandaHouse 0:6d54a81f6e58 22
PandaHouse 0:6d54a81f6e58 23 unsigned char TxData[9]; // TransmitByteData [9byte]
PandaHouse 0:6d54a81f6e58 24 unsigned char CheckSum = 0; // CheckSum calculation
PandaHouse 0:6d54a81f6e58 25
PandaHouse 0:6d54a81f6e58 26 TxData[0] = 0xFA; // Header
PandaHouse 0:6d54a81f6e58 27 TxData[1] = 0xAF; // Header
PandaHouse 0:6d54a81f6e58 28 TxData[2] = ID; // ID
PandaHouse 0:6d54a81f6e58 29 TxData[3] = 0x00; // Flags
PandaHouse 0:6d54a81f6e58 30 TxData[4] = 0x24; // Address
PandaHouse 0:6d54a81f6e58 31 TxData[5] = 0x01; // Length
PandaHouse 0:6d54a81f6e58 32 TxData[6] = 0x01; // Count
PandaHouse 0:6d54a81f6e58 33 TxData[7] = data; // Data
PandaHouse 0:6d54a81f6e58 34
PandaHouse 0:6d54a81f6e58 35 // CheckSum calculation
PandaHouse 0:6d54a81f6e58 36 for(int i=2; i<=7; i++){
PandaHouse 0:6d54a81f6e58 37 CheckSum = CheckSum ^ TxData[i]; // XOR from ID to Data
PandaHouse 0:6d54a81f6e58 38 }
PandaHouse 0:6d54a81f6e58 39
PandaHouse 0:6d54a81f6e58 40 TxData[8] = CheckSum; // Sum
PandaHouse 0:6d54a81f6e58 41
PandaHouse 0:6d54a81f6e58 42 // Send Packet
PandaHouse 0:6d54a81f6e58 43 REDE = 1; // RS485 Transmit Enable
PandaHouse 0:6d54a81f6e58 44 for(int i=0; i<=8; i++){
PandaHouse 0:6d54a81f6e58 45 device.putc(TxData[i]);
PandaHouse 0:6d54a81f6e58 46 }
PandaHouse 0:6d54a81f6e58 47 wait_us(250); // Wait for transmission
PandaHouse 0:6d54a81f6e58 48 REDE = 0; // RS485 Transmitt disable
PandaHouse 0:6d54a81f6e58 49 }
PandaHouse 0:6d54a81f6e58 50 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 51 /* Funcyion : servo goal position instruction */
PandaHouse 0:6d54a81f6e58 52 /* NAME : GoalPosition */
PandaHouse 0:6d54a81f6e58 53 /* Argument : ID (Servo ID) */
PandaHouse 0:6d54a81f6e58 54 /* : data (Goal Position) */
PandaHouse 0:6d54a81f6e58 55 /* Return value : --- */
PandaHouse 0:6d54a81f6e58 56 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 57 void GoalPosition (unsigned char ID, int data){
PandaHouse 0:6d54a81f6e58 58
PandaHouse 0:6d54a81f6e58 59 unsigned char TxData[10]; // TransmitByteData [10byte]
PandaHouse 0:6d54a81f6e58 60 unsigned char CheckSum = 0; // CheckSum calculation
PandaHouse 0:6d54a81f6e58 61
PandaHouse 0:6d54a81f6e58 62 TxData[0] = 0xFA; // Header
PandaHouse 0:6d54a81f6e58 63 TxData[1] = 0xAF; // Header
PandaHouse 0:6d54a81f6e58 64 TxData[2] = ID; // ID
PandaHouse 0:6d54a81f6e58 65 TxData[3] = 0x00; // Flags
PandaHouse 0:6d54a81f6e58 66 TxData[4] = 0x1E; // Address
PandaHouse 0:6d54a81f6e58 67 TxData[5] = 0x02; // Length
PandaHouse 0:6d54a81f6e58 68 TxData[6] = 0x01; // Count
PandaHouse 0:6d54a81f6e58 69 // Data
PandaHouse 0:6d54a81f6e58 70 TxData[7] = (unsigned char)0x00FF & data; // Low byte
PandaHouse 0:6d54a81f6e58 71 TxData[8] = (unsigned char)0x00FF & (data >> 8); // Hi byte
PandaHouse 0:6d54a81f6e58 72
PandaHouse 0:6d54a81f6e58 73 // CheckSum calculation
PandaHouse 0:6d54a81f6e58 74 for(int i=2; i<=8; i++){
PandaHouse 0:6d54a81f6e58 75 CheckSum = CheckSum ^ TxData[i]; // XOR from ID to Data
PandaHouse 0:6d54a81f6e58 76 }
PandaHouse 0:6d54a81f6e58 77 TxData[9] = CheckSum; // Sum
PandaHouse 0:6d54a81f6e58 78 // Send Packet
PandaHouse 0:6d54a81f6e58 79 REDE = 1; // RS485 Transmitt Enable
PandaHouse 0:6d54a81f6e58 80 for(int i=0; i<=9; i++){
PandaHouse 0:6d54a81f6e58 81 device.putc(TxData[i]);
PandaHouse 0:6d54a81f6e58 82 }
PandaHouse 0:6d54a81f6e58 83 wait_us(250); // Wait for transmission
PandaHouse 0:6d54a81f6e58 84 REDE = 0; // RS485 Transmit disable
PandaHouse 0:6d54a81f6e58 85 }
PandaHouse 0:6d54a81f6e58 86 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 87 /* Funcyion : main program */
PandaHouse 0:6d54a81f6e58 88 /* NAME : main */
PandaHouse 0:6d54a81f6e58 89 /* Argument : --- */
PandaHouse 0:6d54a81f6e58 90 /* Return value : --- */
PandaHouse 0:6d54a81f6e58 91 /*-------------------------------------------------*/
PandaHouse 0:6d54a81f6e58 92 int main() {
PandaHouse 0:6d54a81f6e58 93 init(); // initialize
PandaHouse 0:6d54a81f6e58 94 torque(0x01, 0x01); // ID = 1(0x01) , torque = OFF (0x00)
PandaHouse 0:6d54a81f6e58 95 // torque = OFF(0x00), ON(0x01), BRAKE(0x02)
PandaHouse 0:6d54a81f6e58 96 wait(1); // wait (1sec)
PandaHouse 0:6d54a81f6e58 97 while(1){
PandaHouse 0:6d54a81f6e58 98 GoalPosition(0x01,300); // ID = 1(0x01) , GoalPosition = 30.0deg(300)
PandaHouse 0:6d54a81f6e58 99 wait(1); // wait (1sec)
PandaHouse 0:6d54a81f6e58 100 GoalPosition(0x01,-300);// ID = 1(0x01) , GoalPosition = -30.0deg(-300)
PandaHouse 0:6d54a81f6e58 101 wait(1); // wait (1sec)
PandaHouse 0:6d54a81f6e58 102 }
PandaHouse 0:6d54a81f6e58 103 }