Ricky Kwon / AX12

Fish Feeder

Fork of AX12 by Chris Styles

AX12.cpp@2:5ea99c37a2d7, 2011-04-10 (annotated)

Committer:
chris
Date:
Sun Apr 10 20:58:21 2011 +0000
Revision:
2:5ea99c37a2d7
Parent:
1:93ad80f5fde7
Child:
3:ced71d1b2558
Revised read/write function code to prevent hangs when a response packet is missed.

Converted debug statements to #ifdef statements

Added additional parameter to constructor to pass in baud rate

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"
chris 0:be51952765ec 26
chris 2:5ea99c37a2d7 27 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
chris 0:be51952765ec 28 : _ax12(tx,rx) {
chris 2:5ea99c37a2d7 29 _baud = baud;
chris 2:5ea99c37a2d7 30 _ID = ID;
chris 2:5ea99c37a2d7 31 _ax12.baud(_baud);
chris 0:be51952765ec 32
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 2:5ea99c37a2d7 68 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 69 printf("SetGoal to 0x%x\n",goal);
chris 2:5ea99c37a2d7 70 #endif
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
chris 0:be51952765ec 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 2:5ea99c37a2d7 113
chris 1:93ad80f5fde7 114 // 1023 / 300 * degrees
chris 1:93ad80f5fde7 115 short limit = (1023 * degrees) / 300;
chris 0:be51952765ec 116
chris 2:5ea99c37a2d7 117 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 118 printf("SetCWLimit to 0x%x\n",limit);
chris 2:5ea99c37a2d7 119 #endif
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 2:5ea99c37a2d7 136 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 137 printf("SetCCWLimit to 0x%x\n",limit);
chris 2:5ea99c37a2d7 138 #endif
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 2:5ea99c37a2d7 152
chris 2:5ea99c37a2d7 153 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 154 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
chris 2:5ea99c37a2d7 155 #endif
chris 2:5ea99c37a2d7 156
chris 1:93ad80f5fde7 157 return (write(CurrentID, AX12_REG_ID, 1, data));
chris 1:93ad80f5fde7 158
chris 0:be51952765ec 159 }
chris 0:be51952765ec 160
chris 1:93ad80f5fde7 161
chris 1:93ad80f5fde7 162 // return 1 is the servo is still in flight
chris 1:93ad80f5fde7 163 int AX12::isMoving(void) {
chris 1:93ad80f5fde7 164
chris 1:93ad80f5fde7 165 char data[1];
chris 1:93ad80f5fde7 166 read(_ID,AX12_REG_MOVING,1,data);
chris 1:93ad80f5fde7 167 return(data[0]);
chris 1:93ad80f5fde7 168 }
chris 1:93ad80f5fde7 169
chris 1:93ad80f5fde7 170
chris 0:be51952765ec 171 void AX12::trigger(void) {
chris 0:be51952765ec 172
chris 0:be51952765ec 173 char TxBuf[16];
chris 0:be51952765ec 174 char sum = 0;
chris 0:be51952765ec 175
chris 2:5ea99c37a2d7 176 #ifdef AX12_TRIGGER_DEBUG
chris 0:be51952765ec 177 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 178 printf("\nTriggered\n");
chris 2:5ea99c37a2d7 179 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
chris 2:5ea99c37a2d7 180 #endif
chris 0:be51952765ec 181
chris 0:be51952765ec 182 TxBuf[0] = 0xFF;
chris 0:be51952765ec 183 TxBuf[1] = 0xFF;
chris 0:be51952765ec 184
chris 0:be51952765ec 185 // ID - Broadcast
chris 0:be51952765ec 186 TxBuf[2] = 0xFE;
chris 0:be51952765ec 187 sum += TxBuf[2];
chris 0:be51952765ec 188
chris 2:5ea99c37a2d7 189 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 190 printf(" ID : %d\n",TxBuf[2]);
chris 2:5ea99c37a2d7 191 #endif
chris 0:be51952765ec 192
chris 0:be51952765ec 193 // Length
chris 0:be51952765ec 194 TxBuf[3] = 0x02;
chris 0:be51952765ec 195 sum += TxBuf[3];
chris 2:5ea99c37a2d7 196
chris 2:5ea99c37a2d7 197 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 198 printf(" Length %d\n",TxBuf[3]);
chris 2:5ea99c37a2d7 199 #endif
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 2:5ea99c37a2d7 204
chris 2:5ea99c37a2d7 205 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 206 printf(" Instruction 0x%X\n",TxBuf[5]);
chris 2:5ea99c37a2d7 207 #endif
chris 0:be51952765ec 208
chris 0:be51952765ec 209 // Checksum
chris 0:be51952765ec 210 TxBuf[5] = 0xFF - sum;
chris 2:5ea99c37a2d7 211 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 212 printf(" Checksum 0x%X\n",TxBuf[5]);
chris 2:5ea99c37a2d7 213 #endif
chris 0:be51952765ec 214
chris 0:be51952765ec 215 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 216 for (int i = 0; i < 6 ; i++) {
chris 0:be51952765ec 217 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 218 }
chris 1:93ad80f5fde7 219
chris 0:be51952765ec 220 // This is a broadcast packet, so there will be no reply
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 2:5ea99c37a2d7 227 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 228 printf("\nGetPosition(%d)",_ID);
chris 2:5ea99c37a2d7 229 #endif
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 2:5ea99c37a2d7 243 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 244 printf("\nGetTemp(%d)",_ID);
chris 2:5ea99c37a2d7 245 #endif
chris 2:5ea99c37a2d7 246
chris 1:93ad80f5fde7 247 char data[1];
chris 1:93ad80f5fde7 248 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
chris 1:93ad80f5fde7 249 float temp = data[0];
chris 1:93ad80f5fde7 250 return(temp);
chris 0:be51952765ec 251 }
chris 0:be51952765ec 252
chris 0:be51952765ec 253
chris 1:93ad80f5fde7 254 float AX12::GetVolts (void) {
chris 2:5ea99c37a2d7 255
chris 2:5ea99c37a2d7 256 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 257 printf("\nGetVolts(%d)",_ID);
chris 2:5ea99c37a2d7 258 #endif
chris 2:5ea99c37a2d7 259
chris 0:be51952765ec 260 char data[1];
chris 1:93ad80f5fde7 261 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
chris 1:93ad80f5fde7 262 float volts = data[0]/10.0;
chris 1:93ad80f5fde7 263 return(volts);
chris 0:be51952765ec 264 }
chris 0:be51952765ec 265
chris 0:be51952765ec 266
chris 0:be51952765ec 267 int AX12::read(int ID, int start, int bytes, char* data) {
chris 0:be51952765ec 268
chris 0:be51952765ec 269 char PacketLength = 0x4;
chris 0:be51952765ec 270 char TxBuf[16];
chris 0:be51952765ec 271 char sum = 0;
chris 0:be51952765ec 272 char Status[16];
chris 0:be51952765ec 273
chris 0:be51952765ec 274 Status[4] = 0xFE; // return code
chris 0:be51952765ec 275
chris 2:5ea99c37a2d7 276 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 277 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
chris 2:5ea99c37a2d7 278 #endif
chris 0:be51952765ec 279
chris 0:be51952765ec 280 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 281 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 282 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris 2:5ea99c37a2d7 283 #endif
chris 0:be51952765ec 284
chris 0:be51952765ec 285 TxBuf[0] = 0xff;
chris 0:be51952765ec 286 TxBuf[1] = 0xff;
chris 0:be51952765ec 287
chris 0:be51952765ec 288 // ID
chris 0:be51952765ec 289 TxBuf[2] = ID;
chris 0:be51952765ec 290 sum += TxBuf[2];
chris 2:5ea99c37a2d7 291
chris 2:5ea99c37a2d7 292 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 293 printf(" ID : %d\n",TxBuf[2]);
chris 2:5ea99c37a2d7 294 #endif
chris 0:be51952765ec 295
chris 0:be51952765ec 296 // Packet Length
chris 0:be51952765ec 297 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
chris 0:be51952765ec 298 sum += TxBuf[3]; // Accululate the packet sum
chris 2:5ea99c37a2d7 299
chris 2:5ea99c37a2d7 300 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 301 printf(" Length : 0x%x\n",TxBuf[3]);
chris 2:5ea99c37a2d7 302 #endif
chris 0:be51952765ec 303
chris 0:be51952765ec 304 // Instruction - Read
chris 0:be51952765ec 305 TxBuf[4] = 0x2;
chris 0:be51952765ec 306 sum += TxBuf[4];
chris 2:5ea99c37a2d7 307
chris 2:5ea99c37a2d7 308 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 309 printf(" Instruction : 0x%x\n",TxBuf[4]);
chris 2:5ea99c37a2d7 310 #endif
chris 0:be51952765ec 311
chris 0:be51952765ec 312 // Start Address
chris 0:be51952765ec 313 TxBuf[5] = start;
chris 0:be51952765ec 314 sum += TxBuf[5];
chris 2:5ea99c37a2d7 315
chris 2:5ea99c37a2d7 316 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 317 printf(" Start Address : 0x%x\n",TxBuf[5]);
chris 2:5ea99c37a2d7 318 #endif
chris 0:be51952765ec 319
chris 0:be51952765ec 320 // Bytes to read
chris 0:be51952765ec 321 TxBuf[6] = bytes;
chris 0:be51952765ec 322 sum += TxBuf[6];
chris 2:5ea99c37a2d7 323
chris 2:5ea99c37a2d7 324 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 325 printf(" No bytes : 0x%x\n",TxBuf[6]);
chris 2:5ea99c37a2d7 326 #endif
chris 0:be51952765ec 327
chris 0:be51952765ec 328 // Checksum
chris 0:be51952765ec 329 TxBuf[7] = 0xFF - sum;
chris 2:5ea99c37a2d7 330 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 331 printf(" Checksum : 0x%x\n",TxBuf[7]);
chris 2:5ea99c37a2d7 332 #endif
chris 0:be51952765ec 333
chris 0:be51952765ec 334 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 335 for (int i = 0; i<8 ; i++) {
chris 0:be51952765ec 336 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 337 }
chris 0:be51952765ec 338
chris 0:be51952765ec 339 // Wait for the bytes to be transmitted
chris 0:be51952765ec 340 wait (0.00002);
chris 0:be51952765ec 341
chris 0:be51952765ec 342 // Skip if the read was to the broadcast address
chris 0:be51952765ec 343 if (_ID != 0xFE) {
chris 0:be51952765ec 344
chris 2:5ea99c37a2d7 345
chris 2:5ea99c37a2d7 346
chris 2:5ea99c37a2d7 347 // response packet is always 6 + bytes
chris 2:5ea99c37a2d7 348 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
chris 2:5ea99c37a2d7 349 // timeout is a little more than the time to transmit
chris 2:5ea99c37a2d7 350 // the packet back, i.e. (6+bytes)*10 bit periods
chris 2:5ea99c37a2d7 351
chris 2:5ea99c37a2d7 352 int timeout = 0;
chris 2:5ea99c37a2d7 353 int plen = 0;
chris 2:5ea99c37a2d7 354 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
chris 2:5ea99c37a2d7 355
chris 2:5ea99c37a2d7 356 if (_ax12.readable()) {
chris 2:5ea99c37a2d7 357 Status[plen] = _ax12.getc();
chris 2:5ea99c37a2d7 358 plen++;
chris 2:5ea99c37a2d7 359 timeout = 0;
chris 2:5ea99c37a2d7 360 }
chris 2:5ea99c37a2d7 361
chris 2:5ea99c37a2d7 362 // wait for the bit period
chris 2:5ea99c37a2d7 363 wait (1.0/_baud);
chris 2:5ea99c37a2d7 364 timeout++;
chris 2:5ea99c37a2d7 365 }
chris 2:5ea99c37a2d7 366
chris 2:5ea99c37a2d7 367 if (timeout == ((6+bytes)*10) ) {
chris 2:5ea99c37a2d7 368 return(-1);
chris 0:be51952765ec 369 }
chris 0:be51952765ec 370
chris 0:be51952765ec 371 // Copy the data from Status into data for return
chris 0:be51952765ec 372 for (int i=0; i < Status[3]-2 ; i++) {
chris 0:be51952765ec 373 data[i] = Status[5+i];
chris 0:be51952765ec 374 }
chris 0:be51952765ec 375
chris 2:5ea99c37a2d7 376 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 377 printf("\nStatus Packet\n");
chris 2:5ea99c37a2d7 378 printf(" Header : 0x%x\n",Status[0]);
chris 2:5ea99c37a2d7 379 printf(" Header : 0x%x\n",Status[1]);
chris 2:5ea99c37a2d7 380 printf(" ID : 0x%x\n",Status[2]);
chris 2:5ea99c37a2d7 381 printf(" Length : 0x%x\n",Status[3]);
chris 2:5ea99c37a2d7 382 printf(" Error Code : 0x%x\n",Status[4]);
chris 0:be51952765ec 383
chris 2:5ea99c37a2d7 384 for (int i=0; i < Status[3]-2 ; i++) {
chris 2:5ea99c37a2d7 385 printf(" Data : 0x%x\n",Status[5+i]);
chris 2:5ea99c37a2d7 386 }
chris 0:be51952765ec 387
chris 2:5ea99c37a2d7 388 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
chris 2:5ea99c37a2d7 389 #endif
chris 0:be51952765ec 390
chris 0:be51952765ec 391 } // if (ID!=0xFE)
chris 0:be51952765ec 392
chris 0:be51952765ec 393 return(Status[4]);
chris 0:be51952765ec 394 }
chris 0:be51952765ec 395
chris 1:93ad80f5fde7 396
chris 2:5ea99c37a2d7 397 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
chris 0:be51952765ec 398 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
chris 0:be51952765ec 399
chris 0:be51952765ec 400 char TxBuf[16];
chris 0:be51952765ec 401 char sum = 0;
chris 0:be51952765ec 402 char Status[6];
chris 0:be51952765ec 403
chris 2:5ea99c37a2d7 404 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 405 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
chris 2:5ea99c37a2d7 406 #endif
chris 0:be51952765ec 407
chris 0:be51952765ec 408 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 409 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 410 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris 2:5ea99c37a2d7 411 #endif
chris 0:be51952765ec 412
chris 0:be51952765ec 413 TxBuf[0] = 0xff;
chris 0:be51952765ec 414 TxBuf[1] = 0xff;
chris 0:be51952765ec 415
chris 0:be51952765ec 416 // ID
chris 0:be51952765ec 417 TxBuf[2] = ID;
chris 0:be51952765ec 418 sum += TxBuf[2];
chris 0:be51952765ec 419
chris 2:5ea99c37a2d7 420 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 421 printf(" ID : %d\n",TxBuf[2]);
chris 2:5ea99c37a2d7 422 #endif
chris 0:be51952765ec 423
chris 0:be51952765ec 424 // packet Length
chris 0:be51952765ec 425 TxBuf[3] = 3+bytes;
chris 0:be51952765ec 426 sum += TxBuf[3];
chris 0:be51952765ec 427
chris 2:5ea99c37a2d7 428 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 429 printf(" Length : %d\n",TxBuf[3]);
chris 2:5ea99c37a2d7 430 #endif
chris 0:be51952765ec 431
chris 0:be51952765ec 432 // Instruction
chris 0:be51952765ec 433 if (flag == 1) {
chris 0:be51952765ec 434 TxBuf[4]=0x04;
chris 0:be51952765ec 435 sum += TxBuf[4];
chris 0:be51952765ec 436 } else {
chris 0:be51952765ec 437 TxBuf[4]=0x03;
chris 0:be51952765ec 438 sum += TxBuf[4];
chris 0:be51952765ec 439 }
chris 0:be51952765ec 440
chris 2:5ea99c37a2d7 441 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 442 printf(" Instruction : 0x%x\n",TxBuf[4]);
chris 2:5ea99c37a2d7 443 #endif
chris 0:be51952765ec 444
chris 0:be51952765ec 445 // Start Address
chris 0:be51952765ec 446 TxBuf[5] = start;
chris 0:be51952765ec 447 sum += TxBuf[5];
chris 2:5ea99c37a2d7 448
chris 2:5ea99c37a2d7 449 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 450 printf(" Start : 0x%x\n",TxBuf[5]);
chris 2:5ea99c37a2d7 451 #endif
chris 0:be51952765ec 452
chris 0:be51952765ec 453 // data
chris 0:be51952765ec 454 for (char i=0; i<bytes ; i++) {
chris 0:be51952765ec 455 TxBuf[6+i] = data[i];
chris 0:be51952765ec 456 sum += TxBuf[6+i];
chris 2:5ea99c37a2d7 457
chris 2:5ea99c37a2d7 458 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 459 printf(" Data : 0x%x\n",TxBuf[6+i]);
chris 2:5ea99c37a2d7 460 #endif
chris 2:5ea99c37a2d7 461
chris 0:be51952765ec 462 }
chris 0:be51952765ec 463
chris 0:be51952765ec 464 // checksum
chris 0:be51952765ec 465 TxBuf[6+bytes] = 0xFF - sum;
chris 2:5ea99c37a2d7 466
chris 2:5ea99c37a2d7 467 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 468 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
chris 2:5ea99c37a2d7 469 #endif
chris 0:be51952765ec 470
chris 0:be51952765ec 471 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 472 for (int i = 0; i < (7 + bytes) ; i++) {
chris 0:be51952765ec 473 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 474 }
chris 0:be51952765ec 475
chris 0:be51952765ec 476 // Wait for data to transmit
chris 0:be51952765ec 477 wait (0.00002);
chris 0:be51952765ec 478
chris 0:be51952765ec 479 // make sure we have a valid return
chris 0:be51952765ec 480 Status[4]=0x00;
chris 0:be51952765ec 481
chris 0:be51952765ec 482 // we'll only get a reply if it was not broadcast
chris 0:be51952765ec 483 if (_ID!=0xFE) {
chris 0:be51952765ec 484
chris 2:5ea99c37a2d7 485
chris 2:5ea99c37a2d7 486 // response packet is always 6 bytes
chris 0:be51952765ec 487 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
chris 2:5ea99c37a2d7 488 // timeout is a little more than the time to transmit
chris 2:5ea99c37a2d7 489 // the packet back, i.e. 60 bit periods, round up to 100
chris 2:5ea99c37a2d7 490 int timeout = 0;
chris 2:5ea99c37a2d7 491 int plen = 0;
chris 2:5ea99c37a2d7 492 while ((timeout < 100) && (plen<6)) {
chris 2:5ea99c37a2d7 493
chris 2:5ea99c37a2d7 494 if (_ax12.readable()) {
chris 2:5ea99c37a2d7 495 Status[plen] = _ax12.getc();
chris 2:5ea99c37a2d7 496 plen++;
chris 2:5ea99c37a2d7 497 timeout = 0;
chris 2:5ea99c37a2d7 498 }
chris 2:5ea99c37a2d7 499
chris 2:5ea99c37a2d7 500 // wait for the bit period
chris 2:5ea99c37a2d7 501 wait (1.0/_baud);
chris 2:5ea99c37a2d7 502 timeout++;
chris 0:be51952765ec 503 }
chris 0:be51952765ec 504
chris 2:5ea99c37a2d7 505
chris 0:be51952765ec 506 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 507 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 508 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
chris 2:5ea99c37a2d7 509 printf(" ID : %d\n",Status[2]);
chris 2:5ea99c37a2d7 510 printf(" Length : %d\n",Status[3]);
chris 2:5ea99c37a2d7 511 printf(" Error : 0x%x\n",Status[4]);
chris 2:5ea99c37a2d7 512 printf(" Checksum : 0x%x\n",Status[5]);
chris 2:5ea99c37a2d7 513 #endif
chris 0:be51952765ec 514
chris 0:be51952765ec 515
chris 0:be51952765ec 516 }
chris 0:be51952765ec 517
chris 0:be51952765ec 518 return(Status[4]); // return error code
chris 0:be51952765ec 519 }