Aimen Al-Refai / AX12

4 dof robotic arm use of AX12 code

Dependents:   4dofRoboticArmAX12

Fork of AX12 by Akichika Tanaka

AX12.cpp@1:cb08e032ef91, 2014-04-01 (annotated)

Committer:
aimen
Date:
Tue Apr 01 06:22:23 2014 +0000
Revision:
1:cb08e032ef91
Parent:
0:db8f063d50f0 
no change to lib. It is making me do this to publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akichika 0:db8f063d50f0 1 /* mbed AX-12+ Servo Library
akichika 0:db8f063d50f0 2 *
akichika 0:db8f063d50f0 3 * Copyright (c) 2010, cstyles (http://mbed.org)
akichika 0:db8f063d50f0 4 *
akichika 0:db8f063d50f0 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
akichika 0:db8f063d50f0 6 * of this software and associated documentation files (the "Software"), to deal
akichika 0:db8f063d50f0 7 * in the Software without restriction, including without limitation the rights
akichika 0:db8f063d50f0 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
akichika 0:db8f063d50f0 9 * copies of the Software, and to permit persons to whom the Software is
akichika 0:db8f063d50f0 10 * furnished to do so, subject to the following conditions:
akichika 0:db8f063d50f0 11 *
akichika 0:db8f063d50f0 12 * The above copyright notice and this permission notice shall be included in
akichika 0:db8f063d50f0 13 * all copies or substantial portions of the Software.
akichika 0:db8f063d50f0 14 *
akichika 0:db8f063d50f0 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
akichika 0:db8f063d50f0 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
akichika 0:db8f063d50f0 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
akichika 0:db8f063d50f0 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
akichika 0:db8f063d50f0 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
akichika 0:db8f063d50f0 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
akichika 0:db8f063d50f0 21 * THE SOFTWARE.
akichika 0:db8f063d50f0 22 */
akichika 0:db8f063d50f0 23
akichika 0:db8f063d50f0 24 #include "AX12.h"
akichika 0:db8f063d50f0 25
akichika 0:db8f063d50f0 26 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
akichika 0:db8f063d50f0 27 : _ax12(tx,rx) {
akichika 0:db8f063d50f0 28 _baud = baud;
akichika 0:db8f063d50f0 29 _ID = ID;
akichika 0:db8f063d50f0 30 _ax12.baud(_baud);
akichika 0:db8f063d50f0 31
akichika 0:db8f063d50f0 32 }
akichika 0:db8f063d50f0 33
akichika 0:db8f063d50f0 34 // Set the mode of the servo
akichika 0:db8f063d50f0 35 // 0 = Positional (0-300 degrees)
akichika 0:db8f063d50f0 36 // 1 = Rotational -1 to 1 speed
akichika 0:db8f063d50f0 37 int AX12::SetMode(int mode) {
akichika 0:db8f063d50f0 38
akichika 0:db8f063d50f0 39 if (mode == 1) { // set CR
akichika 0:db8f063d50f0 40 SetCWLimit(0);
akichika 0:db8f063d50f0 41 SetCCWLimit(0);
akichika 0:db8f063d50f0 42 SetCRSpeed(0.0);
akichika 0:db8f063d50f0 43 } else {
akichika 0:db8f063d50f0 44 SetCWLimit(0);
akichika 0:db8f063d50f0 45 SetCCWLimit(300);
akichika 0:db8f063d50f0 46 SetCRSpeed(0.0);
akichika 0:db8f063d50f0 47 }
akichika 0:db8f063d50f0 48 return(0);
akichika 0:db8f063d50f0 49 }
akichika 0:db8f063d50f0 50
akichika 0:db8f063d50f0 51
akichika 0:db8f063d50f0 52 // if flag[0] is set, were blocking
akichika 0:db8f063d50f0 53 // if flag[1] is set, we're registering
akichika 0:db8f063d50f0 54 // they are mutually exclusive operations
akichika 0:db8f063d50f0 55 int AX12::SetGoal(int degrees, int flags) {
akichika 0:db8f063d50f0 56
akichika 0:db8f063d50f0 57 char reg_flag = 0;
akichika 0:db8f063d50f0 58 char data[2];
akichika 0:db8f063d50f0 59
akichika 0:db8f063d50f0 60 // set the flag is only the register bit is set in the flag
akichika 0:db8f063d50f0 61 if (flags == 0x2) {
akichika 0:db8f063d50f0 62 reg_flag = 1;
akichika 0:db8f063d50f0 63 }
akichika 0:db8f063d50f0 64
akichika 0:db8f063d50f0 65 // 1023 / 300 * degrees
aimen 1:cb08e032ef91 66 short goal = (1023 * degrees) / 300;
akichika 0:db8f063d50f0 67
akichika 0:db8f063d50f0 68 data[0] = goal & 0xff; // bottom 8 bits
aimen 1:cb08e032ef91 69 data[1] = goal >> 8; // top 8 bits
akichika 0:db8f063d50f0 70 // write the packet, return the error code
akichika 0:db8f063d50f0 71 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
akichika 0:db8f063d50f0 72
akichika 0:db8f063d50f0 73 if (flags == 1) {
akichika 0:db8f063d50f0 74 // block until it comes to a halt
akichika 0:db8f063d50f0 75 while (isMoving()) {}
akichika 0:db8f063d50f0 76 }
akichika 0:db8f063d50f0 77 return(rVal);
akichika 0:db8f063d50f0 78 }
akichika 0:db8f063d50f0 79
akichika 0:db8f063d50f0 80
akichika 0:db8f063d50f0 81 // Set continuous rotation speed from -1 to 1
akichika 0:db8f063d50f0 82 int AX12::SetCRSpeed(float speed) {
akichika 0:db8f063d50f0 83
akichika 0:db8f063d50f0 84 // bit 10 = direction, 0 = CCW, 1=CW
akichika 0:db8f063d50f0 85 // bits 9-0 = Speed
akichika 0:db8f063d50f0 86 char data[2];
akichika 0:db8f063d50f0 87
akichika 0:db8f063d50f0 88 int goal = (0x3ff * abs(speed));
akichika 0:db8f063d50f0 89
akichika 0:db8f063d50f0 90 // Set direction CW if we have a negative speed
akichika 0:db8f063d50f0 91 if (speed < 0) {
akichika 0:db8f063d50f0 92 goal |= (0x1 << 10);
akichika 0:db8f063d50f0 93 }
akichika 0:db8f063d50f0 94
akichika 0:db8f063d50f0 95 data[0] = goal & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 96 data[1] = goal >> 8; // top 8 bits
akichika 0:db8f063d50f0 97
akichika 0:db8f063d50f0 98 // write the packet, return the error code
akichika 0:db8f063d50f0 99 int rVal = write(_ID, 0x20, 2, data);
akichika 0:db8f063d50f0 100
akichika 0:db8f063d50f0 101 return(rVal);
akichika 0:db8f063d50f0 102 }
akichika 0:db8f063d50f0 103
akichika 0:db8f063d50f0 104
akichika 0:db8f063d50f0 105 int AX12::SetCWLimit (int degrees) {
akichika 0:db8f063d50f0 106
akichika 0:db8f063d50f0 107 char data[2];
akichika 0:db8f063d50f0 108
akichika 0:db8f063d50f0 109 // 1023 / 300 * degrees
akichika 0:db8f063d50f0 110 short limit = (1023 * degrees) / 300;
akichika 0:db8f063d50f0 111
akichika 0:db8f063d50f0 112 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 113 printf("SetCWLimit to 0x%x\n",limit);
akichika 0:db8f063d50f0 114 #endif
akichika 0:db8f063d50f0 115
akichika 0:db8f063d50f0 116 data[0] = limit & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 117 data[1] = limit >> 8; // top 8 bits
akichika 0:db8f063d50f0 118
akichika 0:db8f063d50f0 119 // write the packet, return the error code
akichika 0:db8f063d50f0 120 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
akichika 0:db8f063d50f0 121
akichika 0:db8f063d50f0 122 }
akichika 0:db8f063d50f0 123
akichika 0:db8f063d50f0 124 int AX12::SetCCWLimit (int degrees) {
akichika 0:db8f063d50f0 125
akichika 0:db8f063d50f0 126 char data[2];
akichika 0:db8f063d50f0 127
akichika 0:db8f063d50f0 128 // 1023 / 300 * degrees
akichika 0:db8f063d50f0 129 short limit = (1023 * degrees) / 300;
akichika 0:db8f063d50f0 130
akichika 0:db8f063d50f0 131 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 132 printf("SetCCWLimit to 0x%x\n",limit);
akichika 0:db8f063d50f0 133 #endif
akichika 0:db8f063d50f0 134
akichika 0:db8f063d50f0 135 data[0] = limit & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 136 data[1] = limit >> 8; // top 8 bits
akichika 0:db8f063d50f0 137
akichika 0:db8f063d50f0 138 // write the packet, return the error code
akichika 0:db8f063d50f0 139 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
akichika 0:db8f063d50f0 140 }
akichika 0:db8f063d50f0 141
akichika 0:db8f063d50f0 142
akichika 0:db8f063d50f0 143 int AX12::SetID (int CurrentID, int NewID) {
akichika 0:db8f063d50f0 144
akichika 0:db8f063d50f0 145 char data[1];
akichika 0:db8f063d50f0 146 data[0] = NewID;
akichika 0:db8f063d50f0 147
akichika 0:db8f063d50f0 148 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 149 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
akichika 0:db8f063d50f0 150 #endif
akichika 0:db8f063d50f0 151
akichika 0:db8f063d50f0 152 return (write(CurrentID, AX12_REG_ID, 1, data));
akichika 0:db8f063d50f0 153
akichika 0:db8f063d50f0 154 }
akichika 0:db8f063d50f0 155
akichika 0:db8f063d50f0 156
akichika 0:db8f063d50f0 157 int AX12::SetBaud (int baud) {
akichika 0:db8f063d50f0 158
akichika 0:db8f063d50f0 159 char data[1];
akichika 0:db8f063d50f0 160 data[0] = baud;
akichika 0:db8f063d50f0 161
akichika 0:db8f063d50f0 162 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 163 printf("Setting Baud rate to %d\n",baud);
akichika 0:db8f063d50f0 164 #endif
akichika 0:db8f063d50f0 165
akichika 0:db8f063d50f0 166 return (write(0xFE, AX12_REG_BAUD, 1, data));
akichika 0:db8f063d50f0 167
akichika 0:db8f063d50f0 168 }
akichika 0:db8f063d50f0 169
akichika 0:db8f063d50f0 170 int AX12::SetTorqueEnable (bool enable) {
akichika 0:db8f063d50f0 171
akichika 0:db8f063d50f0 172 char data[1];
akichika 0:db8f063d50f0 173 data[0] = (char)enable; // 0x01 means enable, 0x00 means disable
akichika 0:db8f063d50f0 174
akichika 0:db8f063d50f0 175 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 176 printf("Setting TorqueEnable bit to %d\n",enable);
akichika 0:db8f063d50f0 177 #endif
akichika 0:db8f063d50f0 178
akichika 0:db8f063d50f0 179 return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
akichika 0:db8f063d50f0 180
akichika 0:db8f063d50f0 181 }
akichika 0:db8f063d50f0 182
akichika 0:db8f063d50f0 183
akichika 0:db8f063d50f0 184 // return 1 is the servo is still in flight
akichika 0:db8f063d50f0 185 int AX12::isMoving(void) {
akichika 0:db8f063d50f0 186
akichika 0:db8f063d50f0 187 char data[1];
akichika 0:db8f063d50f0 188 read(_ID,AX12_REG_MOVING,1,data);
akichika 0:db8f063d50f0 189 return(data[0]);
akichika 0:db8f063d50f0 190 }
akichika 0:db8f063d50f0 191
akichika 0:db8f063d50f0 192
akichika 0:db8f063d50f0 193 void AX12::trigger(void) {
akichika 0:db8f063d50f0 194
akichika 0:db8f063d50f0 195 char TxBuf[16];
akichika 0:db8f063d50f0 196 char sum = 0;
akichika 0:db8f063d50f0 197
akichika 0:db8f063d50f0 198 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 199 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 200 printf("\nTriggered\n");
akichika 0:db8f063d50f0 201 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
akichika 0:db8f063d50f0 202 #endif
akichika 0:db8f063d50f0 203
akichika 0:db8f063d50f0 204 TxBuf[0] = 0xFF;
akichika 0:db8f063d50f0 205 TxBuf[1] = 0xFF;
akichika 0:db8f063d50f0 206
akichika 0:db8f063d50f0 207 // ID - Broadcast
akichika 0:db8f063d50f0 208 TxBuf[2] = 0xFE;
akichika 0:db8f063d50f0 209 sum += TxBuf[2];
akichika 0:db8f063d50f0 210
akichika 0:db8f063d50f0 211 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 212 printf(" ID : %d\n",TxBuf[2]);
akichika 0:db8f063d50f0 213 #endif
akichika 0:db8f063d50f0 214
akichika 0:db8f063d50f0 215 // Length
akichika 0:db8f063d50f0 216 TxBuf[3] = 0x02;
akichika 0:db8f063d50f0 217 sum += TxBuf[3];
akichika 0:db8f063d50f0 218
akichika 0:db8f063d50f0 219 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 220 printf(" Length %d\n",TxBuf[3]);
akichika 0:db8f063d50f0 221 #endif
akichika 0:db8f063d50f0 222
akichika 0:db8f063d50f0 223 // Instruction - ACTION
akichika 0:db8f063d50f0 224 TxBuf[4] = 0x04;
akichika 0:db8f063d50f0 225 sum += TxBuf[4];
akichika 0:db8f063d50f0 226
akichika 0:db8f063d50f0 227 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 228 printf(" Instruction 0x%X\n",TxBuf[5]);
akichika 0:db8f063d50f0 229 #endif
akichika 0:db8f063d50f0 230
akichika 0:db8f063d50f0 231 // Checksum
akichika 0:db8f063d50f0 232 TxBuf[5] = 0xFF - sum;
akichika 0:db8f063d50f0 233 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 234 printf(" Checksum 0x%X\n",TxBuf[5]);
akichika 0:db8f063d50f0 235 #endif
akichika 0:db8f063d50f0 236
akichika 0:db8f063d50f0 237 // Transmit the packet in one burst with no pausing
akichika 0:db8f063d50f0 238 for (int i = 0; i < 6 ; i++) {
akichika 0:db8f063d50f0 239 _ax12.putc(TxBuf[i]);
akichika 0:db8f063d50f0 240 }
akichika 0:db8f063d50f0 241
akichika 0:db8f063d50f0 242 // This is a broadcast packet, so there will be no reply
akichika 0:db8f063d50f0 243 return;
akichika 0:db8f063d50f0 244 }
akichika 0:db8f063d50f0 245
akichika 0:db8f063d50f0 246
akichika 0:db8f063d50f0 247 float AX12::GetPosition(void) {
akichika 0:db8f063d50f0 248
akichika 0:db8f063d50f0 249 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 250 printf("\nGetPosition(%d)",_ID);
akichika 0:db8f063d50f0 251 #endif
akichika 0:db8f063d50f0 252
akichika 0:db8f063d50f0 253 char data[2];
akichika 0:db8f063d50f0 254
akichika 0:db8f063d50f0 255 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
akichika 0:db8f063d50f0 256 short position = data[0] + (data[1] << 8);
akichika 0:db8f063d50f0 257 float angle = (position * 300)/1024;
akichika 0:db8f063d50f0 258
akichika 0:db8f063d50f0 259 return (angle);
akichika 0:db8f063d50f0 260 }
akichika 0:db8f063d50f0 261
akichika 0:db8f063d50f0 262
akichika 0:db8f063d50f0 263 float AX12::GetTemp (void) {
akichika 0:db8f063d50f0 264
akichika 0:db8f063d50f0 265 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 266 printf("\nGetTemp(%d)",_ID);
akichika 0:db8f063d50f0 267 #endif
akichika 0:db8f063d50f0 268
akichika 0:db8f063d50f0 269 char data[1];
akichika 0:db8f063d50f0 270 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
akichika 0:db8f063d50f0 271 float temp = data[0];
akichika 0:db8f063d50f0 272 return(temp);
akichika 0:db8f063d50f0 273 }
akichika 0:db8f063d50f0 274
akichika 0:db8f063d50f0 275
akichika 0:db8f063d50f0 276 float AX12::GetVolts (void) {
akichika 0:db8f063d50f0 277
akichika 0:db8f063d50f0 278 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 279 printf("\nGetVolts(%d)",_ID);
akichika 0:db8f063d50f0 280 #endif
akichika 0:db8f063d50f0 281
akichika 0:db8f063d50f0 282 char data[1];
akichika 0:db8f063d50f0 283 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
akichika 0:db8f063d50f0 284 float volts = data[0]/10.0;
akichika 0:db8f063d50f0 285 return(volts);
akichika 0:db8f063d50f0 286 }
akichika 0:db8f063d50f0 287
akichika 0:db8f063d50f0 288
akichika 0:db8f063d50f0 289 int AX12::read(int ID, int start, int bytes, char* data) {
akichika 0:db8f063d50f0 290
akichika 0:db8f063d50f0 291 char PacketLength = 0x4;
akichika 0:db8f063d50f0 292 char TxBuf[16];
akichika 0:db8f063d50f0 293 char sum = 0;
akichika 0:db8f063d50f0 294 char Status[16];
akichika 0:db8f063d50f0 295
akichika 0:db8f063d50f0 296 Status[4] = 0xFE; // return code
akichika 0:db8f063d50f0 297
akichika 0:db8f063d50f0 298 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 299 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
akichika 0:db8f063d50f0 300 #endif
akichika 0:db8f063d50f0 301
akichika 0:db8f063d50f0 302 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 303 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 304 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
akichika 0:db8f063d50f0 305 #endif
akichika 0:db8f063d50f0 306
akichika 0:db8f063d50f0 307 TxBuf[0] = 0xff;
akichika 0:db8f063d50f0 308 TxBuf[1] = 0xff;
akichika 0:db8f063d50f0 309
akichika 0:db8f063d50f0 310 // ID
akichika 0:db8f063d50f0 311 TxBuf[2] = ID;
akichika 0:db8f063d50f0 312 sum += TxBuf[2];
akichika 0:db8f063d50f0 313
akichika 0:db8f063d50f0 314 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 315 printf(" ID : %d\n",TxBuf[2]);
akichika 0:db8f063d50f0 316 #endif
akichika 0:db8f063d50f0 317
akichika 0:db8f063d50f0 318 // Packet Length
akichika 0:db8f063d50f0 319 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
akichika 0:db8f063d50f0 320 sum += TxBuf[3]; // Accululate the packet sum
akichika 0:db8f063d50f0 321
akichika 0:db8f063d50f0 322 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 323 printf(" Length : 0x%x\n",TxBuf[3]);
akichika 0:db8f063d50f0 324 #endif
akichika 0:db8f063d50f0 325
akichika 0:db8f063d50f0 326 // Instruction - Read
akichika 0:db8f063d50f0 327 TxBuf[4] = 0x2;
akichika 0:db8f063d50f0 328 sum += TxBuf[4];
akichika 0:db8f063d50f0 329
akichika 0:db8f063d50f0 330 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 331 printf(" Instruction : 0x%x\n",TxBuf[4]);
akichika 0:db8f063d50f0 332 #endif
akichika 0:db8f063d50f0 333
akichika 0:db8f063d50f0 334 // Start Address
akichika 0:db8f063d50f0 335 TxBuf[5] = start;
akichika 0:db8f063d50f0 336 sum += TxBuf[5];
akichika 0:db8f063d50f0 337
akichika 0:db8f063d50f0 338 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 339 printf(" Start Address : 0x%x\n",TxBuf[5]);
akichika 0:db8f063d50f0 340 #endif
akichika 0:db8f063d50f0 341
akichika 0:db8f063d50f0 342 // Bytes to read
akichika 0:db8f063d50f0 343 TxBuf[6] = bytes;
akichika 0:db8f063d50f0 344 sum += TxBuf[6];
akichika 0:db8f063d50f0 345
akichika 0:db8f063d50f0 346 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 347 printf(" No bytes : 0x%x\n",TxBuf[6]);
akichika 0:db8f063d50f0 348 #endif
akichika 0:db8f063d50f0 349
akichika 0:db8f063d50f0 350 // Checksum
akichika 0:db8f063d50f0 351 TxBuf[7] = 0xFF - sum;
akichika 0:db8f063d50f0 352 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 353 printf(" Checksum : 0x%x\n",TxBuf[7]);
akichika 0:db8f063d50f0 354 #endif
akichika 0:db8f063d50f0 355
akichika 0:db8f063d50f0 356 // Transmit the packet in one burst with no pausing
akichika 0:db8f063d50f0 357 for (int i = 0; i<8 ; i++) {
akichika 0:db8f063d50f0 358 _ax12.putc(TxBuf[i]);
akichika 0:db8f063d50f0 359 }
akichika 0:db8f063d50f0 360
akichika 0:db8f063d50f0 361 // Wait for the bytes to be transmitted
akichika 0:db8f063d50f0 362 wait (0.00002);
akichika 0:db8f063d50f0 363
akichika 0:db8f063d50f0 364 // Skip if the read was to the broadcast address
akichika 0:db8f063d50f0 365 if (_ID != 0xFE) {
akichika 0:db8f063d50f0 366
akichika 0:db8f063d50f0 367
akichika 0:db8f063d50f0 368
akichika 0:db8f063d50f0 369 // response packet is always 6 + bytes
akichika 0:db8f063d50f0 370 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
akichika 0:db8f063d50f0 371 // timeout is a little more than the time to transmit
akichika 0:db8f063d50f0 372 // the packet back, i.e. (6+bytes)*10 bit periods
akichika 0:db8f063d50f0 373
akichika 0:db8f063d50f0 374 int timeout = 0;
akichika 0:db8f063d50f0 375 int plen = 0;
akichika 0:db8f063d50f0 376 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
akichika 0:db8f063d50f0 377
akichika 0:db8f063d50f0 378 if (_ax12.readable()) {
akichika 0:db8f063d50f0 379 Status[plen] = _ax12.getc();
akichika 0:db8f063d50f0 380 plen++;
akichika 0:db8f063d50f0 381 timeout = 0;
akichika 0:db8f063d50f0 382 }
akichika 0:db8f063d50f0 383
akichika 0:db8f063d50f0 384 // wait for the bit period
akichika 0:db8f063d50f0 385 wait (1.0/_baud);
akichika 0:db8f063d50f0 386 timeout++;
akichika 0:db8f063d50f0 387 }
akichika 0:db8f063d50f0 388
akichika 0:db8f063d50f0 389 if (timeout == ((6+bytes)*10) ) {
akichika 0:db8f063d50f0 390 return(-1);
akichika 0:db8f063d50f0 391 }
akichika 0:db8f063d50f0 392
akichika 0:db8f063d50f0 393 // Copy the data from Status into data for return
akichika 0:db8f063d50f0 394 for (int i=0; i < Status[3]-2 ; i++) {
akichika 0:db8f063d50f0 395 data[i] = Status[5+i];
akichika 0:db8f063d50f0 396 }
akichika 0:db8f063d50f0 397
akichika 0:db8f063d50f0 398 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 399 printf("\nStatus Packet\n");
akichika 0:db8f063d50f0 400 printf(" Header : 0x%x\n",Status[0]);
akichika 0:db8f063d50f0 401 printf(" Header : 0x%x\n",Status[1]);
akichika 0:db8f063d50f0 402 printf(" ID : 0x%x\n",Status[2]);
akichika 0:db8f063d50f0 403 printf(" Length : 0x%x\n",Status[3]);
akichika 0:db8f063d50f0 404 printf(" Error Code : 0x%x\n",Status[4]);
akichika 0:db8f063d50f0 405
akichika 0:db8f063d50f0 406 for (int i=0; i < Status[3]-2 ; i++) {
akichika 0:db8f063d50f0 407 printf(" Data : 0x%x\n",Status[5+i]);
akichika 0:db8f063d50f0 408 }
akichika 0:db8f063d50f0 409
akichika 0:db8f063d50f0 410 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
akichika 0:db8f063d50f0 411 #endif
akichika 0:db8f063d50f0 412
akichika 0:db8f063d50f0 413 } // if (ID!=0xFE)
akichika 0:db8f063d50f0 414
akichika 0:db8f063d50f0 415 return(Status[4]);
akichika 0:db8f063d50f0 416 }
akichika 0:db8f063d50f0 417
akichika 0:db8f063d50f0 418
akichika 0:db8f063d50f0 419 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
akichika 0:db8f063d50f0 420 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
akichika 0:db8f063d50f0 421 char TxBuf[16];
akichika 0:db8f063d50f0 422 char sum = 0;
akichika 0:db8f063d50f0 423 char Status[6];
akichika 0:db8f063d50f0 424
akichika 0:db8f063d50f0 425 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 426 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 427 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
akichika 0:db8f063d50f0 428 #endif
akichika 0:db8f063d50f0 429
akichika 0:db8f063d50f0 430 TxBuf[0] = 0xff;
akichika 0:db8f063d50f0 431 TxBuf[1] = 0xff;
akichika 0:db8f063d50f0 432
akichika 0:db8f063d50f0 433 // ID
akichika 0:db8f063d50f0 434 TxBuf[2] = ID;
akichika 0:db8f063d50f0 435 sum += TxBuf[2];
akichika 0:db8f063d50f0 436
akichika 0:db8f063d50f0 437 // packet Length
akichika 0:db8f063d50f0 438 TxBuf[3] = 3+bytes;
akichika 0:db8f063d50f0 439 sum += TxBuf[3];
akichika 0:db8f063d50f0 440
akichika 0:db8f063d50f0 441 // Instruction
akichika 0:db8f063d50f0 442 if (flag == 1) {
akichika 0:db8f063d50f0 443 TxBuf[4]=0x04;
akichika 0:db8f063d50f0 444 sum += TxBuf[4];
akichika 0:db8f063d50f0 445 } else {
akichika 0:db8f063d50f0 446 TxBuf[4]=0x03;
akichika 0:db8f063d50f0 447 sum += TxBuf[4];
akichika 0:db8f063d50f0 448 }
akichika 0:db8f063d50f0 449
akichika 0:db8f063d50f0 450 // Start Address
akichika 0:db8f063d50f0 451 TxBuf[5] = start;
akichika 0:db8f063d50f0 452 sum += TxBuf[5];
akichika 0:db8f063d50f0 453
akichika 0:db8f063d50f0 454 // data
akichika 0:db8f063d50f0 455 for (char i=0; i<bytes ; i++) {
akichika 0:db8f063d50f0 456 TxBuf[6+i] = data[i];
akichika 0:db8f063d50f0 457 sum += TxBuf[6+i];
akichika 0:db8f063d50f0 458 }
akichika 0:db8f063d50f0 459
akichika 0:db8f063d50f0 460 // checksum
akichika 0:db8f063d50f0 461 TxBuf[6+bytes] = 0xFF - sum;
akichika 0:db8f063d50f0 462
akichika 0:db8f063d50f0 463 // Transmit the packet in one burst with no pausing
aimen 1:cb08e032ef91 464 for (int i = 0; i < (7 + bytes); i++) {
aimen 1:cb08e032ef91 465 _ax12.putc(TxBuf[i]);
akichika 0:db8f063d50f0 466 }
aimen 1:cb08e032ef91 467
akichika 0:db8f063d50f0 468 // Wait for data to transmit
akichika 0:db8f063d50f0 469 wait (0.00002);
akichika 0:db8f063d50f0 470
akichika 0:db8f063d50f0 471 // make sure we have a valid return
akichika 0:db8f063d50f0 472 Status[4]=0x00;
akichika 0:db8f063d50f0 473
akichika 0:db8f063d50f0 474 // we'll only get a reply if it was not broadcast
akichika 0:db8f063d50f0 475 if (_ID!=0xFE) {
akichika 0:db8f063d50f0 476
akichika 0:db8f063d50f0 477
akichika 0:db8f063d50f0 478 // response packet is always 6 bytes
akichika 0:db8f063d50f0 479 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
akichika 0:db8f063d50f0 480 // timeout is a little more than the time to transmit
akichika 0:db8f063d50f0 481 // the packet back, i.e. 60 bit periods, round up to 100
akichika 0:db8f063d50f0 482 int timeout = 0;
akichika 0:db8f063d50f0 483 int plen = 0;
akichika 0:db8f063d50f0 484 while ((timeout < 100) && (plen<6)) {
akichika 0:db8f063d50f0 485
akichika 0:db8f063d50f0 486 if (_ax12.readable()) {
akichika 0:db8f063d50f0 487 Status[plen] = _ax12.getc();
akichika 0:db8f063d50f0 488 plen++;
akichika 0:db8f063d50f0 489 timeout = 0;
akichika 0:db8f063d50f0 490 }
akichika 0:db8f063d50f0 491
akichika 0:db8f063d50f0 492 // wait for the bit period
akichika 0:db8f063d50f0 493 wait (1.0/_baud);
akichika 0:db8f063d50f0 494 timeout++;
akichika 0:db8f063d50f0 495 }
akichika 0:db8f063d50f0 496 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 497 }
akichika 0:db8f063d50f0 498 return(Status[4]); // return error code
akichika 0:db8f063d50f0 499 }