Akichika Tanaka / AX12

AX12.cpp@0:db8f063d50f0, 2011-10-05 (annotated)

Committer:
akichika
Date:
Wed Oct 05 12:08:21 2011 +0000
Revision:
0:db8f063d50f0
Added torque enabloe function to the AX12 class

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 #include "mbed.h"
akichika 0:db8f063d50f0 26
akichika 0:db8f063d50f0 27 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
akichika 0:db8f063d50f0 28 : _ax12(tx,rx) {
akichika 0:db8f063d50f0 29 _baud = baud;
akichika 0:db8f063d50f0 30 _ID = ID;
akichika 0:db8f063d50f0 31 _ax12.baud(_baud);
akichika 0:db8f063d50f0 32
akichika 0:db8f063d50f0 33 }
akichika 0:db8f063d50f0 34
akichika 0:db8f063d50f0 35 // Set the mode of the servo
akichika 0:db8f063d50f0 36 // 0 = Positional (0-300 degrees)
akichika 0:db8f063d50f0 37 // 1 = Rotational -1 to 1 speed
akichika 0:db8f063d50f0 38 int AX12::SetMode(int mode) {
akichika 0:db8f063d50f0 39
akichika 0:db8f063d50f0 40 if (mode == 1) { // set CR
akichika 0:db8f063d50f0 41 SetCWLimit(0);
akichika 0:db8f063d50f0 42 SetCCWLimit(0);
akichika 0:db8f063d50f0 43 SetCRSpeed(0.0);
akichika 0:db8f063d50f0 44 } else {
akichika 0:db8f063d50f0 45 SetCWLimit(0);
akichika 0:db8f063d50f0 46 SetCCWLimit(300);
akichika 0:db8f063d50f0 47 SetCRSpeed(0.0);
akichika 0:db8f063d50f0 48 }
akichika 0:db8f063d50f0 49 return(0);
akichika 0:db8f063d50f0 50 }
akichika 0:db8f063d50f0 51
akichika 0:db8f063d50f0 52
akichika 0:db8f063d50f0 53 // if flag[0] is set, were blocking
akichika 0:db8f063d50f0 54 // if flag[1] is set, we're registering
akichika 0:db8f063d50f0 55 // they are mutually exclusive operations
akichika 0:db8f063d50f0 56 int AX12::SetGoal(int degrees, int flags) {
akichika 0:db8f063d50f0 57
akichika 0:db8f063d50f0 58 char reg_flag = 0;
akichika 0:db8f063d50f0 59 char data[2];
akichika 0:db8f063d50f0 60
akichika 0:db8f063d50f0 61 // set the flag is only the register bit is set in the flag
akichika 0:db8f063d50f0 62 if (flags == 0x2) {
akichika 0:db8f063d50f0 63 reg_flag = 1;
akichika 0:db8f063d50f0 64 }
akichika 0:db8f063d50f0 65
akichika 0:db8f063d50f0 66 // 1023 / 300 * degrees
akichika 0:db8f063d50f0 67 short goal = (1023 * degrees) / 300;
akichika 0:db8f063d50f0 68 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 69 printf("SetGoal to 0x%x\n",goal);
akichika 0:db8f063d50f0 70 #endif
akichika 0:db8f063d50f0 71
akichika 0:db8f063d50f0 72 data[0] = goal & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 73 data[1] = goal >> 8; // top 8 bits
akichika 0:db8f063d50f0 74
akichika 0:db8f063d50f0 75 // write the packet, return the error code
akichika 0:db8f063d50f0 76 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
akichika 0:db8f063d50f0 77
akichika 0:db8f063d50f0 78 if (flags == 1) {
akichika 0:db8f063d50f0 79 // block until it comes to a halt
akichika 0:db8f063d50f0 80 while (isMoving()) {}
akichika 0:db8f063d50f0 81 }
akichika 0:db8f063d50f0 82 return(rVal);
akichika 0:db8f063d50f0 83 }
akichika 0:db8f063d50f0 84
akichika 0:db8f063d50f0 85
akichika 0:db8f063d50f0 86 // Set continuous rotation speed from -1 to 1
akichika 0:db8f063d50f0 87 int AX12::SetCRSpeed(float speed) {
akichika 0:db8f063d50f0 88
akichika 0:db8f063d50f0 89 // bit 10 = direction, 0 = CCW, 1=CW
akichika 0:db8f063d50f0 90 // bits 9-0 = Speed
akichika 0:db8f063d50f0 91 char data[2];
akichika 0:db8f063d50f0 92
akichika 0:db8f063d50f0 93 int goal = (0x3ff * abs(speed));
akichika 0:db8f063d50f0 94
akichika 0:db8f063d50f0 95 // Set direction CW if we have a negative speed
akichika 0:db8f063d50f0 96 if (speed < 0) {
akichika 0:db8f063d50f0 97 goal |= (0x1 << 10);
akichika 0:db8f063d50f0 98 }
akichika 0:db8f063d50f0 99
akichika 0:db8f063d50f0 100 data[0] = goal & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 101 data[1] = goal >> 8; // top 8 bits
akichika 0:db8f063d50f0 102
akichika 0:db8f063d50f0 103 // write the packet, return the error code
akichika 0:db8f063d50f0 104 int rVal = write(_ID, 0x20, 2, data);
akichika 0:db8f063d50f0 105
akichika 0:db8f063d50f0 106 return(rVal);
akichika 0:db8f063d50f0 107 }
akichika 0:db8f063d50f0 108
akichika 0:db8f063d50f0 109
akichika 0:db8f063d50f0 110 int AX12::SetCWLimit (int degrees) {
akichika 0:db8f063d50f0 111
akichika 0:db8f063d50f0 112 char data[2];
akichika 0:db8f063d50f0 113
akichika 0:db8f063d50f0 114 // 1023 / 300 * degrees
akichika 0:db8f063d50f0 115 short limit = (1023 * degrees) / 300;
akichika 0:db8f063d50f0 116
akichika 0:db8f063d50f0 117 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 118 printf("SetCWLimit to 0x%x\n",limit);
akichika 0:db8f063d50f0 119 #endif
akichika 0:db8f063d50f0 120
akichika 0:db8f063d50f0 121 data[0] = limit & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 122 data[1] = limit >> 8; // top 8 bits
akichika 0:db8f063d50f0 123
akichika 0:db8f063d50f0 124 // write the packet, return the error code
akichika 0:db8f063d50f0 125 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
akichika 0:db8f063d50f0 126
akichika 0:db8f063d50f0 127 }
akichika 0:db8f063d50f0 128
akichika 0:db8f063d50f0 129 int AX12::SetCCWLimit (int degrees) {
akichika 0:db8f063d50f0 130
akichika 0:db8f063d50f0 131 char data[2];
akichika 0:db8f063d50f0 132
akichika 0:db8f063d50f0 133 // 1023 / 300 * degrees
akichika 0:db8f063d50f0 134 short limit = (1023 * degrees) / 300;
akichika 0:db8f063d50f0 135
akichika 0:db8f063d50f0 136 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 137 printf("SetCCWLimit to 0x%x\n",limit);
akichika 0:db8f063d50f0 138 #endif
akichika 0:db8f063d50f0 139
akichika 0:db8f063d50f0 140 data[0] = limit & 0xff; // bottom 8 bits
akichika 0:db8f063d50f0 141 data[1] = limit >> 8; // top 8 bits
akichika 0:db8f063d50f0 142
akichika 0:db8f063d50f0 143 // write the packet, return the error code
akichika 0:db8f063d50f0 144 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
akichika 0:db8f063d50f0 145 }
akichika 0:db8f063d50f0 146
akichika 0:db8f063d50f0 147
akichika 0:db8f063d50f0 148 int AX12::SetID (int CurrentID, int NewID) {
akichika 0:db8f063d50f0 149
akichika 0:db8f063d50f0 150 char data[1];
akichika 0:db8f063d50f0 151 data[0] = NewID;
akichika 0:db8f063d50f0 152
akichika 0:db8f063d50f0 153 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 154 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
akichika 0:db8f063d50f0 155 #endif
akichika 0:db8f063d50f0 156
akichika 0:db8f063d50f0 157 return (write(CurrentID, AX12_REG_ID, 1, data));
akichika 0:db8f063d50f0 158
akichika 0:db8f063d50f0 159 }
akichika 0:db8f063d50f0 160
akichika 0:db8f063d50f0 161
akichika 0:db8f063d50f0 162 int AX12::SetBaud (int baud) {
akichika 0:db8f063d50f0 163
akichika 0:db8f063d50f0 164 char data[1];
akichika 0:db8f063d50f0 165 data[0] = baud;
akichika 0:db8f063d50f0 166
akichika 0:db8f063d50f0 167 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 168 printf("Setting Baud rate to %d\n",baud);
akichika 0:db8f063d50f0 169 #endif
akichika 0:db8f063d50f0 170
akichika 0:db8f063d50f0 171 return (write(0xFE, AX12_REG_BAUD, 1, data));
akichika 0:db8f063d50f0 172
akichika 0:db8f063d50f0 173 }
akichika 0:db8f063d50f0 174
akichika 0:db8f063d50f0 175 int AX12::SetTorqueEnable (bool enable) {
akichika 0:db8f063d50f0 176
akichika 0:db8f063d50f0 177 char data[1];
akichika 0:db8f063d50f0 178 data[0] = (char)enable; // 0x01 means enable, 0x00 means disable
akichika 0:db8f063d50f0 179
akichika 0:db8f063d50f0 180 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 181 printf("Setting TorqueEnable bit to %d\n",enable);
akichika 0:db8f063d50f0 182 #endif
akichika 0:db8f063d50f0 183
akichika 0:db8f063d50f0 184 return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
akichika 0:db8f063d50f0 185
akichika 0:db8f063d50f0 186 }
akichika 0:db8f063d50f0 187
akichika 0:db8f063d50f0 188
akichika 0:db8f063d50f0 189 // return 1 is the servo is still in flight
akichika 0:db8f063d50f0 190 int AX12::isMoving(void) {
akichika 0:db8f063d50f0 191
akichika 0:db8f063d50f0 192 char data[1];
akichika 0:db8f063d50f0 193 read(_ID,AX12_REG_MOVING,1,data);
akichika 0:db8f063d50f0 194 return(data[0]);
akichika 0:db8f063d50f0 195 }
akichika 0:db8f063d50f0 196
akichika 0:db8f063d50f0 197
akichika 0:db8f063d50f0 198 void AX12::trigger(void) {
akichika 0:db8f063d50f0 199
akichika 0:db8f063d50f0 200 char TxBuf[16];
akichika 0:db8f063d50f0 201 char sum = 0;
akichika 0:db8f063d50f0 202
akichika 0:db8f063d50f0 203 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 204 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 205 printf("\nTriggered\n");
akichika 0:db8f063d50f0 206 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
akichika 0:db8f063d50f0 207 #endif
akichika 0:db8f063d50f0 208
akichika 0:db8f063d50f0 209 TxBuf[0] = 0xFF;
akichika 0:db8f063d50f0 210 TxBuf[1] = 0xFF;
akichika 0:db8f063d50f0 211
akichika 0:db8f063d50f0 212 // ID - Broadcast
akichika 0:db8f063d50f0 213 TxBuf[2] = 0xFE;
akichika 0:db8f063d50f0 214 sum += TxBuf[2];
akichika 0:db8f063d50f0 215
akichika 0:db8f063d50f0 216 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 217 printf(" ID : %d\n",TxBuf[2]);
akichika 0:db8f063d50f0 218 #endif
akichika 0:db8f063d50f0 219
akichika 0:db8f063d50f0 220 // Length
akichika 0:db8f063d50f0 221 TxBuf[3] = 0x02;
akichika 0:db8f063d50f0 222 sum += TxBuf[3];
akichika 0:db8f063d50f0 223
akichika 0:db8f063d50f0 224 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 225 printf(" Length %d\n",TxBuf[3]);
akichika 0:db8f063d50f0 226 #endif
akichika 0:db8f063d50f0 227
akichika 0:db8f063d50f0 228 // Instruction - ACTION
akichika 0:db8f063d50f0 229 TxBuf[4] = 0x04;
akichika 0:db8f063d50f0 230 sum += TxBuf[4];
akichika 0:db8f063d50f0 231
akichika 0:db8f063d50f0 232 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 233 printf(" Instruction 0x%X\n",TxBuf[5]);
akichika 0:db8f063d50f0 234 #endif
akichika 0:db8f063d50f0 235
akichika 0:db8f063d50f0 236 // Checksum
akichika 0:db8f063d50f0 237 TxBuf[5] = 0xFF - sum;
akichika 0:db8f063d50f0 238 #ifdef AX12_TRIGGER_DEBUG
akichika 0:db8f063d50f0 239 printf(" Checksum 0x%X\n",TxBuf[5]);
akichika 0:db8f063d50f0 240 #endif
akichika 0:db8f063d50f0 241
akichika 0:db8f063d50f0 242 // Transmit the packet in one burst with no pausing
akichika 0:db8f063d50f0 243 for (int i = 0; i < 6 ; i++) {
akichika 0:db8f063d50f0 244 _ax12.putc(TxBuf[i]);
akichika 0:db8f063d50f0 245 }
akichika 0:db8f063d50f0 246
akichika 0:db8f063d50f0 247 // This is a broadcast packet, so there will be no reply
akichika 0:db8f063d50f0 248 return;
akichika 0:db8f063d50f0 249 }
akichika 0:db8f063d50f0 250
akichika 0:db8f063d50f0 251
akichika 0:db8f063d50f0 252 float AX12::GetPosition(void) {
akichika 0:db8f063d50f0 253
akichika 0:db8f063d50f0 254 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 255 printf("\nGetPosition(%d)",_ID);
akichika 0:db8f063d50f0 256 #endif
akichika 0:db8f063d50f0 257
akichika 0:db8f063d50f0 258 char data[2];
akichika 0:db8f063d50f0 259
akichika 0:db8f063d50f0 260 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
akichika 0:db8f063d50f0 261 short position = data[0] + (data[1] << 8);
akichika 0:db8f063d50f0 262 float angle = (position * 300)/1024;
akichika 0:db8f063d50f0 263
akichika 0:db8f063d50f0 264 return (angle);
akichika 0:db8f063d50f0 265 }
akichika 0:db8f063d50f0 266
akichika 0:db8f063d50f0 267
akichika 0:db8f063d50f0 268 float AX12::GetTemp (void) {
akichika 0:db8f063d50f0 269
akichika 0:db8f063d50f0 270 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 271 printf("\nGetTemp(%d)",_ID);
akichika 0:db8f063d50f0 272 #endif
akichika 0:db8f063d50f0 273
akichika 0:db8f063d50f0 274 char data[1];
akichika 0:db8f063d50f0 275 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
akichika 0:db8f063d50f0 276 float temp = data[0];
akichika 0:db8f063d50f0 277 return(temp);
akichika 0:db8f063d50f0 278 }
akichika 0:db8f063d50f0 279
akichika 0:db8f063d50f0 280
akichika 0:db8f063d50f0 281 float AX12::GetVolts (void) {
akichika 0:db8f063d50f0 282
akichika 0:db8f063d50f0 283 #ifdef AX12_DEBUG
akichika 0:db8f063d50f0 284 printf("\nGetVolts(%d)",_ID);
akichika 0:db8f063d50f0 285 #endif
akichika 0:db8f063d50f0 286
akichika 0:db8f063d50f0 287 char data[1];
akichika 0:db8f063d50f0 288 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
akichika 0:db8f063d50f0 289 float volts = data[0]/10.0;
akichika 0:db8f063d50f0 290 return(volts);
akichika 0:db8f063d50f0 291 }
akichika 0:db8f063d50f0 292
akichika 0:db8f063d50f0 293
akichika 0:db8f063d50f0 294 int AX12::read(int ID, int start, int bytes, char* data) {
akichika 0:db8f063d50f0 295
akichika 0:db8f063d50f0 296 char PacketLength = 0x4;
akichika 0:db8f063d50f0 297 char TxBuf[16];
akichika 0:db8f063d50f0 298 char sum = 0;
akichika 0:db8f063d50f0 299 char Status[16];
akichika 0:db8f063d50f0 300
akichika 0:db8f063d50f0 301 Status[4] = 0xFE; // return code
akichika 0:db8f063d50f0 302
akichika 0:db8f063d50f0 303 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 304 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
akichika 0:db8f063d50f0 305 #endif
akichika 0:db8f063d50f0 306
akichika 0:db8f063d50f0 307 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 308 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 309 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
akichika 0:db8f063d50f0 310 #endif
akichika 0:db8f063d50f0 311
akichika 0:db8f063d50f0 312 TxBuf[0] = 0xff;
akichika 0:db8f063d50f0 313 TxBuf[1] = 0xff;
akichika 0:db8f063d50f0 314
akichika 0:db8f063d50f0 315 // ID
akichika 0:db8f063d50f0 316 TxBuf[2] = ID;
akichika 0:db8f063d50f0 317 sum += TxBuf[2];
akichika 0:db8f063d50f0 318
akichika 0:db8f063d50f0 319 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 320 printf(" ID : %d\n",TxBuf[2]);
akichika 0:db8f063d50f0 321 #endif
akichika 0:db8f063d50f0 322
akichika 0:db8f063d50f0 323 // Packet Length
akichika 0:db8f063d50f0 324 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
akichika 0:db8f063d50f0 325 sum += TxBuf[3]; // Accululate the packet sum
akichika 0:db8f063d50f0 326
akichika 0:db8f063d50f0 327 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 328 printf(" Length : 0x%x\n",TxBuf[3]);
akichika 0:db8f063d50f0 329 #endif
akichika 0:db8f063d50f0 330
akichika 0:db8f063d50f0 331 // Instruction - Read
akichika 0:db8f063d50f0 332 TxBuf[4] = 0x2;
akichika 0:db8f063d50f0 333 sum += TxBuf[4];
akichika 0:db8f063d50f0 334
akichika 0:db8f063d50f0 335 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 336 printf(" Instruction : 0x%x\n",TxBuf[4]);
akichika 0:db8f063d50f0 337 #endif
akichika 0:db8f063d50f0 338
akichika 0:db8f063d50f0 339 // Start Address
akichika 0:db8f063d50f0 340 TxBuf[5] = start;
akichika 0:db8f063d50f0 341 sum += TxBuf[5];
akichika 0:db8f063d50f0 342
akichika 0:db8f063d50f0 343 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 344 printf(" Start Address : 0x%x\n",TxBuf[5]);
akichika 0:db8f063d50f0 345 #endif
akichika 0:db8f063d50f0 346
akichika 0:db8f063d50f0 347 // Bytes to read
akichika 0:db8f063d50f0 348 TxBuf[6] = bytes;
akichika 0:db8f063d50f0 349 sum += TxBuf[6];
akichika 0:db8f063d50f0 350
akichika 0:db8f063d50f0 351 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 352 printf(" No bytes : 0x%x\n",TxBuf[6]);
akichika 0:db8f063d50f0 353 #endif
akichika 0:db8f063d50f0 354
akichika 0:db8f063d50f0 355 // Checksum
akichika 0:db8f063d50f0 356 TxBuf[7] = 0xFF - sum;
akichika 0:db8f063d50f0 357 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 358 printf(" Checksum : 0x%x\n",TxBuf[7]);
akichika 0:db8f063d50f0 359 #endif
akichika 0:db8f063d50f0 360
akichika 0:db8f063d50f0 361 // Transmit the packet in one burst with no pausing
akichika 0:db8f063d50f0 362 for (int i = 0; i<8 ; i++) {
akichika 0:db8f063d50f0 363 _ax12.putc(TxBuf[i]);
akichika 0:db8f063d50f0 364 }
akichika 0:db8f063d50f0 365
akichika 0:db8f063d50f0 366 // Wait for the bytes to be transmitted
akichika 0:db8f063d50f0 367 wait (0.00002);
akichika 0:db8f063d50f0 368
akichika 0:db8f063d50f0 369 // Skip if the read was to the broadcast address
akichika 0:db8f063d50f0 370 if (_ID != 0xFE) {
akichika 0:db8f063d50f0 371
akichika 0:db8f063d50f0 372
akichika 0:db8f063d50f0 373
akichika 0:db8f063d50f0 374 // response packet is always 6 + bytes
akichika 0:db8f063d50f0 375 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
akichika 0:db8f063d50f0 376 // timeout is a little more than the time to transmit
akichika 0:db8f063d50f0 377 // the packet back, i.e. (6+bytes)*10 bit periods
akichika 0:db8f063d50f0 378
akichika 0:db8f063d50f0 379 int timeout = 0;
akichika 0:db8f063d50f0 380 int plen = 0;
akichika 0:db8f063d50f0 381 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
akichika 0:db8f063d50f0 382
akichika 0:db8f063d50f0 383 if (_ax12.readable()) {
akichika 0:db8f063d50f0 384 Status[plen] = _ax12.getc();
akichika 0:db8f063d50f0 385 plen++;
akichika 0:db8f063d50f0 386 timeout = 0;
akichika 0:db8f063d50f0 387 }
akichika 0:db8f063d50f0 388
akichika 0:db8f063d50f0 389 // wait for the bit period
akichika 0:db8f063d50f0 390 wait (1.0/_baud);
akichika 0:db8f063d50f0 391 timeout++;
akichika 0:db8f063d50f0 392 }
akichika 0:db8f063d50f0 393
akichika 0:db8f063d50f0 394 if (timeout == ((6+bytes)*10) ) {
akichika 0:db8f063d50f0 395 return(-1);
akichika 0:db8f063d50f0 396 }
akichika 0:db8f063d50f0 397
akichika 0:db8f063d50f0 398 // Copy the data from Status into data for return
akichika 0:db8f063d50f0 399 for (int i=0; i < Status[3]-2 ; i++) {
akichika 0:db8f063d50f0 400 data[i] = Status[5+i];
akichika 0:db8f063d50f0 401 }
akichika 0:db8f063d50f0 402
akichika 0:db8f063d50f0 403 #ifdef AX12_READ_DEBUG
akichika 0:db8f063d50f0 404 printf("\nStatus Packet\n");
akichika 0:db8f063d50f0 405 printf(" Header : 0x%x\n",Status[0]);
akichika 0:db8f063d50f0 406 printf(" Header : 0x%x\n",Status[1]);
akichika 0:db8f063d50f0 407 printf(" ID : 0x%x\n",Status[2]);
akichika 0:db8f063d50f0 408 printf(" Length : 0x%x\n",Status[3]);
akichika 0:db8f063d50f0 409 printf(" Error Code : 0x%x\n",Status[4]);
akichika 0:db8f063d50f0 410
akichika 0:db8f063d50f0 411 for (int i=0; i < Status[3]-2 ; i++) {
akichika 0:db8f063d50f0 412 printf(" Data : 0x%x\n",Status[5+i]);
akichika 0:db8f063d50f0 413 }
akichika 0:db8f063d50f0 414
akichika 0:db8f063d50f0 415 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
akichika 0:db8f063d50f0 416 #endif
akichika 0:db8f063d50f0 417
akichika 0:db8f063d50f0 418 } // if (ID!=0xFE)
akichika 0:db8f063d50f0 419
akichika 0:db8f063d50f0 420 return(Status[4]);
akichika 0:db8f063d50f0 421 }
akichika 0:db8f063d50f0 422
akichika 0:db8f063d50f0 423
akichika 0:db8f063d50f0 424 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
akichika 0:db8f063d50f0 425 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
akichika 0:db8f063d50f0 426
akichika 0:db8f063d50f0 427 char TxBuf[16];
akichika 0:db8f063d50f0 428 char sum = 0;
akichika 0:db8f063d50f0 429 char Status[6];
akichika 0:db8f063d50f0 430
akichika 0:db8f063d50f0 431 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 432 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
akichika 0:db8f063d50f0 433 #endif
akichika 0:db8f063d50f0 434
akichika 0:db8f063d50f0 435 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 436 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 437 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
akichika 0:db8f063d50f0 438 #endif
akichika 0:db8f063d50f0 439
akichika 0:db8f063d50f0 440 TxBuf[0] = 0xff;
akichika 0:db8f063d50f0 441 TxBuf[1] = 0xff;
akichika 0:db8f063d50f0 442
akichika 0:db8f063d50f0 443 // ID
akichika 0:db8f063d50f0 444 TxBuf[2] = ID;
akichika 0:db8f063d50f0 445 sum += TxBuf[2];
akichika 0:db8f063d50f0 446
akichika 0:db8f063d50f0 447 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 448 printf(" ID : %d\n",TxBuf[2]);
akichika 0:db8f063d50f0 449 #endif
akichika 0:db8f063d50f0 450
akichika 0:db8f063d50f0 451 // packet Length
akichika 0:db8f063d50f0 452 TxBuf[3] = 3+bytes;
akichika 0:db8f063d50f0 453 sum += TxBuf[3];
akichika 0:db8f063d50f0 454
akichika 0:db8f063d50f0 455 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 456 printf(" Length : %d\n",TxBuf[3]);
akichika 0:db8f063d50f0 457 #endif
akichika 0:db8f063d50f0 458
akichika 0:db8f063d50f0 459 // Instruction
akichika 0:db8f063d50f0 460 if (flag == 1) {
akichika 0:db8f063d50f0 461 TxBuf[4]=0x04;
akichika 0:db8f063d50f0 462 sum += TxBuf[4];
akichika 0:db8f063d50f0 463 } else {
akichika 0:db8f063d50f0 464 TxBuf[4]=0x03;
akichika 0:db8f063d50f0 465 sum += TxBuf[4];
akichika 0:db8f063d50f0 466 }
akichika 0:db8f063d50f0 467
akichika 0:db8f063d50f0 468 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 469 printf(" Instruction : 0x%x\n",TxBuf[4]);
akichika 0:db8f063d50f0 470 #endif
akichika 0:db8f063d50f0 471
akichika 0:db8f063d50f0 472 // Start Address
akichika 0:db8f063d50f0 473 TxBuf[5] = start;
akichika 0:db8f063d50f0 474 sum += TxBuf[5];
akichika 0:db8f063d50f0 475
akichika 0:db8f063d50f0 476 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 477 printf(" Start : 0x%x\n",TxBuf[5]);
akichika 0:db8f063d50f0 478 #endif
akichika 0:db8f063d50f0 479
akichika 0:db8f063d50f0 480 // data
akichika 0:db8f063d50f0 481 for (char i=0; i<bytes ; i++) {
akichika 0:db8f063d50f0 482 TxBuf[6+i] = data[i];
akichika 0:db8f063d50f0 483 sum += TxBuf[6+i];
akichika 0:db8f063d50f0 484
akichika 0:db8f063d50f0 485 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 486 printf(" Data : 0x%x\n",TxBuf[6+i]);
akichika 0:db8f063d50f0 487 #endif
akichika 0:db8f063d50f0 488
akichika 0:db8f063d50f0 489 }
akichika 0:db8f063d50f0 490
akichika 0:db8f063d50f0 491 // checksum
akichika 0:db8f063d50f0 492 TxBuf[6+bytes] = 0xFF - sum;
akichika 0:db8f063d50f0 493
akichika 0:db8f063d50f0 494 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 495 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
akichika 0:db8f063d50f0 496 #endif
akichika 0:db8f063d50f0 497
akichika 0:db8f063d50f0 498 // Transmit the packet in one burst with no pausing
akichika 0:db8f063d50f0 499 for (int i = 0; i < (7 + bytes) ; i++) {
akichika 0:db8f063d50f0 500 _ax12.putc(TxBuf[i]);
akichika 0:db8f063d50f0 501 }
akichika 0:db8f063d50f0 502
akichika 0:db8f063d50f0 503 // Wait for data to transmit
akichika 0:db8f063d50f0 504 wait (0.00002);
akichika 0:db8f063d50f0 505
akichika 0:db8f063d50f0 506 // make sure we have a valid return
akichika 0:db8f063d50f0 507 Status[4]=0x00;
akichika 0:db8f063d50f0 508
akichika 0:db8f063d50f0 509 // we'll only get a reply if it was not broadcast
akichika 0:db8f063d50f0 510 if (_ID!=0xFE) {
akichika 0:db8f063d50f0 511
akichika 0:db8f063d50f0 512
akichika 0:db8f063d50f0 513 // response packet is always 6 bytes
akichika 0:db8f063d50f0 514 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
akichika 0:db8f063d50f0 515 // timeout is a little more than the time to transmit
akichika 0:db8f063d50f0 516 // the packet back, i.e. 60 bit periods, round up to 100
akichika 0:db8f063d50f0 517 int timeout = 0;
akichika 0:db8f063d50f0 518 int plen = 0;
akichika 0:db8f063d50f0 519 while ((timeout < 100) && (plen<6)) {
akichika 0:db8f063d50f0 520
akichika 0:db8f063d50f0 521 if (_ax12.readable()) {
akichika 0:db8f063d50f0 522 Status[plen] = _ax12.getc();
akichika 0:db8f063d50f0 523 plen++;
akichika 0:db8f063d50f0 524 timeout = 0;
akichika 0:db8f063d50f0 525 }
akichika 0:db8f063d50f0 526
akichika 0:db8f063d50f0 527 // wait for the bit period
akichika 0:db8f063d50f0 528 wait (1.0/_baud);
akichika 0:db8f063d50f0 529 timeout++;
akichika 0:db8f063d50f0 530 }
akichika 0:db8f063d50f0 531
akichika 0:db8f063d50f0 532
akichika 0:db8f063d50f0 533 // Build the TxPacket first in RAM, then we'll send in one go
akichika 0:db8f063d50f0 534 #ifdef AX12_WRITE_DEBUG
akichika 0:db8f063d50f0 535 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
akichika 0:db8f063d50f0 536 printf(" ID : %d\n",Status[2]);
akichika 0:db8f063d50f0 537 printf(" Length : %d\n",Status[3]);
akichika 0:db8f063d50f0 538 printf(" Error : 0x%x\n",Status[4]);
akichika 0:db8f063d50f0 539 printf(" Checksum : 0x%x\n",Status[5]);
akichika 0:db8f063d50f0 540 #endif
akichika 0:db8f063d50f0 541
akichika 0:db8f063d50f0 542
akichika 0:db8f063d50f0 543 }
akichika 0:db8f063d50f0 544
akichika 0:db8f063d50f0 545 return(Status[4]); // return error code
akichika 0:db8f063d50f0 546 }