Dependents:   Snackotron Single_Axis NewCyroroProto AX12 ... more

Committer:
chris
Date:
Sun Apr 10 21:20:44 2011 +0000
Revision:
3:ced71d1b2558
Parent:
2:5ea99c37a2d7
Added baud rate function to the AX12 class

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 3:ced71d1b2558 162 int AX12::SetBaud (int baud) {
chris 3:ced71d1b2558 163
chris 3:ced71d1b2558 164 char data[1];
chris 3:ced71d1b2558 165 data[0] = baud;
chris 3:ced71d1b2558 166
chris 3:ced71d1b2558 167 #ifdef AX12_DEBUG
chris 3:ced71d1b2558 168 printf("Setting Baud rate to %d\n",baud);
chris 3:ced71d1b2558 169 #endif
chris 3:ced71d1b2558 170
chris 3:ced71d1b2558 171 return (write(0xFE, AX12_REG_BAUD, 1, data));
chris 3:ced71d1b2558 172
chris 3:ced71d1b2558 173 }
chris 3:ced71d1b2558 174
chris 3:ced71d1b2558 175
chris 3:ced71d1b2558 176
chris 1:93ad80f5fde7 177 // return 1 is the servo is still in flight
chris 1:93ad80f5fde7 178 int AX12::isMoving(void) {
chris 1:93ad80f5fde7 179
chris 1:93ad80f5fde7 180 char data[1];
chris 1:93ad80f5fde7 181 read(_ID,AX12_REG_MOVING,1,data);
chris 1:93ad80f5fde7 182 return(data[0]);
chris 1:93ad80f5fde7 183 }
chris 1:93ad80f5fde7 184
chris 1:93ad80f5fde7 185
chris 0:be51952765ec 186 void AX12::trigger(void) {
chris 0:be51952765ec 187
chris 0:be51952765ec 188 char TxBuf[16];
chris 0:be51952765ec 189 char sum = 0;
chris 0:be51952765ec 190
chris 2:5ea99c37a2d7 191 #ifdef AX12_TRIGGER_DEBUG
chris 0:be51952765ec 192 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 193 printf("\nTriggered\n");
chris 2:5ea99c37a2d7 194 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
chris 2:5ea99c37a2d7 195 #endif
chris 0:be51952765ec 196
chris 0:be51952765ec 197 TxBuf[0] = 0xFF;
chris 0:be51952765ec 198 TxBuf[1] = 0xFF;
chris 0:be51952765ec 199
chris 0:be51952765ec 200 // ID - Broadcast
chris 0:be51952765ec 201 TxBuf[2] = 0xFE;
chris 0:be51952765ec 202 sum += TxBuf[2];
chris 0:be51952765ec 203
chris 2:5ea99c37a2d7 204 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 205 printf(" ID : %d\n",TxBuf[2]);
chris 2:5ea99c37a2d7 206 #endif
chris 0:be51952765ec 207
chris 0:be51952765ec 208 // Length
chris 0:be51952765ec 209 TxBuf[3] = 0x02;
chris 0:be51952765ec 210 sum += TxBuf[3];
chris 2:5ea99c37a2d7 211
chris 2:5ea99c37a2d7 212 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 213 printf(" Length %d\n",TxBuf[3]);
chris 2:5ea99c37a2d7 214 #endif
chris 0:be51952765ec 215
chris 0:be51952765ec 216 // Instruction - ACTION
chris 0:be51952765ec 217 TxBuf[4] = 0x04;
chris 0:be51952765ec 218 sum += TxBuf[4];
chris 2:5ea99c37a2d7 219
chris 2:5ea99c37a2d7 220 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 221 printf(" Instruction 0x%X\n",TxBuf[5]);
chris 2:5ea99c37a2d7 222 #endif
chris 0:be51952765ec 223
chris 0:be51952765ec 224 // Checksum
chris 0:be51952765ec 225 TxBuf[5] = 0xFF - sum;
chris 2:5ea99c37a2d7 226 #ifdef AX12_TRIGGER_DEBUG
chris 2:5ea99c37a2d7 227 printf(" Checksum 0x%X\n",TxBuf[5]);
chris 2:5ea99c37a2d7 228 #endif
chris 0:be51952765ec 229
chris 0:be51952765ec 230 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 231 for (int i = 0; i < 6 ; i++) {
chris 0:be51952765ec 232 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 233 }
chris 1:93ad80f5fde7 234
chris 0:be51952765ec 235 // This is a broadcast packet, so there will be no reply
chris 0:be51952765ec 236 return;
chris 0:be51952765ec 237 }
chris 0:be51952765ec 238
chris 0:be51952765ec 239
chris 0:be51952765ec 240 float AX12::GetPosition(void) {
chris 0:be51952765ec 241
chris 2:5ea99c37a2d7 242 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 243 printf("\nGetPosition(%d)",_ID);
chris 2:5ea99c37a2d7 244 #endif
chris 0:be51952765ec 245
chris 0:be51952765ec 246 char data[2];
chris 0:be51952765ec 247
chris 0:be51952765ec 248 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
chris 0:be51952765ec 249 short position = data[0] + (data[1] << 8);
chris 0:be51952765ec 250 float angle = (position * 300)/1024;
chris 0:be51952765ec 251
chris 0:be51952765ec 252 return (angle);
chris 0:be51952765ec 253 }
chris 0:be51952765ec 254
chris 0:be51952765ec 255
chris 1:93ad80f5fde7 256 float AX12::GetTemp (void) {
chris 0:be51952765ec 257
chris 2:5ea99c37a2d7 258 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 259 printf("\nGetTemp(%d)",_ID);
chris 2:5ea99c37a2d7 260 #endif
chris 2:5ea99c37a2d7 261
chris 1:93ad80f5fde7 262 char data[1];
chris 1:93ad80f5fde7 263 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
chris 1:93ad80f5fde7 264 float temp = data[0];
chris 1:93ad80f5fde7 265 return(temp);
chris 0:be51952765ec 266 }
chris 0:be51952765ec 267
chris 0:be51952765ec 268
chris 1:93ad80f5fde7 269 float AX12::GetVolts (void) {
chris 2:5ea99c37a2d7 270
chris 2:5ea99c37a2d7 271 #ifdef AX12_DEBUG
chris 2:5ea99c37a2d7 272 printf("\nGetVolts(%d)",_ID);
chris 2:5ea99c37a2d7 273 #endif
chris 2:5ea99c37a2d7 274
chris 0:be51952765ec 275 char data[1];
chris 1:93ad80f5fde7 276 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
chris 1:93ad80f5fde7 277 float volts = data[0]/10.0;
chris 1:93ad80f5fde7 278 return(volts);
chris 0:be51952765ec 279 }
chris 0:be51952765ec 280
chris 0:be51952765ec 281
chris 0:be51952765ec 282 int AX12::read(int ID, int start, int bytes, char* data) {
chris 0:be51952765ec 283
chris 0:be51952765ec 284 char PacketLength = 0x4;
chris 0:be51952765ec 285 char TxBuf[16];
chris 0:be51952765ec 286 char sum = 0;
chris 0:be51952765ec 287 char Status[16];
chris 0:be51952765ec 288
chris 0:be51952765ec 289 Status[4] = 0xFE; // return code
chris 0:be51952765ec 290
chris 2:5ea99c37a2d7 291 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 292 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
chris 2:5ea99c37a2d7 293 #endif
chris 0:be51952765ec 294
chris 0:be51952765ec 295 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 296 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 297 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris 2:5ea99c37a2d7 298 #endif
chris 0:be51952765ec 299
chris 0:be51952765ec 300 TxBuf[0] = 0xff;
chris 0:be51952765ec 301 TxBuf[1] = 0xff;
chris 0:be51952765ec 302
chris 0:be51952765ec 303 // ID
chris 0:be51952765ec 304 TxBuf[2] = ID;
chris 0:be51952765ec 305 sum += TxBuf[2];
chris 2:5ea99c37a2d7 306
chris 2:5ea99c37a2d7 307 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 308 printf(" ID : %d\n",TxBuf[2]);
chris 2:5ea99c37a2d7 309 #endif
chris 0:be51952765ec 310
chris 0:be51952765ec 311 // Packet Length
chris 0:be51952765ec 312 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
chris 0:be51952765ec 313 sum += TxBuf[3]; // Accululate the packet sum
chris 2:5ea99c37a2d7 314
chris 2:5ea99c37a2d7 315 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 316 printf(" Length : 0x%x\n",TxBuf[3]);
chris 2:5ea99c37a2d7 317 #endif
chris 0:be51952765ec 318
chris 0:be51952765ec 319 // Instruction - Read
chris 0:be51952765ec 320 TxBuf[4] = 0x2;
chris 0:be51952765ec 321 sum += TxBuf[4];
chris 2:5ea99c37a2d7 322
chris 2:5ea99c37a2d7 323 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 324 printf(" Instruction : 0x%x\n",TxBuf[4]);
chris 2:5ea99c37a2d7 325 #endif
chris 0:be51952765ec 326
chris 0:be51952765ec 327 // Start Address
chris 0:be51952765ec 328 TxBuf[5] = start;
chris 0:be51952765ec 329 sum += TxBuf[5];
chris 2:5ea99c37a2d7 330
chris 2:5ea99c37a2d7 331 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 332 printf(" Start Address : 0x%x\n",TxBuf[5]);
chris 2:5ea99c37a2d7 333 #endif
chris 0:be51952765ec 334
chris 0:be51952765ec 335 // Bytes to read
chris 0:be51952765ec 336 TxBuf[6] = bytes;
chris 0:be51952765ec 337 sum += TxBuf[6];
chris 2:5ea99c37a2d7 338
chris 2:5ea99c37a2d7 339 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 340 printf(" No bytes : 0x%x\n",TxBuf[6]);
chris 2:5ea99c37a2d7 341 #endif
chris 0:be51952765ec 342
chris 0:be51952765ec 343 // Checksum
chris 0:be51952765ec 344 TxBuf[7] = 0xFF - sum;
chris 2:5ea99c37a2d7 345 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 346 printf(" Checksum : 0x%x\n",TxBuf[7]);
chris 2:5ea99c37a2d7 347 #endif
chris 0:be51952765ec 348
chris 0:be51952765ec 349 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 350 for (int i = 0; i<8 ; i++) {
chris 0:be51952765ec 351 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 352 }
chris 0:be51952765ec 353
chris 0:be51952765ec 354 // Wait for the bytes to be transmitted
chris 0:be51952765ec 355 wait (0.00002);
chris 0:be51952765ec 356
chris 0:be51952765ec 357 // Skip if the read was to the broadcast address
chris 0:be51952765ec 358 if (_ID != 0xFE) {
chris 0:be51952765ec 359
chris 2:5ea99c37a2d7 360
chris 2:5ea99c37a2d7 361
chris 2:5ea99c37a2d7 362 // response packet is always 6 + bytes
chris 2:5ea99c37a2d7 363 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
chris 2:5ea99c37a2d7 364 // timeout is a little more than the time to transmit
chris 2:5ea99c37a2d7 365 // the packet back, i.e. (6+bytes)*10 bit periods
chris 2:5ea99c37a2d7 366
chris 2:5ea99c37a2d7 367 int timeout = 0;
chris 2:5ea99c37a2d7 368 int plen = 0;
chris 2:5ea99c37a2d7 369 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
chris 2:5ea99c37a2d7 370
chris 2:5ea99c37a2d7 371 if (_ax12.readable()) {
chris 2:5ea99c37a2d7 372 Status[plen] = _ax12.getc();
chris 2:5ea99c37a2d7 373 plen++;
chris 2:5ea99c37a2d7 374 timeout = 0;
chris 2:5ea99c37a2d7 375 }
chris 2:5ea99c37a2d7 376
chris 2:5ea99c37a2d7 377 // wait for the bit period
chris 2:5ea99c37a2d7 378 wait (1.0/_baud);
chris 2:5ea99c37a2d7 379 timeout++;
chris 2:5ea99c37a2d7 380 }
chris 2:5ea99c37a2d7 381
chris 2:5ea99c37a2d7 382 if (timeout == ((6+bytes)*10) ) {
chris 2:5ea99c37a2d7 383 return(-1);
chris 0:be51952765ec 384 }
chris 0:be51952765ec 385
chris 0:be51952765ec 386 // Copy the data from Status into data for return
chris 0:be51952765ec 387 for (int i=0; i < Status[3]-2 ; i++) {
chris 0:be51952765ec 388 data[i] = Status[5+i];
chris 0:be51952765ec 389 }
chris 0:be51952765ec 390
chris 2:5ea99c37a2d7 391 #ifdef AX12_READ_DEBUG
chris 2:5ea99c37a2d7 392 printf("\nStatus Packet\n");
chris 2:5ea99c37a2d7 393 printf(" Header : 0x%x\n",Status[0]);
chris 2:5ea99c37a2d7 394 printf(" Header : 0x%x\n",Status[1]);
chris 2:5ea99c37a2d7 395 printf(" ID : 0x%x\n",Status[2]);
chris 2:5ea99c37a2d7 396 printf(" Length : 0x%x\n",Status[3]);
chris 2:5ea99c37a2d7 397 printf(" Error Code : 0x%x\n",Status[4]);
chris 0:be51952765ec 398
chris 2:5ea99c37a2d7 399 for (int i=0; i < Status[3]-2 ; i++) {
chris 2:5ea99c37a2d7 400 printf(" Data : 0x%x\n",Status[5+i]);
chris 2:5ea99c37a2d7 401 }
chris 0:be51952765ec 402
chris 2:5ea99c37a2d7 403 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
chris 2:5ea99c37a2d7 404 #endif
chris 0:be51952765ec 405
chris 0:be51952765ec 406 } // if (ID!=0xFE)
chris 0:be51952765ec 407
chris 0:be51952765ec 408 return(Status[4]);
chris 0:be51952765ec 409 }
chris 0:be51952765ec 410
chris 1:93ad80f5fde7 411
chris 2:5ea99c37a2d7 412 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
chris 0:be51952765ec 413 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
chris 0:be51952765ec 414
chris 0:be51952765ec 415 char TxBuf[16];
chris 0:be51952765ec 416 char sum = 0;
chris 0:be51952765ec 417 char Status[6];
chris 0:be51952765ec 418
chris 2:5ea99c37a2d7 419 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 420 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
chris 2:5ea99c37a2d7 421 #endif
chris 0:be51952765ec 422
chris 0:be51952765ec 423 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 424 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 425 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris 2:5ea99c37a2d7 426 #endif
chris 0:be51952765ec 427
chris 0:be51952765ec 428 TxBuf[0] = 0xff;
chris 0:be51952765ec 429 TxBuf[1] = 0xff;
chris 0:be51952765ec 430
chris 0:be51952765ec 431 // ID
chris 0:be51952765ec 432 TxBuf[2] = ID;
chris 0:be51952765ec 433 sum += TxBuf[2];
chris 0:be51952765ec 434
chris 2:5ea99c37a2d7 435 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 436 printf(" ID : %d\n",TxBuf[2]);
chris 2:5ea99c37a2d7 437 #endif
chris 0:be51952765ec 438
chris 0:be51952765ec 439 // packet Length
chris 0:be51952765ec 440 TxBuf[3] = 3+bytes;
chris 0:be51952765ec 441 sum += TxBuf[3];
chris 0:be51952765ec 442
chris 2:5ea99c37a2d7 443 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 444 printf(" Length : %d\n",TxBuf[3]);
chris 2:5ea99c37a2d7 445 #endif
chris 0:be51952765ec 446
chris 0:be51952765ec 447 // Instruction
chris 0:be51952765ec 448 if (flag == 1) {
chris 0:be51952765ec 449 TxBuf[4]=0x04;
chris 0:be51952765ec 450 sum += TxBuf[4];
chris 0:be51952765ec 451 } else {
chris 0:be51952765ec 452 TxBuf[4]=0x03;
chris 0:be51952765ec 453 sum += TxBuf[4];
chris 0:be51952765ec 454 }
chris 0:be51952765ec 455
chris 2:5ea99c37a2d7 456 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 457 printf(" Instruction : 0x%x\n",TxBuf[4]);
chris 2:5ea99c37a2d7 458 #endif
chris 0:be51952765ec 459
chris 0:be51952765ec 460 // Start Address
chris 0:be51952765ec 461 TxBuf[5] = start;
chris 0:be51952765ec 462 sum += TxBuf[5];
chris 2:5ea99c37a2d7 463
chris 2:5ea99c37a2d7 464 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 465 printf(" Start : 0x%x\n",TxBuf[5]);
chris 2:5ea99c37a2d7 466 #endif
chris 0:be51952765ec 467
chris 0:be51952765ec 468 // data
chris 0:be51952765ec 469 for (char i=0; i<bytes ; i++) {
chris 0:be51952765ec 470 TxBuf[6+i] = data[i];
chris 0:be51952765ec 471 sum += TxBuf[6+i];
chris 2:5ea99c37a2d7 472
chris 2:5ea99c37a2d7 473 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 474 printf(" Data : 0x%x\n",TxBuf[6+i]);
chris 2:5ea99c37a2d7 475 #endif
chris 2:5ea99c37a2d7 476
chris 0:be51952765ec 477 }
chris 0:be51952765ec 478
chris 0:be51952765ec 479 // checksum
chris 0:be51952765ec 480 TxBuf[6+bytes] = 0xFF - sum;
chris 2:5ea99c37a2d7 481
chris 2:5ea99c37a2d7 482 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 483 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
chris 2:5ea99c37a2d7 484 #endif
chris 0:be51952765ec 485
chris 0:be51952765ec 486 // Transmit the packet in one burst with no pausing
chris 0:be51952765ec 487 for (int i = 0; i < (7 + bytes) ; i++) {
chris 0:be51952765ec 488 _ax12.putc(TxBuf[i]);
chris 0:be51952765ec 489 }
chris 0:be51952765ec 490
chris 0:be51952765ec 491 // Wait for data to transmit
chris 0:be51952765ec 492 wait (0.00002);
chris 0:be51952765ec 493
chris 0:be51952765ec 494 // make sure we have a valid return
chris 0:be51952765ec 495 Status[4]=0x00;
chris 0:be51952765ec 496
chris 0:be51952765ec 497 // we'll only get a reply if it was not broadcast
chris 0:be51952765ec 498 if (_ID!=0xFE) {
chris 0:be51952765ec 499
chris 2:5ea99c37a2d7 500
chris 2:5ea99c37a2d7 501 // response packet is always 6 bytes
chris 0:be51952765ec 502 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
chris 2:5ea99c37a2d7 503 // timeout is a little more than the time to transmit
chris 2:5ea99c37a2d7 504 // the packet back, i.e. 60 bit periods, round up to 100
chris 2:5ea99c37a2d7 505 int timeout = 0;
chris 2:5ea99c37a2d7 506 int plen = 0;
chris 2:5ea99c37a2d7 507 while ((timeout < 100) && (plen<6)) {
chris 2:5ea99c37a2d7 508
chris 2:5ea99c37a2d7 509 if (_ax12.readable()) {
chris 2:5ea99c37a2d7 510 Status[plen] = _ax12.getc();
chris 2:5ea99c37a2d7 511 plen++;
chris 2:5ea99c37a2d7 512 timeout = 0;
chris 2:5ea99c37a2d7 513 }
chris 2:5ea99c37a2d7 514
chris 2:5ea99c37a2d7 515 // wait for the bit period
chris 2:5ea99c37a2d7 516 wait (1.0/_baud);
chris 2:5ea99c37a2d7 517 timeout++;
chris 0:be51952765ec 518 }
chris 0:be51952765ec 519
chris 2:5ea99c37a2d7 520
chris 0:be51952765ec 521 // Build the TxPacket first in RAM, then we'll send in one go
chris 2:5ea99c37a2d7 522 #ifdef AX12_WRITE_DEBUG
chris 2:5ea99c37a2d7 523 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
chris 2:5ea99c37a2d7 524 printf(" ID : %d\n",Status[2]);
chris 2:5ea99c37a2d7 525 printf(" Length : %d\n",Status[3]);
chris 2:5ea99c37a2d7 526 printf(" Error : 0x%x\n",Status[4]);
chris 2:5ea99c37a2d7 527 printf(" Checksum : 0x%x\n",Status[5]);
chris 2:5ea99c37a2d7 528 #endif
chris 0:be51952765ec 529
chris 0:be51952765ec 530
chris 0:be51952765ec 531 }
chris 0:be51952765ec 532
chris 0:be51952765ec 533 return(Status[4]); // return error code
chris 0:be51952765ec 534 }