Corentin Potron / AX12

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Dependencies:   SerialHalfDuplex

Dependents:   Programme_3Cubes_Trappes AX13 AX12_RobotDemineur Robot_demineur ... more

AX12.cpp@2:4b23ea069b7e, 2018-04-25 (annotated)

Committer:
cpotron
Date:
Wed Apr 25 17:13:46 2018 +0000
Revision:
2:4b23ea069b7e
Parent:
1:19cd7097b3e4 
new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cpotron 0:6062259b2143 1 /* mbed AX-12+ Servo Library
cpotron 0:6062259b2143 2 *
cpotron 0:6062259b2143 3 * Copyright (c) 2010, cstyles (http://mbed.org)
cpotron 0:6062259b2143 4 *
cpotron 0:6062259b2143 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
cpotron 0:6062259b2143 6 * of this software and associated documentation files (the "Software"), to deal
cpotron 0:6062259b2143 7 * in the Software without restriction, including without limitation the rights
cpotron 0:6062259b2143 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
cpotron 0:6062259b2143 9 * copies of the Software, and to permit persons to whom the Software is
cpotron 0:6062259b2143 10 * furnished to do so, subject to the following conditions:
cpotron 0:6062259b2143 11 *
cpotron 0:6062259b2143 12 * The above copyright notice and this permission notice shall be included in
cpotron 0:6062259b2143 13 * all copies or substantial portions of the Software.
cpotron 0:6062259b2143 14 *
cpotron 0:6062259b2143 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
cpotron 0:6062259b2143 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
cpotron 0:6062259b2143 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
cpotron 0:6062259b2143 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
cpotron 0:6062259b2143 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
cpotron 0:6062259b2143 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
cpotron 0:6062259b2143 21 * THE SOFTWARE.
cpotron 0:6062259b2143 22 */
cpotron 0:6062259b2143 23
cpotron 0:6062259b2143 24 #include "AX12.h"
cpotron 0:6062259b2143 25 #include "mbed.h"
cpotron 0:6062259b2143 26
cpotron 1:19cd7097b3e4 27 AX12::AX12(PinName tx, PinName rx, int ID)
cpotron 0:6062259b2143 28 : _ax12(tx,rx) {
cpotron 0:6062259b2143 29 _ID = ID;
cpotron 0:6062259b2143 30 }
cpotron 0:6062259b2143 31
cpotron 0:6062259b2143 32 // Set the mode of the servo
cpotron 0:6062259b2143 33 // 0 = Positional (0-300 degrees)
cpotron 0:6062259b2143 34 // 1 = Rotational -1 to 1 speed
cpotron 0:6062259b2143 35 int AX12::SetMode(int mode) {
cpotron 0:6062259b2143 36
cpotron 0:6062259b2143 37 if (mode == 1) { // set CR
cpotron 0:6062259b2143 38 SetCWLimit(0);
cpotron 0:6062259b2143 39 SetCCWLimit(0);
cpotron 0:6062259b2143 40 SetCRSpeed(0.0);
cpotron 0:6062259b2143 41 } else {
cpotron 0:6062259b2143 42 SetCWLimit(0);
cpotron 0:6062259b2143 43 SetCCWLimit(300);
cpotron 0:6062259b2143 44 SetCRSpeed(0.0);
cpotron 0:6062259b2143 45 }
cpotron 0:6062259b2143 46 return(0);
cpotron 0:6062259b2143 47 }
cpotron 0:6062259b2143 48
cpotron 0:6062259b2143 49
cpotron 0:6062259b2143 50 // if flag[0] is set, were blocking
cpotron 0:6062259b2143 51 // if flag[1] is set, we're registering
cpotron 0:6062259b2143 52 // they are mutually exclusive operations
cpotron 0:6062259b2143 53 int AX12::SetGoal(int degrees, int flags) {
cpotron 0:6062259b2143 54
cpotron 0:6062259b2143 55 char reg_flag = 0;
cpotron 0:6062259b2143 56 char data[2];
cpotron 0:6062259b2143 57
cpotron 0:6062259b2143 58 // set the flag is only the register bit is set in the flag
cpotron 0:6062259b2143 59 if (flags == 0x2) {
cpotron 0:6062259b2143 60 reg_flag = 1;
cpotron 0:6062259b2143 61 }
cpotron 0:6062259b2143 62
cpotron 0:6062259b2143 63 // 1023 / 300 * degrees
cpotron 0:6062259b2143 64 short goal = (1023 * degrees) / 300;
cpotron 0:6062259b2143 65 if (AX12_DEBUG) {
cpotron 0:6062259b2143 66 printf("SetGoal to 0x%x\n",goal);
cpotron 0:6062259b2143 67 }
cpotron 0:6062259b2143 68
cpotron 0:6062259b2143 69 data[0] = goal & 0xff; // bottom 8 bits
cpotron 0:6062259b2143 70 data[1] = goal >> 8; // top 8 bits
cpotron 0:6062259b2143 71
cpotron 0:6062259b2143 72 // write the packet, return the error code
cpotron 0:6062259b2143 73 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
cpotron 0:6062259b2143 74
cpotron 0:6062259b2143 75 if (flags == 1) {
cpotron 0:6062259b2143 76 // block until it comes to a halt
cpotron 0:6062259b2143 77 while (isMoving()) {}
cpotron 0:6062259b2143 78 }
cpotron 0:6062259b2143 79 return(rVal);
cpotron 0:6062259b2143 80 }
cpotron 0:6062259b2143 81
cpotron 0:6062259b2143 82
cpotron 0:6062259b2143 83 // Set continuous rotation speed from -1 to 1
cpotron 0:6062259b2143 84 int AX12::SetCRSpeed(float speed) {
cpotron 0:6062259b2143 85
cpotron 0:6062259b2143 86 // bit 10 = direction, 0 = CCW, 1=CW
cpotron 0:6062259b2143 87 // bits 9-0 = Speed
cpotron 0:6062259b2143 88 char data[2];
cpotron 0:6062259b2143 89
cpotron 0:6062259b2143 90 int goal = (0x3ff * abs(speed));
cpotron 0:6062259b2143 91
cpotron 0:6062259b2143 92 // Set direction CW if we have a negative speed
cpotron 0:6062259b2143 93 if (speed < 0) {
cpotron 0:6062259b2143 94 goal |= (0x1 << 10);
cpotron 0:6062259b2143 95 }
cpotron 0:6062259b2143 96
cpotron 0:6062259b2143 97 data[0] = goal & 0xff; // bottom 8 bits
cpotron 0:6062259b2143 98 data[1] = goal >> 8; // top 8 bits
cpotron 0:6062259b2143 99
cpotron 0:6062259b2143 100 // write the packet, return the error code
cpotron 0:6062259b2143 101 int rVal = write(_ID, 0x20, 2, data);
cpotron 0:6062259b2143 102
cpotron 0:6062259b2143 103 return(rVal);
cpotron 0:6062259b2143 104 }
cpotron 0:6062259b2143 105
cpotron 0:6062259b2143 106
cpotron 0:6062259b2143 107 int AX12::SetCWLimit (int degrees) {
cpotron 0:6062259b2143 108
cpotron 0:6062259b2143 109 char data[2];
cpotron 0:6062259b2143 110
cpotron 0:6062259b2143 111 // 1023 / 300 * degrees
cpotron 0:6062259b2143 112 short limit = (1023 * degrees) / 300;
cpotron 0:6062259b2143 113
cpotron 0:6062259b2143 114 if (AX12_DEBUG) {
cpotron 0:6062259b2143 115 printf("SetCWLimit to 0x%x\n",limit);
cpotron 0:6062259b2143 116 }
cpotron 0:6062259b2143 117
cpotron 0:6062259b2143 118 data[0] = limit & 0xff; // bottom 8 bits
cpotron 0:6062259b2143 119 data[1] = limit >> 8; // top 8 bits
cpotron 0:6062259b2143 120
cpotron 0:6062259b2143 121 // write the packet, return the error code
cpotron 0:6062259b2143 122 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
cpotron 0:6062259b2143 123
cpotron 0:6062259b2143 124 }
cpotron 0:6062259b2143 125
cpotron 0:6062259b2143 126 int AX12::SetCCWLimit (int degrees) {
cpotron 0:6062259b2143 127
cpotron 0:6062259b2143 128 char data[2];
cpotron 0:6062259b2143 129
cpotron 0:6062259b2143 130 // 1023 / 300 * degrees
cpotron 0:6062259b2143 131 short limit = (1023 * degrees) / 300;
cpotron 0:6062259b2143 132
cpotron 0:6062259b2143 133 if (AX12_DEBUG) {
cpotron 0:6062259b2143 134 printf("SetCCWLimit to 0x%x\n",limit);
cpotron 0:6062259b2143 135 }
cpotron 0:6062259b2143 136
cpotron 0:6062259b2143 137 data[0] = limit & 0xff; // bottom 8 bits
cpotron 0:6062259b2143 138 data[1] = limit >> 8; // top 8 bits
cpotron 0:6062259b2143 139
cpotron 0:6062259b2143 140 // write the packet, return the error code
cpotron 0:6062259b2143 141 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
cpotron 0:6062259b2143 142 }
cpotron 0:6062259b2143 143
cpotron 0:6062259b2143 144
cpotron 0:6062259b2143 145 int AX12::SetID (int CurrentID, int NewID) {
cpotron 0:6062259b2143 146
cpotron 0:6062259b2143 147 char data[1];
cpotron 0:6062259b2143 148 data[0] = NewID;
cpotron 0:6062259b2143 149 if (AX12_DEBUG) {
cpotron 0:6062259b2143 150 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
cpotron 0:6062259b2143 151 }
cpotron 0:6062259b2143 152 return (write(CurrentID, AX12_REG_ID, 1, data));
cpotron 0:6062259b2143 153
cpotron 0:6062259b2143 154 }
cpotron 0:6062259b2143 155
cpotron 0:6062259b2143 156
cpotron 0:6062259b2143 157 // return 1 is the servo is still in flight
cpotron 0:6062259b2143 158 int AX12::isMoving(void) {
cpotron 0:6062259b2143 159
cpotron 0:6062259b2143 160 char data[1];
cpotron 0:6062259b2143 161 read(_ID,AX12_REG_MOVING,1,data);
cpotron 0:6062259b2143 162 return(data[0]);
cpotron 0:6062259b2143 163 }
cpotron 0:6062259b2143 164
cpotron 0:6062259b2143 165
cpotron 0:6062259b2143 166 void AX12::trigger(void) {
cpotron 0:6062259b2143 167
cpotron 0:6062259b2143 168 char TxBuf[16];
cpotron 0:6062259b2143 169 char sum = 0;
cpotron 0:6062259b2143 170
cpotron 0:6062259b2143 171 if (AX12_TRIGGER_DEBUG) {
cpotron 0:6062259b2143 172 printf("\nTriggered\n");
cpotron 0:6062259b2143 173 }
cpotron 0:6062259b2143 174
cpotron 0:6062259b2143 175 // Build the TxPacket first in RAM, then we'll send in one go
cpotron 0:6062259b2143 176 if (AX12_TRIGGER_DEBUG) {
cpotron 0:6062259b2143 177 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
cpotron 0:6062259b2143 178 }
cpotron 0:6062259b2143 179
cpotron 0:6062259b2143 180 TxBuf[0] = 0xFF;
cpotron 0:6062259b2143 181 TxBuf[1] = 0xFF;
cpotron 0:6062259b2143 182
cpotron 0:6062259b2143 183 // ID - Broadcast
cpotron 0:6062259b2143 184 TxBuf[2] = 0xFE;
cpotron 0:6062259b2143 185 sum += TxBuf[2];
cpotron 0:6062259b2143 186
cpotron 0:6062259b2143 187 if (AX12_TRIGGER_DEBUG) {
cpotron 0:6062259b2143 188 printf(" ID : %d\n",TxBuf[2]);
cpotron 0:6062259b2143 189 }
cpotron 0:6062259b2143 190
cpotron 0:6062259b2143 191 // Length
cpotron 0:6062259b2143 192 TxBuf[3] = 0x02;
cpotron 0:6062259b2143 193 sum += TxBuf[3];
cpotron 0:6062259b2143 194 if (AX12_TRIGGER_DEBUG) {
cpotron 0:6062259b2143 195 printf(" Length %d\n",TxBuf[3]);
cpotron 0:6062259b2143 196 }
cpotron 0:6062259b2143 197
cpotron 0:6062259b2143 198 // Instruction - ACTION
cpotron 0:6062259b2143 199 TxBuf[4] = 0x04;
cpotron 0:6062259b2143 200 sum += TxBuf[4];
cpotron 0:6062259b2143 201 if (AX12_TRIGGER_DEBUG) {
cpotron 0:6062259b2143 202 printf(" Instruction 0x%X\n",TxBuf[5]);
cpotron 0:6062259b2143 203 }
cpotron 0:6062259b2143 204
cpotron 0:6062259b2143 205 // Checksum
cpotron 0:6062259b2143 206 TxBuf[5] = 0xFF - sum;
cpotron 0:6062259b2143 207 if (AX12_TRIGGER_DEBUG) {
cpotron 0:6062259b2143 208 printf(" Checksum 0x%X\n",TxBuf[5]);
cpotron 0:6062259b2143 209 }
cpotron 0:6062259b2143 210
cpotron 0:6062259b2143 211 // Transmit the packet in one burst with no pausing
cpotron 0:6062259b2143 212 for (int i = 0; i < 6 ; i++) {
cpotron 0:6062259b2143 213 _ax12.putc(TxBuf[i]);
cpotron 0:6062259b2143 214 }
cpotron 0:6062259b2143 215
cpotron 0:6062259b2143 216 // This is a broadcast packet, so there will be no reply
cpotron 0:6062259b2143 217
cpotron 0:6062259b2143 218 return;
cpotron 0:6062259b2143 219 }
cpotron 0:6062259b2143 220
cpotron 0:6062259b2143 221
cpotron 0:6062259b2143 222 float AX12::GetPosition(void) {
cpotron 0:6062259b2143 223
cpotron 0:6062259b2143 224 if (AX12_DEBUG) {
cpotron 0:6062259b2143 225 printf("\nGetPosition(%d)",_ID);
cpotron 0:6062259b2143 226 }
cpotron 0:6062259b2143 227
cpotron 0:6062259b2143 228 char data[2];
cpotron 0:6062259b2143 229
cpotron 0:6062259b2143 230 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
cpotron 0:6062259b2143 231 short position = data[0] + (data[1] << 8);
cpotron 0:6062259b2143 232 float angle = (position * 300)/1024;
cpotron 0:6062259b2143 233
cpotron 0:6062259b2143 234 return (angle);
cpotron 0:6062259b2143 235 }
cpotron 0:6062259b2143 236
cpotron 0:6062259b2143 237
cpotron 0:6062259b2143 238 float AX12::GetTemp (void) {
cpotron 0:6062259b2143 239
cpotron 0:6062259b2143 240 if (AX12_DEBUG) {
cpotron 0:6062259b2143 241 printf("\nGetTemp(%d)",_ID);
cpotron 0:6062259b2143 242 }
cpotron 0:6062259b2143 243 char data[1];
cpotron 0:6062259b2143 244 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
cpotron 0:6062259b2143 245 float temp = data[0];
cpotron 0:6062259b2143 246 return(temp);
cpotron 0:6062259b2143 247 }
cpotron 0:6062259b2143 248
cpotron 0:6062259b2143 249
cpotron 0:6062259b2143 250 float AX12::GetVolts (void) {
cpotron 0:6062259b2143 251 if (AX12_DEBUG) {
cpotron 0:6062259b2143 252 printf("\nGetVolts(%d)",_ID);
cpotron 0:6062259b2143 253 }
cpotron 0:6062259b2143 254 char data[1];
cpotron 0:6062259b2143 255 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
cpotron 0:6062259b2143 256 float volts = data[0]/10.0;
cpotron 0:6062259b2143 257 return(volts);
cpotron 0:6062259b2143 258 }
cpotron 0:6062259b2143 259
cpotron 0:6062259b2143 260
cpotron 1:19cd7097b3e4 261 void AX12::setSpeedMove(int goal, int speed) {
cpotron 1:19cd7097b3e4 262 char data[2];
cpotron 1:19cd7097b3e4 263 data[0] = speed & 0xff;
cpotron 1:19cd7097b3e4 264 data[1] = speed >> 8;
cpotron 1:19cd7097b3e4 265
cpotron 1:19cd7097b3e4 266 write(_ID, 0x20, 2, data);
cpotron 1:19cd7097b3e4 267
cpotron 1:19cd7097b3e4 268 SetGoal(goal);
cpotron 0:6062259b2143 269 }
cpotron 0:6062259b2143 270
cpotron 0:6062259b2143 271
cpotron 0:6062259b2143 272 int AX12::read(int ID, int start, int bytes, char* data) {
cpotron 0:6062259b2143 273
cpotron 0:6062259b2143 274 char PacketLength = 0x4;
cpotron 0:6062259b2143 275 char TxBuf[16];
cpotron 0:6062259b2143 276 char sum = 0;
cpotron 0:6062259b2143 277 char Status[16];
cpotron 0:6062259b2143 278
cpotron 0:6062259b2143 279 Status[4] = 0xFE; // return code
cpotron 0:6062259b2143 280
cpotron 0:6062259b2143 281 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 282 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
cpotron 0:6062259b2143 283 }
cpotron 0:6062259b2143 284
cpotron 0:6062259b2143 285 // Build the TxPacket first in RAM, then we'll send in one go
cpotron 0:6062259b2143 286 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 287 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
cpotron 0:6062259b2143 288 }
cpotron 0:6062259b2143 289
cpotron 0:6062259b2143 290 TxBuf[0] = 0xff;
cpotron 0:6062259b2143 291 TxBuf[1] = 0xff;
cpotron 0:6062259b2143 292
cpotron 0:6062259b2143 293 // ID
cpotron 0:6062259b2143 294 TxBuf[2] = ID;
cpotron 0:6062259b2143 295 sum += TxBuf[2];
cpotron 0:6062259b2143 296 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 297 printf(" ID : %d\n",TxBuf[2]);
cpotron 0:6062259b2143 298 }
cpotron 0:6062259b2143 299
cpotron 0:6062259b2143 300 // Packet Length
cpotron 0:6062259b2143 301 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
cpotron 0:6062259b2143 302 sum += TxBuf[3]; // Accululate the packet sum
cpotron 0:6062259b2143 303 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 304 printf(" Length : 0x%x\n",TxBuf[3]);
cpotron 0:6062259b2143 305 }
cpotron 0:6062259b2143 306
cpotron 0:6062259b2143 307 // Instruction - Read
cpotron 0:6062259b2143 308 TxBuf[4] = 0x2;
cpotron 0:6062259b2143 309 sum += TxBuf[4];
cpotron 0:6062259b2143 310 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 311 printf(" Instruction : 0x%x\n",TxBuf[4]);
cpotron 0:6062259b2143 312 }
cpotron 0:6062259b2143 313
cpotron 0:6062259b2143 314 // Start Address
cpotron 0:6062259b2143 315 TxBuf[5] = start;
cpotron 0:6062259b2143 316 sum += TxBuf[5];
cpotron 0:6062259b2143 317 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 318 printf(" Start Address : 0x%x\n",TxBuf[5]);
cpotron 0:6062259b2143 319 }
cpotron 0:6062259b2143 320
cpotron 0:6062259b2143 321 // Bytes to read
cpotron 0:6062259b2143 322 TxBuf[6] = bytes;
cpotron 0:6062259b2143 323 sum += TxBuf[6];
cpotron 0:6062259b2143 324 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 325 printf(" No bytes : 0x%x\n",TxBuf[6]);
cpotron 0:6062259b2143 326 }
cpotron 0:6062259b2143 327
cpotron 0:6062259b2143 328 // Checksum
cpotron 0:6062259b2143 329 TxBuf[7] = 0xFF - sum;
cpotron 0:6062259b2143 330 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 331 printf(" Checksum : 0x%x\n",TxBuf[7]);
cpotron 0:6062259b2143 332 }
cpotron 0:6062259b2143 333
cpotron 0:6062259b2143 334 // Transmit the packet in one burst with no pausing
cpotron 0:6062259b2143 335 for (int i = 0; i<8 ; i++) {
cpotron 0:6062259b2143 336 _ax12.putc(TxBuf[i]);
cpotron 0:6062259b2143 337 }
cpotron 0:6062259b2143 338
cpotron 0:6062259b2143 339 // Wait for the bytes to be transmitted
cpotron 0:6062259b2143 340 wait (0.00002);
cpotron 0:6062259b2143 341
cpotron 0:6062259b2143 342 // Skip if the read was to the broadcast address
cpotron 0:6062259b2143 343 if (_ID != 0xFE) {
cpotron 0:6062259b2143 344
cpotron 0:6062259b2143 345 // Receive the Status packet 6+ number of bytes read
cpotron 0:6062259b2143 346 for (int i=0; i<(6+bytes) ; i++) {
cpotron 0:6062259b2143 347 Status[i] = _ax12.getc();
cpotron 0:6062259b2143 348 }
cpotron 0:6062259b2143 349
cpotron 0:6062259b2143 350 // Copy the data from Status into data for return
cpotron 0:6062259b2143 351 for (int i=0; i < Status[3]-2 ; i++) {
cpotron 0:6062259b2143 352 data[i] = Status[5+i];
cpotron 0:6062259b2143 353 }
cpotron 0:6062259b2143 354
cpotron 0:6062259b2143 355 if (AX12_READ_DEBUG) {
cpotron 0:6062259b2143 356 printf("\nStatus Packet\n");
cpotron 0:6062259b2143 357 printf(" Header : 0x%x\n",Status[0]);
cpotron 0:6062259b2143 358 printf(" Header : 0x%x\n",Status[1]);
cpotron 0:6062259b2143 359 printf(" ID : 0x%x\n",Status[2]);
cpotron 0:6062259b2143 360 printf(" Length : 0x%x\n",Status[3]);
cpotron 0:6062259b2143 361 printf(" Error Code : 0x%x\n",Status[4]);
cpotron 0:6062259b2143 362
cpotron 0:6062259b2143 363 for (int i=0; i < Status[3]-2 ; i++) {
cpotron 0:6062259b2143 364 printf(" Data : 0x%x\n",Status[5+i]);
cpotron 0:6062259b2143 365 }
cpotron 0:6062259b2143 366
cpotron 0:6062259b2143 367 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
cpotron 0:6062259b2143 368 }
cpotron 0:6062259b2143 369
cpotron 0:6062259b2143 370 } // if (ID!=0xFE)
cpotron 0:6062259b2143 371
cpotron 0:6062259b2143 372 return(Status[4]);
cpotron 0:6062259b2143 373 }
cpotron 0:6062259b2143 374
cpotron 0:6062259b2143 375
cpotron 0:6062259b2143 376 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
cpotron 0:6062259b2143 377 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
cpotron 0:6062259b2143 378
cpotron 0:6062259b2143 379 char TxBuf[16];
cpotron 0:6062259b2143 380 char sum = 0;
cpotron 0:6062259b2143 381 char Status[6];
cpotron 0:6062259b2143 382
cpotron 0:6062259b2143 383 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 384 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
cpotron 0:6062259b2143 385 }
cpotron 0:6062259b2143 386
cpotron 0:6062259b2143 387 // Build the TxPacket first in RAM, then we'll send in one go
cpotron 0:6062259b2143 388 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 389 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
cpotron 0:6062259b2143 390 }
cpotron 0:6062259b2143 391
cpotron 0:6062259b2143 392 TxBuf[0] = 0xff;
cpotron 0:6062259b2143 393 TxBuf[1] = 0xff;
cpotron 0:6062259b2143 394
cpotron 0:6062259b2143 395 // ID
cpotron 0:6062259b2143 396 TxBuf[2] = ID;
cpotron 0:6062259b2143 397 sum += TxBuf[2];
cpotron 0:6062259b2143 398
cpotron 0:6062259b2143 399 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 400 printf(" ID : %d\n",TxBuf[2]);
cpotron 0:6062259b2143 401 }
cpotron 0:6062259b2143 402
cpotron 0:6062259b2143 403 // packet Length
cpotron 0:6062259b2143 404 TxBuf[3] = 3+bytes;
cpotron 0:6062259b2143 405 sum += TxBuf[3];
cpotron 0:6062259b2143 406
cpotron 0:6062259b2143 407 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 408 printf(" Length : %d\n",TxBuf[3]);
cpotron 0:6062259b2143 409 }
cpotron 0:6062259b2143 410
cpotron 0:6062259b2143 411 // Instruction
cpotron 0:6062259b2143 412 if (flag == 1) {
cpotron 0:6062259b2143 413 TxBuf[4]=0x04;
cpotron 0:6062259b2143 414 sum += TxBuf[4];
cpotron 0:6062259b2143 415 } else {
cpotron 0:6062259b2143 416 TxBuf[4]=0x03;
cpotron 0:6062259b2143 417 sum += TxBuf[4];
cpotron 0:6062259b2143 418 }
cpotron 0:6062259b2143 419
cpotron 0:6062259b2143 420 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 421 printf(" Instruction : 0x%x\n",TxBuf[4]);
cpotron 0:6062259b2143 422 }
cpotron 0:6062259b2143 423
cpotron 0:6062259b2143 424 // Start Address
cpotron 0:6062259b2143 425 TxBuf[5] = start;
cpotron 0:6062259b2143 426 sum += TxBuf[5];
cpotron 0:6062259b2143 427 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 428 printf(" Start : 0x%x\n",TxBuf[5]);
cpotron 0:6062259b2143 429 }
cpotron 0:6062259b2143 430
cpotron 0:6062259b2143 431 // data
cpotron 0:6062259b2143 432 for (char i=0; i<bytes ; i++) {
cpotron 0:6062259b2143 433 TxBuf[6+i] = data[i];
cpotron 0:6062259b2143 434 sum += TxBuf[6+i];
cpotron 0:6062259b2143 435 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 436 printf(" Data : 0x%x\n",TxBuf[6+i]);
cpotron 0:6062259b2143 437 }
cpotron 0:6062259b2143 438 }
cpotron 0:6062259b2143 439
cpotron 0:6062259b2143 440 // checksum
cpotron 0:6062259b2143 441 TxBuf[6+bytes] = 0xFF - sum;
cpotron 0:6062259b2143 442 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 443 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
cpotron 0:6062259b2143 444 }
cpotron 0:6062259b2143 445
cpotron 0:6062259b2143 446 // Transmit the packet in one burst with no pausing
cpotron 0:6062259b2143 447 for (int i = 0; i < (7 + bytes) ; i++) {
cpotron 0:6062259b2143 448 _ax12.putc(TxBuf[i]);
cpotron 0:6062259b2143 449 }
cpotron 0:6062259b2143 450
cpotron 0:6062259b2143 451 // Wait for data to transmit
cpotron 0:6062259b2143 452 wait (0.00002);
cpotron 0:6062259b2143 453
cpotron 0:6062259b2143 454 // make sure we have a valid return
cpotron 0:6062259b2143 455 Status[4]=0x00;
cpotron 0:6062259b2143 456
cpotron 0:6062259b2143 457 // we'll only get a reply if it was not broadcast
cpotron 0:6062259b2143 458 if (_ID!=0xFE) {
cpotron 0:6062259b2143 459
cpotron 0:6062259b2143 460 // response is always 6 bytes
cpotron 0:6062259b2143 461 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
cpotron 0:6062259b2143 462 for (int i=0; i < 6 ; i++) {
cpotron 0:6062259b2143 463 Status[i] = _ax12.getc();
cpotron 0:6062259b2143 464 }
cpotron 0:6062259b2143 465
cpotron 0:6062259b2143 466 // Build the TxPacket first in RAM, then we'll send in one go
cpotron 0:6062259b2143 467 if (AX12_WRITE_DEBUG) {
cpotron 0:6062259b2143 468 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
cpotron 0:6062259b2143 469 printf(" ID : %d\n",Status[2]);
cpotron 0:6062259b2143 470 printf(" Length : %d\n",Status[3]);
cpotron 0:6062259b2143 471 printf(" Error : 0x%x\n",Status[4]);
cpotron 0:6062259b2143 472 printf(" Checksum : 0x%x\n",Status[5]);
cpotron 0:6062259b2143 473 }
cpotron 0:6062259b2143 474
cpotron 0:6062259b2143 475
cpotron 0:6062259b2143 476 }
cpotron 0:6062259b2143 477
cpotron 0:6062259b2143 478 return(Status[4]); // return error code
cpotron 0:6062259b2143 479 }