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tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
AX12/AX12.cpp@49:d23d76689933, 2019-03-06 (annotated)
- Committer:
- hisyamfs
- Date:
- Wed Mar 06 13:17:10 2019 +0000
- Revision:
- 49:d23d76689933
- Parent:
- 12:1e3227a6fcd7
tes bisa semua, tanpa servo. uvtron nggak bisa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hisyamfs | 12:1e3227a6fcd7 | 1 | /* mbed AX-12+ Servo Library |
hisyamfs | 12:1e3227a6fcd7 | 2 | * |
hisyamfs | 12:1e3227a6fcd7 | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
hisyamfs | 12:1e3227a6fcd7 | 4 | * |
hisyamfs | 12:1e3227a6fcd7 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
hisyamfs | 12:1e3227a6fcd7 | 6 | * of this software and associated documentation files (the "Software"), to deal |
hisyamfs | 12:1e3227a6fcd7 | 7 | * in the Software without restriction, including without limitation the rights |
hisyamfs | 12:1e3227a6fcd7 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
hisyamfs | 12:1e3227a6fcd7 | 9 | * copies of the Software, and to permit persons to whom the Software is |
hisyamfs | 12:1e3227a6fcd7 | 10 | * furnished to do so, subject to the following conditions: |
hisyamfs | 12:1e3227a6fcd7 | 11 | * |
hisyamfs | 12:1e3227a6fcd7 | 12 | * The above copyright notice and this permission notice shall be included in |
hisyamfs | 12:1e3227a6fcd7 | 13 | * all copies or substantial portions of the Software. |
hisyamfs | 12:1e3227a6fcd7 | 14 | * |
hisyamfs | 12:1e3227a6fcd7 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
hisyamfs | 12:1e3227a6fcd7 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
hisyamfs | 12:1e3227a6fcd7 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
hisyamfs | 12:1e3227a6fcd7 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
hisyamfs | 12:1e3227a6fcd7 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
hisyamfs | 12:1e3227a6fcd7 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
hisyamfs | 12:1e3227a6fcd7 | 21 | * THE SOFTWARE. |
hisyamfs | 12:1e3227a6fcd7 | 22 | */ |
hisyamfs | 12:1e3227a6fcd7 | 23 | |
hisyamfs | 12:1e3227a6fcd7 | 24 | #include "AX12.h" |
hisyamfs | 12:1e3227a6fcd7 | 25 | #include "mbed.h" |
hisyamfs | 12:1e3227a6fcd7 | 26 | |
hisyamfs | 12:1e3227a6fcd7 | 27 | AX12::AX12 (PinName tx, PinName rx, PinName tx_ena, int ID, int baud) : _ax12(tx,rx), _ena_tx(tx_ena) |
hisyamfs | 12:1e3227a6fcd7 | 28 | { |
hisyamfs | 12:1e3227a6fcd7 | 29 | _ena_tx = 1; |
hisyamfs | 12:1e3227a6fcd7 | 30 | _ax12.baud(baud); |
hisyamfs | 12:1e3227a6fcd7 | 31 | _baud_bit = 1000000/baud; |
hisyamfs | 12:1e3227a6fcd7 | 32 | _wait_sent = 20 * _baud_bit; |
hisyamfs | 12:1e3227a6fcd7 | 33 | _timeout_tick = 500 + 12 * _baud_bit; |
hisyamfs | 12:1e3227a6fcd7 | 34 | _ID = ID; |
hisyamfs | 12:1e3227a6fcd7 | 35 | _error_code = 0; |
hisyamfs | 12:1e3227a6fcd7 | 36 | _data[0] = 0; |
hisyamfs | 12:1e3227a6fcd7 | 37 | _reg_flag = 0; |
hisyamfs | 12:1e3227a6fcd7 | 38 | } |
hisyamfs | 12:1e3227a6fcd7 | 39 | |
hisyamfs | 12:1e3227a6fcd7 | 40 | // Set the mode of the servo |
hisyamfs | 12:1e3227a6fcd7 | 41 | // 0 = Positional (0-300 degrees) |
hisyamfs | 12:1e3227a6fcd7 | 42 | // 1 = Rotational -1 to 1 speed |
hisyamfs | 12:1e3227a6fcd7 | 43 | int AX12::SetMode(int mode) |
hisyamfs | 12:1e3227a6fcd7 | 44 | { |
hisyamfs | 12:1e3227a6fcd7 | 45 | if (mode == 1) |
hisyamfs | 12:1e3227a6fcd7 | 46 | { // set CR |
hisyamfs | 12:1e3227a6fcd7 | 47 | SetCWLimit(0); |
hisyamfs | 12:1e3227a6fcd7 | 48 | SetCCWLimit(0); |
hisyamfs | 12:1e3227a6fcd7 | 49 | SetCRSpeed(0.0); |
hisyamfs | 12:1e3227a6fcd7 | 50 | } |
hisyamfs | 12:1e3227a6fcd7 | 51 | else |
hisyamfs | 12:1e3227a6fcd7 | 52 | { |
hisyamfs | 12:1e3227a6fcd7 | 53 | SetCWLimit(0); |
hisyamfs | 12:1e3227a6fcd7 | 54 | SetCCWLimit(300); |
hisyamfs | 12:1e3227a6fcd7 | 55 | SetCRSpeed(0.0); |
hisyamfs | 12:1e3227a6fcd7 | 56 | } |
hisyamfs | 12:1e3227a6fcd7 | 57 | return(0); |
hisyamfs | 12:1e3227a6fcd7 | 58 | } |
hisyamfs | 12:1e3227a6fcd7 | 59 | |
hisyamfs | 12:1e3227a6fcd7 | 60 | // if flag[0] is set, were blocking |
hisyamfs | 12:1e3227a6fcd7 | 61 | // if flag[1] is set, we're registering |
hisyamfs | 12:1e3227a6fcd7 | 62 | // they are mutually exclusive operations |
hisyamfs | 12:1e3227a6fcd7 | 63 | int AX12::SetGoal(int degrees, int flags) |
hisyamfs | 12:1e3227a6fcd7 | 64 | { |
hisyamfs | 12:1e3227a6fcd7 | 65 | _reg_flag = 0; |
hisyamfs | 12:1e3227a6fcd7 | 66 | |
hisyamfs | 12:1e3227a6fcd7 | 67 | // set the flag is only the register bit is set in the flag |
hisyamfs | 12:1e3227a6fcd7 | 68 | if (flags == 0x2) |
hisyamfs | 12:1e3227a6fcd7 | 69 | { |
hisyamfs | 12:1e3227a6fcd7 | 70 | _reg_flag = 1; |
hisyamfs | 12:1e3227a6fcd7 | 71 | } |
hisyamfs | 12:1e3227a6fcd7 | 72 | |
hisyamfs | 12:1e3227a6fcd7 | 73 | // 1023 / 300 * degrees |
hisyamfs | 12:1e3227a6fcd7 | 74 | short goal = (1023 * degrees) / 300; |
hisyamfs | 12:1e3227a6fcd7 | 75 | |
hisyamfs | 12:1e3227a6fcd7 | 76 | _data[0] = goal & 0xff; // bottom 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 77 | _data[1] = goal >> 8; // top 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 78 | |
hisyamfs | 12:1e3227a6fcd7 | 79 | // write the packet, return the error code |
hisyamfs | 12:1e3227a6fcd7 | 80 | int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, _data, _reg_flag); |
hisyamfs | 12:1e3227a6fcd7 | 81 | |
hisyamfs | 12:1e3227a6fcd7 | 82 | if (flags == 1) |
hisyamfs | 12:1e3227a6fcd7 | 83 | { |
hisyamfs | 12:1e3227a6fcd7 | 84 | // block until it comes to a halt |
hisyamfs | 12:1e3227a6fcd7 | 85 | while (isMoving()) |
hisyamfs | 12:1e3227a6fcd7 | 86 | { |
hisyamfs | 12:1e3227a6fcd7 | 87 | |
hisyamfs | 12:1e3227a6fcd7 | 88 | } |
hisyamfs | 12:1e3227a6fcd7 | 89 | } |
hisyamfs | 12:1e3227a6fcd7 | 90 | return(rVal); |
hisyamfs | 12:1e3227a6fcd7 | 91 | } |
hisyamfs | 12:1e3227a6fcd7 | 92 | |
hisyamfs | 12:1e3227a6fcd7 | 93 | void AX12::MultSetGoal(int degrees1, float speed1, |
hisyamfs | 12:1e3227a6fcd7 | 94 | int degrees2, float speed2, |
hisyamfs | 12:1e3227a6fcd7 | 95 | int degrees3, float speed3, |
hisyamfs | 12:1e3227a6fcd7 | 96 | int degrees4, float speed4, |
hisyamfs | 12:1e3227a6fcd7 | 97 | int degrees5, float speed5, |
hisyamfs | 12:1e3227a6fcd7 | 98 | int degrees6, float speed6, |
hisyamfs | 12:1e3227a6fcd7 | 99 | int degrees7, float speed7, |
hisyamfs | 12:1e3227a6fcd7 | 100 | int degrees8, float speed8, |
hisyamfs | 12:1e3227a6fcd7 | 101 | int degrees9, float speed9, |
hisyamfs | 12:1e3227a6fcd7 | 102 | int degrees10, float speed10, |
hisyamfs | 12:1e3227a6fcd7 | 103 | int degrees11, float speed11, |
hisyamfs | 12:1e3227a6fcd7 | 104 | int degrees12, float speed12, |
hisyamfs | 12:1e3227a6fcd7 | 105 | int degrees13, float speed13, |
hisyamfs | 12:1e3227a6fcd7 | 106 | int degrees14, float speed14, |
hisyamfs | 12:1e3227a6fcd7 | 107 | int degrees15, float speed15, |
hisyamfs | 12:1e3227a6fcd7 | 108 | int degrees16, float speed16, |
hisyamfs | 12:1e3227a6fcd7 | 109 | int degrees17, float speed17, |
hisyamfs | 12:1e3227a6fcd7 | 110 | int degrees18, float speed18) |
hisyamfs | 12:1e3227a6fcd7 | 111 | { |
hisyamfs | 12:1e3227a6fcd7 | 112 | char data[(total_ID*length_data) + 1]; |
hisyamfs | 12:1e3227a6fcd7 | 113 | |
hisyamfs | 12:1e3227a6fcd7 | 114 | int goal; |
hisyamfs | 12:1e3227a6fcd7 | 115 | int goal_speed; |
hisyamfs | 12:1e3227a6fcd7 | 116 | |
hisyamfs | 12:1e3227a6fcd7 | 117 | int alamat; |
hisyamfs | 12:1e3227a6fcd7 | 118 | |
hisyamfs | 12:1e3227a6fcd7 | 119 | int degrees[19]; |
hisyamfs | 12:1e3227a6fcd7 | 120 | float speed[19]; |
hisyamfs | 12:1e3227a6fcd7 | 121 | |
hisyamfs | 12:1e3227a6fcd7 | 122 | // assignment value from parameter to array |
hisyamfs | 12:1e3227a6fcd7 | 123 | |
hisyamfs | 12:1e3227a6fcd7 | 124 | degrees[1] = degrees1; |
hisyamfs | 12:1e3227a6fcd7 | 125 | degrees[2] = degrees2; |
hisyamfs | 12:1e3227a6fcd7 | 126 | degrees[3] = degrees3; |
hisyamfs | 12:1e3227a6fcd7 | 127 | degrees[4] = degrees4; |
hisyamfs | 12:1e3227a6fcd7 | 128 | degrees[5] = degrees5; |
hisyamfs | 12:1e3227a6fcd7 | 129 | degrees[6] = degrees6; |
hisyamfs | 12:1e3227a6fcd7 | 130 | degrees[7] = degrees7; |
hisyamfs | 12:1e3227a6fcd7 | 131 | degrees[8] = degrees8; |
hisyamfs | 12:1e3227a6fcd7 | 132 | degrees[9] = degrees9; |
hisyamfs | 12:1e3227a6fcd7 | 133 | degrees[10] = degrees10; |
hisyamfs | 12:1e3227a6fcd7 | 134 | degrees[11] = degrees11; |
hisyamfs | 12:1e3227a6fcd7 | 135 | degrees[12] = degrees12; |
hisyamfs | 12:1e3227a6fcd7 | 136 | degrees[13] = degrees13; |
hisyamfs | 12:1e3227a6fcd7 | 137 | degrees[14] = degrees14; |
hisyamfs | 12:1e3227a6fcd7 | 138 | degrees[15] = degrees15; |
hisyamfs | 12:1e3227a6fcd7 | 139 | degrees[16] = degrees16; |
hisyamfs | 12:1e3227a6fcd7 | 140 | degrees[17] = degrees17; |
hisyamfs | 12:1e3227a6fcd7 | 141 | degrees[18] = degrees18; |
hisyamfs | 12:1e3227a6fcd7 | 142 | |
hisyamfs | 12:1e3227a6fcd7 | 143 | speed[1] = speed1; |
hisyamfs | 12:1e3227a6fcd7 | 144 | speed[2] = speed2; |
hisyamfs | 12:1e3227a6fcd7 | 145 | speed[3] = speed3; |
hisyamfs | 12:1e3227a6fcd7 | 146 | speed[4] = speed4; |
hisyamfs | 12:1e3227a6fcd7 | 147 | speed[5] = speed5; |
hisyamfs | 12:1e3227a6fcd7 | 148 | speed[6] = speed6; |
hisyamfs | 12:1e3227a6fcd7 | 149 | speed[7] = speed7; |
hisyamfs | 12:1e3227a6fcd7 | 150 | speed[8] = speed8; |
hisyamfs | 12:1e3227a6fcd7 | 151 | speed[9] = speed9; |
hisyamfs | 12:1e3227a6fcd7 | 152 | speed[10] = speed10; |
hisyamfs | 12:1e3227a6fcd7 | 153 | speed[11] = speed11; |
hisyamfs | 12:1e3227a6fcd7 | 154 | speed[12] = speed12; |
hisyamfs | 12:1e3227a6fcd7 | 155 | speed[13] = speed13; |
hisyamfs | 12:1e3227a6fcd7 | 156 | speed[14] = speed14; |
hisyamfs | 12:1e3227a6fcd7 | 157 | speed[15] = speed15; |
hisyamfs | 12:1e3227a6fcd7 | 158 | speed[16] = speed16; |
hisyamfs | 12:1e3227a6fcd7 | 159 | speed[17] = speed17; |
hisyamfs | 12:1e3227a6fcd7 | 160 | speed[18] = speed18; |
hisyamfs | 12:1e3227a6fcd7 | 161 | |
hisyamfs | 12:1e3227a6fcd7 | 162 | /* |
hisyamfs | 12:1e3227a6fcd7 | 163 | for (char k=1; k<=total_ID; k++) |
hisyamfs | 12:1e3227a6fcd7 | 164 | { |
hisyamfs | 12:1e3227a6fcd7 | 165 | degrees[k] = degrees1; |
hisyamfs | 12:1e3227a6fcd7 | 166 | speed[k] = speed1; |
hisyamfs | 12:1e3227a6fcd7 | 167 | } |
hisyamfs | 12:1e3227a6fcd7 | 168 | */ |
hisyamfs | 12:1e3227a6fcd7 | 169 | |
hisyamfs | 12:1e3227a6fcd7 | 170 | for (int i=1; i<=total_ID; i++) |
hisyamfs | 12:1e3227a6fcd7 | 171 | { |
hisyamfs | 12:1e3227a6fcd7 | 172 | alamat = length_data*(i-1); |
hisyamfs | 12:1e3227a6fcd7 | 173 | |
hisyamfs | 12:1e3227a6fcd7 | 174 | goal = (1023 * degrees[i]) / 300; |
hisyamfs | 12:1e3227a6fcd7 | 175 | |
hisyamfs | 12:1e3227a6fcd7 | 176 | data[alamat+1] = goal & 0xff; // bottom 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 177 | data[alamat+2] = goal >> 8; // top 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 178 | |
hisyamfs | 12:1e3227a6fcd7 | 179 | float temp = (speed[i]<0)? (-1)*speed[i]:speed[i]; |
hisyamfs | 12:1e3227a6fcd7 | 180 | goal_speed = (0x3ff * temp); |
hisyamfs | 12:1e3227a6fcd7 | 181 | |
hisyamfs | 12:1e3227a6fcd7 | 182 | // Set direction CW if we have a negative speed |
hisyamfs | 12:1e3227a6fcd7 | 183 | if (speed[i] < 0) |
hisyamfs | 12:1e3227a6fcd7 | 184 | { |
hisyamfs | 12:1e3227a6fcd7 | 185 | goal_speed |= (0x1 << 10); |
hisyamfs | 12:1e3227a6fcd7 | 186 | } |
hisyamfs | 12:1e3227a6fcd7 | 187 | |
hisyamfs | 12:1e3227a6fcd7 | 188 | data[alamat+3] = goal_speed & 0xff; // bottom 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 189 | data[alamat+4] = goal_speed >> 8; // top 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 190 | } |
hisyamfs | 12:1e3227a6fcd7 | 191 | |
hisyamfs | 12:1e3227a6fcd7 | 192 | // Write |
hisyamfs | 12:1e3227a6fcd7 | 193 | sync_write(data); |
hisyamfs | 12:1e3227a6fcd7 | 194 | |
hisyamfs | 12:1e3227a6fcd7 | 195 | return; |
hisyamfs | 12:1e3227a6fcd7 | 196 | } |
hisyamfs | 12:1e3227a6fcd7 | 197 | |
hisyamfs | 12:1e3227a6fcd7 | 198 | // Set continuous rotation speed from -1 to 1 |
hisyamfs | 12:1e3227a6fcd7 | 199 | int AX12::SetCRSpeed(float speed) |
hisyamfs | 12:1e3227a6fcd7 | 200 | { |
hisyamfs | 12:1e3227a6fcd7 | 201 | // bit 10 = direction, 0 = CCW, 1=CW |
hisyamfs | 12:1e3227a6fcd7 | 202 | // bits 9-0 = Speed |
hisyamfs | 12:1e3227a6fcd7 | 203 | float temp = (speed<0)? speed * (-1): speed; |
hisyamfs | 12:1e3227a6fcd7 | 204 | int goal = (0x3ff * temp); |
hisyamfs | 12:1e3227a6fcd7 | 205 | |
hisyamfs | 12:1e3227a6fcd7 | 206 | // Set direction CW if we have a negative speed |
hisyamfs | 12:1e3227a6fcd7 | 207 | if (speed < 0) |
hisyamfs | 12:1e3227a6fcd7 | 208 | { |
hisyamfs | 12:1e3227a6fcd7 | 209 | goal |= (0x1 << 10); |
hisyamfs | 12:1e3227a6fcd7 | 210 | } |
hisyamfs | 12:1e3227a6fcd7 | 211 | |
hisyamfs | 12:1e3227a6fcd7 | 212 | _data[0] = goal & 0xff; // bottom 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 213 | _data[1] = goal >> 8; // top 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 214 | |
hisyamfs | 12:1e3227a6fcd7 | 215 | // write the packet, return the error code |
hisyamfs | 12:1e3227a6fcd7 | 216 | int rVal = write(_ID, AX12_REG_MOVING_SPEED, 2, _data); |
hisyamfs | 12:1e3227a6fcd7 | 217 | |
hisyamfs | 12:1e3227a6fcd7 | 218 | return(rVal); |
hisyamfs | 12:1e3227a6fcd7 | 219 | } |
hisyamfs | 12:1e3227a6fcd7 | 220 | |
hisyamfs | 12:1e3227a6fcd7 | 221 | int AX12::SetCWLimit (int degrees) |
hisyamfs | 12:1e3227a6fcd7 | 222 | { |
hisyamfs | 12:1e3227a6fcd7 | 223 | // 1023 / 300 * degrees |
hisyamfs | 12:1e3227a6fcd7 | 224 | short limit = (1023 * degrees) / 300; |
hisyamfs | 12:1e3227a6fcd7 | 225 | |
hisyamfs | 12:1e3227a6fcd7 | 226 | _data[0] = limit & 0xff; // bottom 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 227 | _data[1] = limit >> 8; // top 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 228 | |
hisyamfs | 12:1e3227a6fcd7 | 229 | // write the packet, return the error code |
hisyamfs | 12:1e3227a6fcd7 | 230 | return (write(_ID, AX12_REG_CW_LIMIT, 2, _data)); |
hisyamfs | 12:1e3227a6fcd7 | 231 | } |
hisyamfs | 12:1e3227a6fcd7 | 232 | |
hisyamfs | 12:1e3227a6fcd7 | 233 | int AX12::SetCCWLimit (int degrees) |
hisyamfs | 12:1e3227a6fcd7 | 234 | { |
hisyamfs | 12:1e3227a6fcd7 | 235 | // 1023 / 300 * degrees |
hisyamfs | 12:1e3227a6fcd7 | 236 | short limit = (1023 * degrees) / 300; |
hisyamfs | 12:1e3227a6fcd7 | 237 | |
hisyamfs | 12:1e3227a6fcd7 | 238 | _data[0] = limit & 0xff; // bottom 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 239 | _data[1] = limit >> 8; // top 8 bits |
hisyamfs | 12:1e3227a6fcd7 | 240 | |
hisyamfs | 12:1e3227a6fcd7 | 241 | // write the packet, return the error code |
hisyamfs | 12:1e3227a6fcd7 | 242 | return (write(_ID, AX12_REG_CCW_LIMIT, 2, _data)); |
hisyamfs | 12:1e3227a6fcd7 | 243 | } |
hisyamfs | 12:1e3227a6fcd7 | 244 | |
hisyamfs | 12:1e3227a6fcd7 | 245 | void AX12::ControlID (int ID) |
hisyamfs | 12:1e3227a6fcd7 | 246 | { |
hisyamfs | 12:1e3227a6fcd7 | 247 | _ID = ID; |
hisyamfs | 12:1e3227a6fcd7 | 248 | |
hisyamfs | 12:1e3227a6fcd7 | 249 | return; |
hisyamfs | 12:1e3227a6fcd7 | 250 | } |
hisyamfs | 12:1e3227a6fcd7 | 251 | |
hisyamfs | 12:1e3227a6fcd7 | 252 | int AX12::SetID (int CurrentID, int NewID) |
hisyamfs | 12:1e3227a6fcd7 | 253 | { |
hisyamfs | 12:1e3227a6fcd7 | 254 | _data[0] = NewID; |
hisyamfs | 12:1e3227a6fcd7 | 255 | return (write(CurrentID, AX12_REG_ID, 1, _data)); |
hisyamfs | 12:1e3227a6fcd7 | 256 | } |
hisyamfs | 12:1e3227a6fcd7 | 257 | |
hisyamfs | 12:1e3227a6fcd7 | 258 | int AX12::SetBaud (int baud) |
hisyamfs | 12:1e3227a6fcd7 | 259 | { |
hisyamfs | 12:1e3227a6fcd7 | 260 | _data[0] = baud; |
hisyamfs | 12:1e3227a6fcd7 | 261 | return (write(0xFE, AX12_REG_BAUD, 1, _data)); |
hisyamfs | 12:1e3227a6fcd7 | 262 | } |
hisyamfs | 12:1e3227a6fcd7 | 263 | |
hisyamfs | 12:1e3227a6fcd7 | 264 | // return 1 is the servo is still in flight |
hisyamfs | 12:1e3227a6fcd7 | 265 | int AX12::isMoving(void) |
hisyamfs | 12:1e3227a6fcd7 | 266 | { |
hisyamfs | 12:1e3227a6fcd7 | 267 | read(_ID,AX12_REG_MOVING,1,_data); |
hisyamfs | 12:1e3227a6fcd7 | 268 | return(_data[0]); |
hisyamfs | 12:1e3227a6fcd7 | 269 | } |
hisyamfs | 12:1e3227a6fcd7 | 270 | |
hisyamfs | 12:1e3227a6fcd7 | 271 | void AX12::trigger(void) |
hisyamfs | 12:1e3227a6fcd7 | 272 | { |
hisyamfs | 12:1e3227a6fcd7 | 273 | char TxBuf[16]; |
hisyamfs | 12:1e3227a6fcd7 | 274 | char sum = 0; |
hisyamfs | 12:1e3227a6fcd7 | 275 | |
hisyamfs | 12:1e3227a6fcd7 | 276 | TxBuf[0] = 0xFF; |
hisyamfs | 12:1e3227a6fcd7 | 277 | TxBuf[1] = 0xFF; |
hisyamfs | 12:1e3227a6fcd7 | 278 | |
hisyamfs | 12:1e3227a6fcd7 | 279 | // ID - Broadcast |
hisyamfs | 12:1e3227a6fcd7 | 280 | TxBuf[2] = 0xFE; |
hisyamfs | 12:1e3227a6fcd7 | 281 | sum += TxBuf[2]; |
hisyamfs | 12:1e3227a6fcd7 | 282 | |
hisyamfs | 12:1e3227a6fcd7 | 283 | // Length |
hisyamfs | 12:1e3227a6fcd7 | 284 | TxBuf[3] = 0x02; |
hisyamfs | 12:1e3227a6fcd7 | 285 | sum += TxBuf[3]; |
hisyamfs | 12:1e3227a6fcd7 | 286 | |
hisyamfs | 12:1e3227a6fcd7 | 287 | // Instruction - ACTION |
hisyamfs | 12:1e3227a6fcd7 | 288 | TxBuf[4] = 0x04; |
hisyamfs | 12:1e3227a6fcd7 | 289 | sum += TxBuf[4]; |
hisyamfs | 12:1e3227a6fcd7 | 290 | |
hisyamfs | 12:1e3227a6fcd7 | 291 | // Checksum |
hisyamfs | 12:1e3227a6fcd7 | 292 | TxBuf[5] = 0xFF - sum; |
hisyamfs | 12:1e3227a6fcd7 | 293 | |
hisyamfs | 12:1e3227a6fcd7 | 294 | // Transmit the packet in one burst with no pausing |
hisyamfs | 12:1e3227a6fcd7 | 295 | for (int i = 0; i < 6 ; i++) { |
hisyamfs | 12:1e3227a6fcd7 | 296 | _ax12.putc(TxBuf[i]); |
hisyamfs | 12:1e3227a6fcd7 | 297 | } |
hisyamfs | 12:1e3227a6fcd7 | 298 | |
hisyamfs | 12:1e3227a6fcd7 | 299 | // This is a broadcast packet, so there will be no reply |
hisyamfs | 12:1e3227a6fcd7 | 300 | return; |
hisyamfs | 12:1e3227a6fcd7 | 301 | } |
hisyamfs | 12:1e3227a6fcd7 | 302 | |
hisyamfs | 12:1e3227a6fcd7 | 303 | float AX12::GetPosition(void) |
hisyamfs | 12:1e3227a6fcd7 | 304 | { |
hisyamfs | 12:1e3227a6fcd7 | 305 | _error_code = read(_ID, AX12_REG_POSITION, 2, _data); |
hisyamfs | 12:1e3227a6fcd7 | 306 | return ((short)(_data[0] + (_data[1] << 8)) * 300.0f / 1024.0f); |
hisyamfs | 12:1e3227a6fcd7 | 307 | } |
hisyamfs | 12:1e3227a6fcd7 | 308 | |
hisyamfs | 12:1e3227a6fcd7 | 309 | float AX12::GetTemp (void) |
hisyamfs | 12:1e3227a6fcd7 | 310 | { |
hisyamfs | 12:1e3227a6fcd7 | 311 | _error_code = read(_ID, AX12_REG_TEMP, 1, _data); |
hisyamfs | 12:1e3227a6fcd7 | 312 | return(_data[0]); |
hisyamfs | 12:1e3227a6fcd7 | 313 | } |
hisyamfs | 12:1e3227a6fcd7 | 314 | |
hisyamfs | 12:1e3227a6fcd7 | 315 | float AX12::GetVolts (void) |
hisyamfs | 12:1e3227a6fcd7 | 316 | { |
hisyamfs | 12:1e3227a6fcd7 | 317 | _error_code = read(_ID, AX12_REG_VOLTS, 1, _data); |
hisyamfs | 12:1e3227a6fcd7 | 318 | return(_data[0]/10.0f); |
hisyamfs | 12:1e3227a6fcd7 | 319 | } |
hisyamfs | 12:1e3227a6fcd7 | 320 | |
hisyamfs | 12:1e3227a6fcd7 | 321 | int AX12::read(int ID, int start, int bytes, char* data) |
hisyamfs | 12:1e3227a6fcd7 | 322 | { |
hisyamfs | 12:1e3227a6fcd7 | 323 | char PacketLength = 0x4; |
hisyamfs | 12:1e3227a6fcd7 | 324 | char TxBuf[8]; |
hisyamfs | 12:1e3227a6fcd7 | 325 | char sum = 0; |
hisyamfs | 12:1e3227a6fcd7 | 326 | // char Status[6 + bytes]; |
hisyamfs | 12:1e3227a6fcd7 | 327 | |
hisyamfs | 12:1e3227a6fcd7 | 328 | Status[4] = 0xFE; // return code |
hisyamfs | 12:1e3227a6fcd7 | 329 | |
hisyamfs | 12:1e3227a6fcd7 | 330 | // Build the TxPacket first in RAM, then we'll send in one go |
hisyamfs | 12:1e3227a6fcd7 | 331 | |
hisyamfs | 12:1e3227a6fcd7 | 332 | TxBuf[0] = 0xff; |
hisyamfs | 12:1e3227a6fcd7 | 333 | TxBuf[1] = 0xff; |
hisyamfs | 12:1e3227a6fcd7 | 334 | |
hisyamfs | 12:1e3227a6fcd7 | 335 | // ID |
hisyamfs | 12:1e3227a6fcd7 | 336 | TxBuf[2] = ID; |
hisyamfs | 12:1e3227a6fcd7 | 337 | sum += TxBuf[2]; |
hisyamfs | 12:1e3227a6fcd7 | 338 | |
hisyamfs | 12:1e3227a6fcd7 | 339 | // Packet Length |
hisyamfs | 12:1e3227a6fcd7 | 340 | TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) |
hisyamfs | 12:1e3227a6fcd7 | 341 | sum += TxBuf[3]; // Accululate the packet sum |
hisyamfs | 12:1e3227a6fcd7 | 342 | |
hisyamfs | 12:1e3227a6fcd7 | 343 | // Instruction - Read |
hisyamfs | 12:1e3227a6fcd7 | 344 | TxBuf[4] = 0x2; |
hisyamfs | 12:1e3227a6fcd7 | 345 | sum += TxBuf[4]; |
hisyamfs | 12:1e3227a6fcd7 | 346 | |
hisyamfs | 12:1e3227a6fcd7 | 347 | // Start Address |
hisyamfs | 12:1e3227a6fcd7 | 348 | TxBuf[5] = start; |
hisyamfs | 12:1e3227a6fcd7 | 349 | sum += TxBuf[5]; |
hisyamfs | 12:1e3227a6fcd7 | 350 | |
hisyamfs | 12:1e3227a6fcd7 | 351 | // Bytes to read |
hisyamfs | 12:1e3227a6fcd7 | 352 | TxBuf[6] = bytes; |
hisyamfs | 12:1e3227a6fcd7 | 353 | sum += TxBuf[6]; |
hisyamfs | 12:1e3227a6fcd7 | 354 | |
hisyamfs | 12:1e3227a6fcd7 | 355 | // Checksum |
hisyamfs | 12:1e3227a6fcd7 | 356 | TxBuf[7] = 0xFF - sum; |
hisyamfs | 12:1e3227a6fcd7 | 357 | |
hisyamfs | 12:1e3227a6fcd7 | 358 | // Transmit the packet in one burst with no pausing |
hisyamfs | 12:1e3227a6fcd7 | 359 | _ena_tx = 1; |
hisyamfs | 12:1e3227a6fcd7 | 360 | for (int i = 0; i<8 ; i++) |
hisyamfs | 12:1e3227a6fcd7 | 361 | { |
hisyamfs | 12:1e3227a6fcd7 | 362 | _ax12.putc(TxBuf[i]); |
hisyamfs | 12:1e3227a6fcd7 | 363 | } |
hisyamfs | 12:1e3227a6fcd7 | 364 | |
hisyamfs | 12:1e3227a6fcd7 | 365 | // Wait for the bytes to be transmitted |
hisyamfs | 12:1e3227a6fcd7 | 366 | wait_us (_wait_sent); |
hisyamfs | 12:1e3227a6fcd7 | 367 | _ena_tx = 0; |
hisyamfs | 12:1e3227a6fcd7 | 368 | |
hisyamfs | 12:1e3227a6fcd7 | 369 | // Skip if the read was to the broadcast address |
hisyamfs | 12:1e3227a6fcd7 | 370 | if (_ID != 0xFE) |
hisyamfs | 12:1e3227a6fcd7 | 371 | { |
hisyamfs | 12:1e3227a6fcd7 | 372 | // response packet is always 6 + bytes |
hisyamfs | 12:1e3227a6fcd7 | 373 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
hisyamfs | 12:1e3227a6fcd7 | 374 | // timeout is a little more than the time to transmit |
hisyamfs | 12:1e3227a6fcd7 | 375 | // the packet back, i.e. (6+bytes)*10 bit periods |
hisyamfs | 12:1e3227a6fcd7 | 376 | int plen = 0; |
hisyamfs | 12:1e3227a6fcd7 | 377 | int timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 378 | int state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 379 | while ((timeout < _timeout_tick) && (plen < (bytes + 3))) |
hisyamfs | 12:1e3227a6fcd7 | 380 | { |
hisyamfs | 12:1e3227a6fcd7 | 381 | if (_ax12.readable()) |
hisyamfs | 12:1e3227a6fcd7 | 382 | { |
hisyamfs | 12:1e3227a6fcd7 | 383 | switch(state) |
hisyamfs | 12:1e3227a6fcd7 | 384 | { |
hisyamfs | 12:1e3227a6fcd7 | 385 | case 0: |
hisyamfs | 12:1e3227a6fcd7 | 386 | case 1: |
hisyamfs | 12:1e3227a6fcd7 | 387 | Status[state] = _ax12.getc(); |
hisyamfs | 12:1e3227a6fcd7 | 388 | if(Status[state] == 0xFF) |
hisyamfs | 12:1e3227a6fcd7 | 389 | { |
hisyamfs | 12:1e3227a6fcd7 | 390 | state++; |
hisyamfs | 12:1e3227a6fcd7 | 391 | timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 392 | } |
hisyamfs | 12:1e3227a6fcd7 | 393 | else |
hisyamfs | 12:1e3227a6fcd7 | 394 | state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 395 | break; |
hisyamfs | 12:1e3227a6fcd7 | 396 | case 2: |
hisyamfs | 12:1e3227a6fcd7 | 397 | Status[state] = _ax12.getc(); |
hisyamfs | 12:1e3227a6fcd7 | 398 | if(Status[state] == ID) |
hisyamfs | 12:1e3227a6fcd7 | 399 | { |
hisyamfs | 12:1e3227a6fcd7 | 400 | state++; |
hisyamfs | 12:1e3227a6fcd7 | 401 | timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 402 | } |
hisyamfs | 12:1e3227a6fcd7 | 403 | else |
hisyamfs | 12:1e3227a6fcd7 | 404 | state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 405 | break; |
hisyamfs | 12:1e3227a6fcd7 | 406 | case 3: |
hisyamfs | 12:1e3227a6fcd7 | 407 | Status[plen+state] = _ax12.getc(); |
hisyamfs | 12:1e3227a6fcd7 | 408 | plen++; |
hisyamfs | 12:1e3227a6fcd7 | 409 | timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 410 | break; |
hisyamfs | 12:1e3227a6fcd7 | 411 | default: |
hisyamfs | 12:1e3227a6fcd7 | 412 | state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 413 | } |
hisyamfs | 12:1e3227a6fcd7 | 414 | } |
hisyamfs | 12:1e3227a6fcd7 | 415 | |
hisyamfs | 12:1e3227a6fcd7 | 416 | // wait for the bit period |
hisyamfs | 12:1e3227a6fcd7 | 417 | wait_us(1); |
hisyamfs | 12:1e3227a6fcd7 | 418 | timeout++; |
hisyamfs | 12:1e3227a6fcd7 | 419 | } |
hisyamfs | 12:1e3227a6fcd7 | 420 | |
hisyamfs | 12:1e3227a6fcd7 | 421 | if (timeout == 550) |
hisyamfs | 12:1e3227a6fcd7 | 422 | { |
hisyamfs | 12:1e3227a6fcd7 | 423 | return(-1); |
hisyamfs | 12:1e3227a6fcd7 | 424 | } |
hisyamfs | 12:1e3227a6fcd7 | 425 | |
hisyamfs | 12:1e3227a6fcd7 | 426 | // Copy the data from Status into data for return |
hisyamfs | 12:1e3227a6fcd7 | 427 | for (int i=0; i < Status[3]-2 ; i++) |
hisyamfs | 12:1e3227a6fcd7 | 428 | { |
hisyamfs | 12:1e3227a6fcd7 | 429 | data[i] = Status[5+i]; |
hisyamfs | 12:1e3227a6fcd7 | 430 | } |
hisyamfs | 12:1e3227a6fcd7 | 431 | } |
hisyamfs | 12:1e3227a6fcd7 | 432 | |
hisyamfs | 12:1e3227a6fcd7 | 433 | // if (ID!=0xFE) |
hisyamfs | 12:1e3227a6fcd7 | 434 | return(Status[4]); |
hisyamfs | 12:1e3227a6fcd7 | 435 | } |
hisyamfs | 12:1e3227a6fcd7 | 436 | |
hisyamfs | 12:1e3227a6fcd7 | 437 | int AX12::write(int ID, int start, int bytes, char* data, int flag) { |
hisyamfs | 12:1e3227a6fcd7 | 438 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
hisyamfs | 12:1e3227a6fcd7 | 439 | |
hisyamfs | 12:1e3227a6fcd7 | 440 | // char TxBuf[7+bytes]; |
hisyamfs | 12:1e3227a6fcd7 | 441 | char sum = 0; |
hisyamfs | 12:1e3227a6fcd7 | 442 | char Status[6]; |
hisyamfs | 12:1e3227a6fcd7 | 443 | |
hisyamfs | 12:1e3227a6fcd7 | 444 | // Build the TxPacket first in RAM, then we'll send in one go |
hisyamfs | 12:1e3227a6fcd7 | 445 | |
hisyamfs | 12:1e3227a6fcd7 | 446 | TxBuf[0] = 0xff; |
hisyamfs | 12:1e3227a6fcd7 | 447 | TxBuf[1] = 0xff; |
hisyamfs | 12:1e3227a6fcd7 | 448 | |
hisyamfs | 12:1e3227a6fcd7 | 449 | // ID |
hisyamfs | 12:1e3227a6fcd7 | 450 | TxBuf[2] = ID; |
hisyamfs | 12:1e3227a6fcd7 | 451 | sum += TxBuf[2]; |
hisyamfs | 12:1e3227a6fcd7 | 452 | |
hisyamfs | 12:1e3227a6fcd7 | 453 | // packet Length |
hisyamfs | 12:1e3227a6fcd7 | 454 | TxBuf[3] = 3+bytes; |
hisyamfs | 12:1e3227a6fcd7 | 455 | sum += TxBuf[3]; |
hisyamfs | 12:1e3227a6fcd7 | 456 | |
hisyamfs | 12:1e3227a6fcd7 | 457 | // Instruction |
hisyamfs | 12:1e3227a6fcd7 | 458 | if (flag == 1) |
hisyamfs | 12:1e3227a6fcd7 | 459 | { |
hisyamfs | 12:1e3227a6fcd7 | 460 | TxBuf[4]=0x04; |
hisyamfs | 12:1e3227a6fcd7 | 461 | sum += TxBuf[4]; |
hisyamfs | 12:1e3227a6fcd7 | 462 | } |
hisyamfs | 12:1e3227a6fcd7 | 463 | else |
hisyamfs | 12:1e3227a6fcd7 | 464 | { |
hisyamfs | 12:1e3227a6fcd7 | 465 | TxBuf[4]=0x03; |
hisyamfs | 12:1e3227a6fcd7 | 466 | sum += TxBuf[4]; |
hisyamfs | 12:1e3227a6fcd7 | 467 | } |
hisyamfs | 12:1e3227a6fcd7 | 468 | |
hisyamfs | 12:1e3227a6fcd7 | 469 | // Start Address |
hisyamfs | 12:1e3227a6fcd7 | 470 | TxBuf[5] = start; |
hisyamfs | 12:1e3227a6fcd7 | 471 | sum += TxBuf[5]; |
hisyamfs | 12:1e3227a6fcd7 | 472 | |
hisyamfs | 12:1e3227a6fcd7 | 473 | // data |
hisyamfs | 12:1e3227a6fcd7 | 474 | for (uint8_t i=0; i<bytes ; i++) |
hisyamfs | 12:1e3227a6fcd7 | 475 | { |
hisyamfs | 12:1e3227a6fcd7 | 476 | TxBuf[6+i] = data[i]; |
hisyamfs | 12:1e3227a6fcd7 | 477 | sum += TxBuf[6+i]; |
hisyamfs | 12:1e3227a6fcd7 | 478 | } |
hisyamfs | 12:1e3227a6fcd7 | 479 | |
hisyamfs | 12:1e3227a6fcd7 | 480 | // checksum |
hisyamfs | 12:1e3227a6fcd7 | 481 | TxBuf[6+bytes] = 0xFF - sum; |
hisyamfs | 12:1e3227a6fcd7 | 482 | |
hisyamfs | 12:1e3227a6fcd7 | 483 | // Transmit the packet in one burst with no pausing |
hisyamfs | 12:1e3227a6fcd7 | 484 | _ena_tx = 1; |
hisyamfs | 12:1e3227a6fcd7 | 485 | for (int i = 0; i < (7 + bytes) ; i++) |
hisyamfs | 12:1e3227a6fcd7 | 486 | { |
hisyamfs | 12:1e3227a6fcd7 | 487 | _ax12.putc(TxBuf[i]); |
hisyamfs | 12:1e3227a6fcd7 | 488 | } |
hisyamfs | 12:1e3227a6fcd7 | 489 | |
hisyamfs | 12:1e3227a6fcd7 | 490 | // Wait for data to transmit |
hisyamfs | 12:1e3227a6fcd7 | 491 | wait_us (_wait_sent); |
hisyamfs | 12:1e3227a6fcd7 | 492 | _ena_tx = 0; |
hisyamfs | 12:1e3227a6fcd7 | 493 | |
hisyamfs | 12:1e3227a6fcd7 | 494 | // make sure we have a valid return |
hisyamfs | 12:1e3227a6fcd7 | 495 | Status[4]=0x00; |
hisyamfs | 12:1e3227a6fcd7 | 496 | |
hisyamfs | 12:1e3227a6fcd7 | 497 | // we'll only get a reply if it was not broadcast |
hisyamfs | 12:1e3227a6fcd7 | 498 | if (_ID!=0xFE) |
hisyamfs | 12:1e3227a6fcd7 | 499 | { |
hisyamfs | 12:1e3227a6fcd7 | 500 | // response packet is always 6 bytes |
hisyamfs | 12:1e3227a6fcd7 | 501 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
hisyamfs | 12:1e3227a6fcd7 | 502 | // timeout is a little more than the time to transmit |
hisyamfs | 12:1e3227a6fcd7 | 503 | // the packet back, i.e. 60 bit periods, round up to 100 |
hisyamfs | 12:1e3227a6fcd7 | 504 | int timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 505 | int state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 506 | int plen = 0; |
hisyamfs | 12:1e3227a6fcd7 | 507 | while ((timeout < _timeout_tick) && (plen<3)) |
hisyamfs | 12:1e3227a6fcd7 | 508 | { |
hisyamfs | 12:1e3227a6fcd7 | 509 | if (_ax12.readable()) |
hisyamfs | 12:1e3227a6fcd7 | 510 | { |
hisyamfs | 12:1e3227a6fcd7 | 511 | switch(state) |
hisyamfs | 12:1e3227a6fcd7 | 512 | { |
hisyamfs | 12:1e3227a6fcd7 | 513 | case 0: |
hisyamfs | 12:1e3227a6fcd7 | 514 | case 1: |
hisyamfs | 12:1e3227a6fcd7 | 515 | Status[state] = _ax12.getc(); |
hisyamfs | 12:1e3227a6fcd7 | 516 | if(Status[state] == 0xFF) |
hisyamfs | 12:1e3227a6fcd7 | 517 | { |
hisyamfs | 12:1e3227a6fcd7 | 518 | state++; |
hisyamfs | 12:1e3227a6fcd7 | 519 | timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 520 | } |
hisyamfs | 12:1e3227a6fcd7 | 521 | else |
hisyamfs | 12:1e3227a6fcd7 | 522 | state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 523 | break; |
hisyamfs | 12:1e3227a6fcd7 | 524 | case 2: |
hisyamfs | 12:1e3227a6fcd7 | 525 | Status[state] = _ax12.getc(); |
hisyamfs | 12:1e3227a6fcd7 | 526 | if(Status[state] == ID) |
hisyamfs | 12:1e3227a6fcd7 | 527 | { |
hisyamfs | 12:1e3227a6fcd7 | 528 | state++; |
hisyamfs | 12:1e3227a6fcd7 | 529 | timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 530 | } |
hisyamfs | 12:1e3227a6fcd7 | 531 | else |
hisyamfs | 12:1e3227a6fcd7 | 532 | state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 533 | break; |
hisyamfs | 12:1e3227a6fcd7 | 534 | case 3: |
hisyamfs | 12:1e3227a6fcd7 | 535 | Status[plen+state] = _ax12.getc(); |
hisyamfs | 12:1e3227a6fcd7 | 536 | plen++; |
hisyamfs | 12:1e3227a6fcd7 | 537 | timeout = 0; |
hisyamfs | 12:1e3227a6fcd7 | 538 | break; |
hisyamfs | 12:1e3227a6fcd7 | 539 | default: |
hisyamfs | 12:1e3227a6fcd7 | 540 | state = 0; |
hisyamfs | 12:1e3227a6fcd7 | 541 | } |
hisyamfs | 12:1e3227a6fcd7 | 542 | } |
hisyamfs | 12:1e3227a6fcd7 | 543 | |
hisyamfs | 12:1e3227a6fcd7 | 544 | // wait for the bit period |
hisyamfs | 12:1e3227a6fcd7 | 545 | wait_us (1); |
hisyamfs | 12:1e3227a6fcd7 | 546 | timeout++; |
hisyamfs | 12:1e3227a6fcd7 | 547 | } |
hisyamfs | 12:1e3227a6fcd7 | 548 | |
hisyamfs | 12:1e3227a6fcd7 | 549 | // Build the TxPacket first in RAM, then we'll send in one go |
hisyamfs | 12:1e3227a6fcd7 | 550 | } |
hisyamfs | 12:1e3227a6fcd7 | 551 | return(Status[4]); // return error code |
hisyamfs | 12:1e3227a6fcd7 | 552 | } |
hisyamfs | 12:1e3227a6fcd7 | 553 | |
hisyamfs | 12:1e3227a6fcd7 | 554 | int AX12::sync_write(char* data) |
hisyamfs | 12:1e3227a6fcd7 | 555 | { |
hisyamfs | 12:1e3227a6fcd7 | 556 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
hisyamfs | 12:1e3227a6fcd7 | 557 | |
hisyamfs | 12:1e3227a6fcd7 | 558 | char sum = 0; |
hisyamfs | 12:1e3227a6fcd7 | 559 | char Status[6]; |
hisyamfs | 12:1e3227a6fcd7 | 560 | char TxBuf[(total_ID*(length_data+1)) + 8]; |
hisyamfs | 12:1e3227a6fcd7 | 561 | |
hisyamfs | 12:1e3227a6fcd7 | 562 | int pra_alamat, alamat; |
hisyamfs | 12:1e3227a6fcd7 | 563 | |
hisyamfs | 12:1e3227a6fcd7 | 564 | // Set ID |
hisyamfs | 12:1e3227a6fcd7 | 565 | char ID[total_ID+1]; |
hisyamfs | 12:1e3227a6fcd7 | 566 | |
hisyamfs | 12:1e3227a6fcd7 | 567 | for (uint8_t k=1; k<=total_ID; k++) |
hisyamfs | 12:1e3227a6fcd7 | 568 | { |
hisyamfs | 12:1e3227a6fcd7 | 569 | ID[k] = k; |
hisyamfs | 12:1e3227a6fcd7 | 570 | } |
hisyamfs | 12:1e3227a6fcd7 | 571 | |
hisyamfs | 12:1e3227a6fcd7 | 572 | TxBuf[0] = 0xFF; |
hisyamfs | 12:1e3227a6fcd7 | 573 | TxBuf[1] = 0xFF; |
hisyamfs | 12:1e3227a6fcd7 | 574 | |
hisyamfs | 12:1e3227a6fcd7 | 575 | // ID |
hisyamfs | 12:1e3227a6fcd7 | 576 | TxBuf[2] = 0xFE; |
hisyamfs | 12:1e3227a6fcd7 | 577 | sum += TxBuf[2]; |
hisyamfs | 12:1e3227a6fcd7 | 578 | |
hisyamfs | 12:1e3227a6fcd7 | 579 | // packet Length |
hisyamfs | 12:1e3227a6fcd7 | 580 | TxBuf[3] = ((length_data+1) * total_ID) + 4; |
hisyamfs | 12:1e3227a6fcd7 | 581 | sum += TxBuf[3]; |
hisyamfs | 12:1e3227a6fcd7 | 582 | |
hisyamfs | 12:1e3227a6fcd7 | 583 | // Instruction |
hisyamfs | 12:1e3227a6fcd7 | 584 | TxBuf[4]=0x83; |
hisyamfs | 12:1e3227a6fcd7 | 585 | sum += TxBuf[4]; |
hisyamfs | 12:1e3227a6fcd7 | 586 | |
hisyamfs | 12:1e3227a6fcd7 | 587 | // Start Address |
hisyamfs | 12:1e3227a6fcd7 | 588 | TxBuf[5] = start_reg; |
hisyamfs | 12:1e3227a6fcd7 | 589 | sum += TxBuf[5]; |
hisyamfs | 12:1e3227a6fcd7 | 590 | |
hisyamfs | 12:1e3227a6fcd7 | 591 | // Length of Data to Write |
hisyamfs | 12:1e3227a6fcd7 | 592 | TxBuf[6] = length_data; |
hisyamfs | 12:1e3227a6fcd7 | 593 | sum += TxBuf[6]; |
hisyamfs | 12:1e3227a6fcd7 | 594 | |
hisyamfs | 12:1e3227a6fcd7 | 595 | for (uint8_t j=1; j<=total_ID; j++) |
hisyamfs | 12:1e3227a6fcd7 | 596 | { |
hisyamfs | 12:1e3227a6fcd7 | 597 | pra_alamat = length_data*(j-1); |
hisyamfs | 12:1e3227a6fcd7 | 598 | alamat = 6 + j + pra_alamat; |
hisyamfs | 12:1e3227a6fcd7 | 599 | |
hisyamfs | 12:1e3227a6fcd7 | 600 | TxBuf[alamat] = ID[j]; |
hisyamfs | 12:1e3227a6fcd7 | 601 | sum += TxBuf[alamat]; |
hisyamfs | 12:1e3227a6fcd7 | 602 | |
hisyamfs | 12:1e3227a6fcd7 | 603 | for (char i=1; i<=length_data; i++) |
hisyamfs | 12:1e3227a6fcd7 | 604 | { |
hisyamfs | 12:1e3227a6fcd7 | 605 | TxBuf[alamat+i] = data[pra_alamat+i]; |
hisyamfs | 12:1e3227a6fcd7 | 606 | sum += TxBuf[alamat+i]; |
hisyamfs | 12:1e3227a6fcd7 | 607 | } |
hisyamfs | 12:1e3227a6fcd7 | 608 | } |
hisyamfs | 12:1e3227a6fcd7 | 609 | |
hisyamfs | 12:1e3227a6fcd7 | 610 | // checksum |
hisyamfs | 12:1e3227a6fcd7 | 611 | TxBuf[((total_ID*(length_data+1)) + 7)] = 0xFF - (sum & 0xFF); |
hisyamfs | 12:1e3227a6fcd7 | 612 | |
hisyamfs | 12:1e3227a6fcd7 | 613 | // Transmit the packet in one burst with no pausing |
hisyamfs | 12:1e3227a6fcd7 | 614 | _ena_tx = 1; |
hisyamfs | 12:1e3227a6fcd7 | 615 | for (int i = 0; i <= ((total_ID*(length_data+1)) + 7) ; i++) |
hisyamfs | 12:1e3227a6fcd7 | 616 | { |
hisyamfs | 12:1e3227a6fcd7 | 617 | _ax12.putc(TxBuf[i]); |
hisyamfs | 12:1e3227a6fcd7 | 618 | } |
hisyamfs | 12:1e3227a6fcd7 | 619 | |
hisyamfs | 12:1e3227a6fcd7 | 620 | // Wait for data to transmit |
hisyamfs | 12:1e3227a6fcd7 | 621 | wait_us (_wait_sent); |
hisyamfs | 12:1e3227a6fcd7 | 622 | _ena_tx = 0; |
hisyamfs | 12:1e3227a6fcd7 | 623 | |
hisyamfs | 12:1e3227a6fcd7 | 624 | // make sure we have a valid return |
hisyamfs | 12:1e3227a6fcd7 | 625 | Status[4]=0x00; |
hisyamfs | 12:1e3227a6fcd7 | 626 | |
hisyamfs | 12:1e3227a6fcd7 | 627 | return(Status[4]); // return error code |
hisyamfs | 12:1e3227a6fcd7 | 628 | } |
hisyamfs | 12:1e3227a6fcd7 | 629 | |
hisyamfs | 12:1e3227a6fcd7 | 630 | void AX12::SetTorqueEnable(char val) { |
hisyamfs | 12:1e3227a6fcd7 | 631 | // write(int ID, int start, int length, char* data, int flag=0); |
hisyamfs | 12:1e3227a6fcd7 | 632 | char en = val; |
hisyamfs | 12:1e3227a6fcd7 | 633 | write(_ID, AX12_TORQUE_ENABLE, 1, &en, 0); |
hisyamfs | 12:1e3227a6fcd7 | 634 | } |