MRD Lab / MX12

Robotis Dynamixel MX-12W Servo Library

Dependents:   SpindleBot_1_5b Utilisatio_MX12_V4

/media/uploads/labmrd/mx12.jpg

This is my attempt to adapt Chris Styles's AX12 library to work with my Dynamixel MX12 servos. This library is still very much a work in progress, and it may have some/many errors in it, but hopefully I will keep improving it to bring it up to snuff.

Dynamixel aficionados should also check out This MX28 library for a completely separate library that provides very similar functionality, and I wish I had known it existed before I started my work...

minimal example

#include "mbed.h"
#include "MX12.h"

int main() {

  MX12 mymx12 (p9, p10, 1);           // ID=1

  while (1) {
      mymx12.Set_Goal_Position(0);    // go to 0 degrees
      wait (2.0);
      mymx12.Set_Goal_Position(300);  // go to 300 degrees
      wait (2.0);
  }
}

MX12.cpp@0:29900c3a4a50, 2014-11-25 (annotated)

Committer:
labmrd
Date:
Tue Nov 25 03:07:36 2014 +0000
Revision:
0:29900c3a4a50
Child:
1:946a27210553
Adapting AX12 library to include more MX12 commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
labmrd 0:29900c3a4a50 1 /* mbed AX-12+ Servo Library
labmrd 0:29900c3a4a50 2 *
labmrd 0:29900c3a4a50 3 * Copyright (c) 2010, cstyles (http://mbed.org)
labmrd 0:29900c3a4a50 4 *
labmrd 0:29900c3a4a50 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
labmrd 0:29900c3a4a50 6 * of this software and associated documentation files (the "Software"), to deal
labmrd 0:29900c3a4a50 7 * in the Software without restriction, including without limitation the rights
labmrd 0:29900c3a4a50 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
labmrd 0:29900c3a4a50 9 * copies of the Software, and to permit persons to whom the Software is
labmrd 0:29900c3a4a50 10 * furnished to do so, subject to the following conditions:
labmrd 0:29900c3a4a50 11 *
labmrd 0:29900c3a4a50 12 * The above copyright notice and this permission notice shall be included in
labmrd 0:29900c3a4a50 13 * all copies or substantial portions of the Software.
labmrd 0:29900c3a4a50 14 *
labmrd 0:29900c3a4a50 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
labmrd 0:29900c3a4a50 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
labmrd 0:29900c3a4a50 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
labmrd 0:29900c3a4a50 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
labmrd 0:29900c3a4a50 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
labmrd 0:29900c3a4a50 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
labmrd 0:29900c3a4a50 21 * THE SOFTWARE.
labmrd 0:29900c3a4a50 22 */
labmrd 0:29900c3a4a50 23
labmrd 0:29900c3a4a50 24 #include "MX12.h"
labmrd 0:29900c3a4a50 25 #include "mbed.h"
labmrd 0:29900c3a4a50 26
labmrd 0:29900c3a4a50 27 #ifndef M_PI
labmrd 0:29900c3a4a50 28 #define M_PI 3.14159265358979323846 /* pi */
labmrd 0:29900c3a4a50 29 #endif
labmrd 0:29900c3a4a50 30 #ifndef M_PI_2
labmrd 0:29900c3a4a50 31 #define M_PI_2 1.57079632679489661923 /* pi/2 */
labmrd 0:29900c3a4a50 32 #endif
labmrd 0:29900c3a4a50 33
labmrd 0:29900c3a4a50 34 MX12::MX12(PinName tx, PinName rx, int ID)
labmrd 0:29900c3a4a50 35 : _mx12(tx,rx) {
labmrd 0:29900c3a4a50 36
labmrd 0:29900c3a4a50 37 _mx12.baud(1000000);//57600);//1000000);
labmrd 0:29900c3a4a50 38 _ID = ID;
labmrd 0:29900c3a4a50 39 }
labmrd 0:29900c3a4a50 40
labmrd 0:29900c3a4a50 41 // Set the mode of the servo
labmrd 0:29900c3a4a50 42 // 0 = Positional (0-300 degrees)
labmrd 0:29900c3a4a50 43 // 1 = Rotational -1 to 1 speed
labmrd 0:29900c3a4a50 44 int MX12::SetMode(int mode) {
labmrd 0:29900c3a4a50 45
labmrd 0:29900c3a4a50 46 if (mode == 1) { // set CR
labmrd 0:29900c3a4a50 47 SetCWLimit(0);
labmrd 0:29900c3a4a50 48 SetCCWLimit(0);
labmrd 0:29900c3a4a50 49 SetCRSpeed(0.0);
labmrd 0:29900c3a4a50 50 } else {
labmrd 0:29900c3a4a50 51 SetCWLimit(0);
labmrd 0:29900c3a4a50 52 SetCCWLimit(300);
labmrd 0:29900c3a4a50 53 SetCRSpeed(0.0);
labmrd 0:29900c3a4a50 54 }
labmrd 0:29900c3a4a50 55 return(0);
labmrd 0:29900c3a4a50 56 }
labmrd 0:29900c3a4a50 57
labmrd 0:29900c3a4a50 58
labmrd 0:29900c3a4a50 59 // if flag[0] is set, were blocking
labmrd 0:29900c3a4a50 60 // if flag[1] is set, we're registering
labmrd 0:29900c3a4a50 61 // they are mutually exclusive operations
labmrd 0:29900c3a4a50 62 int MX12::SetGoal(float radians, int flags) {
labmrd 0:29900c3a4a50 63
labmrd 0:29900c3a4a50 64 char reg_flag = 0;
labmrd 0:29900c3a4a50 65 char data[2];
labmrd 0:29900c3a4a50 66
labmrd 0:29900c3a4a50 67 // set the flag is only the register bit is set in the flag
labmrd 0:29900c3a4a50 68 if (flags == 0x2) {
labmrd 0:29900c3a4a50 69 reg_flag = 1;
labmrd 0:29900c3a4a50 70 }
labmrd 0:29900c3a4a50 71
labmrd 0:29900c3a4a50 72 // 1023 / 300 * degrees
labmrd 0:29900c3a4a50 73 short goal = (2048 * radians) / M_PI;
labmrd 0:29900c3a4a50 74 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 75 printf("SetGoal to 0x%x\n",goal);
labmrd 0:29900c3a4a50 76 }
labmrd 0:29900c3a4a50 77
labmrd 0:29900c3a4a50 78 data[0] = goal & 0xff; // bottom 8 bits
labmrd 0:29900c3a4a50 79 data[1] = goal >> 8; // top 8 bits
labmrd 0:29900c3a4a50 80
labmrd 0:29900c3a4a50 81 // write the packet, return the error code
labmrd 0:29900c3a4a50 82 int rVal = write(_ID, MX12_REG_GOAL_POSITION, 2, data, reg_flag);
labmrd 0:29900c3a4a50 83
labmrd 0:29900c3a4a50 84 if (flags == 1) {
labmrd 0:29900c3a4a50 85 // block until it comes to a halt
labmrd 0:29900c3a4a50 86 while (isMoving()) {}
labmrd 0:29900c3a4a50 87 }
labmrd 0:29900c3a4a50 88 return(rVal);
labmrd 0:29900c3a4a50 89 }
labmrd 0:29900c3a4a50 90
labmrd 0:29900c3a4a50 91
labmrd 0:29900c3a4a50 92 // Set continuous rotation speed from -1 to 1
labmrd 0:29900c3a4a50 93 int MX12::SetCRSpeed(float speed) {
labmrd 0:29900c3a4a50 94
labmrd 0:29900c3a4a50 95 // bit 10 = direction, 0 = CCW, 1=CW
labmrd 0:29900c3a4a50 96 // bits 9-0 = Speed
labmrd 0:29900c3a4a50 97 char data[2];
labmrd 0:29900c3a4a50 98
labmrd 0:29900c3a4a50 99 int goal = (0x3ff * abs(speed));
labmrd 0:29900c3a4a50 100
labmrd 0:29900c3a4a50 101 // Set direction CW if we have a negative speed
labmrd 0:29900c3a4a50 102 if (speed < 0) {
labmrd 0:29900c3a4a50 103 goal |= (0x1 << 10);
labmrd 0:29900c3a4a50 104 }
labmrd 0:29900c3a4a50 105
labmrd 0:29900c3a4a50 106 data[0] = goal & 0xff; // bottom 8 bits
labmrd 0:29900c3a4a50 107 data[1] = goal >> 8; // top 8 bits
labmrd 0:29900c3a4a50 108
labmrd 0:29900c3a4a50 109 // write the packet, return the error code
labmrd 0:29900c3a4a50 110 int rVal = write(_ID, 0x20, 2, data);
labmrd 0:29900c3a4a50 111
labmrd 0:29900c3a4a50 112 return(rVal);
labmrd 0:29900c3a4a50 113 }
labmrd 0:29900c3a4a50 114
labmrd 0:29900c3a4a50 115
labmrd 0:29900c3a4a50 116 int MX12::SetCWLimit (int degrees) {
labmrd 0:29900c3a4a50 117
labmrd 0:29900c3a4a50 118 char data[2];
labmrd 0:29900c3a4a50 119
labmrd 0:29900c3a4a50 120 // 1023 / 300 * degrees
labmrd 0:29900c3a4a50 121 short limit = (1023 * degrees) / 300;
labmrd 0:29900c3a4a50 122
labmrd 0:29900c3a4a50 123 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 124 printf("SetCWLimit to 0x%x\n",limit);
labmrd 0:29900c3a4a50 125 }
labmrd 0:29900c3a4a50 126
labmrd 0:29900c3a4a50 127 data[0] = limit & 0xff; // bottom 8 bits
labmrd 0:29900c3a4a50 128 data[1] = limit >> 8; // top 8 bits
labmrd 0:29900c3a4a50 129
labmrd 0:29900c3a4a50 130 // write the packet, return the error code
labmrd 0:29900c3a4a50 131 return (write(_ID, MX12_REG_CW_LIMIT, 2, data));
labmrd 0:29900c3a4a50 132
labmrd 0:29900c3a4a50 133 }
labmrd 0:29900c3a4a50 134
labmrd 0:29900c3a4a50 135 int MX12::SetCCWLimit (int degrees) {
labmrd 0:29900c3a4a50 136
labmrd 0:29900c3a4a50 137 char data[2];
labmrd 0:29900c3a4a50 138
labmrd 0:29900c3a4a50 139 // 1023 / 300 * degrees
labmrd 0:29900c3a4a50 140 short limit = (1023 * degrees) / 300;
labmrd 0:29900c3a4a50 141
labmrd 0:29900c3a4a50 142 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 143 printf("SetCCWLimit to 0x%x\n",limit);
labmrd 0:29900c3a4a50 144 }
labmrd 0:29900c3a4a50 145
labmrd 0:29900c3a4a50 146 data[0] = limit & 0xff; // bottom 8 bits
labmrd 0:29900c3a4a50 147 data[1] = limit >> 8; // top 8 bits
labmrd 0:29900c3a4a50 148
labmrd 0:29900c3a4a50 149 // write the packet, return the error code
labmrd 0:29900c3a4a50 150 return (write(_ID, MX12_REG_CCW_LIMIT, 2, data));
labmrd 0:29900c3a4a50 151 }
labmrd 0:29900c3a4a50 152
labmrd 0:29900c3a4a50 153
labmrd 0:29900c3a4a50 154 int MX12::SetID (int CurrentID, int NewID) {
labmrd 0:29900c3a4a50 155
labmrd 0:29900c3a4a50 156 char data[1];
labmrd 0:29900c3a4a50 157 data[0] = NewID;
labmrd 0:29900c3a4a50 158 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 159 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
labmrd 0:29900c3a4a50 160 }
labmrd 0:29900c3a4a50 161 return (write(CurrentID, MX12_REG_ID, 1, data));
labmrd 0:29900c3a4a50 162
labmrd 0:29900c3a4a50 163 }
labmrd 0:29900c3a4a50 164
labmrd 0:29900c3a4a50 165
labmrd 0:29900c3a4a50 166 // return 1 is the servo is still in flight
labmrd 0:29900c3a4a50 167 int MX12::isMoving(void) {
labmrd 0:29900c3a4a50 168
labmrd 0:29900c3a4a50 169 char data[1];
labmrd 0:29900c3a4a50 170 read(_ID,MX12_REG_MOVING,1,data);
labmrd 0:29900c3a4a50 171 return(data[0]);
labmrd 0:29900c3a4a50 172 }
labmrd 0:29900c3a4a50 173
labmrd 0:29900c3a4a50 174
labmrd 0:29900c3a4a50 175 void MX12::trigger(void) {
labmrd 0:29900c3a4a50 176
labmrd 0:29900c3a4a50 177 char TxBuf[16];
labmrd 0:29900c3a4a50 178 char sum = 0;
labmrd 0:29900c3a4a50 179
labmrd 0:29900c3a4a50 180 if (MX12_TRIGGER_DEBUG) {
labmrd 0:29900c3a4a50 181 printf("\nTriggered\n");
labmrd 0:29900c3a4a50 182 }
labmrd 0:29900c3a4a50 183
labmrd 0:29900c3a4a50 184 // Build the TxPacket first in RAM, then we'll send in one go
labmrd 0:29900c3a4a50 185 if (MX12_TRIGGER_DEBUG) {
labmrd 0:29900c3a4a50 186 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
labmrd 0:29900c3a4a50 187 }
labmrd 0:29900c3a4a50 188
labmrd 0:29900c3a4a50 189 TxBuf[0] = 0xFF;
labmrd 0:29900c3a4a50 190 TxBuf[1] = 0xFF;
labmrd 0:29900c3a4a50 191
labmrd 0:29900c3a4a50 192 // ID - Broadcast
labmrd 0:29900c3a4a50 193 TxBuf[2] = 0xFE;
labmrd 0:29900c3a4a50 194 sum += TxBuf[2];
labmrd 0:29900c3a4a50 195
labmrd 0:29900c3a4a50 196 if (MX12_TRIGGER_DEBUG) {
labmrd 0:29900c3a4a50 197 printf(" ID : %d\n",TxBuf[2]);
labmrd 0:29900c3a4a50 198 }
labmrd 0:29900c3a4a50 199
labmrd 0:29900c3a4a50 200 // Length
labmrd 0:29900c3a4a50 201 TxBuf[3] = 0x02;
labmrd 0:29900c3a4a50 202 sum += TxBuf[3];
labmrd 0:29900c3a4a50 203 if (MX12_TRIGGER_DEBUG) {
labmrd 0:29900c3a4a50 204 printf(" Length %d\n",TxBuf[3]);
labmrd 0:29900c3a4a50 205 }
labmrd 0:29900c3a4a50 206
labmrd 0:29900c3a4a50 207 // Instruction - ACTION
labmrd 0:29900c3a4a50 208 TxBuf[4] = 0x04;
labmrd 0:29900c3a4a50 209 sum += TxBuf[4];
labmrd 0:29900c3a4a50 210 if (MX12_TRIGGER_DEBUG) {
labmrd 0:29900c3a4a50 211 printf(" Instruction 0x%X\n",TxBuf[5]);
labmrd 0:29900c3a4a50 212 }
labmrd 0:29900c3a4a50 213
labmrd 0:29900c3a4a50 214 // Checksum
labmrd 0:29900c3a4a50 215 TxBuf[5] = 0xFF - sum;
labmrd 0:29900c3a4a50 216 if (MX12_TRIGGER_DEBUG) {
labmrd 0:29900c3a4a50 217 printf(" Checksum 0x%X\n",TxBuf[5]);
labmrd 0:29900c3a4a50 218 }
labmrd 0:29900c3a4a50 219
labmrd 0:29900c3a4a50 220 // Transmit the packet in one burst with no pausing
labmrd 0:29900c3a4a50 221 for (int i = 0; i < 6 ; i++) {
labmrd 0:29900c3a4a50 222 _mx12.putc(TxBuf[i]);
labmrd 0:29900c3a4a50 223 }
labmrd 0:29900c3a4a50 224
labmrd 0:29900c3a4a50 225 // This is a broadcast packet, so there will be no reply
labmrd 0:29900c3a4a50 226
labmrd 0:29900c3a4a50 227 return;
labmrd 0:29900c3a4a50 228 }
labmrd 0:29900c3a4a50 229
labmrd 0:29900c3a4a50 230
labmrd 0:29900c3a4a50 231 float MX12::GetPosition(void) {
labmrd 0:29900c3a4a50 232
labmrd 0:29900c3a4a50 233 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 234 printf("\nGetPosition(%d)",_ID);
labmrd 0:29900c3a4a50 235 }
labmrd 0:29900c3a4a50 236
labmrd 0:29900c3a4a50 237 char data[2];
labmrd 0:29900c3a4a50 238
labmrd 0:29900c3a4a50 239 int ErrorCode = read(_ID, MX12_REG_POSITION, 2, data);
labmrd 0:29900c3a4a50 240 short position = data[0] + (data[1] << 8);
labmrd 0:29900c3a4a50 241 float angle = (position * M_PI)/2048;
labmrd 0:29900c3a4a50 242
labmrd 0:29900c3a4a50 243 return (angle);
labmrd 0:29900c3a4a50 244 }
labmrd 0:29900c3a4a50 245
labmrd 0:29900c3a4a50 246
labmrd 0:29900c3a4a50 247 float MX12::GetTemp (void) {
labmrd 0:29900c3a4a50 248
labmrd 0:29900c3a4a50 249 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 250 printf("\nGetTemp(%d)",_ID);
labmrd 0:29900c3a4a50 251 }
labmrd 0:29900c3a4a50 252 char data[1];
labmrd 0:29900c3a4a50 253 int ErrorCode = read(_ID, MX12_REG_TEMP, 1, data);
labmrd 0:29900c3a4a50 254 float temp = data[0];
labmrd 0:29900c3a4a50 255 return(temp);
labmrd 0:29900c3a4a50 256 }
labmrd 0:29900c3a4a50 257
labmrd 0:29900c3a4a50 258
labmrd 0:29900c3a4a50 259 float MX12::GetVolts (void) {
labmrd 0:29900c3a4a50 260 if (MX12_DEBUG) {
labmrd 0:29900c3a4a50 261 printf("\nGetVolts(%d)",_ID);
labmrd 0:29900c3a4a50 262 }
labmrd 0:29900c3a4a50 263 char data[1];
labmrd 0:29900c3a4a50 264 int ErrorCode = read(_ID, MX12_REG_VOLTS, 1, data);
labmrd 0:29900c3a4a50 265 float volts = data[0]/10.0;
labmrd 0:29900c3a4a50 266 return(volts);
labmrd 0:29900c3a4a50 267 }
labmrd 0:29900c3a4a50 268
labmrd 0:29900c3a4a50 269
labmrd 0:29900c3a4a50 270 int MX12::read(int ID, int start, int bytes, char* data) {
labmrd 0:29900c3a4a50 271
labmrd 0:29900c3a4a50 272 char PacketLength = 0x4;
labmrd 0:29900c3a4a50 273 char TxBuf[16];
labmrd 0:29900c3a4a50 274 char sum = 0;
labmrd 0:29900c3a4a50 275 char Status[16];
labmrd 0:29900c3a4a50 276
labmrd 0:29900c3a4a50 277 Status[4] = 0xFE; // return code
labmrd 0:29900c3a4a50 278
labmrd 0:29900c3a4a50 279 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 280 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
labmrd 0:29900c3a4a50 281 }
labmrd 0:29900c3a4a50 282
labmrd 0:29900c3a4a50 283 // Build the TxPacket first in RAM, then we'll send in one go
labmrd 0:29900c3a4a50 284 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 285 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
labmrd 0:29900c3a4a50 286 }
labmrd 0:29900c3a4a50 287
labmrd 0:29900c3a4a50 288 TxBuf[0] = 0xff;
labmrd 0:29900c3a4a50 289 TxBuf[1] = 0xff;
labmrd 0:29900c3a4a50 290
labmrd 0:29900c3a4a50 291 // ID
labmrd 0:29900c3a4a50 292 TxBuf[2] = ID;
labmrd 0:29900c3a4a50 293 sum += TxBuf[2];
labmrd 0:29900c3a4a50 294 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 295 printf(" ID : %d\n",TxBuf[2]);
labmrd 0:29900c3a4a50 296 }
labmrd 0:29900c3a4a50 297
labmrd 0:29900c3a4a50 298 // Packet Length
labmrd 0:29900c3a4a50 299 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
labmrd 0:29900c3a4a50 300 sum += TxBuf[3]; // Accululate the packet sum
labmrd 0:29900c3a4a50 301 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 302 printf(" Length : 0x%x\n",TxBuf[3]);
labmrd 0:29900c3a4a50 303 }
labmrd 0:29900c3a4a50 304
labmrd 0:29900c3a4a50 305 // Instruction - Read
labmrd 0:29900c3a4a50 306 TxBuf[4] = 0x2;
labmrd 0:29900c3a4a50 307 sum += TxBuf[4];
labmrd 0:29900c3a4a50 308 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 309 printf(" Instruction : 0x%x\n",TxBuf[4]);
labmrd 0:29900c3a4a50 310 }
labmrd 0:29900c3a4a50 311
labmrd 0:29900c3a4a50 312 // Start Address
labmrd 0:29900c3a4a50 313 TxBuf[5] = start;
labmrd 0:29900c3a4a50 314 sum += TxBuf[5];
labmrd 0:29900c3a4a50 315 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 316 printf(" Start Address : 0x%x\n",TxBuf[5]);
labmrd 0:29900c3a4a50 317 }
labmrd 0:29900c3a4a50 318
labmrd 0:29900c3a4a50 319 // Bytes to read
labmrd 0:29900c3a4a50 320 TxBuf[6] = bytes;
labmrd 0:29900c3a4a50 321 sum += TxBuf[6];
labmrd 0:29900c3a4a50 322 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 323 printf(" No bytes : 0x%x\n",TxBuf[6]);
labmrd 0:29900c3a4a50 324 }
labmrd 0:29900c3a4a50 325
labmrd 0:29900c3a4a50 326 // Checksum
labmrd 0:29900c3a4a50 327 TxBuf[7] = 0xFF - sum;
labmrd 0:29900c3a4a50 328 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 329 printf(" Checksum : 0x%x\n",TxBuf[7]);
labmrd 0:29900c3a4a50 330 }
labmrd 0:29900c3a4a50 331
labmrd 0:29900c3a4a50 332 // Transmit the packet in one burst with no pausing
labmrd 0:29900c3a4a50 333 for (int i = 0; i<8 ; i++) {
labmrd 0:29900c3a4a50 334 _mx12.putc(TxBuf[i]);
labmrd 0:29900c3a4a50 335 }
labmrd 0:29900c3a4a50 336
labmrd 0:29900c3a4a50 337 // Wait for the bytes to be transmitted
labmrd 0:29900c3a4a50 338 //wait (0.00002);
labmrd 0:29900c3a4a50 339
labmrd 0:29900c3a4a50 340 // Skip if the read was to the broadcast address
labmrd 0:29900c3a4a50 341 if (_ID != 0xFE) {
labmrd 0:29900c3a4a50 342
labmrd 0:29900c3a4a50 343 // Receive the Status packet 6+ number of bytes read
labmrd 0:29900c3a4a50 344 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 345 printf(" Reading Byte:");
labmrd 0:29900c3a4a50 346 }
labmrd 0:29900c3a4a50 347 Timer serial_timeout;
labmrd 0:29900c3a4a50 348 for (int i=0; i<(6+bytes) ; i++) {
labmrd 0:29900c3a4a50 349 serial_timeout.reset ();
labmrd 0:29900c3a4a50 350 while (!_mx12.readable ())
labmrd 0:29900c3a4a50 351 {
labmrd 0:29900c3a4a50 352 //Just loop here until you either get a character, or we timeout
labmrd 0:29900c3a4a50 353 if (serial_timeout.read_ms () > MAX_DELAY_BETWEEN_CHARCTERS_IN_MS)
labmrd 0:29900c3a4a50 354 {
labmrd 0:29900c3a4a50 355 //If we timeout, quit in a panic!
labmrd 0:29900c3a4a50 356 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 357 printf("\nTimeout waiting for serial response!\nReceived %d characters.\n",i);
labmrd 0:29900c3a4a50 358 }
labmrd 0:29900c3a4a50 359 return(0x00);
labmrd 0:29900c3a4a50 360 }
labmrd 0:29900c3a4a50 361 }
labmrd 0:29900c3a4a50 362 Status[i] = _mx12.getc();
labmrd 0:29900c3a4a50 363 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 364 printf("%d",i);
labmrd 0:29900c3a4a50 365 }
labmrd 0:29900c3a4a50 366 }
labmrd 0:29900c3a4a50 367 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 368 printf("\n");
labmrd 0:29900c3a4a50 369 }
labmrd 0:29900c3a4a50 370
labmrd 0:29900c3a4a50 371 // Copy the data from Status into data for return
labmrd 0:29900c3a4a50 372 for (int i=0; i < Status[3]-2 ; i++) {
labmrd 0:29900c3a4a50 373 data[i] = Status[5+i];
labmrd 0:29900c3a4a50 374 }
labmrd 0:29900c3a4a50 375
labmrd 0:29900c3a4a50 376 if (MX12_READ_DEBUG) {
labmrd 0:29900c3a4a50 377 printf("\nStatus Packet\n");
labmrd 0:29900c3a4a50 378 printf(" Header : 0x%x\n",Status[0]);
labmrd 0:29900c3a4a50 379 printf(" Header : 0x%x\n",Status[1]);
labmrd 0:29900c3a4a50 380 printf(" ID : 0x%x\n",Status[2]);
labmrd 0:29900c3a4a50 381 printf(" Length : 0x%x\n",Status[3]);
labmrd 0:29900c3a4a50 382 printf(" Error Code : 0x%x\n",Status[4]);
labmrd 0:29900c3a4a50 383
labmrd 0:29900c3a4a50 384 for (int i=0; i < Status[3]-2 ; i++) {
labmrd 0:29900c3a4a50 385 printf(" Data : 0x%x\n",Status[5+i]);
labmrd 0:29900c3a4a50 386 }
labmrd 0:29900c3a4a50 387
labmrd 0:29900c3a4a50 388 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
labmrd 0:29900c3a4a50 389 }
labmrd 0:29900c3a4a50 390
labmrd 0:29900c3a4a50 391 } // if (ID!=0xFE)
labmrd 0:29900c3a4a50 392
labmrd 0:29900c3a4a50 393 return(Status[4]);
labmrd 0:29900c3a4a50 394 }
labmrd 0:29900c3a4a50 395
labmrd 0:29900c3a4a50 396
labmrd 0:29900c3a4a50 397 int MX12:: write(int ID, int start, int bytes, char* data, int flag) {
labmrd 0:29900c3a4a50 398 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
labmrd 0:29900c3a4a50 399
labmrd 0:29900c3a4a50 400 char TxBuf[16];
labmrd 0:29900c3a4a50 401 char sum = 0;
labmrd 0:29900c3a4a50 402 char Status[6];
labmrd 0:29900c3a4a50 403
labmrd 0:29900c3a4a50 404 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 405 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
labmrd 0:29900c3a4a50 406 }
labmrd 0:29900c3a4a50 407
labmrd 0:29900c3a4a50 408 // Build the TxPacket first in RAM, then we'll send in one go
labmrd 0:29900c3a4a50 409 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 410 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
labmrd 0:29900c3a4a50 411 }
labmrd 0:29900c3a4a50 412
labmrd 0:29900c3a4a50 413 TxBuf[0] = 0xff;
labmrd 0:29900c3a4a50 414 TxBuf[1] = 0xff;
labmrd 0:29900c3a4a50 415
labmrd 0:29900c3a4a50 416 // ID
labmrd 0:29900c3a4a50 417 TxBuf[2] = ID;
labmrd 0:29900c3a4a50 418 sum += TxBuf[2];
labmrd 0:29900c3a4a50 419
labmrd 0:29900c3a4a50 420 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 421 printf(" ID : %d\n",TxBuf[2]);
labmrd 0:29900c3a4a50 422 }
labmrd 0:29900c3a4a50 423
labmrd 0:29900c3a4a50 424 // packet Length
labmrd 0:29900c3a4a50 425 TxBuf[3] = 3+bytes;
labmrd 0:29900c3a4a50 426 sum += TxBuf[3];
labmrd 0:29900c3a4a50 427
labmrd 0:29900c3a4a50 428 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 429 printf(" Length : %d\n",TxBuf[3]);
labmrd 0:29900c3a4a50 430 }
labmrd 0:29900c3a4a50 431
labmrd 0:29900c3a4a50 432 // Instruction
labmrd 0:29900c3a4a50 433 if (flag == 1) {
labmrd 0:29900c3a4a50 434 TxBuf[4]=0x04;
labmrd 0:29900c3a4a50 435 sum += TxBuf[4];
labmrd 0:29900c3a4a50 436 } else {
labmrd 0:29900c3a4a50 437 TxBuf[4]=0x03;
labmrd 0:29900c3a4a50 438 sum += TxBuf[4];
labmrd 0:29900c3a4a50 439 }
labmrd 0:29900c3a4a50 440
labmrd 0:29900c3a4a50 441 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 442 printf(" Instruction : 0x%x\n",TxBuf[4]);
labmrd 0:29900c3a4a50 443 }
labmrd 0:29900c3a4a50 444
labmrd 0:29900c3a4a50 445 // Start Address
labmrd 0:29900c3a4a50 446 TxBuf[5] = start;
labmrd 0:29900c3a4a50 447 sum += TxBuf[5];
labmrd 0:29900c3a4a50 448 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 449 printf(" Start : 0x%x\n",TxBuf[5]);
labmrd 0:29900c3a4a50 450 }
labmrd 0:29900c3a4a50 451
labmrd 0:29900c3a4a50 452 // data
labmrd 0:29900c3a4a50 453 for (char i=0; i<bytes ; i++) {
labmrd 0:29900c3a4a50 454 TxBuf[6+i] = data[i];
labmrd 0:29900c3a4a50 455 sum += TxBuf[6+i];
labmrd 0:29900c3a4a50 456 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 457 printf(" Data : 0x%x\n",TxBuf[6+i]);
labmrd 0:29900c3a4a50 458 }
labmrd 0:29900c3a4a50 459 }
labmrd 0:29900c3a4a50 460
labmrd 0:29900c3a4a50 461 // checksum
labmrd 0:29900c3a4a50 462 TxBuf[6+bytes] = 0xFF - sum;
labmrd 0:29900c3a4a50 463 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 464 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
labmrd 0:29900c3a4a50 465 }
labmrd 0:29900c3a4a50 466
labmrd 0:29900c3a4a50 467 // Transmit the packet in one burst with no pausing
labmrd 0:29900c3a4a50 468 for (int i = 0; i < (7 + bytes) ; i++) {
labmrd 0:29900c3a4a50 469 _mx12.putc(TxBuf[i]);
labmrd 0:29900c3a4a50 470 }
labmrd 0:29900c3a4a50 471
labmrd 0:29900c3a4a50 472 // Wait for data to transmit
labmrd 0:29900c3a4a50 473 wait (0.00002);
labmrd 0:29900c3a4a50 474
labmrd 0:29900c3a4a50 475 // make sure we have a valid return
labmrd 0:29900c3a4a50 476 Status[4]=0x00;
labmrd 0:29900c3a4a50 477
labmrd 0:29900c3a4a50 478 // we'll only get a reply if it was not broadcast
labmrd 0:29900c3a4a50 479 if (_ID!=0xFE) {
labmrd 0:29900c3a4a50 480
labmrd 0:29900c3a4a50 481 // response is always 6 bytes
labmrd 0:29900c3a4a50 482 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
labmrd 0:29900c3a4a50 483 Timer serial_timeout;
labmrd 0:29900c3a4a50 484 for (int i=0; i < 6 ; i++) {
labmrd 0:29900c3a4a50 485 serial_timeout.reset ();
labmrd 0:29900c3a4a50 486 while (!_mx12.readable ())
labmrd 0:29900c3a4a50 487 {
labmrd 0:29900c3a4a50 488 //Just loop here until you either get a character, or we timeout
labmrd 0:29900c3a4a50 489 if (serial_timeout.read_ms () > MAX_DELAY_BETWEEN_CHARCTERS_IN_MS)
labmrd 0:29900c3a4a50 490 {
labmrd 0:29900c3a4a50 491 //If we timeout, quit in a panic!
labmrd 0:29900c3a4a50 492 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 493 printf("\nTimeout waiting for serial response!\nReceived %d characters.\n",i);
labmrd 0:29900c3a4a50 494 }
labmrd 0:29900c3a4a50 495 return(0x00);
labmrd 0:29900c3a4a50 496 }
labmrd 0:29900c3a4a50 497 }
labmrd 0:29900c3a4a50 498 Status[i] = _mx12.getc();
labmrd 0:29900c3a4a50 499 }
labmrd 0:29900c3a4a50 500
labmrd 0:29900c3a4a50 501 // Build the TxPacket first in RAM, then we'll send in one go
labmrd 0:29900c3a4a50 502 if (MX12_WRITE_DEBUG) {
labmrd 0:29900c3a4a50 503 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
labmrd 0:29900c3a4a50 504 printf(" ID : %d\n",Status[2]);
labmrd 0:29900c3a4a50 505 printf(" Length : %d\n",Status[3]);
labmrd 0:29900c3a4a50 506 printf(" Error : 0x%x\n",Status[4]);
labmrd 0:29900c3a4a50 507 printf(" Checksum : 0x%x\n",Status[5]);
labmrd 0:29900c3a4a50 508 }
labmrd 0:29900c3a4a50 509
labmrd 0:29900c3a4a50 510
labmrd 0:29900c3a4a50 511 }
labmrd 0:29900c3a4a50 512
labmrd 0:29900c3a4a50 513 return(Status[4]); // return error code
labmrd 0:29900c3a4a50 514 }