Robotis Dynamixel MX-12W Servo Library
Dependents: SpindleBot_1_5b Utilisatio_MX12_V4
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?
User | Revision | Line number | New 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 | } |