Marco Zecchini
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Example_RTOS
Rtos API example
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AX12.cpp
00001 /* mbed AX-12+ Servo Library 00002 * 00003 * Copyright (c) 2010, cstyles (http://mbed.org) 00004 * 00005 * Permission is hereby granted, free of charge, to any person obtaining a copy 00006 * of this software and associated documentation files (the "Software"), to deal 00007 * in the Software without restriction, including without limitation the rights 00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00009 * copies of the Software, and to permit persons to whom the Software is 00010 * furnished to do so, subject to the following conditions: 00011 * 00012 * The above copyright notice and this permission notice shall be included in 00013 * all copies or substantial portions of the Software. 00014 * 00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00021 * THE SOFTWARE. 00022 */ 00023 00024 #include "AX12.h" 00025 #include "mbed.h" 00026 00027 AX12::AX12(PinName tx, PinName rx, int ID, int baud) 00028 : _ax12(tx,rx) { 00029 _baud = baud; 00030 _ID = ID; 00031 _ax12.baud(_baud); 00032 00033 } 00034 00035 // Set the mode of the servo 00036 // 0 = Positional (0-300 degrees) 00037 // 1 = Rotational -1 to 1 speed 00038 int AX12::SetMode(int mode) { 00039 00040 if (mode == 1) { // set CR 00041 SetCWLimit(0); 00042 SetCCWLimit(0); 00043 SetCRSpeed(0.0); 00044 } else { 00045 SetCWLimit(0); 00046 SetCCWLimit(300); 00047 SetCRSpeed(0.0); 00048 } 00049 return(0); 00050 } 00051 00052 00053 // if flag[0] is set, were blocking 00054 // if flag[1] is set, we're registering 00055 // they are mutually exclusive operations 00056 int AX12::SetGoal(int degrees, int flags) { 00057 00058 char reg_flag = 0; 00059 char data[2]; 00060 00061 // set the flag is only the register bit is set in the flag 00062 if (flags == 0x2) { 00063 reg_flag = 1; 00064 } 00065 00066 // 1023 / 300 * degrees 00067 short goal = (1023 * degrees) / 300; 00068 #ifdef AX12_DEBUG 00069 printf("SetGoal to 0x%x\n",goal); 00070 #endif 00071 00072 data[0] = goal & 0xff; // bottom 8 bits 00073 data[1] = goal >> 8; // top 8 bits 00074 00075 // write the packet, return the error code 00076 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag); 00077 00078 if (flags == 1) { 00079 // block until it comes to a halt 00080 while (isMoving()) {} 00081 } 00082 return(rVal); 00083 } 00084 00085 00086 // Set continuous rotation speed from -1 to 1 00087 int AX12::SetCRSpeed(float speed) { 00088 00089 // bit 10 = direction, 0 = CCW, 1=CW 00090 // bits 9-0 = Speed 00091 char data[2]; 00092 00093 int goal = (0x3ff * abs(speed)); 00094 00095 // Set direction CW if we have a negative speed 00096 if (speed < 0) { 00097 goal |= (0x1 << 10); 00098 } 00099 00100 data[0] = goal & 0xff; // bottom 8 bits 00101 data[1] = goal >> 8; // top 8 bits 00102 00103 // write the packet, return the error code 00104 int rVal = write(_ID, 0x20, 2, data); 00105 00106 return(rVal); 00107 } 00108 00109 00110 int AX12::SetCWLimit (int degrees) { 00111 00112 char data[2]; 00113 00114 // 1023 / 300 * degrees 00115 short limit = (1023 * degrees) / 300; 00116 00117 #ifdef AX12_DEBUG 00118 printf("SetCWLimit to 0x%x\n",limit); 00119 #endif 00120 00121 data[0] = limit & 0xff; // bottom 8 bits 00122 data[1] = limit >> 8; // top 8 bits 00123 00124 // write the packet, return the error code 00125 return (write(_ID, AX12_REG_CW_LIMIT, 2, data)); 00126 00127 } 00128 00129 int AX12::SetCCWLimit (int degrees) { 00130 00131 char data[2]; 00132 00133 // 1023 / 300 * degrees 00134 short limit = (1023 * degrees) / 300; 00135 00136 #ifdef AX12_DEBUG 00137 printf("SetCCWLimit to 0x%x\n",limit); 00138 #endif 00139 00140 data[0] = limit & 0xff; // bottom 8 bits 00141 data[1] = limit >> 8; // top 8 bits 00142 00143 // write the packet, return the error code 00144 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data)); 00145 } 00146 00147 00148 int AX12::SetID (int CurrentID, int NewID) { 00149 00150 char data[1]; 00151 data[0] = NewID; 00152 00153 #ifdef AX12_DEBUG 00154 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); 00155 #endif 00156 00157 return (write(CurrentID, AX12_REG_ID, 1, data)); 00158 00159 } 00160 00161 00162 int AX12::SetBaud (int baud) { 00163 00164 char data[1]; 00165 data[0] = baud; 00166 00167 #ifdef AX12_DEBUG 00168 printf("Setting Baud rate to %d\n",baud); 00169 #endif 00170 00171 return (write(0xFE, AX12_REG_BAUD, 1, data)); 00172 00173 } 00174 00175 00176 00177 // return 1 is the servo is still in flight 00178 int AX12::isMoving(void) { 00179 00180 char data[1]; 00181 read(_ID,AX12_REG_MOVING,1,data); 00182 return(data[0]); 00183 } 00184 00185 00186 void AX12::trigger(void) { 00187 00188 char TxBuf[16]; 00189 char sum = 0; 00190 00191 #ifdef AX12_TRIGGER_DEBUG 00192 // Build the TxPacket first in RAM, then we'll send in one go 00193 printf("\nTriggered\n"); 00194 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); 00195 #endif 00196 00197 TxBuf[0] = 0xFF; 00198 TxBuf[1] = 0xFF; 00199 00200 // ID - Broadcast 00201 TxBuf[2] = 0xFE; 00202 sum += TxBuf[2]; 00203 00204 #ifdef AX12_TRIGGER_DEBUG 00205 printf(" ID : %d\n",TxBuf[2]); 00206 #endif 00207 00208 // Length 00209 TxBuf[3] = 0x02; 00210 sum += TxBuf[3]; 00211 00212 #ifdef AX12_TRIGGER_DEBUG 00213 printf(" Length %d\n",TxBuf[3]); 00214 #endif 00215 00216 // Instruction - ACTION 00217 TxBuf[4] = 0x04; 00218 sum += TxBuf[4]; 00219 00220 #ifdef AX12_TRIGGER_DEBUG 00221 printf(" Instruction 0x%X\n",TxBuf[5]); 00222 #endif 00223 00224 // Checksum 00225 TxBuf[5] = 0xFF - sum; 00226 #ifdef AX12_TRIGGER_DEBUG 00227 printf(" Checksum 0x%X\n",TxBuf[5]); 00228 #endif 00229 00230 // Transmit the packet in one burst with no pausing 00231 for (int i = 0; i < 6 ; i++) { 00232 _ax12.putc(TxBuf[i]); 00233 } 00234 00235 // This is a broadcast packet, so there will be no reply 00236 return; 00237 } 00238 00239 00240 float AX12::GetPosition(void) { 00241 00242 #ifdef AX12_DEBUG 00243 printf("\nGetPosition(%d)",_ID); 00244 #endif 00245 00246 char data[2]; 00247 00248 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data); 00249 short position = data[0] + (data[1] << 8); 00250 float angle = (position * 300)/1024; 00251 00252 return (angle); 00253 } 00254 00255 00256 float AX12::GetTemp (void) { 00257 00258 #ifdef AX12_DEBUG 00259 printf("\nGetTemp(%d)",_ID); 00260 #endif 00261 00262 char data[1]; 00263 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data); 00264 float temp = data[0]; 00265 return(temp); 00266 } 00267 00268 00269 float AX12::GetVolts (void) { 00270 00271 #ifdef AX12_DEBUG 00272 printf("\nGetVolts(%d)",_ID); 00273 #endif 00274 00275 char data[1]; 00276 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data); 00277 float volts = data[0]/10.0; 00278 return(volts); 00279 } 00280 00281 00282 int AX12::read(int ID, int start, int bytes, char* data) { 00283 00284 char PacketLength = 0x4; 00285 char TxBuf[16]; 00286 char sum = 0; 00287 char Status[16]; 00288 00289 Status[4] = 0xFE; // return code 00290 00291 #ifdef AX12_READ_DEBUG 00292 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); 00293 #endif 00294 00295 // Build the TxPacket first in RAM, then we'll send in one go 00296 #ifdef AX12_READ_DEBUG 00297 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); 00298 #endif 00299 00300 TxBuf[0] = 0xff; 00301 TxBuf[1] = 0xff; 00302 00303 // ID 00304 TxBuf[2] = ID; 00305 sum += TxBuf[2]; 00306 00307 #ifdef AX12_READ_DEBUG 00308 printf(" ID : %d\n",TxBuf[2]); 00309 #endif 00310 00311 // Packet Length 00312 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) 00313 sum += TxBuf[3]; // Accululate the packet sum 00314 00315 #ifdef AX12_READ_DEBUG 00316 printf(" Length : 0x%x\n",TxBuf[3]); 00317 #endif 00318 00319 // Instruction - Read 00320 TxBuf[4] = 0x2; 00321 sum += TxBuf[4]; 00322 00323 #ifdef AX12_READ_DEBUG 00324 printf(" Instruction : 0x%x\n",TxBuf[4]); 00325 #endif 00326 00327 // Start Address 00328 TxBuf[5] = start; 00329 sum += TxBuf[5]; 00330 00331 #ifdef AX12_READ_DEBUG 00332 printf(" Start Address : 0x%x\n",TxBuf[5]); 00333 #endif 00334 00335 // Bytes to read 00336 TxBuf[6] = bytes; 00337 sum += TxBuf[6]; 00338 00339 #ifdef AX12_READ_DEBUG 00340 printf(" No bytes : 0x%x\n",TxBuf[6]); 00341 #endif 00342 00343 // Checksum 00344 TxBuf[7] = 0xFF - sum; 00345 #ifdef AX12_READ_DEBUG 00346 printf(" Checksum : 0x%x\n",TxBuf[7]); 00347 #endif 00348 00349 // Transmit the packet in one burst with no pausing 00350 for (int i = 0; i<8 ; i++) { 00351 _ax12.putc(TxBuf[i]); 00352 } 00353 00354 // Wait for the bytes to be transmitted 00355 wait (0.00002); 00356 00357 // Skip if the read was to the broadcast address 00358 if (_ID != 0xFE) { 00359 00360 00361 00362 // response packet is always 6 + bytes 00363 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum 00364 // timeout is a little more than the time to transmit 00365 // the packet back, i.e. (6+bytes)*10 bit periods 00366 00367 int timeout = 0; 00368 int plen = 0; 00369 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) { 00370 00371 if (_ax12.readable()) { 00372 Status[plen] = _ax12.getc(); 00373 plen++; 00374 timeout = 0; 00375 } 00376 00377 // wait for the bit period 00378 wait (1.0/_baud); 00379 timeout++; 00380 } 00381 00382 if (timeout == ((6+bytes)*10) ) { 00383 return(-1); 00384 } 00385 00386 // Copy the data from Status into data for return 00387 for (int i=0; i < Status[3]-2 ; i++) { 00388 data[i] = Status[5+i]; 00389 } 00390 00391 #ifdef AX12_READ_DEBUG 00392 printf("\nStatus Packet\n"); 00393 printf(" Header : 0x%x\n",Status[0]); 00394 printf(" Header : 0x%x\n",Status[1]); 00395 printf(" ID : 0x%x\n",Status[2]); 00396 printf(" Length : 0x%x\n",Status[3]); 00397 printf(" Error Code : 0x%x\n",Status[4]); 00398 00399 for (int i=0; i < Status[3]-2 ; i++) { 00400 printf(" Data : 0x%x\n",Status[5+i]); 00401 } 00402 00403 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); 00404 #endif 00405 00406 } // if (ID!=0xFE) 00407 00408 return(Status[4]); 00409 } 00410 00411 00412 int AX12::write(int ID, int start, int bytes, char* data, int flag) { 00413 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum 00414 00415 char TxBuf[16]; 00416 char sum = 0; 00417 char Status[6]; 00418 00419 #ifdef AX12_WRITE_DEBUG 00420 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); 00421 #endif 00422 00423 // Build the TxPacket first in RAM, then we'll send in one go 00424 #ifdef AX12_WRITE_DEBUG 00425 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); 00426 #endif 00427 00428 TxBuf[0] = 0xff; 00429 TxBuf[1] = 0xff; 00430 00431 // ID 00432 TxBuf[2] = ID; 00433 sum += TxBuf[2]; 00434 00435 #ifdef AX12_WRITE_DEBUG 00436 printf(" ID : %d\n",TxBuf[2]); 00437 #endif 00438 00439 // packet Length 00440 TxBuf[3] = 3+bytes; 00441 sum += TxBuf[3]; 00442 00443 #ifdef AX12_WRITE_DEBUG 00444 printf(" Length : %d\n",TxBuf[3]); 00445 #endif 00446 00447 // Instruction 00448 if (flag == 1) { 00449 TxBuf[4]=0x04; 00450 sum += TxBuf[4]; 00451 } else { 00452 TxBuf[4]=0x03; 00453 sum += TxBuf[4]; 00454 } 00455 00456 #ifdef AX12_WRITE_DEBUG 00457 printf(" Instruction : 0x%x\n",TxBuf[4]); 00458 #endif 00459 00460 // Start Address 00461 TxBuf[5] = start; 00462 sum += TxBuf[5]; 00463 00464 #ifdef AX12_WRITE_DEBUG 00465 printf(" Start : 0x%x\n",TxBuf[5]); 00466 #endif 00467 00468 // data 00469 for (char i=0; i<bytes ; i++) { 00470 TxBuf[6+i] = data[i]; 00471 sum += TxBuf[6+i]; 00472 00473 #ifdef AX12_WRITE_DEBUG 00474 printf(" Data : 0x%x\n",TxBuf[6+i]); 00475 #endif 00476 00477 } 00478 00479 // checksum 00480 TxBuf[6+bytes] = 0xFF - sum; 00481 00482 #ifdef AX12_WRITE_DEBUG 00483 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); 00484 #endif 00485 00486 // Transmit the packet in one burst with no pausing 00487 for (int i = 0; i < (7 + bytes) ; i++) { 00488 _ax12.putc(TxBuf[i]); 00489 } 00490 00491 // Wait for data to transmit 00492 wait (0.00002); 00493 00494 // make sure we have a valid return 00495 Status[4]=0x00; 00496 00497 // we'll only get a reply if it was not broadcast 00498 if (_ID!=0xFE) { 00499 00500 00501 // response packet is always 6 bytes 00502 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum 00503 // timeout is a little more than the time to transmit 00504 // the packet back, i.e. 60 bit periods, round up to 100 00505 int timeout = 0; 00506 int plen = 0; 00507 while ((timeout < 100) && (plen<6)) { 00508 00509 if (_ax12.readable()) { 00510 Status[plen] = _ax12.getc(); 00511 plen++; 00512 timeout = 0; 00513 } 00514 00515 // wait for the bit period 00516 wait (1.0/_baud); 00517 timeout++; 00518 } 00519 00520 00521 // Build the TxPacket first in RAM, then we'll send in one go 00522 #ifdef AX12_WRITE_DEBUG 00523 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); 00524 printf(" ID : %d\n",Status[2]); 00525 printf(" Length : %d\n",Status[3]); 00526 printf(" Error : 0x%x\n",Status[4]); 00527 printf(" Checksum : 0x%x\n",Status[5]); 00528 #endif 00529 00530 00531 } 00532 00533 return(Status[4]); // return error code 00534 }
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