sinyuu masahito
/
yozakura_arm
Arm control program for Yozakura
Dynamixel/MX28.cpp@0:6b3497b2f2ec, 2015-04-24 (annotated)
- Committer:
- masasin
- Date:
- Fri Apr 24 01:55:32 2015 +0000
- Revision:
- 0:6b3497b2f2ec
Initial commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
masasin | 0:6b3497b2f2ec | 1 | /* mbed AX-12+ Servo Library |
masasin | 0:6b3497b2f2ec | 2 | * |
masasin | 0:6b3497b2f2ec | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
masasin | 0:6b3497b2f2ec | 4 | * |
masasin | 0:6b3497b2f2ec | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
masasin | 0:6b3497b2f2ec | 6 | * of this software and associated documentation files (the "Software"), to deal |
masasin | 0:6b3497b2f2ec | 7 | * in the Software without restriction, including without limitation the rights |
masasin | 0:6b3497b2f2ec | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
masasin | 0:6b3497b2f2ec | 9 | * copies of the Software, and to permit persons to whom the Software is |
masasin | 0:6b3497b2f2ec | 10 | * furnished to do so, subject to the following conditions: |
masasin | 0:6b3497b2f2ec | 11 | * |
masasin | 0:6b3497b2f2ec | 12 | * The above copyright notice and this permission notice shall be included in |
masasin | 0:6b3497b2f2ec | 13 | * all copies or substantial portions of the Software. |
masasin | 0:6b3497b2f2ec | 14 | * |
masasin | 0:6b3497b2f2ec | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
masasin | 0:6b3497b2f2ec | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
masasin | 0:6b3497b2f2ec | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
masasin | 0:6b3497b2f2ec | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
masasin | 0:6b3497b2f2ec | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
masasin | 0:6b3497b2f2ec | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
masasin | 0:6b3497b2f2ec | 21 | * THE SOFTWARE. |
masasin | 0:6b3497b2f2ec | 22 | */ |
masasin | 0:6b3497b2f2ec | 23 | |
masasin | 0:6b3497b2f2ec | 24 | #include "Dynamixel.h" |
masasin | 0:6b3497b2f2ec | 25 | #include "mbed.h" |
masasin | 0:6b3497b2f2ec | 26 | |
masasin | 0:6b3497b2f2ec | 27 | MX28::MX28(PinName tx, PinName rx, int ID) : _mx28(tx,rx) { |
masasin | 0:6b3497b2f2ec | 28 | |
masasin | 0:6b3497b2f2ec | 29 | _mx28.baud(1000000); |
masasin | 0:6b3497b2f2ec | 30 | _ID = ID; |
masasin | 0:6b3497b2f2ec | 31 | } |
masasin | 0:6b3497b2f2ec | 32 | |
masasin | 0:6b3497b2f2ec | 33 | // Set the mode of the servo |
masasin | 0:6b3497b2f2ec | 34 | // 0 = Positional (0-300 degrees) |
masasin | 0:6b3497b2f2ec | 35 | // 1 = Rotational -1 to 1 speed |
masasin | 0:6b3497b2f2ec | 36 | int MX28::SetMode(int mode) { |
masasin | 0:6b3497b2f2ec | 37 | |
masasin | 0:6b3497b2f2ec | 38 | if (mode == 1) { // set CR |
masasin | 0:6b3497b2f2ec | 39 | SetCWLimit(0); |
masasin | 0:6b3497b2f2ec | 40 | SetCCWLimit(0); |
masasin | 0:6b3497b2f2ec | 41 | SetCRSpeed(0.0); |
masasin | 0:6b3497b2f2ec | 42 | } else { |
masasin | 0:6b3497b2f2ec | 43 | SetCWLimit(0); |
masasin | 0:6b3497b2f2ec | 44 | SetCCWLimit(360); |
masasin | 0:6b3497b2f2ec | 45 | SetCRSpeed(0.0); |
masasin | 0:6b3497b2f2ec | 46 | } |
masasin | 0:6b3497b2f2ec | 47 | return(0); |
masasin | 0:6b3497b2f2ec | 48 | } |
masasin | 0:6b3497b2f2ec | 49 | |
masasin | 0:6b3497b2f2ec | 50 | |
masasin | 0:6b3497b2f2ec | 51 | // if flag[0] is set, we're blocking |
masasin | 0:6b3497b2f2ec | 52 | // if flag[1] is set, we're registering |
masasin | 0:6b3497b2f2ec | 53 | // they are mutually exclusive operations |
masasin | 0:6b3497b2f2ec | 54 | int MX28::SetGoal(int degrees, int flags) { |
masasin | 0:6b3497b2f2ec | 55 | |
masasin | 0:6b3497b2f2ec | 56 | char reg_flag = 0; |
masasin | 0:6b3497b2f2ec | 57 | char data[2]; |
masasin | 0:6b3497b2f2ec | 58 | |
masasin | 0:6b3497b2f2ec | 59 | // set the flag is only the register bit is set in the flag |
masasin | 0:6b3497b2f2ec | 60 | if (flags == 0x2) { |
masasin | 0:6b3497b2f2ec | 61 | reg_flag = 1; |
masasin | 0:6b3497b2f2ec | 62 | } |
masasin | 0:6b3497b2f2ec | 63 | |
masasin | 0:6b3497b2f2ec | 64 | // 4095 / 360 * degrees |
masasin | 0:6b3497b2f2ec | 65 | short goal = (4095 * degrees) / 360; |
masasin | 0:6b3497b2f2ec | 66 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 67 | printf("SetGoal to 0x%x\n",goal); |
masasin | 0:6b3497b2f2ec | 68 | } |
masasin | 0:6b3497b2f2ec | 69 | |
masasin | 0:6b3497b2f2ec | 70 | data[0] = goal & 0xff; // bottom 8 bits |
masasin | 0:6b3497b2f2ec | 71 | data[1] = goal >> 8; // top 8 bits |
masasin | 0:6b3497b2f2ec | 72 | |
masasin | 0:6b3497b2f2ec | 73 | // write the packet, return the error code |
masasin | 0:6b3497b2f2ec | 74 | int rVal = write(_ID, MX28_REG_GOAL_POSITION, 2, data, reg_flag); |
masasin | 0:6b3497b2f2ec | 75 | |
masasin | 0:6b3497b2f2ec | 76 | if (flags == 1) { |
masasin | 0:6b3497b2f2ec | 77 | // block until it comes to a halt |
masasin | 0:6b3497b2f2ec | 78 | while (isMoving()) {} |
masasin | 0:6b3497b2f2ec | 79 | } |
masasin | 0:6b3497b2f2ec | 80 | return(rVal); |
masasin | 0:6b3497b2f2ec | 81 | } |
masasin | 0:6b3497b2f2ec | 82 | |
masasin | 0:6b3497b2f2ec | 83 | |
masasin | 0:6b3497b2f2ec | 84 | // Set continuous rotation speed from -1 to 1 |
masasin | 0:6b3497b2f2ec | 85 | int MX28::SetCRSpeed (float speed) { |
masasin | 0:6b3497b2f2ec | 86 | |
masasin | 0:6b3497b2f2ec | 87 | // bit 10 = direction, 0 = CCW, 1=CW |
masasin | 0:6b3497b2f2ec | 88 | // bits 9-0 = Speed |
masasin | 0:6b3497b2f2ec | 89 | char data[2]; |
masasin | 0:6b3497b2f2ec | 90 | |
masasin | 0:6b3497b2f2ec | 91 | int goal = (0x3ff * abs(speed)); |
masasin | 0:6b3497b2f2ec | 92 | |
masasin | 0:6b3497b2f2ec | 93 | // Set direction CW if we have a negative speed |
masasin | 0:6b3497b2f2ec | 94 | if (speed < 0) { |
masasin | 0:6b3497b2f2ec | 95 | goal |= (0x1 << 10); |
masasin | 0:6b3497b2f2ec | 96 | } |
masasin | 0:6b3497b2f2ec | 97 | |
masasin | 0:6b3497b2f2ec | 98 | data[0] = goal & 0xff; // bottom 8 bits |
masasin | 0:6b3497b2f2ec | 99 | data[1] = goal >> 8; // top 8 bits |
masasin | 0:6b3497b2f2ec | 100 | |
masasin | 0:6b3497b2f2ec | 101 | // write the packet, return the error code |
masasin | 0:6b3497b2f2ec | 102 | int rVal = write(_ID, 0x20, 2, data); |
masasin | 0:6b3497b2f2ec | 103 | |
masasin | 0:6b3497b2f2ec | 104 | return(rVal); |
masasin | 0:6b3497b2f2ec | 105 | } |
masasin | 0:6b3497b2f2ec | 106 | |
masasin | 0:6b3497b2f2ec | 107 | |
masasin | 0:6b3497b2f2ec | 108 | int MX28::SetCWLimit (int degrees) { |
masasin | 0:6b3497b2f2ec | 109 | |
masasin | 0:6b3497b2f2ec | 110 | char data[2]; |
masasin | 0:6b3497b2f2ec | 111 | |
masasin | 0:6b3497b2f2ec | 112 | // 4095 / 360 * degrees |
masasin | 0:6b3497b2f2ec | 113 | short limit = (4095 * degrees) / 360; |
masasin | 0:6b3497b2f2ec | 114 | |
masasin | 0:6b3497b2f2ec | 115 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 116 | printf("SetCWLimit to 0x%x\n",limit); |
masasin | 0:6b3497b2f2ec | 117 | } |
masasin | 0:6b3497b2f2ec | 118 | |
masasin | 0:6b3497b2f2ec | 119 | data[0] = limit & 0xff; // bottom 8 bits |
masasin | 0:6b3497b2f2ec | 120 | data[1] = limit >> 8; // top 8 bits |
masasin | 0:6b3497b2f2ec | 121 | |
masasin | 0:6b3497b2f2ec | 122 | // write the packet, return the error code |
masasin | 0:6b3497b2f2ec | 123 | return (write(_ID, MX28_REG_CW_LIMIT, 2, data)); |
masasin | 0:6b3497b2f2ec | 124 | |
masasin | 0:6b3497b2f2ec | 125 | } |
masasin | 0:6b3497b2f2ec | 126 | |
masasin | 0:6b3497b2f2ec | 127 | |
masasin | 0:6b3497b2f2ec | 128 | int MX28::SetCCWLimit (int degrees) { |
masasin | 0:6b3497b2f2ec | 129 | |
masasin | 0:6b3497b2f2ec | 130 | char data[2]; |
masasin | 0:6b3497b2f2ec | 131 | |
masasin | 0:6b3497b2f2ec | 132 | // 4095 / 360 * degrees |
masasin | 0:6b3497b2f2ec | 133 | short limit = (4095 * degrees) / 360; |
masasin | 0:6b3497b2f2ec | 134 | |
masasin | 0:6b3497b2f2ec | 135 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 136 | printf("SetCCWLimit to 0x%x\n",limit); |
masasin | 0:6b3497b2f2ec | 137 | } |
masasin | 0:6b3497b2f2ec | 138 | |
masasin | 0:6b3497b2f2ec | 139 | data[0] = limit & 0xff; // bottom 8 bits |
masasin | 0:6b3497b2f2ec | 140 | data[1] = limit >> 8; // top 8 bits |
masasin | 0:6b3497b2f2ec | 141 | |
masasin | 0:6b3497b2f2ec | 142 | // write the packet, return the error code |
masasin | 0:6b3497b2f2ec | 143 | return (write(_ID, MX28_REG_CCW_LIMIT, 2, data)); |
masasin | 0:6b3497b2f2ec | 144 | } |
masasin | 0:6b3497b2f2ec | 145 | |
masasin | 0:6b3497b2f2ec | 146 | |
masasin | 0:6b3497b2f2ec | 147 | int MX28::SetID (int CurrentID, int NewID) { |
masasin | 0:6b3497b2f2ec | 148 | |
masasin | 0:6b3497b2f2ec | 149 | char data[1]; |
masasin | 0:6b3497b2f2ec | 150 | data[0] = NewID; |
masasin | 0:6b3497b2f2ec | 151 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 152 | printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); |
masasin | 0:6b3497b2f2ec | 153 | } |
masasin | 0:6b3497b2f2ec | 154 | return (write(CurrentID, MX28_REG_ID, 1, data)); |
masasin | 0:6b3497b2f2ec | 155 | |
masasin | 0:6b3497b2f2ec | 156 | } |
masasin | 0:6b3497b2f2ec | 157 | |
masasin | 0:6b3497b2f2ec | 158 | |
masasin | 0:6b3497b2f2ec | 159 | // return 1 is the servo is still in flight |
masasin | 0:6b3497b2f2ec | 160 | int MX28::isMoving(void) { |
masasin | 0:6b3497b2f2ec | 161 | |
masasin | 0:6b3497b2f2ec | 162 | char data[1]; |
masasin | 0:6b3497b2f2ec | 163 | read(_ID,MX28_REG_MOVING,1,data); |
masasin | 0:6b3497b2f2ec | 164 | return(data[0]); |
masasin | 0:6b3497b2f2ec | 165 | } |
masasin | 0:6b3497b2f2ec | 166 | |
masasin | 0:6b3497b2f2ec | 167 | |
masasin | 0:6b3497b2f2ec | 168 | void MX28::trigger(void) { |
masasin | 0:6b3497b2f2ec | 169 | |
masasin | 0:6b3497b2f2ec | 170 | char TxBuf[16]; |
masasin | 0:6b3497b2f2ec | 171 | char sum = 0; |
masasin | 0:6b3497b2f2ec | 172 | |
masasin | 0:6b3497b2f2ec | 173 | if (MX28_TRIGGER_DEBUG) { |
masasin | 0:6b3497b2f2ec | 174 | printf("\nTriggered\n"); |
masasin | 0:6b3497b2f2ec | 175 | } |
masasin | 0:6b3497b2f2ec | 176 | |
masasin | 0:6b3497b2f2ec | 177 | // Build the TxPacket first in RAM, then we'll send in one go |
masasin | 0:6b3497b2f2ec | 178 | if (MX28_TRIGGER_DEBUG) { |
masasin | 0:6b3497b2f2ec | 179 | printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); |
masasin | 0:6b3497b2f2ec | 180 | } |
masasin | 0:6b3497b2f2ec | 181 | |
masasin | 0:6b3497b2f2ec | 182 | TxBuf[0] = 0xFF; |
masasin | 0:6b3497b2f2ec | 183 | TxBuf[1] = 0xFF; |
masasin | 0:6b3497b2f2ec | 184 | |
masasin | 0:6b3497b2f2ec | 185 | // ID - Broadcast |
masasin | 0:6b3497b2f2ec | 186 | TxBuf[2] = 0xFE; |
masasin | 0:6b3497b2f2ec | 187 | sum += TxBuf[2]; |
masasin | 0:6b3497b2f2ec | 188 | |
masasin | 0:6b3497b2f2ec | 189 | if (MX28_TRIGGER_DEBUG) { |
masasin | 0:6b3497b2f2ec | 190 | printf(" ID : %d\n",TxBuf[2]); |
masasin | 0:6b3497b2f2ec | 191 | } |
masasin | 0:6b3497b2f2ec | 192 | |
masasin | 0:6b3497b2f2ec | 193 | // Length |
masasin | 0:6b3497b2f2ec | 194 | TxBuf[3] = 0x02; |
masasin | 0:6b3497b2f2ec | 195 | sum += TxBuf[3]; |
masasin | 0:6b3497b2f2ec | 196 | if (MX28_TRIGGER_DEBUG) { |
masasin | 0:6b3497b2f2ec | 197 | printf(" Length %d\n",TxBuf[3]); |
masasin | 0:6b3497b2f2ec | 198 | } |
masasin | 0:6b3497b2f2ec | 199 | |
masasin | 0:6b3497b2f2ec | 200 | // Instruction - ACTION |
masasin | 0:6b3497b2f2ec | 201 | TxBuf[4] = 0x04; |
masasin | 0:6b3497b2f2ec | 202 | sum += TxBuf[4]; |
masasin | 0:6b3497b2f2ec | 203 | if (MX28_TRIGGER_DEBUG) { |
masasin | 0:6b3497b2f2ec | 204 | printf(" Instruction 0x%X\n",TxBuf[5]); |
masasin | 0:6b3497b2f2ec | 205 | } |
masasin | 0:6b3497b2f2ec | 206 | |
masasin | 0:6b3497b2f2ec | 207 | // Checksum |
masasin | 0:6b3497b2f2ec | 208 | TxBuf[5] = 0xFF - sum; |
masasin | 0:6b3497b2f2ec | 209 | if (MX28_TRIGGER_DEBUG) { |
masasin | 0:6b3497b2f2ec | 210 | printf(" Checksum 0x%X\n",TxBuf[5]); |
masasin | 0:6b3497b2f2ec | 211 | } |
masasin | 0:6b3497b2f2ec | 212 | |
masasin | 0:6b3497b2f2ec | 213 | // Transmit the packet in one burst with no pausing |
masasin | 0:6b3497b2f2ec | 214 | for (int i = 0; i < 6 ; i++) { |
masasin | 0:6b3497b2f2ec | 215 | _mx28.putc(TxBuf[i]); |
masasin | 0:6b3497b2f2ec | 216 | } |
masasin | 0:6b3497b2f2ec | 217 | |
masasin | 0:6b3497b2f2ec | 218 | // This is a broadcast packet, so there will be no reply |
masasin | 0:6b3497b2f2ec | 219 | |
masasin | 0:6b3497b2f2ec | 220 | return; |
masasin | 0:6b3497b2f2ec | 221 | } |
masasin | 0:6b3497b2f2ec | 222 | |
masasin | 0:6b3497b2f2ec | 223 | |
masasin | 0:6b3497b2f2ec | 224 | float MX28::GetPosition(void) { |
masasin | 0:6b3497b2f2ec | 225 | |
masasin | 0:6b3497b2f2ec | 226 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 227 | printf("\nGetPosition(%d)",_ID); |
masasin | 0:6b3497b2f2ec | 228 | } |
masasin | 0:6b3497b2f2ec | 229 | |
masasin | 0:6b3497b2f2ec | 230 | char data[2]; |
masasin | 0:6b3497b2f2ec | 231 | |
masasin | 0:6b3497b2f2ec | 232 | int ErrorCode = read(_ID, MX28_REG_POSITION, 2, data); |
masasin | 0:6b3497b2f2ec | 233 | short position = data[0] + (data[1] << 8); |
masasin | 0:6b3497b2f2ec | 234 | float angle = (position * 300)/1024; |
masasin | 0:6b3497b2f2ec | 235 | |
masasin | 0:6b3497b2f2ec | 236 | return (angle); |
masasin | 0:6b3497b2f2ec | 237 | } |
masasin | 0:6b3497b2f2ec | 238 | |
masasin | 0:6b3497b2f2ec | 239 | |
masasin | 0:6b3497b2f2ec | 240 | float MX28::GetTemp (void) { |
masasin | 0:6b3497b2f2ec | 241 | |
masasin | 0:6b3497b2f2ec | 242 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 243 | printf("\nGetTemp(%d)",_ID); |
masasin | 0:6b3497b2f2ec | 244 | } |
masasin | 0:6b3497b2f2ec | 245 | char data[1]; |
masasin | 0:6b3497b2f2ec | 246 | int ErrorCode = read(_ID, MX28_REG_TEMP, 1, data); |
masasin | 0:6b3497b2f2ec | 247 | float temp = data[0]; |
masasin | 0:6b3497b2f2ec | 248 | return(temp); |
masasin | 0:6b3497b2f2ec | 249 | } |
masasin | 0:6b3497b2f2ec | 250 | |
masasin | 0:6b3497b2f2ec | 251 | |
masasin | 0:6b3497b2f2ec | 252 | float MX28::GetVolts (void) { |
masasin | 0:6b3497b2f2ec | 253 | |
masasin | 0:6b3497b2f2ec | 254 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 255 | printf("\nGetVolts(%d)",_ID); |
masasin | 0:6b3497b2f2ec | 256 | } |
masasin | 0:6b3497b2f2ec | 257 | char data[1]; |
masasin | 0:6b3497b2f2ec | 258 | int ErrorCode = read(_ID, MX28_REG_VOLTS, 1, data); |
masasin | 0:6b3497b2f2ec | 259 | float volts = data[0]/10.0; |
masasin | 0:6b3497b2f2ec | 260 | return(volts); |
masasin | 0:6b3497b2f2ec | 261 | } |
masasin | 0:6b3497b2f2ec | 262 | |
masasin | 0:6b3497b2f2ec | 263 | |
masasin | 0:6b3497b2f2ec | 264 | float MX28::GetCurrent (void) { |
masasin | 0:6b3497b2f2ec | 265 | |
masasin | 0:6b3497b2f2ec | 266 | if (MX28_DEBUG) { |
masasin | 0:6b3497b2f2ec | 267 | printf("\nGetCurrent(%d)",_ID); |
masasin | 0:6b3497b2f2ec | 268 | } |
masasin | 0:6b3497b2f2ec | 269 | char data[2]; |
masasin | 0:6b3497b2f2ec | 270 | int ErrorCode = read(_ID, MX28_REG_CURRENT, 2, data); |
masasin | 0:6b3497b2f2ec | 271 | float current = ((data[0]+(data[1] << 8))-0x8FF)*0.0045; |
masasin | 0:6b3497b2f2ec | 272 | return(current); |
masasin | 0:6b3497b2f2ec | 273 | } |
masasin | 0:6b3497b2f2ec | 274 | |
masasin | 0:6b3497b2f2ec | 275 | |
masasin | 0:6b3497b2f2ec | 276 | int MX28::TorqueEnable (int mode) { |
masasin | 0:6b3497b2f2ec | 277 | |
masasin | 0:6b3497b2f2ec | 278 | char data[1]; |
masasin | 0:6b3497b2f2ec | 279 | data[0] = mode; |
masasin | 0:6b3497b2f2ec | 280 | |
masasin | 0:6b3497b2f2ec | 281 | return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data)); |
masasin | 0:6b3497b2f2ec | 282 | } |
masasin | 0:6b3497b2f2ec | 283 | |
masasin | 0:6b3497b2f2ec | 284 | |
masasin | 0:6b3497b2f2ec | 285 | int MX28::SetTorqueLimit (float torque_lim) { |
masasin | 0:6b3497b2f2ec | 286 | |
masasin | 0:6b3497b2f2ec | 287 | short limit = torque_lim * 1023; |
masasin | 0:6b3497b2f2ec | 288 | char data[2]; |
masasin | 0:6b3497b2f2ec | 289 | data[0] = limit & 0xff; // bottom 8 bits |
masasin | 0:6b3497b2f2ec | 290 | data[1] = limit >> 8; // top 8 bits |
masasin | 0:6b3497b2f2ec | 291 | |
masasin | 0:6b3497b2f2ec | 292 | return (write(_ID, MX28_REG_TORQUE_LIMIT, 2, data)); |
masasin | 0:6b3497b2f2ec | 293 | } |
masasin | 0:6b3497b2f2ec | 294 | |
masasin | 0:6b3497b2f2ec | 295 | int MX28::read(int ID, int start, int bytes, char* data) { |
masasin | 0:6b3497b2f2ec | 296 | |
masasin | 0:6b3497b2f2ec | 297 | char PacketLength = 0x4; |
masasin | 0:6b3497b2f2ec | 298 | char TxBuf[16]; |
masasin | 0:6b3497b2f2ec | 299 | char sum = 0; |
masasin | 0:6b3497b2f2ec | 300 | char Status[16]; |
masasin | 0:6b3497b2f2ec | 301 | |
masasin | 0:6b3497b2f2ec | 302 | Status[4] = 0xFE; // return code |
masasin | 0:6b3497b2f2ec | 303 | |
masasin | 0:6b3497b2f2ec | 304 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 305 | printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); |
masasin | 0:6b3497b2f2ec | 306 | } |
masasin | 0:6b3497b2f2ec | 307 | |
masasin | 0:6b3497b2f2ec | 308 | // Build the TxPacket first in RAM, then we'll send in one go |
masasin | 0:6b3497b2f2ec | 309 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 310 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
masasin | 0:6b3497b2f2ec | 311 | } |
masasin | 0:6b3497b2f2ec | 312 | |
masasin | 0:6b3497b2f2ec | 313 | TxBuf[0] = 0xff; |
masasin | 0:6b3497b2f2ec | 314 | TxBuf[1] = 0xff; |
masasin | 0:6b3497b2f2ec | 315 | |
masasin | 0:6b3497b2f2ec | 316 | // ID |
masasin | 0:6b3497b2f2ec | 317 | TxBuf[2] = ID; |
masasin | 0:6b3497b2f2ec | 318 | sum += TxBuf[2]; |
masasin | 0:6b3497b2f2ec | 319 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 320 | printf(" ID : %d\n",TxBuf[2]); |
masasin | 0:6b3497b2f2ec | 321 | } |
masasin | 0:6b3497b2f2ec | 322 | |
masasin | 0:6b3497b2f2ec | 323 | // Packet Length |
masasin | 0:6b3497b2f2ec | 324 | TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) |
masasin | 0:6b3497b2f2ec | 325 | sum += TxBuf[3]; // Accululate the packet sum |
masasin | 0:6b3497b2f2ec | 326 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 327 | printf(" Length : 0x%x\n",TxBuf[3]); |
masasin | 0:6b3497b2f2ec | 328 | } |
masasin | 0:6b3497b2f2ec | 329 | |
masasin | 0:6b3497b2f2ec | 330 | // Instruction - Read |
masasin | 0:6b3497b2f2ec | 331 | TxBuf[4] = 0x2; |
masasin | 0:6b3497b2f2ec | 332 | sum += TxBuf[4]; |
masasin | 0:6b3497b2f2ec | 333 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 334 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
masasin | 0:6b3497b2f2ec | 335 | } |
masasin | 0:6b3497b2f2ec | 336 | |
masasin | 0:6b3497b2f2ec | 337 | // Start Address |
masasin | 0:6b3497b2f2ec | 338 | TxBuf[5] = start; |
masasin | 0:6b3497b2f2ec | 339 | sum += TxBuf[5]; |
masasin | 0:6b3497b2f2ec | 340 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 341 | printf(" Start Address : 0x%x\n",TxBuf[5]); |
masasin | 0:6b3497b2f2ec | 342 | } |
masasin | 0:6b3497b2f2ec | 343 | |
masasin | 0:6b3497b2f2ec | 344 | // Bytes to read |
masasin | 0:6b3497b2f2ec | 345 | TxBuf[6] = bytes; |
masasin | 0:6b3497b2f2ec | 346 | sum += TxBuf[6]; |
masasin | 0:6b3497b2f2ec | 347 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 348 | printf(" No bytes : 0x%x\n",TxBuf[6]); |
masasin | 0:6b3497b2f2ec | 349 | } |
masasin | 0:6b3497b2f2ec | 350 | |
masasin | 0:6b3497b2f2ec | 351 | // Checksum |
masasin | 0:6b3497b2f2ec | 352 | TxBuf[7] = 0xFF - sum; |
masasin | 0:6b3497b2f2ec | 353 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 354 | printf(" Checksum : 0x%x\n",TxBuf[7]); |
masasin | 0:6b3497b2f2ec | 355 | } |
masasin | 0:6b3497b2f2ec | 356 | |
masasin | 0:6b3497b2f2ec | 357 | // Transmit the packet in one burst with no pausing |
masasin | 0:6b3497b2f2ec | 358 | for (int i = 0; i<8 ; i++) { |
masasin | 0:6b3497b2f2ec | 359 | _mx28.putc(TxBuf[i]); |
masasin | 0:6b3497b2f2ec | 360 | } |
masasin | 0:6b3497b2f2ec | 361 | |
masasin | 0:6b3497b2f2ec | 362 | // Wait for the bytes to be transmitted |
masasin | 0:6b3497b2f2ec | 363 | wait (0.00002); |
masasin | 0:6b3497b2f2ec | 364 | |
masasin | 0:6b3497b2f2ec | 365 | // Skip if the read was to the broadcast address |
masasin | 0:6b3497b2f2ec | 366 | if (_ID != 0xFE) { |
masasin | 0:6b3497b2f2ec | 367 | |
masasin | 0:6b3497b2f2ec | 368 | // Receive the Status packet 6+ number of bytes read |
masasin | 0:6b3497b2f2ec | 369 | for (int i=0; i<(6+bytes) ; i++) { |
masasin | 0:6b3497b2f2ec | 370 | Status[i] = _mx28.getc(); |
masasin | 0:6b3497b2f2ec | 371 | } |
masasin | 0:6b3497b2f2ec | 372 | |
masasin | 0:6b3497b2f2ec | 373 | // Copy the data from Status into data for return |
masasin | 0:6b3497b2f2ec | 374 | for (int i=0; i < Status[3]-2 ; i++) { |
masasin | 0:6b3497b2f2ec | 375 | data[i] = Status[5+i]; |
masasin | 0:6b3497b2f2ec | 376 | } |
masasin | 0:6b3497b2f2ec | 377 | |
masasin | 0:6b3497b2f2ec | 378 | if (MX28_READ_DEBUG) { |
masasin | 0:6b3497b2f2ec | 379 | printf("\nStatus Packet\n"); |
masasin | 0:6b3497b2f2ec | 380 | printf(" Header : 0x%x\n",Status[0]); |
masasin | 0:6b3497b2f2ec | 381 | printf(" Header : 0x%x\n",Status[1]); |
masasin | 0:6b3497b2f2ec | 382 | printf(" ID : 0x%x\n",Status[2]); |
masasin | 0:6b3497b2f2ec | 383 | printf(" Length : 0x%x\n",Status[3]); |
masasin | 0:6b3497b2f2ec | 384 | printf(" Error Code : 0x%x\n",Status[4]); |
masasin | 0:6b3497b2f2ec | 385 | |
masasin | 0:6b3497b2f2ec | 386 | for (int i=0; i < Status[3]-2 ; i++) { |
masasin | 0:6b3497b2f2ec | 387 | printf(" Data : 0x%x\n",Status[5+i]); |
masasin | 0:6b3497b2f2ec | 388 | } |
masasin | 0:6b3497b2f2ec | 389 | |
masasin | 0:6b3497b2f2ec | 390 | printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); |
masasin | 0:6b3497b2f2ec | 391 | } |
masasin | 0:6b3497b2f2ec | 392 | |
masasin | 0:6b3497b2f2ec | 393 | } // if (ID!=0xFE) |
masasin | 0:6b3497b2f2ec | 394 | |
masasin | 0:6b3497b2f2ec | 395 | return(Status[4]); |
masasin | 0:6b3497b2f2ec | 396 | } |
masasin | 0:6b3497b2f2ec | 397 | |
masasin | 0:6b3497b2f2ec | 398 | |
masasin | 0:6b3497b2f2ec | 399 | int MX28:: write(int ID, int start, int bytes, char* data, int flag) { |
masasin | 0:6b3497b2f2ec | 400 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
masasin | 0:6b3497b2f2ec | 401 | |
masasin | 0:6b3497b2f2ec | 402 | char TxBuf[16]; |
masasin | 0:6b3497b2f2ec | 403 | char sum = 0; |
masasin | 0:6b3497b2f2ec | 404 | char Status[6]; |
masasin | 0:6b3497b2f2ec | 405 | |
masasin | 0:6b3497b2f2ec | 406 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 407 | printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); |
masasin | 0:6b3497b2f2ec | 408 | } |
masasin | 0:6b3497b2f2ec | 409 | |
masasin | 0:6b3497b2f2ec | 410 | // Build the TxPacket first in RAM, then we'll send in one go |
masasin | 0:6b3497b2f2ec | 411 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 412 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
masasin | 0:6b3497b2f2ec | 413 | } |
masasin | 0:6b3497b2f2ec | 414 | |
masasin | 0:6b3497b2f2ec | 415 | TxBuf[0] = 0xff; |
masasin | 0:6b3497b2f2ec | 416 | TxBuf[1] = 0xff; |
masasin | 0:6b3497b2f2ec | 417 | |
masasin | 0:6b3497b2f2ec | 418 | // ID |
masasin | 0:6b3497b2f2ec | 419 | TxBuf[2] = ID; |
masasin | 0:6b3497b2f2ec | 420 | sum += TxBuf[2]; |
masasin | 0:6b3497b2f2ec | 421 | |
masasin | 0:6b3497b2f2ec | 422 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 423 | printf(" ID : %d\n",TxBuf[2]); |
masasin | 0:6b3497b2f2ec | 424 | } |
masasin | 0:6b3497b2f2ec | 425 | |
masasin | 0:6b3497b2f2ec | 426 | // packet Length |
masasin | 0:6b3497b2f2ec | 427 | TxBuf[3] = 3+bytes; |
masasin | 0:6b3497b2f2ec | 428 | sum += TxBuf[3]; |
masasin | 0:6b3497b2f2ec | 429 | |
masasin | 0:6b3497b2f2ec | 430 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 431 | printf(" Length : %d\n",TxBuf[3]); |
masasin | 0:6b3497b2f2ec | 432 | } |
masasin | 0:6b3497b2f2ec | 433 | |
masasin | 0:6b3497b2f2ec | 434 | // Instruction |
masasin | 0:6b3497b2f2ec | 435 | if (flag == 1) { |
masasin | 0:6b3497b2f2ec | 436 | TxBuf[4]=0x04; |
masasin | 0:6b3497b2f2ec | 437 | sum += TxBuf[4]; |
masasin | 0:6b3497b2f2ec | 438 | } else { |
masasin | 0:6b3497b2f2ec | 439 | TxBuf[4]=0x03; |
masasin | 0:6b3497b2f2ec | 440 | sum += TxBuf[4]; |
masasin | 0:6b3497b2f2ec | 441 | } |
masasin | 0:6b3497b2f2ec | 442 | |
masasin | 0:6b3497b2f2ec | 443 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 444 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
masasin | 0:6b3497b2f2ec | 445 | } |
masasin | 0:6b3497b2f2ec | 446 | |
masasin | 0:6b3497b2f2ec | 447 | // Start Address |
masasin | 0:6b3497b2f2ec | 448 | TxBuf[5] = start; |
masasin | 0:6b3497b2f2ec | 449 | sum += TxBuf[5]; |
masasin | 0:6b3497b2f2ec | 450 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 451 | printf(" Start : 0x%x\n",TxBuf[5]); |
masasin | 0:6b3497b2f2ec | 452 | } |
masasin | 0:6b3497b2f2ec | 453 | |
masasin | 0:6b3497b2f2ec | 454 | // data |
masasin | 0:6b3497b2f2ec | 455 | for (char i=0; i<bytes ; i++) { |
masasin | 0:6b3497b2f2ec | 456 | TxBuf[6+i] = data[i]; |
masasin | 0:6b3497b2f2ec | 457 | sum += TxBuf[6+i]; |
masasin | 0:6b3497b2f2ec | 458 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 459 | printf(" Data : 0x%x\n",TxBuf[6+i]); |
masasin | 0:6b3497b2f2ec | 460 | } |
masasin | 0:6b3497b2f2ec | 461 | } |
masasin | 0:6b3497b2f2ec | 462 | |
masasin | 0:6b3497b2f2ec | 463 | // checksum |
masasin | 0:6b3497b2f2ec | 464 | TxBuf[6+bytes] = 0xFF - sum; |
masasin | 0:6b3497b2f2ec | 465 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 466 | printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); |
masasin | 0:6b3497b2f2ec | 467 | } |
masasin | 0:6b3497b2f2ec | 468 | |
masasin | 0:6b3497b2f2ec | 469 | // Transmit the packet in one burst with no pausing |
masasin | 0:6b3497b2f2ec | 470 | for (int i = 0; i < (7 + bytes) ; i++) { |
masasin | 0:6b3497b2f2ec | 471 | _mx28.putc(TxBuf[i]); |
masasin | 0:6b3497b2f2ec | 472 | } |
masasin | 0:6b3497b2f2ec | 473 | |
masasin | 0:6b3497b2f2ec | 474 | // Wait for data to transmit |
masasin | 0:6b3497b2f2ec | 475 | wait (0.00002); |
masasin | 0:6b3497b2f2ec | 476 | |
masasin | 0:6b3497b2f2ec | 477 | // make sure we have a valid return |
masasin | 0:6b3497b2f2ec | 478 | Status[4]=0x00; |
masasin | 0:6b3497b2f2ec | 479 | |
masasin | 0:6b3497b2f2ec | 480 | // we'll only get a reply if it was not broadcast |
masasin | 0:6b3497b2f2ec | 481 | if (_ID!=0xFE) { |
masasin | 0:6b3497b2f2ec | 482 | |
masasin | 0:6b3497b2f2ec | 483 | // response is always 6 bytes |
masasin | 0:6b3497b2f2ec | 484 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
masasin | 0:6b3497b2f2ec | 485 | for (int i=0; i < 6 ; i++) { |
masasin | 0:6b3497b2f2ec | 486 | Status[i] = _mx28.getc(); |
masasin | 0:6b3497b2f2ec | 487 | } |
masasin | 0:6b3497b2f2ec | 488 | |
masasin | 0:6b3497b2f2ec | 489 | // Build the TxPacket first in RAM, then we'll send in one go |
masasin | 0:6b3497b2f2ec | 490 | if (MX28_WRITE_DEBUG) { |
masasin | 0:6b3497b2f2ec | 491 | printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); |
masasin | 0:6b3497b2f2ec | 492 | printf(" ID : %d\n",Status[2]); |
masasin | 0:6b3497b2f2ec | 493 | printf(" Length : %d\n",Status[3]); |
masasin | 0:6b3497b2f2ec | 494 | printf(" Error : 0x%x\n",Status[4]); |
masasin | 0:6b3497b2f2ec | 495 | printf(" Checksum : 0x%x\n",Status[5]); |
masasin | 0:6b3497b2f2ec | 496 | } |
masasin | 0:6b3497b2f2ec | 497 | |
masasin | 0:6b3497b2f2ec | 498 | |
masasin | 0:6b3497b2f2ec | 499 | } |
masasin | 0:6b3497b2f2ec | 500 | |
masasin | 0:6b3497b2f2ec | 501 | return(Status[4]); // return error code |
masasin | 0:6b3497b2f2ec | 502 | } |