File content as of revision 0:5fb36f7e2cfb:

#include "mbed.h"


#define ADR_MOTEUR_NUMBER 0
#define ADR_MODULE 1



Serial pc(USBTX, USBRX); // tx, rx
Serial serial_(PA_9,PA_10);


struct s_val
{
    char v1;
    char v2;
    char v3;
    char v4;
}typedef val;

enum reply_code
{
success =100, //Successfully executed, no error
loaded_into_TMCL= 101, // Command loaded into TMCL™program EEPROM
wrong_checksum = 1, //Wrong checksum
invalid_cmd = 2, //Invalid command
wrong_type =3, // Wrong type
invalid_value = 4, // Invalid value
eeprom_locked = 5,  //Configuration EEPROM locked
cmd_non_available = 6 // Command not available
};



enum type_commande{
  
// Motion command
        ROL = 2, // Rotate left
        ROR = 1, // Rotate right
        MVP = 4, // Move to position
        MST = 3, // Motor stop
        RFS = 13, // Reference search
        SCO = 30, // Store coordinate
        CCO = 32, // Capture coordinate
        GCO = 31, // Get coordinate
// Parameter command 
        SAP = 5, // Set axis parameter
        GAP = 6, // Get axis parameter
        STAP = 7, // Store axis parameter into EEPROM
        RSAP = 8, // Restore axis parameter from EEPROM
        SGP =  9, //Set global parameter
        GGP = 10, // Get global parameter
        STGP = 11, // Store global parameter into EEPROM
        RSGP = 12, // Restore global parameter from EEPROM  
// IO command 
        SIO = 14, // Set output
        GIO = 15, //Get input
    };

struct s_cmd
{
unsigned char module_adr;
enum type_commande command_number;
unsigned char type_number;
unsigned char motor_or_bank_number;
val val;
unsigned char checksum;
}typedef cmd;

struct s_reply
{
unsigned char reply_adr;
unsigned char motor_or_bank_number;
unsigned char status;
enum type_commande command_number;
int val;
unsigned char checksum;
}typedef reply;


    


// Add checksum to command
cmd* add_cs(cmd* Command)
{ 
unsigned char Checksum;
//Set the “Command” array to the desired command
Checksum = Command->module_adr;
Checksum+=Command->command_number;
Checksum+=Command->type_number;
Checksum+=Command->motor_or_bank_number;
Checksum+=Command->val.v1;
Checksum+=Command->val.v2;
Checksum+=Command->val.v3;
Checksum+=Command->val.v4;

Command->checksum =Checksum; //insert checksum as last byte of the command
//Now, send it to the module
return Command;
}

void reverse_val(int speed,val *valeur)
{
    char t1,t2,t3,t4;
 ((int*)valeur)[0] = speed;
    
t1 = valeur->v1; 
t2 = valeur->v2;
t3 = valeur->v3;
t4 = valeur->v4;
valeur->v1 = t4; 
valeur->v2 = t3;
valeur->v3 = t2;
valeur->v4 = t1;
    
}


cmd* cmd_rotate_left(int speed)
{
    cmd* tab = (cmd *) malloc(sizeof(s_cmd));;
    tab->motor_or_bank_number = ADR_MOTEUR_NUMBER;
    tab->module_adr = ADR_MODULE;
    tab->command_number = ROL; // -> LEFT
    reverse_val(speed,&(tab->val));
    tab->type_number = 0; // don't care
    
    return add_cs(tab);
}

cmd* cmd_rotate_right(int speed)
{
    cmd* tab = (cmd *) malloc(sizeof(s_cmd));;
    tab->motor_or_bank_number = ADR_MOTEUR_NUMBER;
    tab->module_adr = ADR_MODULE;
    tab->command_number = ROR;
    reverse_val(speed,&(tab->val));
    tab->type_number = 0; // don't care

    return add_cs(tab);
}

cmd* cmd_stop()
{   
    cmd* tab = (cmd *) malloc(sizeof(s_cmd));;
    tab->motor_or_bank_number = ADR_MOTEUR_NUMBER;
    tab->module_adr = ADR_MODULE;
    tab->command_number = MST;
    //tab->val = (val) 0; // Don't care
    tab->type_number = 0; // don't care
    return add_cs(tab);
}


void send_data(Serial* unport,cmd * cmd)
{
int itr =0;
for( ; itr < 9; itr++)
{
char val= ((char) ((const char*)cmd)[itr]);
unport->putc(val);
}
}

int main() {
    
  wait(0.5);
  pc.baud(9600);
    serial_.baud(9600);
    
    
    cmd * cmd = cmd_rotate_right(350);
    send_data(&serial_,cmd);
   while(1)
     {
         if(serial_.readable())
         pc.putc(serial_.getc());
     }

}