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libraries/tests/peripherals/AX12/AX12.cpp@0:6c56fb4bc5f0, 2016-11-04 (annotated)

Committer:
nexpaq
Date:
Fri Nov 04 20:27:58 2016 +0000
Revision:
0:6c56fb4bc5f0
Moving to library for sharing updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nexpaq 0:6c56fb4bc5f0 1 /* mbed AX-12+ Servo Library
nexpaq 0:6c56fb4bc5f0 2 *
nexpaq 0:6c56fb4bc5f0 3 * Copyright (c) 2010, cstyles (http://mbed.org)
nexpaq 0:6c56fb4bc5f0 4 *
nexpaq 0:6c56fb4bc5f0 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
nexpaq 0:6c56fb4bc5f0 6 * of this software and associated documentation files (the "Software"), to deal
nexpaq 0:6c56fb4bc5f0 7 * in the Software without restriction, including without limitation the rights
nexpaq 0:6c56fb4bc5f0 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
nexpaq 0:6c56fb4bc5f0 9 * copies of the Software, and to permit persons to whom the Software is
nexpaq 0:6c56fb4bc5f0 10 * furnished to do so, subject to the following conditions:
nexpaq 0:6c56fb4bc5f0 11 *
nexpaq 0:6c56fb4bc5f0 12 * The above copyright notice and this permission notice shall be included in
nexpaq 0:6c56fb4bc5f0 13 * all copies or substantial portions of the Software.
nexpaq 0:6c56fb4bc5f0 14 *
nexpaq 0:6c56fb4bc5f0 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
nexpaq 0:6c56fb4bc5f0 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
nexpaq 0:6c56fb4bc5f0 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
nexpaq 0:6c56fb4bc5f0 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
nexpaq 0:6c56fb4bc5f0 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
nexpaq 0:6c56fb4bc5f0 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
nexpaq 0:6c56fb4bc5f0 21 * THE SOFTWARE.
nexpaq 0:6c56fb4bc5f0 22 */
nexpaq 0:6c56fb4bc5f0 23
nexpaq 0:6c56fb4bc5f0 24 #include "AX12.h"
nexpaq 0:6c56fb4bc5f0 25 #include "mbed.h"
nexpaq 0:6c56fb4bc5f0 26
nexpaq 0:6c56fb4bc5f0 27 AX12::AX12(PinName tx, PinName rx, int ID, int baud)
nexpaq 0:6c56fb4bc5f0 28 : _ax12(tx,rx) {
nexpaq 0:6c56fb4bc5f0 29 _baud = baud;
nexpaq 0:6c56fb4bc5f0 30 _ID = ID;
nexpaq 0:6c56fb4bc5f0 31 _ax12.baud(_baud);
nexpaq 0:6c56fb4bc5f0 32
nexpaq 0:6c56fb4bc5f0 33 }
nexpaq 0:6c56fb4bc5f0 34
nexpaq 0:6c56fb4bc5f0 35 // Set the mode of the servo
nexpaq 0:6c56fb4bc5f0 36 // 0 = Positional (0-300 degrees)
nexpaq 0:6c56fb4bc5f0 37 // 1 = Rotational -1 to 1 speed
nexpaq 0:6c56fb4bc5f0 38 int AX12::SetMode(int mode) {
nexpaq 0:6c56fb4bc5f0 39
nexpaq 0:6c56fb4bc5f0 40 if (mode == 1) { // set CR
nexpaq 0:6c56fb4bc5f0 41 SetCWLimit(0);
nexpaq 0:6c56fb4bc5f0 42 SetCCWLimit(0);
nexpaq 0:6c56fb4bc5f0 43 SetCRSpeed(0.0);
nexpaq 0:6c56fb4bc5f0 44 } else {
nexpaq 0:6c56fb4bc5f0 45 SetCWLimit(0);
nexpaq 0:6c56fb4bc5f0 46 SetCCWLimit(300);
nexpaq 0:6c56fb4bc5f0 47 SetCRSpeed(0.0);
nexpaq 0:6c56fb4bc5f0 48 }
nexpaq 0:6c56fb4bc5f0 49 return(0);
nexpaq 0:6c56fb4bc5f0 50 }
nexpaq 0:6c56fb4bc5f0 51
nexpaq 0:6c56fb4bc5f0 52
nexpaq 0:6c56fb4bc5f0 53 // if flag[0] is set, were blocking
nexpaq 0:6c56fb4bc5f0 54 // if flag[1] is set, we're registering
nexpaq 0:6c56fb4bc5f0 55 // they are mutually exclusive operations
nexpaq 0:6c56fb4bc5f0 56 int AX12::SetGoal(int degrees, int flags) {
nexpaq 0:6c56fb4bc5f0 57
nexpaq 0:6c56fb4bc5f0 58 char reg_flag = 0;
nexpaq 0:6c56fb4bc5f0 59 char data[2];
nexpaq 0:6c56fb4bc5f0 60
nexpaq 0:6c56fb4bc5f0 61 // set the flag is only the register bit is set in the flag
nexpaq 0:6c56fb4bc5f0 62 if (flags == 0x2) {
nexpaq 0:6c56fb4bc5f0 63 reg_flag = 1;
nexpaq 0:6c56fb4bc5f0 64 }
nexpaq 0:6c56fb4bc5f0 65
nexpaq 0:6c56fb4bc5f0 66 // 1023 / 300 * degrees
nexpaq 0:6c56fb4bc5f0 67 short goal = (1023 * degrees) / 300;
nexpaq 0:6c56fb4bc5f0 68 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 69 printf("SetGoal to 0x%x\n",goal);
nexpaq 0:6c56fb4bc5f0 70 #endif
nexpaq 0:6c56fb4bc5f0 71
nexpaq 0:6c56fb4bc5f0 72 data[0] = goal & 0xff; // bottom 8 bits
nexpaq 0:6c56fb4bc5f0 73 data[1] = goal >> 8; // top 8 bits
nexpaq 0:6c56fb4bc5f0 74
nexpaq 0:6c56fb4bc5f0 75 // write the packet, return the error code
nexpaq 0:6c56fb4bc5f0 76 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
nexpaq 0:6c56fb4bc5f0 77
nexpaq 0:6c56fb4bc5f0 78 if (flags == 1) {
nexpaq 0:6c56fb4bc5f0 79 // block until it comes to a halt
nexpaq 0:6c56fb4bc5f0 80 while (isMoving()) {}
nexpaq 0:6c56fb4bc5f0 81 }
nexpaq 0:6c56fb4bc5f0 82 return(rVal);
nexpaq 0:6c56fb4bc5f0 83 }
nexpaq 0:6c56fb4bc5f0 84
nexpaq 0:6c56fb4bc5f0 85
nexpaq 0:6c56fb4bc5f0 86 // Set continuous rotation speed from -1 to 1
nexpaq 0:6c56fb4bc5f0 87 int AX12::SetCRSpeed(float speed) {
nexpaq 0:6c56fb4bc5f0 88
nexpaq 0:6c56fb4bc5f0 89 // bit 10 = direction, 0 = CCW, 1=CW
nexpaq 0:6c56fb4bc5f0 90 // bits 9-0 = Speed
nexpaq 0:6c56fb4bc5f0 91 char data[2];
nexpaq 0:6c56fb4bc5f0 92
nexpaq 0:6c56fb4bc5f0 93 int goal = (0x3ff * abs(speed));
nexpaq 0:6c56fb4bc5f0 94
nexpaq 0:6c56fb4bc5f0 95 // Set direction CW if we have a negative speed
nexpaq 0:6c56fb4bc5f0 96 if (speed < 0) {
nexpaq 0:6c56fb4bc5f0 97 goal |= (0x1 << 10);
nexpaq 0:6c56fb4bc5f0 98 }
nexpaq 0:6c56fb4bc5f0 99
nexpaq 0:6c56fb4bc5f0 100 data[0] = goal & 0xff; // bottom 8 bits
nexpaq 0:6c56fb4bc5f0 101 data[1] = goal >> 8; // top 8 bits
nexpaq 0:6c56fb4bc5f0 102
nexpaq 0:6c56fb4bc5f0 103 // write the packet, return the error code
nexpaq 0:6c56fb4bc5f0 104 int rVal = write(_ID, 0x20, 2, data);
nexpaq 0:6c56fb4bc5f0 105
nexpaq 0:6c56fb4bc5f0 106 return(rVal);
nexpaq 0:6c56fb4bc5f0 107 }
nexpaq 0:6c56fb4bc5f0 108
nexpaq 0:6c56fb4bc5f0 109
nexpaq 0:6c56fb4bc5f0 110 int AX12::SetCWLimit (int degrees) {
nexpaq 0:6c56fb4bc5f0 111
nexpaq 0:6c56fb4bc5f0 112 char data[2];
nexpaq 0:6c56fb4bc5f0 113
nexpaq 0:6c56fb4bc5f0 114 // 1023 / 300 * degrees
nexpaq 0:6c56fb4bc5f0 115 short limit = (1023 * degrees) / 300;
nexpaq 0:6c56fb4bc5f0 116
nexpaq 0:6c56fb4bc5f0 117 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 118 printf("SetCWLimit to 0x%x\n",limit);
nexpaq 0:6c56fb4bc5f0 119 #endif
nexpaq 0:6c56fb4bc5f0 120
nexpaq 0:6c56fb4bc5f0 121 data[0] = limit & 0xff; // bottom 8 bits
nexpaq 0:6c56fb4bc5f0 122 data[1] = limit >> 8; // top 8 bits
nexpaq 0:6c56fb4bc5f0 123
nexpaq 0:6c56fb4bc5f0 124 // write the packet, return the error code
nexpaq 0:6c56fb4bc5f0 125 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
nexpaq 0:6c56fb4bc5f0 126
nexpaq 0:6c56fb4bc5f0 127 }
nexpaq 0:6c56fb4bc5f0 128
nexpaq 0:6c56fb4bc5f0 129 int AX12::SetCCWLimit (int degrees) {
nexpaq 0:6c56fb4bc5f0 130
nexpaq 0:6c56fb4bc5f0 131 char data[2];
nexpaq 0:6c56fb4bc5f0 132
nexpaq 0:6c56fb4bc5f0 133 // 1023 / 300 * degrees
nexpaq 0:6c56fb4bc5f0 134 short limit = (1023 * degrees) / 300;
nexpaq 0:6c56fb4bc5f0 135
nexpaq 0:6c56fb4bc5f0 136 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 137 printf("SetCCWLimit to 0x%x\n",limit);
nexpaq 0:6c56fb4bc5f0 138 #endif
nexpaq 0:6c56fb4bc5f0 139
nexpaq 0:6c56fb4bc5f0 140 data[0] = limit & 0xff; // bottom 8 bits
nexpaq 0:6c56fb4bc5f0 141 data[1] = limit >> 8; // top 8 bits
nexpaq 0:6c56fb4bc5f0 142
nexpaq 0:6c56fb4bc5f0 143 // write the packet, return the error code
nexpaq 0:6c56fb4bc5f0 144 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
nexpaq 0:6c56fb4bc5f0 145 }
nexpaq 0:6c56fb4bc5f0 146
nexpaq 0:6c56fb4bc5f0 147
nexpaq 0:6c56fb4bc5f0 148 int AX12::SetID (int CurrentID, int NewID) {
nexpaq 0:6c56fb4bc5f0 149
nexpaq 0:6c56fb4bc5f0 150 char data[1];
nexpaq 0:6c56fb4bc5f0 151 data[0] = NewID;
nexpaq 0:6c56fb4bc5f0 152
nexpaq 0:6c56fb4bc5f0 153 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 154 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
nexpaq 0:6c56fb4bc5f0 155 #endif
nexpaq 0:6c56fb4bc5f0 156
nexpaq 0:6c56fb4bc5f0 157 return (write(CurrentID, AX12_REG_ID, 1, data));
nexpaq 0:6c56fb4bc5f0 158
nexpaq 0:6c56fb4bc5f0 159 }
nexpaq 0:6c56fb4bc5f0 160
nexpaq 0:6c56fb4bc5f0 161
nexpaq 0:6c56fb4bc5f0 162 int AX12::SetBaud (int baud) {
nexpaq 0:6c56fb4bc5f0 163
nexpaq 0:6c56fb4bc5f0 164 char data[1];
nexpaq 0:6c56fb4bc5f0 165 data[0] = baud;
nexpaq 0:6c56fb4bc5f0 166
nexpaq 0:6c56fb4bc5f0 167 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 168 printf("Setting Baud rate to %d\n",baud);
nexpaq 0:6c56fb4bc5f0 169 #endif
nexpaq 0:6c56fb4bc5f0 170
nexpaq 0:6c56fb4bc5f0 171 return (write(0xFE, AX12_REG_BAUD, 1, data));
nexpaq 0:6c56fb4bc5f0 172
nexpaq 0:6c56fb4bc5f0 173 }
nexpaq 0:6c56fb4bc5f0 174
nexpaq 0:6c56fb4bc5f0 175
nexpaq 0:6c56fb4bc5f0 176
nexpaq 0:6c56fb4bc5f0 177 // return 1 is the servo is still in flight
nexpaq 0:6c56fb4bc5f0 178 int AX12::isMoving(void) {
nexpaq 0:6c56fb4bc5f0 179
nexpaq 0:6c56fb4bc5f0 180 char data[1];
nexpaq 0:6c56fb4bc5f0 181 read(_ID,AX12_REG_MOVING,1,data);
nexpaq 0:6c56fb4bc5f0 182 return(data[0]);
nexpaq 0:6c56fb4bc5f0 183 }
nexpaq 0:6c56fb4bc5f0 184
nexpaq 0:6c56fb4bc5f0 185
nexpaq 0:6c56fb4bc5f0 186 void AX12::trigger(void) {
nexpaq 0:6c56fb4bc5f0 187
nexpaq 0:6c56fb4bc5f0 188 char TxBuf[16];
nexpaq 0:6c56fb4bc5f0 189 char sum = 0;
nexpaq 0:6c56fb4bc5f0 190
nexpaq 0:6c56fb4bc5f0 191 #ifdef AX12_TRIGGER_DEBUG
nexpaq 0:6c56fb4bc5f0 192 // Build the TxPacket first in RAM, then we'll send in one go
nexpaq 0:6c56fb4bc5f0 193 printf("\nTriggered\n");
nexpaq 0:6c56fb4bc5f0 194 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
nexpaq 0:6c56fb4bc5f0 195 #endif
nexpaq 0:6c56fb4bc5f0 196
nexpaq 0:6c56fb4bc5f0 197 TxBuf[0] = 0xFF;
nexpaq 0:6c56fb4bc5f0 198 TxBuf[1] = 0xFF;
nexpaq 0:6c56fb4bc5f0 199
nexpaq 0:6c56fb4bc5f0 200 // ID - Broadcast
nexpaq 0:6c56fb4bc5f0 201 TxBuf[2] = 0xFE;
nexpaq 0:6c56fb4bc5f0 202 sum += TxBuf[2];
nexpaq 0:6c56fb4bc5f0 203
nexpaq 0:6c56fb4bc5f0 204 #ifdef AX12_TRIGGER_DEBUG
nexpaq 0:6c56fb4bc5f0 205 printf(" ID : %d\n",TxBuf[2]);
nexpaq 0:6c56fb4bc5f0 206 #endif
nexpaq 0:6c56fb4bc5f0 207
nexpaq 0:6c56fb4bc5f0 208 // Length
nexpaq 0:6c56fb4bc5f0 209 TxBuf[3] = 0x02;
nexpaq 0:6c56fb4bc5f0 210 sum += TxBuf[3];
nexpaq 0:6c56fb4bc5f0 211
nexpaq 0:6c56fb4bc5f0 212 #ifdef AX12_TRIGGER_DEBUG
nexpaq 0:6c56fb4bc5f0 213 printf(" Length %d\n",TxBuf[3]);
nexpaq 0:6c56fb4bc5f0 214 #endif
nexpaq 0:6c56fb4bc5f0 215
nexpaq 0:6c56fb4bc5f0 216 // Instruction - ACTION
nexpaq 0:6c56fb4bc5f0 217 TxBuf[4] = 0x04;
nexpaq 0:6c56fb4bc5f0 218 sum += TxBuf[4];
nexpaq 0:6c56fb4bc5f0 219
nexpaq 0:6c56fb4bc5f0 220 #ifdef AX12_TRIGGER_DEBUG
nexpaq 0:6c56fb4bc5f0 221 printf(" Instruction 0x%X\n",TxBuf[5]);
nexpaq 0:6c56fb4bc5f0 222 #endif
nexpaq 0:6c56fb4bc5f0 223
nexpaq 0:6c56fb4bc5f0 224 // Checksum
nexpaq 0:6c56fb4bc5f0 225 TxBuf[5] = 0xFF - sum;
nexpaq 0:6c56fb4bc5f0 226 #ifdef AX12_TRIGGER_DEBUG
nexpaq 0:6c56fb4bc5f0 227 printf(" Checksum 0x%X\n",TxBuf[5]);
nexpaq 0:6c56fb4bc5f0 228 #endif
nexpaq 0:6c56fb4bc5f0 229
nexpaq 0:6c56fb4bc5f0 230 // Transmit the packet in one burst with no pausing
nexpaq 0:6c56fb4bc5f0 231 for (int i = 0; i < 6 ; i++) {
nexpaq 0:6c56fb4bc5f0 232 _ax12.putc(TxBuf[i]);
nexpaq 0:6c56fb4bc5f0 233 }
nexpaq 0:6c56fb4bc5f0 234
nexpaq 0:6c56fb4bc5f0 235 // This is a broadcast packet, so there will be no reply
nexpaq 0:6c56fb4bc5f0 236 return;
nexpaq 0:6c56fb4bc5f0 237 }
nexpaq 0:6c56fb4bc5f0 238
nexpaq 0:6c56fb4bc5f0 239
nexpaq 0:6c56fb4bc5f0 240 float AX12::GetPosition(void) {
nexpaq 0:6c56fb4bc5f0 241
nexpaq 0:6c56fb4bc5f0 242 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 243 printf("\nGetPosition(%d)",_ID);
nexpaq 0:6c56fb4bc5f0 244 #endif
nexpaq 0:6c56fb4bc5f0 245
nexpaq 0:6c56fb4bc5f0 246 char data[2];
nexpaq 0:6c56fb4bc5f0 247
nexpaq 0:6c56fb4bc5f0 248 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
nexpaq 0:6c56fb4bc5f0 249 short position = data[0] + (data[1] << 8);
nexpaq 0:6c56fb4bc5f0 250 float angle = (position * 300)/1024;
nexpaq 0:6c56fb4bc5f0 251
nexpaq 0:6c56fb4bc5f0 252 return (angle);
nexpaq 0:6c56fb4bc5f0 253 }
nexpaq 0:6c56fb4bc5f0 254
nexpaq 0:6c56fb4bc5f0 255
nexpaq 0:6c56fb4bc5f0 256 float AX12::GetTemp (void) {
nexpaq 0:6c56fb4bc5f0 257
nexpaq 0:6c56fb4bc5f0 258 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 259 printf("\nGetTemp(%d)",_ID);
nexpaq 0:6c56fb4bc5f0 260 #endif
nexpaq 0:6c56fb4bc5f0 261
nexpaq 0:6c56fb4bc5f0 262 char data[1];
nexpaq 0:6c56fb4bc5f0 263 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
nexpaq 0:6c56fb4bc5f0 264 float temp = data[0];
nexpaq 0:6c56fb4bc5f0 265 return(temp);
nexpaq 0:6c56fb4bc5f0 266 }
nexpaq 0:6c56fb4bc5f0 267
nexpaq 0:6c56fb4bc5f0 268
nexpaq 0:6c56fb4bc5f0 269 float AX12::GetVolts (void) {
nexpaq 0:6c56fb4bc5f0 270
nexpaq 0:6c56fb4bc5f0 271 #ifdef AX12_DEBUG
nexpaq 0:6c56fb4bc5f0 272 printf("\nGetVolts(%d)",_ID);
nexpaq 0:6c56fb4bc5f0 273 #endif
nexpaq 0:6c56fb4bc5f0 274
nexpaq 0:6c56fb4bc5f0 275 char data[1];
nexpaq 0:6c56fb4bc5f0 276 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
nexpaq 0:6c56fb4bc5f0 277 float volts = data[0]/10.0;
nexpaq 0:6c56fb4bc5f0 278 return(volts);
nexpaq 0:6c56fb4bc5f0 279 }
nexpaq 0:6c56fb4bc5f0 280
nexpaq 0:6c56fb4bc5f0 281
nexpaq 0:6c56fb4bc5f0 282 int AX12::read(int ID, int start, int bytes, char* data) {
nexpaq 0:6c56fb4bc5f0 283
nexpaq 0:6c56fb4bc5f0 284 char PacketLength = 0x4;
nexpaq 0:6c56fb4bc5f0 285 char TxBuf[16];
nexpaq 0:6c56fb4bc5f0 286 char sum = 0;
nexpaq 0:6c56fb4bc5f0 287 char Status[16];
nexpaq 0:6c56fb4bc5f0 288
nexpaq 0:6c56fb4bc5f0 289 Status[4] = 0xFE; // return code
nexpaq 0:6c56fb4bc5f0 290
nexpaq 0:6c56fb4bc5f0 291 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 292 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
nexpaq 0:6c56fb4bc5f0 293 #endif
nexpaq 0:6c56fb4bc5f0 294
nexpaq 0:6c56fb4bc5f0 295 // Build the TxPacket first in RAM, then we'll send in one go
nexpaq 0:6c56fb4bc5f0 296 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 297 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
nexpaq 0:6c56fb4bc5f0 298 #endif
nexpaq 0:6c56fb4bc5f0 299
nexpaq 0:6c56fb4bc5f0 300 TxBuf[0] = 0xff;
nexpaq 0:6c56fb4bc5f0 301 TxBuf[1] = 0xff;
nexpaq 0:6c56fb4bc5f0 302
nexpaq 0:6c56fb4bc5f0 303 // ID
nexpaq 0:6c56fb4bc5f0 304 TxBuf[2] = ID;
nexpaq 0:6c56fb4bc5f0 305 sum += TxBuf[2];
nexpaq 0:6c56fb4bc5f0 306
nexpaq 0:6c56fb4bc5f0 307 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 308 printf(" ID : %d\n",TxBuf[2]);
nexpaq 0:6c56fb4bc5f0 309 #endif
nexpaq 0:6c56fb4bc5f0 310
nexpaq 0:6c56fb4bc5f0 311 // Packet Length
nexpaq 0:6c56fb4bc5f0 312 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
nexpaq 0:6c56fb4bc5f0 313 sum += TxBuf[3]; // Accululate the packet sum
nexpaq 0:6c56fb4bc5f0 314
nexpaq 0:6c56fb4bc5f0 315 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 316 printf(" Length : 0x%x\n",TxBuf[3]);
nexpaq 0:6c56fb4bc5f0 317 #endif
nexpaq 0:6c56fb4bc5f0 318
nexpaq 0:6c56fb4bc5f0 319 // Instruction - Read
nexpaq 0:6c56fb4bc5f0 320 TxBuf[4] = 0x2;
nexpaq 0:6c56fb4bc5f0 321 sum += TxBuf[4];
nexpaq 0:6c56fb4bc5f0 322
nexpaq 0:6c56fb4bc5f0 323 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 324 printf(" Instruction : 0x%x\n",TxBuf[4]);
nexpaq 0:6c56fb4bc5f0 325 #endif
nexpaq 0:6c56fb4bc5f0 326
nexpaq 0:6c56fb4bc5f0 327 // Start Address
nexpaq 0:6c56fb4bc5f0 328 TxBuf[5] = start;
nexpaq 0:6c56fb4bc5f0 329 sum += TxBuf[5];
nexpaq 0:6c56fb4bc5f0 330
nexpaq 0:6c56fb4bc5f0 331 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 332 printf(" Start Address : 0x%x\n",TxBuf[5]);
nexpaq 0:6c56fb4bc5f0 333 #endif
nexpaq 0:6c56fb4bc5f0 334
nexpaq 0:6c56fb4bc5f0 335 // Bytes to read
nexpaq 0:6c56fb4bc5f0 336 TxBuf[6] = bytes;
nexpaq 0:6c56fb4bc5f0 337 sum += TxBuf[6];
nexpaq 0:6c56fb4bc5f0 338
nexpaq 0:6c56fb4bc5f0 339 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 340 printf(" No bytes : 0x%x\n",TxBuf[6]);
nexpaq 0:6c56fb4bc5f0 341 #endif
nexpaq 0:6c56fb4bc5f0 342
nexpaq 0:6c56fb4bc5f0 343 // Checksum
nexpaq 0:6c56fb4bc5f0 344 TxBuf[7] = 0xFF - sum;
nexpaq 0:6c56fb4bc5f0 345 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 346 printf(" Checksum : 0x%x\n",TxBuf[7]);
nexpaq 0:6c56fb4bc5f0 347 #endif
nexpaq 0:6c56fb4bc5f0 348
nexpaq 0:6c56fb4bc5f0 349 // Transmit the packet in one burst with no pausing
nexpaq 0:6c56fb4bc5f0 350 for (int i = 0; i<8 ; i++) {
nexpaq 0:6c56fb4bc5f0 351 _ax12.putc(TxBuf[i]);
nexpaq 0:6c56fb4bc5f0 352 }
nexpaq 0:6c56fb4bc5f0 353
nexpaq 0:6c56fb4bc5f0 354 // Wait for the bytes to be transmitted
nexpaq 0:6c56fb4bc5f0 355 wait (0.00002);
nexpaq 0:6c56fb4bc5f0 356
nexpaq 0:6c56fb4bc5f0 357 // Skip if the read was to the broadcast address
nexpaq 0:6c56fb4bc5f0 358 if (_ID != 0xFE) {
nexpaq 0:6c56fb4bc5f0 359
nexpaq 0:6c56fb4bc5f0 360
nexpaq 0:6c56fb4bc5f0 361
nexpaq 0:6c56fb4bc5f0 362 // response packet is always 6 + bytes
nexpaq 0:6c56fb4bc5f0 363 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
nexpaq 0:6c56fb4bc5f0 364 // timeout is a little more than the time to transmit
nexpaq 0:6c56fb4bc5f0 365 // the packet back, i.e. (6+bytes)*10 bit periods
nexpaq 0:6c56fb4bc5f0 366
nexpaq 0:6c56fb4bc5f0 367 int timeout = 0;
nexpaq 0:6c56fb4bc5f0 368 int plen = 0;
nexpaq 0:6c56fb4bc5f0 369 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
nexpaq 0:6c56fb4bc5f0 370
nexpaq 0:6c56fb4bc5f0 371 if (_ax12.readable()) {
nexpaq 0:6c56fb4bc5f0 372 Status[plen] = _ax12.getc();
nexpaq 0:6c56fb4bc5f0 373 plen++;
nexpaq 0:6c56fb4bc5f0 374 timeout = 0;
nexpaq 0:6c56fb4bc5f0 375 }
nexpaq 0:6c56fb4bc5f0 376
nexpaq 0:6c56fb4bc5f0 377 // wait for the bit period
nexpaq 0:6c56fb4bc5f0 378 wait (1.0/_baud);
nexpaq 0:6c56fb4bc5f0 379 timeout++;
nexpaq 0:6c56fb4bc5f0 380 }
nexpaq 0:6c56fb4bc5f0 381
nexpaq 0:6c56fb4bc5f0 382 if (timeout == ((6+bytes)*10) ) {
nexpaq 0:6c56fb4bc5f0 383 return(-1);
nexpaq 0:6c56fb4bc5f0 384 }
nexpaq 0:6c56fb4bc5f0 385
nexpaq 0:6c56fb4bc5f0 386 // Copy the data from Status into data for return
nexpaq 0:6c56fb4bc5f0 387 for (int i=0; i < Status[3]-2 ; i++) {
nexpaq 0:6c56fb4bc5f0 388 data[i] = Status[5+i];
nexpaq 0:6c56fb4bc5f0 389 }
nexpaq 0:6c56fb4bc5f0 390
nexpaq 0:6c56fb4bc5f0 391 #ifdef AX12_READ_DEBUG
nexpaq 0:6c56fb4bc5f0 392 printf("\nStatus Packet\n");
nexpaq 0:6c56fb4bc5f0 393 printf(" Header : 0x%x\n",Status[0]);
nexpaq 0:6c56fb4bc5f0 394 printf(" Header : 0x%x\n",Status[1]);
nexpaq 0:6c56fb4bc5f0 395 printf(" ID : 0x%x\n",Status[2]);
nexpaq 0:6c56fb4bc5f0 396 printf(" Length : 0x%x\n",Status[3]);
nexpaq 0:6c56fb4bc5f0 397 printf(" Error Code : 0x%x\n",Status[4]);
nexpaq 0:6c56fb4bc5f0 398
nexpaq 0:6c56fb4bc5f0 399 for (int i=0; i < Status[3]-2 ; i++) {
nexpaq 0:6c56fb4bc5f0 400 printf(" Data : 0x%x\n",Status[5+i]);
nexpaq 0:6c56fb4bc5f0 401 }
nexpaq 0:6c56fb4bc5f0 402
nexpaq 0:6c56fb4bc5f0 403 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
nexpaq 0:6c56fb4bc5f0 404 #endif
nexpaq 0:6c56fb4bc5f0 405
nexpaq 0:6c56fb4bc5f0 406 } // if (ID!=0xFE)
nexpaq 0:6c56fb4bc5f0 407
nexpaq 0:6c56fb4bc5f0 408 return(Status[4]);
nexpaq 0:6c56fb4bc5f0 409 }
nexpaq 0:6c56fb4bc5f0 410
nexpaq 0:6c56fb4bc5f0 411
nexpaq 0:6c56fb4bc5f0 412 int AX12::write(int ID, int start, int bytes, char* data, int flag) {
nexpaq 0:6c56fb4bc5f0 413 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
nexpaq 0:6c56fb4bc5f0 414
nexpaq 0:6c56fb4bc5f0 415 char TxBuf[16];
nexpaq 0:6c56fb4bc5f0 416 char sum = 0;
nexpaq 0:6c56fb4bc5f0 417 char Status[6];
nexpaq 0:6c56fb4bc5f0 418
nexpaq 0:6c56fb4bc5f0 419 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 420 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
nexpaq 0:6c56fb4bc5f0 421 #endif
nexpaq 0:6c56fb4bc5f0 422
nexpaq 0:6c56fb4bc5f0 423 // Build the TxPacket first in RAM, then we'll send in one go
nexpaq 0:6c56fb4bc5f0 424 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 425 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
nexpaq 0:6c56fb4bc5f0 426 #endif
nexpaq 0:6c56fb4bc5f0 427
nexpaq 0:6c56fb4bc5f0 428 TxBuf[0] = 0xff;
nexpaq 0:6c56fb4bc5f0 429 TxBuf[1] = 0xff;
nexpaq 0:6c56fb4bc5f0 430
nexpaq 0:6c56fb4bc5f0 431 // ID
nexpaq 0:6c56fb4bc5f0 432 TxBuf[2] = ID;
nexpaq 0:6c56fb4bc5f0 433 sum += TxBuf[2];
nexpaq 0:6c56fb4bc5f0 434
nexpaq 0:6c56fb4bc5f0 435 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 436 printf(" ID : %d\n",TxBuf[2]);
nexpaq 0:6c56fb4bc5f0 437 #endif
nexpaq 0:6c56fb4bc5f0 438
nexpaq 0:6c56fb4bc5f0 439 // packet Length
nexpaq 0:6c56fb4bc5f0 440 TxBuf[3] = 3+bytes;
nexpaq 0:6c56fb4bc5f0 441 sum += TxBuf[3];
nexpaq 0:6c56fb4bc5f0 442
nexpaq 0:6c56fb4bc5f0 443 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 444 printf(" Length : %d\n",TxBuf[3]);
nexpaq 0:6c56fb4bc5f0 445 #endif
nexpaq 0:6c56fb4bc5f0 446
nexpaq 0:6c56fb4bc5f0 447 // Instruction
nexpaq 0:6c56fb4bc5f0 448 if (flag == 1) {
nexpaq 0:6c56fb4bc5f0 449 TxBuf[4]=0x04;
nexpaq 0:6c56fb4bc5f0 450 sum += TxBuf[4];
nexpaq 0:6c56fb4bc5f0 451 } else {
nexpaq 0:6c56fb4bc5f0 452 TxBuf[4]=0x03;
nexpaq 0:6c56fb4bc5f0 453 sum += TxBuf[4];
nexpaq 0:6c56fb4bc5f0 454 }
nexpaq 0:6c56fb4bc5f0 455
nexpaq 0:6c56fb4bc5f0 456 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 457 printf(" Instruction : 0x%x\n",TxBuf[4]);
nexpaq 0:6c56fb4bc5f0 458 #endif
nexpaq 0:6c56fb4bc5f0 459
nexpaq 0:6c56fb4bc5f0 460 // Start Address
nexpaq 0:6c56fb4bc5f0 461 TxBuf[5] = start;
nexpaq 0:6c56fb4bc5f0 462 sum += TxBuf[5];
nexpaq 0:6c56fb4bc5f0 463
nexpaq 0:6c56fb4bc5f0 464 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 465 printf(" Start : 0x%x\n",TxBuf[5]);
nexpaq 0:6c56fb4bc5f0 466 #endif
nexpaq 0:6c56fb4bc5f0 467
nexpaq 0:6c56fb4bc5f0 468 // data
nexpaq 0:6c56fb4bc5f0 469 for (char i=0; i<bytes ; i++) {
nexpaq 0:6c56fb4bc5f0 470 TxBuf[6+i] = data[i];
nexpaq 0:6c56fb4bc5f0 471 sum += TxBuf[6+i];
nexpaq 0:6c56fb4bc5f0 472
nexpaq 0:6c56fb4bc5f0 473 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 474 printf(" Data : 0x%x\n",TxBuf[6+i]);
nexpaq 0:6c56fb4bc5f0 475 #endif
nexpaq 0:6c56fb4bc5f0 476
nexpaq 0:6c56fb4bc5f0 477 }
nexpaq 0:6c56fb4bc5f0 478
nexpaq 0:6c56fb4bc5f0 479 // checksum
nexpaq 0:6c56fb4bc5f0 480 TxBuf[6+bytes] = 0xFF - sum;
nexpaq 0:6c56fb4bc5f0 481
nexpaq 0:6c56fb4bc5f0 482 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 483 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
nexpaq 0:6c56fb4bc5f0 484 #endif
nexpaq 0:6c56fb4bc5f0 485
nexpaq 0:6c56fb4bc5f0 486 // Transmit the packet in one burst with no pausing
nexpaq 0:6c56fb4bc5f0 487 for (int i = 0; i < (7 + bytes) ; i++) {
nexpaq 0:6c56fb4bc5f0 488 _ax12.putc(TxBuf[i]);
nexpaq 0:6c56fb4bc5f0 489 }
nexpaq 0:6c56fb4bc5f0 490
nexpaq 0:6c56fb4bc5f0 491 // Wait for data to transmit
nexpaq 0:6c56fb4bc5f0 492 wait (0.00002);
nexpaq 0:6c56fb4bc5f0 493
nexpaq 0:6c56fb4bc5f0 494 // make sure we have a valid return
nexpaq 0:6c56fb4bc5f0 495 Status[4]=0x00;
nexpaq 0:6c56fb4bc5f0 496
nexpaq 0:6c56fb4bc5f0 497 // we'll only get a reply if it was not broadcast
nexpaq 0:6c56fb4bc5f0 498 if (_ID!=0xFE) {
nexpaq 0:6c56fb4bc5f0 499
nexpaq 0:6c56fb4bc5f0 500
nexpaq 0:6c56fb4bc5f0 501 // response packet is always 6 bytes
nexpaq 0:6c56fb4bc5f0 502 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
nexpaq 0:6c56fb4bc5f0 503 // timeout is a little more than the time to transmit
nexpaq 0:6c56fb4bc5f0 504 // the packet back, i.e. 60 bit periods, round up to 100
nexpaq 0:6c56fb4bc5f0 505 int timeout = 0;
nexpaq 0:6c56fb4bc5f0 506 int plen = 0;
nexpaq 0:6c56fb4bc5f0 507 while ((timeout < 100) && (plen<6)) {
nexpaq 0:6c56fb4bc5f0 508
nexpaq 0:6c56fb4bc5f0 509 if (_ax12.readable()) {
nexpaq 0:6c56fb4bc5f0 510 Status[plen] = _ax12.getc();
nexpaq 0:6c56fb4bc5f0 511 plen++;
nexpaq 0:6c56fb4bc5f0 512 timeout = 0;
nexpaq 0:6c56fb4bc5f0 513 }
nexpaq 0:6c56fb4bc5f0 514
nexpaq 0:6c56fb4bc5f0 515 // wait for the bit period
nexpaq 0:6c56fb4bc5f0 516 wait (1.0/_baud);
nexpaq 0:6c56fb4bc5f0 517 timeout++;
nexpaq 0:6c56fb4bc5f0 518 }
nexpaq 0:6c56fb4bc5f0 519
nexpaq 0:6c56fb4bc5f0 520
nexpaq 0:6c56fb4bc5f0 521 // Build the TxPacket first in RAM, then we'll send in one go
nexpaq 0:6c56fb4bc5f0 522 #ifdef AX12_WRITE_DEBUG
nexpaq 0:6c56fb4bc5f0 523 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
nexpaq 0:6c56fb4bc5f0 524 printf(" ID : %d\n",Status[2]);
nexpaq 0:6c56fb4bc5f0 525 printf(" Length : %d\n",Status[3]);
nexpaq 0:6c56fb4bc5f0 526 printf(" Error : 0x%x\n",Status[4]);
nexpaq 0:6c56fb4bc5f0 527 printf(" Checksum : 0x%x\n",Status[5]);
nexpaq 0:6c56fb4bc5f0 528 #endif
nexpaq 0:6c56fb4bc5f0 529
nexpaq 0:6c56fb4bc5f0 530
nexpaq 0:6c56fb4bc5f0 531 }
nexpaq 0:6c56fb4bc5f0 532
nexpaq 0:6c56fb4bc5f0 533 return(Status[4]); // return error code
nexpaq 0:6c56fb4bc5f0 534 }