Kazutaka "Zak" Sawa / XBusServo

Library for XBus servo (under construction)

Dependents:   mbed_XBus_Test mbed_XBus_MotionTest XBusServoTest ControlYokutan2017_2 ... more

It's pre-opened page. it's still a little bit unstable to use command packet but mostly work. Tested only on KL25Z

暫定版ページです。 まだコマンドパケット使用時に時々不安定になりますが、概ね動作しています。 KL25Z上でのみ、動作確認しています

XBusServo.cpp@0:381d475cfd6c, 2014-10-02 (annotated)

Committer:
sawa
Date:
Thu Oct 02 08:46:53 2014 +0000
Revision:
0:381d475cfd6c
Child:
1:bd80d3e8f3a3
proto 0.01

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sawa 0:381d475cfd6c 1 /* XBusServo.cpp file
sawa 0:381d475cfd6c 2 *
sawa 0:381d475cfd6c 3 * for mbed
sawa 0:381d475cfd6c 4 *
sawa 0:381d475cfd6c 5 * Copyright (c) 2014-2014 JR PROPO
sawa 0:381d475cfd6c 6 * by Zak Sawa
sawa 0:381d475cfd6c 7 */
sawa 0:381d475cfd6c 8
sawa 0:381d475cfd6c 9 #include "XBusServo.h"
sawa 0:381d475cfd6c 10 #include "pinmap.h"
sawa 0:381d475cfd6c 11
sawa 0:381d475cfd6c 12
sawa 0:381d475cfd6c 13 #define kXBusBaudrate 250000 // bps
sawa 0:381d475cfd6c 14
sawa 0:381d475cfd6c 15 #define kStartOffsetOfCHData 4
sawa 0:381d475cfd6c 16 #define kCHDataSize 4
sawa 0:381d475cfd6c 17 #define kCHDataPacketCommand 0
sawa 0:381d475cfd6c 18 #define kCHDataPacketLength 1
sawa 0:381d475cfd6c 19 #define kCHDataPacketKey 2
sawa 0:381d475cfd6c 20 #define kCHDataPacketType 3
sawa 0:381d475cfd6c 21
sawa 0:381d475cfd6c 22 #define kCmdDataPacketSize 8
sawa 0:381d475cfd6c 23 #define kCmdDataPacketCommand 0
sawa 0:381d475cfd6c 24 #define kCmdDataPacketLength 1
sawa 0:381d475cfd6c 25 #define kCmdDataPacketKey 2
sawa 0:381d475cfd6c 26 #define kCmdDataPacketCH_ID 3
sawa 0:381d475cfd6c 27 #define kCmdDataPacketOrder 4
sawa 0:381d475cfd6c 28 #define kCmdDataPacketData1 5
sawa 0:381d475cfd6c 29 #define kCmdDataPacketData2 6
sawa 0:381d475cfd6c 30 #define kCmdDataPacketCRC 7
sawa 0:381d475cfd6c 31
sawa 0:381d475cfd6c 32
sawa 0:381d475cfd6c 33 // XBus Command
sawa 0:381d475cfd6c 34 typedef enum {
sawa 0:381d475cfd6c 35 kXBusCmd_Set = 0x20,
sawa 0:381d475cfd6c 36 kXBusCmd_Get = 0x21,
sawa 0:381d475cfd6c 37 kXBusCmd_Status = 0x22,
sawa 0:381d475cfd6c 38 kXBusCmd_ModeA = 0xa4
sawa 0:381d475cfd6c 39 } XBusCmd;
sawa 0:381d475cfd6c 40
sawa 0:381d475cfd6c 41
sawa 0:381d475cfd6c 42 // XBUS device mode
sawa 0:381d475cfd6c 43 typedef enum {
sawa 0:381d475cfd6c 44 kXBusMode_Operate = 0x01,
sawa 0:381d475cfd6c 45 kXBusMode_IDSet = 0x02
sawa 0:381d475cfd6c 46 } XBusMode;
sawa 0:381d475cfd6c 47
sawa 0:381d475cfd6c 48
sawa 0:381d475cfd6c 49 #define DEBUG
sawa 0:381d475cfd6c 50
sawa 0:381d475cfd6c 51 #ifdef DEBUG
sawa 0:381d475cfd6c 52 Serial pc(USBTX, USBRX); // tx, rx
sawa 0:381d475cfd6c 53 #define DBG(fmt) pc.printf(fmt)
sawa 0:381d475cfd6c 54 #define DBGF(fmt, ...) pc.printf(fmt, __VA_ARGS__)
sawa 0:381d475cfd6c 55 #else
sawa 0:381d475cfd6c 56 #define DBG(...)
sawa 0:381d475cfd6c 57 #define DBGF(...)
sawa 0:381d475cfd6c 58 #endif
sawa 0:381d475cfd6c 59
sawa 0:381d475cfd6c 60
sawa 0:381d475cfd6c 61
sawa 0:381d475cfd6c 62 //****************************************************************************
sawa 0:381d475cfd6c 63 // XBusServo::XBusServo
sawa 0:381d475cfd6c 64 // return : none
sawa 0:381d475cfd6c 65 // parameter : tx pin name for tx
sawa 0:381d475cfd6c 66 // rx pin name for rx
sawa 0:381d475cfd6c 67 // maxServoNum max number of servo that you want to connect.
sawa 0:381d475cfd6c 68 // (limit 50)
sawa 0:381d475cfd6c 69 // this does just to resetve the buffer. you need to
sawa 0:381d475cfd6c 70 // add XBus servo at the beginning of your sketch
sawa 0:381d475cfd6c 71 //
sawa 0:381d475cfd6c 72 // Constructor
sawa 0:381d475cfd6c 73 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 74 //****************************************************************************
sawa 0:381d475cfd6c 75 XBusServo::XBusServo(PinName tx, PinName rx, uint8_t maxServoNum)
sawa 0:381d475cfd6c 76 : RawSerial(tx, rx) //, DigitalInOut(tx)
sawa 0:381d475cfd6c 77 {
sawa 0:381d475cfd6c 78 int bufferSize; // channel data packet buffer size
sawa 0:381d475cfd6c 79
sawa 0:381d475cfd6c 80 DBG("XBusServo::XBusServo\n");
sawa 0:381d475cfd6c 81
sawa 0:381d475cfd6c 82 // initialize serial
sawa 0:381d475cfd6c 83 txPin = tx;
sawa 0:381d475cfd6c 84 txOnly = (rx == NC);
sawa 0:381d475cfd6c 85
sawa 0:381d475cfd6c 86 // initialise vars
sawa 0:381d475cfd6c 87 numOfServo = 0;
sawa 0:381d475cfd6c 88 maxServo = maxServoNum;
sawa 0:381d475cfd6c 89 if (maxServo > kXBusMaxServoNum)
sawa 0:381d475cfd6c 90 maxServo = kXBusMaxServoNum;
sawa 0:381d475cfd6c 91 else if (maxServo == 0)
sawa 0:381d475cfd6c 92 maxServo = 1;
sawa 0:381d475cfd6c 93 dirty = 0;
sawa 0:381d475cfd6c 94 serialWriteBusy = 0;
sawa 0:381d475cfd6c 95 recieveBufferPointer = 0;
sawa 0:381d475cfd6c 96 modifyServosNow = 0;
sawa 0:381d475cfd6c 97 sendLength = 0;
sawa 0:381d475cfd6c 98 bufferSize = kStartOffsetOfCHData + maxServo * kCHDataSize + 1; // add 1 for CRC
sawa 0:381d475cfd6c 99 if (bufferSize < kCmdDataPacketSize)
sawa 0:381d475cfd6c 100 bufferSize = kCmdDataPacketSize;
sawa 0:381d475cfd6c 101 chPacketBuffer = (uint8_t*)malloc(bufferSize);
sawa 0:381d475cfd6c 102 sendBuffer = (uint8_t*)malloc(bufferSize);
sawa 0:381d475cfd6c 103
sawa 0:381d475cfd6c 104 // initialize channel packer buffer
sawa 0:381d475cfd6c 105 chPacketBuffer[kCHDataPacketCommand] = kXBusCmd_ModeA;
sawa 0:381d475cfd6c 106 chPacketBuffer[kCHDataPacketLength] = 0x00;
sawa 0:381d475cfd6c 107 chPacketBuffer[kCHDataPacketKey] = 0x00;
sawa 0:381d475cfd6c 108 chPacketBuffer[kCHDataPacketType] = 0x00;
sawa 0:381d475cfd6c 109
sawa 0:381d475cfd6c 110 // initialize serial
sawa 0:381d475cfd6c 111 RawSerial::baud(kXBusBaudrate);
sawa 0:381d475cfd6c 112 RawSerial::format(8, RawSerial::None, 1);
sawa 0:381d475cfd6c 113 #if DEVICE_SERIAL_FC
sawa 0:381d475cfd6c 114 RawSerial::set_flow_control(RawSerial::Disabled, NC, NC);
sawa 0:381d475cfd6c 115 #endif
sawa 0:381d475cfd6c 116 RawSerial::attach(this, &XBusServo::TxIrqHandler, RawSerial::TxIrq);
sawa 0:381d475cfd6c 117 RawSerial::attach(this, &XBusServo::RxIrqHandler, RawSerial::RxIrq);
sawa 0:381d475cfd6c 118
sawa 0:381d475cfd6c 119 // DigitalInOut::mode(PullNone);
sawa 0:381d475cfd6c 120 // DigitalInOut::input();
sawa 0:381d475cfd6c 121 serial_pinout_tx(txPin);
sawa 0:381d475cfd6c 122 }
sawa 0:381d475cfd6c 123
sawa 0:381d475cfd6c 124
sawa 0:381d475cfd6c 125 //****************************************************************************
sawa 0:381d475cfd6c 126 // XBusServo::~XBusServo
sawa 0:381d475cfd6c 127 // return : none
sawa 0:381d475cfd6c 128 // parameter : none
sawa 0:381d475cfd6c 129 //
sawa 0:381d475cfd6c 130 // Destructor
sawa 0:381d475cfd6c 131 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 132 //****************************************************************************
sawa 0:381d475cfd6c 133 XBusServo::~XBusServo()
sawa 0:381d475cfd6c 134 {
sawa 0:381d475cfd6c 135 DBG("XBusServo::~XBusServo\n");
sawa 0:381d475cfd6c 136
sawa 0:381d475cfd6c 137 free(chPacketBuffer);
sawa 0:381d475cfd6c 138 free(sendBuffer);
sawa 0:381d475cfd6c 139 }
sawa 0:381d475cfd6c 140
sawa 0:381d475cfd6c 141
sawa 0:381d475cfd6c 142 //****************************************************************************
sawa 0:381d475cfd6c 143 // XBusServo::write
sawa 0:381d475cfd6c 144 // return : none
sawa 0:381d475cfd6c 145 // parameter : buffer data buffer to send
sawa 0:381d475cfd6c 146 // length data length on the buffer
sawa 0:381d475cfd6c 147 //
sawa 0:381d475cfd6c 148 // start to send all packet data
sawa 0:381d475cfd6c 149 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 150 //****************************************************************************
sawa 0:381d475cfd6c 151 void XBusServo::write(uint8_t* buffer, uint8_t length)
sawa 0:381d475cfd6c 152 {
sawa 0:381d475cfd6c 153 // DBG("XBusServo::write\n");
sawa 0:381d475cfd6c 154
sawa 0:381d475cfd6c 155 if (serialWriteBusy)
sawa 0:381d475cfd6c 156 return;
sawa 0:381d475cfd6c 157
sawa 0:381d475cfd6c 158 serialWriteBusy = 1;
sawa 0:381d475cfd6c 159 XBusServo::sendLength = length;
sawa 0:381d475cfd6c 160 sendBufferPointer = buffer;
sawa 0:381d475cfd6c 161
sawa 0:381d475cfd6c 162 if (putc(*sendBufferPointer++) < 0) {
sawa 0:381d475cfd6c 163 serialWriteBusy = 0;
sawa 0:381d475cfd6c 164 XBusServo::sendLength = 0;
sawa 0:381d475cfd6c 165 } else
sawa 0:381d475cfd6c 166 XBusServo::sendLength--;
sawa 0:381d475cfd6c 167 }
sawa 0:381d475cfd6c 168
sawa 0:381d475cfd6c 169
sawa 0:381d475cfd6c 170 //****************************************************************************
sawa 0:381d475cfd6c 171 // XBusServo::flush
sawa 0:381d475cfd6c 172 // return : none
sawa 0:381d475cfd6c 173 // parameter : none
sawa 0:381d475cfd6c 174 //
sawa 0:381d475cfd6c 175 // wait to send all packet data
sawa 0:381d475cfd6c 176 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 177 //****************************************************************************
sawa 0:381d475cfd6c 178 void XBusServo::flush(void)
sawa 0:381d475cfd6c 179 {
sawa 0:381d475cfd6c 180 // DBG("XBusServo::flush\n");
sawa 0:381d475cfd6c 181
sawa 0:381d475cfd6c 182 while(serialWriteBusy)
sawa 0:381d475cfd6c 183 ;
sawa 0:381d475cfd6c 184 }
sawa 0:381d475cfd6c 185
sawa 0:381d475cfd6c 186
sawa 0:381d475cfd6c 187 //****************************************************************************
sawa 0:381d475cfd6c 188 // XBusServo::TxIrqHandler
sawa 0:381d475cfd6c 189 // return : none
sawa 0:381d475cfd6c 190 // parameter : none
sawa 0:381d475cfd6c 191 //
sawa 0:381d475cfd6c 192 // handler for Tx buffer empty
sawa 0:381d475cfd6c 193 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 194 //****************************************************************************
sawa 0:381d475cfd6c 195 void XBusServo::TxIrqHandler(void)
sawa 0:381d475cfd6c 196 {
sawa 0:381d475cfd6c 197 // DBG("XBusServo::TxIrqHandler\n");
sawa 0:381d475cfd6c 198
sawa 0:381d475cfd6c 199 if (! serialWriteBusy)
sawa 0:381d475cfd6c 200 return;
sawa 0:381d475cfd6c 201
sawa 0:381d475cfd6c 202 if (XBusServo::sendLength <= 0)
sawa 0:381d475cfd6c 203 serialWriteBusy = 0;
sawa 0:381d475cfd6c 204 else {
sawa 0:381d475cfd6c 205 if (putc(*sendBufferPointer++) < 0) {
sawa 0:381d475cfd6c 206 serialWriteBusy = 0;
sawa 0:381d475cfd6c 207 XBusServo::sendLength = 0;
sawa 0:381d475cfd6c 208 } else
sawa 0:381d475cfd6c 209 XBusServo::sendLength--;
sawa 0:381d475cfd6c 210 }
sawa 0:381d475cfd6c 211 }
sawa 0:381d475cfd6c 212
sawa 0:381d475cfd6c 213
sawa 0:381d475cfd6c 214 //****************************************************************************
sawa 0:381d475cfd6c 215 // XBusServo::RxIrqHandler
sawa 0:381d475cfd6c 216 // return : none
sawa 0:381d475cfd6c 217 // parameter : none
sawa 0:381d475cfd6c 218 //
sawa 0:381d475cfd6c 219 // handler for Rx buffer full
sawa 0:381d475cfd6c 220 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 221 //****************************************************************************
sawa 0:381d475cfd6c 222 void XBusServo::RxIrqHandler(void)
sawa 0:381d475cfd6c 223 {
sawa 0:381d475cfd6c 224 // DBG("XBusServo::RxIrqHandler\n");
sawa 0:381d475cfd6c 225
sawa 0:381d475cfd6c 226 recieveBuffer[recieveBufferPointer++] = getc();
sawa 0:381d475cfd6c 227 if (recieveBufferPointer >= kRecieveBufferSize)
sawa 0:381d475cfd6c 228 recieveBufferPointer = 0;
sawa 0:381d475cfd6c 229 }
sawa 0:381d475cfd6c 230
sawa 0:381d475cfd6c 231
sawa 0:381d475cfd6c 232
sawa 0:381d475cfd6c 233 //****************************************************************************
sawa 0:381d475cfd6c 234 // XBusServo::sendChannelDataPacket
sawa 0:381d475cfd6c 235 // return : none
sawa 0:381d475cfd6c 236 // parameter : none
sawa 0:381d475cfd6c 237 //
sawa 0:381d475cfd6c 238 // This should be called on the timer handler like MsTimer2 when you
sawa 0:381d475cfd6c 239 // use the XBus servo.
sawa 0:381d475cfd6c 240 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 241 //****************************************************************************
sawa 0:381d475cfd6c 242 void XBusServo::sendChannelDataPacket(void)
sawa 0:381d475cfd6c 243 {
sawa 0:381d475cfd6c 244 // DBG("XBusServo::sendChannelDataPacket\n");
sawa 0:381d475cfd6c 245
sawa 0:381d475cfd6c 246 if (modifyServosNow)
sawa 0:381d475cfd6c 247 return;
sawa 0:381d475cfd6c 248
sawa 0:381d475cfd6c 249 if (numOfServo > 0) {
sawa 0:381d475cfd6c 250 if (dirty) {
sawa 0:381d475cfd6c 251 memcpy(sendBuffer, chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 3);
sawa 0:381d475cfd6c 252 dirty = 0;
sawa 0:381d475cfd6c 253 }
sawa 0:381d475cfd6c 254
sawa 0:381d475cfd6c 255 write(sendBuffer, sendBuffer[kCHDataPacketLength] + 3);
sawa 0:381d475cfd6c 256 }
sawa 0:381d475cfd6c 257 }
sawa 0:381d475cfd6c 258
sawa 0:381d475cfd6c 259
sawa 0:381d475cfd6c 260 //****************************************************************************
sawa 0:381d475cfd6c 261 // XBusServo::sendCommandDataPacket
sawa 0:381d475cfd6c 262 // return : error code
sawa 0:381d475cfd6c 263 // parameter : command The commnad that you want to send
sawa 0:381d475cfd6c 264 // channelID The channel ID of the XBus servo that you want to set up
sawa 0:381d475cfd6c 265 // order The order that you want to set up
sawa 0:381d475cfd6c 266 // value The value that you want to set / get
sawa 0:381d475cfd6c 267 // valueSize The value size. 1 byte(char) or 2 byte(int)
sawa 0:381d475cfd6c 268 //
sawa 0:381d475cfd6c 269 // This should NOT be called on the timer handler like MsTimer2 when you
sawa 0:381d475cfd6c 270 // setup the XBus servo.
sawa 0:381d475cfd6c 271 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 272 //****************************************************************************
sawa 0:381d475cfd6c 273 XBusError XBusServo::sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize)
sawa 0:381d475cfd6c 274 {
sawa 0:381d475cfd6c 275 int sendSize;
sawa 0:381d475cfd6c 276 uint8_t* recievedPacket;
sawa 0:381d475cfd6c 277
sawa 0:381d475cfd6c 278 DBG("XBusServo::sendCommandDataPacket\n");
sawa 0:381d475cfd6c 279
sawa 0:381d475cfd6c 280 // setup command
sawa 0:381d475cfd6c 281 sendBuffer[kCmdDataPacketCommand] = command;
sawa 0:381d475cfd6c 282 sendBuffer[kCmdDataPacketLength] = valueSize + 3;
sawa 0:381d475cfd6c 283 sendBuffer[kCmdDataPacketKey] = 0x00;
sawa 0:381d475cfd6c 284 sendBuffer[kCmdDataPacketCH_ID] = channelID;
sawa 0:381d475cfd6c 285 sendBuffer[kCmdDataPacketOrder] = order;
sawa 0:381d475cfd6c 286 if (valueSize == 1) { // 1 byte value
sawa 0:381d475cfd6c 287 sendBuffer[kCmdDataPacketData1] = *value & 0x00FF;
sawa 0:381d475cfd6c 288 sendBuffer[kCmdDataPacketData2] = crc8(sendBuffer, sendBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 289 } else {
sawa 0:381d475cfd6c 290 sendBuffer[kCmdDataPacketData1] = (*value >> 8) & 0x00FF;
sawa 0:381d475cfd6c 291 sendBuffer[kCmdDataPacketData2] = *value & 0x00FF;
sawa 0:381d475cfd6c 292 sendBuffer[kCmdDataPacketCRC] = crc8(sendBuffer, sendBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 293 }
sawa 0:381d475cfd6c 294
sawa 0:381d475cfd6c 295 // to recover channel data packet when you call sendChannelDataPacket after this
sawa 0:381d475cfd6c 296 dirty = 1;
sawa 0:381d475cfd6c 297
sawa 0:381d475cfd6c 298 // send command
sawa 0:381d475cfd6c 299 recieveBufferPointer = 0; // reset recieve buffer
sawa 0:381d475cfd6c 300 sendSize = sendBuffer[kCmdDataPacketLength] + 3;
sawa 0:381d475cfd6c 301 write(sendBuffer, sendSize);
sawa 0:381d475cfd6c 302 flush(); // wait to send all bytes
sawa 0:381d475cfd6c 303
sawa 0:381d475cfd6c 304 // if it's tx only mode, it done
sawa 0:381d475cfd6c 305 if (txOnly)
sawa 0:381d475cfd6c 306 return kXBusError_NoError;
sawa 0:381d475cfd6c 307
sawa 0:381d475cfd6c 308 if (channelID != 0) {
sawa 0:381d475cfd6c 309 // change bus direction to Rx mode
sawa 0:381d475cfd6c 310 // DigitalInOut::input();
sawa 0:381d475cfd6c 311
sawa 0:381d475cfd6c 312 recievedPacket = &(recieveBuffer[sendSize]);
sawa 0:381d475cfd6c 313
sawa 0:381d475cfd6c 314 // wait to read all packet
sawa 0:381d475cfd6c 315 while(recieveBufferPointer < (sendSize + kCmdDataPacketSize))
sawa 0:381d475cfd6c 316 ;
sawa 0:381d475cfd6c 317
sawa 0:381d475cfd6c 318 // change bus direction to Tx mode
sawa 0:381d475cfd6c 319 serial_pinout_tx(txPin);
sawa 0:381d475cfd6c 320
sawa 0:381d475cfd6c 321 // check CRC
sawa 0:381d475cfd6c 322 if (crc8(recievedPacket, recievedPacket[kCHDataPacketLength] + 3) != 0)
sawa 0:381d475cfd6c 323 return kXBusError_CRCError;
sawa 0:381d475cfd6c 324
sawa 0:381d475cfd6c 325 // check unsupported
sawa 0:381d475cfd6c 326 if (recievedPacket[kCmdDataPacketOrder] == kXBusOrder_1_Unsupported)
sawa 0:381d475cfd6c 327 return kXBusError_Unsupported;
sawa 0:381d475cfd6c 328
sawa 0:381d475cfd6c 329 // send back the value
sawa 0:381d475cfd6c 330 if (valueSize == 1) { // 1 byte value
sawa 0:381d475cfd6c 331 *value = recievedPacket[kCmdDataPacketData1];
sawa 0:381d475cfd6c 332 if (*value & 0x0080)
sawa 0:381d475cfd6c 333 *value |= 0xFF00;
sawa 0:381d475cfd6c 334 } else {
sawa 0:381d475cfd6c 335 *value = recievedPacket[kCmdDataPacketData1];
sawa 0:381d475cfd6c 336 *value <<= 8;
sawa 0:381d475cfd6c 337 *value |= recievedPacket[kCmdDataPacketData2];
sawa 0:381d475cfd6c 338 }
sawa 0:381d475cfd6c 339 }
sawa 0:381d475cfd6c 340
sawa 0:381d475cfd6c 341 return kXBusError_NoError;
sawa 0:381d475cfd6c 342 }
sawa 0:381d475cfd6c 343
sawa 0:381d475cfd6c 344
sawa 0:381d475cfd6c 345 //****************************************************************************
sawa 0:381d475cfd6c 346 // XBusServo::addServo
sawa 0:381d475cfd6c 347 // return : error code
sawa 0:381d475cfd6c 348 // parameter : channelID channel ID of the XBus servo that you want to use
sawa 0:381d475cfd6c 349 // initValue initial value of this XBus servo
sawa 0:381d475cfd6c 350 // use kXbusServoNeutral for center of the XBus servo
sawa 0:381d475cfd6c 351 //
sawa 0:381d475cfd6c 352 // add new servo to the buffer on this library
sawa 0:381d475cfd6c 353 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 354 //****************************************************************************
sawa 0:381d475cfd6c 355 XBusError XBusServo::addServo(uint8_t channelID, uint16_t initValue)
sawa 0:381d475cfd6c 356 {
sawa 0:381d475cfd6c 357 uint16_t dataOffset;
sawa 0:381d475cfd6c 358
sawa 0:381d475cfd6c 359 DBG("XBusServo::addServo\n");
sawa 0:381d475cfd6c 360
sawa 0:381d475cfd6c 361 // max check
sawa 0:381d475cfd6c 362 if (numOfServo >= maxServo)
sawa 0:381d475cfd6c 363 return kXBusError_ServoNumOverflow;
sawa 0:381d475cfd6c 364
sawa 0:381d475cfd6c 365 // convert to servo ID
sawa 0:381d475cfd6c 366 channelID &= 0x3F;
sawa 0:381d475cfd6c 367
sawa 0:381d475cfd6c 368 // scan servo ID that is already added
sawa 0:381d475cfd6c 369 if (numOfServo > 0) {
sawa 0:381d475cfd6c 370 uint16_t servoNo;
sawa 0:381d475cfd6c 371
sawa 0:381d475cfd6c 372 for (servoNo = 0; servoNo < numOfServo; servoNo++)
sawa 0:381d475cfd6c 373 if (chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo] == channelID)
sawa 0:381d475cfd6c 374 return kXBusError_AddWithSameID; // found same servo ID
sawa 0:381d475cfd6c 375 }
sawa 0:381d475cfd6c 376
sawa 0:381d475cfd6c 377 // atomic flag on
sawa 0:381d475cfd6c 378 modifyServosNow = 1;
sawa 0:381d475cfd6c 379
sawa 0:381d475cfd6c 380 // add new servo
sawa 0:381d475cfd6c 381 dataOffset = kStartOffsetOfCHData + kCHDataSize * numOfServo;
sawa 0:381d475cfd6c 382 numOfServo++;
sawa 0:381d475cfd6c 383 chPacketBuffer[kCHDataPacketLength] = numOfServo * kCHDataSize + 2; // add 2 for key and type
sawa 0:381d475cfd6c 384
sawa 0:381d475cfd6c 385 chPacketBuffer[dataOffset] = channelID;
sawa 0:381d475cfd6c 386 chPacketBuffer[dataOffset + 1] = 0x00;
sawa 0:381d475cfd6c 387 chPacketBuffer[dataOffset + 2] = (initValue >> 8) & 0x00FF;
sawa 0:381d475cfd6c 388 chPacketBuffer[dataOffset + 3] = initValue & 0x00FF;
sawa 0:381d475cfd6c 389
sawa 0:381d475cfd6c 390 // calc CRC
sawa 0:381d475cfd6c 391 chPacketBuffer[dataOffset + 4] = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 392 dirty = 1;
sawa 0:381d475cfd6c 393
sawa 0:381d475cfd6c 394 // atomic flag off
sawa 0:381d475cfd6c 395 modifyServosNow = 0;
sawa 0:381d475cfd6c 396
sawa 0:381d475cfd6c 397 return kXBusError_NoError;
sawa 0:381d475cfd6c 398 }
sawa 0:381d475cfd6c 399
sawa 0:381d475cfd6c 400
sawa 0:381d475cfd6c 401 //****************************************************************************
sawa 0:381d475cfd6c 402 // XBusServo::removeServo
sawa 0:381d475cfd6c 403 // return : error code
sawa 0:381d475cfd6c 404 // parameter : channelID channel ID of the XBus servo that you want to remove
sawa 0:381d475cfd6c 405 //
sawa 0:381d475cfd6c 406 // remove the servo from the buffer on this library
sawa 0:381d475cfd6c 407 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 408 //****************************************************************************
sawa 0:381d475cfd6c 409 XBusError XBusServo::removeServo(uint8_t channelID)
sawa 0:381d475cfd6c 410 {
sawa 0:381d475cfd6c 411 DBG("XBusServo::removeServo\n");
sawa 0:381d475cfd6c 412
sawa 0:381d475cfd6c 413 // min check
sawa 0:381d475cfd6c 414 if (numOfServo == 0)
sawa 0:381d475cfd6c 415 return kXBusError_ServoNumIsZero;
sawa 0:381d475cfd6c 416
sawa 0:381d475cfd6c 417 // convert to servo ID
sawa 0:381d475cfd6c 418 channelID &= 0x3F;
sawa 0:381d475cfd6c 419
sawa 0:381d475cfd6c 420 // scan servo ID that is already added
sawa 0:381d475cfd6c 421 if (numOfServo > 0) {
sawa 0:381d475cfd6c 422 uint16_t servoNo;
sawa 0:381d475cfd6c 423
sawa 0:381d475cfd6c 424 for (servoNo = 0; servoNo < numOfServo; servoNo++)
sawa 0:381d475cfd6c 425 if (chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo] == channelID) {
sawa 0:381d475cfd6c 426 // atomic flag on
sawa 0:381d475cfd6c 427 modifyServosNow = 1;
sawa 0:381d475cfd6c 428
sawa 0:381d475cfd6c 429 // copy data after that
sawa 0:381d475cfd6c 430 if (servoNo < (numOfServo - 1))
sawa 0:381d475cfd6c 431 memcpy(&(chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo]),
sawa 0:381d475cfd6c 432 &(chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * (servoNo + 1)]),
sawa 0:381d475cfd6c 433 kCHDataSize * (numOfServo - servoNo - 1));
sawa 0:381d475cfd6c 434
sawa 0:381d475cfd6c 435 // update packet size
sawa 0:381d475cfd6c 436 numOfServo--;
sawa 0:381d475cfd6c 437 chPacketBuffer[kCHDataPacketLength] = numOfServo * kCHDataSize + 2; // add 2 for key and type
sawa 0:381d475cfd6c 438
sawa 0:381d475cfd6c 439 // calc CRC
sawa 0:381d475cfd6c 440 chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * numOfServo]
sawa 0:381d475cfd6c 441 = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 442 dirty = 1;
sawa 0:381d475cfd6c 443
sawa 0:381d475cfd6c 444 // atomic flag off
sawa 0:381d475cfd6c 445 modifyServosNow = 0;
sawa 0:381d475cfd6c 446
sawa 0:381d475cfd6c 447 return kXBusError_NoError;
sawa 0:381d475cfd6c 448 }
sawa 0:381d475cfd6c 449 }
sawa 0:381d475cfd6c 450
sawa 0:381d475cfd6c 451 return kXBusError_IDNotFound;
sawa 0:381d475cfd6c 452 }
sawa 0:381d475cfd6c 453
sawa 0:381d475cfd6c 454
sawa 0:381d475cfd6c 455 //****************************************************************************
sawa 0:381d475cfd6c 456 // XBusServo::setServo
sawa 0:381d475cfd6c 457 // return : error code
sawa 0:381d475cfd6c 458 // parameter : channelID channel ID of the XBus servo that you want to set
sawa 0:381d475cfd6c 459 // value value of this XBus servo
sawa 0:381d475cfd6c 460 // use kXbusServoNeutral for center of the XBus servo
sawa 0:381d475cfd6c 461 //
sawa 0:381d475cfd6c 462 // remove the servo from the buffer on this library
sawa 0:381d475cfd6c 463 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 464 //****************************************************************************
sawa 0:381d475cfd6c 465 XBusError XBusServo::setServo(uint8_t channelID, uint16_t value)
sawa 0:381d475cfd6c 466 {
sawa 0:381d475cfd6c 467 uint16_t dataOffset;
sawa 0:381d475cfd6c 468
sawa 0:381d475cfd6c 469 DBG("XBusServo::setServo\n");
sawa 0:381d475cfd6c 470
sawa 0:381d475cfd6c 471 // convert to servo ID
sawa 0:381d475cfd6c 472 channelID &= 0x3F;
sawa 0:381d475cfd6c 473
sawa 0:381d475cfd6c 474 // scan servo ID that is already added
sawa 0:381d475cfd6c 475 if (numOfServo > 0) {
sawa 0:381d475cfd6c 476 int servoNo;
sawa 0:381d475cfd6c 477
sawa 0:381d475cfd6c 478 for (servoNo = 0; servoNo < numOfServo; servoNo++) {
sawa 0:381d475cfd6c 479 dataOffset = kStartOffsetOfCHData + kCHDataSize * servoNo;
sawa 0:381d475cfd6c 480
sawa 0:381d475cfd6c 481 if (chPacketBuffer[dataOffset] == channelID) {
sawa 0:381d475cfd6c 482 // atomic flag on
sawa 0:381d475cfd6c 483 modifyServosNow = 1;
sawa 0:381d475cfd6c 484
sawa 0:381d475cfd6c 485 // set value
sawa 0:381d475cfd6c 486 chPacketBuffer[dataOffset + 2] = (value >> 8) & 0x00FF;
sawa 0:381d475cfd6c 487 chPacketBuffer[dataOffset + 3] = value & 0x00FF;
sawa 0:381d475cfd6c 488
sawa 0:381d475cfd6c 489 // calc CRC
sawa 0:381d475cfd6c 490 chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * numOfServo]
sawa 0:381d475cfd6c 491 = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 492 dirty = 1;
sawa 0:381d475cfd6c 493
sawa 0:381d475cfd6c 494 // atomic flag off
sawa 0:381d475cfd6c 495 modifyServosNow = 0;
sawa 0:381d475cfd6c 496
sawa 0:381d475cfd6c 497 return kXBusError_NoError;
sawa 0:381d475cfd6c 498 }
sawa 0:381d475cfd6c 499 }
sawa 0:381d475cfd6c 500 }
sawa 0:381d475cfd6c 501
sawa 0:381d475cfd6c 502 return kXBusError_IDNotFound;
sawa 0:381d475cfd6c 503 }
sawa 0:381d475cfd6c 504
sawa 0:381d475cfd6c 505
sawa 0:381d475cfd6c 506 //****************************************************************************
sawa 0:381d475cfd6c 507 // XBusServo::setChannelID
sawa 0:381d475cfd6c 508 // return : error code
sawa 0:381d475cfd6c 509 // parameter : oldChannelID channel IDof the XBus servo to change the ID
sawa 0:381d475cfd6c 510 // newChannelID new channel ID for the XBus servo
sawa 0:381d475cfd6c 511 //
sawa 0:381d475cfd6c 512 // set new channel ID to the XBus servo
sawa 0:381d475cfd6c 513 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 514 //****************************************************************************
sawa 0:381d475cfd6c 515 XBusError XBusServo::setChannelID(uint8_t oldChannelID, uint8_t newChannelID)
sawa 0:381d475cfd6c 516 {
sawa 0:381d475cfd6c 517 XBusError result;
sawa 0:381d475cfd6c 518 int16_t value;
sawa 0:381d475cfd6c 519
sawa 0:381d475cfd6c 520 DBG("XBusServo::setChannelID\n");
sawa 0:381d475cfd6c 521
sawa 0:381d475cfd6c 522 value = kXBusMode_IDSet;
sawa 0:381d475cfd6c 523 result = sendCommandDataPacket(kXBusCmd_Set, oldChannelID, kXBusOrder_1_Mode, &value, 1);
sawa 0:381d475cfd6c 524 if (result != kXBusError_NoError)
sawa 0:381d475cfd6c 525 return result;
sawa 0:381d475cfd6c 526
sawa 0:381d475cfd6c 527 value = newChannelID;
sawa 0:381d475cfd6c 528 result = sendCommandDataPacket(kXBusCmd_Set, oldChannelID, kXBusOrder_1_ID, &value, 1);
sawa 0:381d475cfd6c 529
sawa 0:381d475cfd6c 530 return result;
sawa 0:381d475cfd6c 531 }
sawa 0:381d475cfd6c 532
sawa 0:381d475cfd6c 533
sawa 0:381d475cfd6c 534 //****************************************************************************
sawa 0:381d475cfd6c 535 // XBusServo::setChannelID
sawa 0:381d475cfd6c 536 // return : error code
sawa 0:381d475cfd6c 537 // parameter : newChannelID new channel ID for the XBus servo
sawa 0:381d475cfd6c 538 //
sawa 0:381d475cfd6c 539 // set new channel ID to the XBus servo
sawa 0:381d475cfd6c 540 // this is only for TX only mode
sawa 0:381d475cfd6c 541 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 542 //****************************************************************************
sawa 0:381d475cfd6c 543 XBusError XBusServo::setChannelID(uint8_t newChannelID)
sawa 0:381d475cfd6c 544 {
sawa 0:381d475cfd6c 545 XBusError result;
sawa 0:381d475cfd6c 546 int16_t value;
sawa 0:381d475cfd6c 547
sawa 0:381d475cfd6c 548 DBG("XBusServo::setChannelID\n");
sawa 0:381d475cfd6c 549
sawa 0:381d475cfd6c 550 if (txOnly)
sawa 0:381d475cfd6c 551 return kXBusError_OnlyForTxOnlyMode;
sawa 0:381d475cfd6c 552
sawa 0:381d475cfd6c 553 value = kXBusMode_IDSet;
sawa 0:381d475cfd6c 554 result = sendCommandDataPacket(kXBusCmd_Set, 0, kXBusOrder_1_Mode, &value, 1);
sawa 0:381d475cfd6c 555 if (result != kXBusError_NoError)
sawa 0:381d475cfd6c 556 return result;
sawa 0:381d475cfd6c 557
sawa 0:381d475cfd6c 558 value = newChannelID;
sawa 0:381d475cfd6c 559 result = sendCommandDataPacket(kXBusCmd_Set, 0, kXBusOrder_1_ID, &value, 1);
sawa 0:381d475cfd6c 560
sawa 0:381d475cfd6c 561 return result;
sawa 0:381d475cfd6c 562 }
sawa 0:381d475cfd6c 563
sawa 0:381d475cfd6c 564
sawa 0:381d475cfd6c 565 //****************************************************************************
sawa 0:381d475cfd6c 566 // XBusServo::getDataSize
sawa 0:381d475cfd6c 567 // return : data size for this order
sawa 0:381d475cfd6c 568 // parameter : order the order that you want to know
sawa 0:381d475cfd6c 569 //
sawa 0:381d475cfd6c 570 // get the data size of this order
sawa 0:381d475cfd6c 571 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 572 //****************************************************************************
sawa 0:381d475cfd6c 573 uint8_t XBusServo::getDataSize(uint8_t order)
sawa 0:381d475cfd6c 574 {
sawa 0:381d475cfd6c 575 uint8_t dataSize = 1;
sawa 0:381d475cfd6c 576
sawa 0:381d475cfd6c 577 DBG("XBusServo::getDataSize\n");
sawa 0:381d475cfd6c 578
sawa 0:381d475cfd6c 579 switch(order) {
sawa 0:381d475cfd6c 580 case kXBusOrder_2_Version: // only for get
sawa 0:381d475cfd6c 581 case kXBusOrder_2_Product: // only for get
sawa 0:381d475cfd6c 582 case kXBusOrder_2_Reset: // only for set
sawa 0:381d475cfd6c 583 case kXBusOrder_2_ParamWrite: // only for set
sawa 0:381d475cfd6c 584 case kXBusOrder_2_Reverse:
sawa 0:381d475cfd6c 585 case kXBusOrder_2_Neutral:
sawa 0:381d475cfd6c 586 case kXBusOrder_2_H_Travel:
sawa 0:381d475cfd6c 587 case kXBusOrder_2_L_Travel:
sawa 0:381d475cfd6c 588 case kXBusOrder_2_H_Limit:
sawa 0:381d475cfd6c 589 case kXBusOrder_2_L_Limit:
sawa 0:381d475cfd6c 590 case kXBusOrder_2_PowerOffset:
sawa 0:381d475cfd6c 591 case kXBusOrder_2_AlarmDelay:
sawa 0:381d475cfd6c 592 case kXBusOrder_2_CurrentPos: // only for get
sawa 0:381d475cfd6c 593 case kXBusOrder_2_MaxInteger:
sawa 0:381d475cfd6c 594 dataSize = 2;
sawa 0:381d475cfd6c 595 }
sawa 0:381d475cfd6c 596
sawa 0:381d475cfd6c 597 return dataSize;
sawa 0:381d475cfd6c 598 }
sawa 0:381d475cfd6c 599
sawa 0:381d475cfd6c 600
sawa 0:381d475cfd6c 601 //****************************************************************************
sawa 0:381d475cfd6c 602 // XBusServo::setCommand
sawa 0:381d475cfd6c 603 // return : error code
sawa 0:381d475cfd6c 604 // parameter : channelID channel ID of the XBus servo that you want to set to
sawa 0:381d475cfd6c 605 // order the order that you want
sawa 0:381d475cfd6c 606 // value the value that you want to set and return current value
sawa 0:381d475cfd6c 607 //
sawa 0:381d475cfd6c 608 // send set command to the XBus servo
sawa 0:381d475cfd6c 609 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 610 //****************************************************************************
sawa 0:381d475cfd6c 611 XBusError XBusServo::setCommand(uint8_t channelID, uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 612 {
sawa 0:381d475cfd6c 613 DBG("XBusServo::setCommand\n");
sawa 0:381d475cfd6c 614
sawa 0:381d475cfd6c 615 return sendCommandDataPacket(kXBusCmd_Set, channelID, order, value, getDataSize(order));
sawa 0:381d475cfd6c 616 }
sawa 0:381d475cfd6c 617
sawa 0:381d475cfd6c 618
sawa 0:381d475cfd6c 619 //****************************************************************************
sawa 0:381d475cfd6c 620 // XBusServo::getCommand
sawa 0:381d475cfd6c 621 // return : error code
sawa 0:381d475cfd6c 622 // parameter : channelID channel ID of the XBus servo that you want to get from
sawa 0:381d475cfd6c 623 // order the order that you want
sawa 0:381d475cfd6c 624 // value the value that you want to get from
sawa 0:381d475cfd6c 625 //
sawa 0:381d475cfd6c 626 // send get command to the XBus servo
sawa 0:381d475cfd6c 627 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 628 //****************************************************************************
sawa 0:381d475cfd6c 629 XBusError XBusServo::getCommand(uint8_t channelID, uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 630 {
sawa 0:381d475cfd6c 631 DBG("XBusServo::getCommand\n");
sawa 0:381d475cfd6c 632
sawa 0:381d475cfd6c 633 return sendCommandDataPacket(kXBusCmd_Get, channelID, order, value, getDataSize(order));
sawa 0:381d475cfd6c 634 }
sawa 0:381d475cfd6c 635
sawa 0:381d475cfd6c 636
sawa 0:381d475cfd6c 637 //****************************************************************************
sawa 0:381d475cfd6c 638 // XBusServo::setCommand
sawa 0:381d475cfd6c 639 // return : error code
sawa 0:381d475cfd6c 640 // parameter : order the order that you want
sawa 0:381d475cfd6c 641 // value the value that you want to set and return current value
sawa 0:381d475cfd6c 642 //
sawa 0:381d475cfd6c 643 // send set command to the XBus servo
sawa 0:381d475cfd6c 644 // this is only for TX only mode
sawa 0:381d475cfd6c 645 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 646 //****************************************************************************
sawa 0:381d475cfd6c 647 XBusError XBusServo::setCommand(uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 648 {
sawa 0:381d475cfd6c 649 DBG("XBusServo::setCommand\n");
sawa 0:381d475cfd6c 650
sawa 0:381d475cfd6c 651 if (txOnly)
sawa 0:381d475cfd6c 652 return kXBusError_OnlyForTxOnlyMode;
sawa 0:381d475cfd6c 653
sawa 0:381d475cfd6c 654 return sendCommandDataPacket(kXBusCmd_Set, 0, order, value, getDataSize(order));
sawa 0:381d475cfd6c 655 }
sawa 0:381d475cfd6c 656
sawa 0:381d475cfd6c 657
sawa 0:381d475cfd6c 658
sawa 0:381d475cfd6c 659
sawa 0:381d475cfd6c 660
sawa 0:381d475cfd6c 661
sawa 0:381d475cfd6c 662 //****************************************************************************
sawa 0:381d475cfd6c 663 // for CRC
sawa 0:381d475cfd6c 664 static uint8_t s_crc_array[256] = {
sawa 0:381d475cfd6c 665 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83,
sawa 0:381d475cfd6c 666 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
sawa 0:381d475cfd6c 667 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
sawa 0:381d475cfd6c 668 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
sawa 0:381d475cfd6c 669 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0,
sawa 0:381d475cfd6c 670 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
sawa 0:381d475cfd6c 671 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d,
sawa 0:381d475cfd6c 672 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
sawa 0:381d475cfd6c 673 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
sawa 0:381d475cfd6c 674 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
sawa 0:381d475cfd6c 675 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58,
sawa 0:381d475cfd6c 676 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
sawa 0:381d475cfd6c 677 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6,
sawa 0:381d475cfd6c 678 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
sawa 0:381d475cfd6c 679 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
sawa 0:381d475cfd6c 680 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
sawa 0:381d475cfd6c 681 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f,
sawa 0:381d475cfd6c 682 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
sawa 0:381d475cfd6c 683 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92,
sawa 0:381d475cfd6c 684 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
sawa 0:381d475cfd6c 685 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
sawa 0:381d475cfd6c 686 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
sawa 0:381d475cfd6c 687 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1,
sawa 0:381d475cfd6c 688 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
sawa 0:381d475cfd6c 689 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49,
sawa 0:381d475cfd6c 690 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
sawa 0:381d475cfd6c 691 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
sawa 0:381d475cfd6c 692 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
sawa 0:381d475cfd6c 693 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a,
sawa 0:381d475cfd6c 694 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
sawa 0:381d475cfd6c 695 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7,
sawa 0:381d475cfd6c 696 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
sawa 0:381d475cfd6c 697 };
sawa 0:381d475cfd6c 698
sawa 0:381d475cfd6c 699
sawa 0:381d475cfd6c 700 uint8_t XBusServo::crc_table(uint8_t data, uint8_t crc)
sawa 0:381d475cfd6c 701 {
sawa 0:381d475cfd6c 702 uint16_t index = (data ^ crc) & 0xff;
sawa 0:381d475cfd6c 703
sawa 0:381d475cfd6c 704 crc = s_crc_array[index];
sawa 0:381d475cfd6c 705 return crc;
sawa 0:381d475cfd6c 706 }
sawa 0:381d475cfd6c 707
sawa 0:381d475cfd6c 708
sawa 0:381d475cfd6c 709 uint8_t XBusServo::crc8(uint8_t* buffer, uint8_t length)
sawa 0:381d475cfd6c 710 {
sawa 0:381d475cfd6c 711 uint8_t crc = 0;
sawa 0:381d475cfd6c 712
sawa 0:381d475cfd6c 713 while (length-- > 0)
sawa 0:381d475cfd6c 714 crc = crc_table(*buffer++, crc);
sawa 0:381d475cfd6c 715 return crc;
sawa 0:381d475cfd6c 716 }
sawa 0:381d475cfd6c 717
sawa 0:381d475cfd6c 718
sawa 0:381d475cfd6c 719
sawa 0:381d475cfd6c 720