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.h@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.h file
sawa 0:381d475cfd6c 2 *
sawa 0:381d475cfd6c 3 * for mbed
sawa 0:381d475cfd6c 4 *
sawa 0:381d475cfd6c 5 * Copyright (c) 2013-2014 JR PROPO
sawa 0:381d475cfd6c 6 * by Zak Sawa
sawa 0:381d475cfd6c 7 */
sawa 0:381d475cfd6c 8
sawa 0:381d475cfd6c 9 #ifndef XBusServo_h
sawa 0:381d475cfd6c 10 #define XBusServo_h
sawa 0:381d475cfd6c 11
sawa 0:381d475cfd6c 12 #include "mbed.h"
sawa 0:381d475cfd6c 13 #include "gpio_api.h"
sawa 0:381d475cfd6c 14
sawa 0:381d475cfd6c 15
sawa 0:381d475cfd6c 16 #define kXBusInterval 14 // mSec
sawa 0:381d475cfd6c 17 #define kXbusServoNeutral 0x7FFF // 1500uSec
sawa 0:381d475cfd6c 18 #define kXBusMaxServoNum 50
sawa 0:381d475cfd6c 19
sawa 0:381d475cfd6c 20 // XBus Get/Set/Status command order
sawa 0:381d475cfd6c 21 typedef enum {
sawa 0:381d475cfd6c 22 kXBusOrder_1_Mode = 0x01,
sawa 0:381d475cfd6c 23 kXBusOrder_1_ID = 0x03,
sawa 0:381d475cfd6c 24 kXBusOrder_2_Version = 0x04, // only for get
sawa 0:381d475cfd6c 25 kXBusOrder_2_Product = 0x05, // only for get
sawa 0:381d475cfd6c 26 kXBusOrder_1_Unsupported = 0x06, // only for status
sawa 0:381d475cfd6c 27 kXBusOrder_2_Reset = 0x07, // only for set
sawa 0:381d475cfd6c 28 kXBusOrder_2_ParamWrite = 0x08, // only for set
sawa 0:381d475cfd6c 29
sawa 0:381d475cfd6c 30 kXBusOrder_2_Reverse = 0x10,
sawa 0:381d475cfd6c 31 kXBusOrder_2_Neutral = 0x11,
sawa 0:381d475cfd6c 32 kXBusOrder_2_H_Travel = 0x12,
sawa 0:381d475cfd6c 33 kXBusOrder_2_L_Travel = 0x13,
sawa 0:381d475cfd6c 34 kXBusOrder_2_H_Limit = 0x14,
sawa 0:381d475cfd6c 35 kXBusOrder_2_L_Limit = 0x15,
sawa 0:381d475cfd6c 36 kXBusOrder_1_P_Gain = 0x16,
sawa 0:381d475cfd6c 37 kXBusOrder_1_I_Gain = 0x17,
sawa 0:381d475cfd6c 38 kXBusOrder_1_D_Gain = 0x18,
sawa 0:381d475cfd6c 39 kXBusOrder_1_DeadBand = 0x19,
sawa 0:381d475cfd6c 40 kXBusOrder_2_PowerOffset = 0x1A,
sawa 0:381d475cfd6c 41 kXBusOrder_1_AlarmLevel = 0x1B,
sawa 0:381d475cfd6c 42 kXBusOrder_2_AlarmDelay = 0x1C,
sawa 0:381d475cfd6c 43 kXBusOrder_1_Angle_180 = 0x1D,
sawa 0:381d475cfd6c 44 kXBusOrder_1_SlowStart = 0x1E,
sawa 0:381d475cfd6c 45 kXBusOrder_1_StopMode = 0x1F,
sawa 0:381d475cfd6c 46 kXBusOrder_2_CurrentPos = 0x20, // only for get
sawa 0:381d475cfd6c 47 kXBusOrder_1_CurrentPow = 0x21, // only for get
sawa 0:381d475cfd6c 48 kXBusOrder_1_SpeedLimit = 0x22,
sawa 0:381d475cfd6c 49 kXBusOrder_2_MaxInteger = 0x23,
sawa 0:381d475cfd6c 50 } XBusOrder;
sawa 0:381d475cfd6c 51
sawa 0:381d475cfd6c 52
sawa 0:381d475cfd6c 53 // XBus parameter index
sawa 0:381d475cfd6c 54 typedef enum {
sawa 0:381d475cfd6c 55 kParamIdx_Unused0 = 0x0000,
sawa 0:381d475cfd6c 56 kParamIdx_AllData_wID = 0x0001,
sawa 0:381d475cfd6c 57 kParamIdx_AllData_woID = 0x0002,
sawa 0:381d475cfd6c 58 kParamIdx_ServoID = 0x0003,
sawa 0:381d475cfd6c 59 kParamIdx_Reversed = 0x0004,
sawa 0:381d475cfd6c 60 kParamIdx_NeutralOffset = 0x0005,
sawa 0:381d475cfd6c 61 kParamIdx_TravelHigh = 0x0006,
sawa 0:381d475cfd6c 62 kParamIdx_TravelLow = 0x0007,
sawa 0:381d475cfd6c 63 kParamIdx_LimitHigh = 0x0008,
sawa 0:381d475cfd6c 64 kParamIdx_LimitLow = 0x0009,
sawa 0:381d475cfd6c 65 kParamIdx_PGainDiff = 0x000A,
sawa 0:381d475cfd6c 66 kParamIdx_IGainDiff = 0x000B,
sawa 0:381d475cfd6c 67 kParamIdx_DGainDiff = 0x000C,
sawa 0:381d475cfd6c 68 kParamIdx_DeadBandDiff = 0x000D,
sawa 0:381d475cfd6c 69 kParamIdx_PWOffsetDiff = 0x000E,
sawa 0:381d475cfd6c 70 kParamIdx_AlarmLevel = 0x000F,
sawa 0:381d475cfd6c 71 kParamIdx_AlarmDelay = 0x0010,
sawa 0:381d475cfd6c 72 kParamIdx_Angle_180 = 0x0011,
sawa 0:381d475cfd6c 73 kParamIdx_SlowStart = 0x0012,
sawa 0:381d475cfd6c 74 kParamIdx_StopMode = 0x0013,
sawa 0:381d475cfd6c 75 kParamIdx_SpeedLimit = 0x0014,
sawa 0:381d475cfd6c 76 kParamIdx_MaxIntegerDiff = 0x0015,
sawa 0:381d475cfd6c 77 } XBusParamIdx;
sawa 0:381d475cfd6c 78
sawa 0:381d475cfd6c 79
sawa 0:381d475cfd6c 80 // XBus error code
sawa 0:381d475cfd6c 81 typedef enum {
sawa 0:381d475cfd6c 82 kXBusError_NoError = 0x0000,
sawa 0:381d475cfd6c 83 kXBusError_CRCError,
sawa 0:381d475cfd6c 84 kXBusError_ServoNumOverflow,
sawa 0:381d475cfd6c 85 kXBusError_ServoNumIsZero,
sawa 0:381d475cfd6c 86 kXBusError_AddWithSameID,
sawa 0:381d475cfd6c 87 kXBusError_IDNotFound,
sawa 0:381d475cfd6c 88 kXBusError_Unsupported,
sawa 0:381d475cfd6c 89 kXBusError_OnlyForTxOnlyMode,
sawa 0:381d475cfd6c 90 kXBusError_OnlyForNormalMode,
sawa 0:381d475cfd6c 91
sawa 0:381d475cfd6c 92 kXBusError_NumOfError,
sawa 0:381d475cfd6c 93 } XBusError;
sawa 0:381d475cfd6c 94
sawa 0:381d475cfd6c 95
sawa 0:381d475cfd6c 96
sawa 0:381d475cfd6c 97 class XBusServo : private RawSerial //, private DigitalInOut
sawa 0:381d475cfd6c 98 {
sawa 0:381d475cfd6c 99 public:
sawa 0:381d475cfd6c 100 XBusServo(PinName tx, PinName rx, uint8_t maxServoNum);
sawa 0:381d475cfd6c 101 virtual ~XBusServo();
sawa 0:381d475cfd6c 102
sawa 0:381d475cfd6c 103 public:
sawa 0:381d475cfd6c 104 XBusError addServo(uint8_t channelID, uint16_t initValue);
sawa 0:381d475cfd6c 105 XBusError removeServo(uint8_t channelID);
sawa 0:381d475cfd6c 106 XBusError setServo(uint8_t channelID, uint16_t value);
sawa 0:381d475cfd6c 107
sawa 0:381d475cfd6c 108 void sendChannelDataPacket(void);
sawa 0:381d475cfd6c 109
sawa 0:381d475cfd6c 110 XBusError setChannelID(uint8_t oldChannelID, uint8_t newChannelID);
sawa 0:381d475cfd6c 111 XBusError setCommand(uint8_t channelID, uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 112 XBusError getCommand(uint8_t channelID, uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 113
sawa 0:381d475cfd6c 114 XBusError setChannelID(uint8_t newChannelID);
sawa 0:381d475cfd6c 115 XBusError setCommand(uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 116
sawa 0:381d475cfd6c 117
sawa 0:381d475cfd6c 118 private:
sawa 0:381d475cfd6c 119 #define kRecieveBufferSize 64
sawa 0:381d475cfd6c 120
sawa 0:381d475cfd6c 121 uint8_t txOnly; // 1 for TX only mode
sawa 0:381d475cfd6c 122 PinName txPin; //
sawa 0:381d475cfd6c 123 uint8_t numOfServo; // number of servos
sawa 0:381d475cfd6c 124 uint8_t maxServo; // max number of servos
sawa 0:381d475cfd6c 125 uint8_t* chPacketBuffer; // channel data packet buffer
sawa 0:381d475cfd6c 126 uint8_t* sendBuffer; // serial send buffer
sawa 0:381d475cfd6c 127 uint8_t* sendBufferPointer;
sawa 0:381d475cfd6c 128 uint8_t sendLength;
sawa 0:381d475cfd6c 129 uint8_t recieveBuffer[kRecieveBufferSize]; // serial recieve buffer
sawa 0:381d475cfd6c 130 uint8_t recieveBufferPointer;
sawa 0:381d475cfd6c 131 uint8_t dirty; //
sawa 0:381d475cfd6c 132 uint8_t serialWriteBusy; //
sawa 0:381d475cfd6c 133 volatile uint8_t modifyServosNow; //
sawa 0:381d475cfd6c 134
sawa 0:381d475cfd6c 135 uint8_t crc_table(uint8_t data, uint8_t crc);
sawa 0:381d475cfd6c 136 uint8_t crc8(uint8_t* buffer, uint8_t length);
sawa 0:381d475cfd6c 137 uint8_t getDataSize(uint8_t order);
sawa 0:381d475cfd6c 138
sawa 0:381d475cfd6c 139 void write(uint8_t* buffer, uint8_t length);
sawa 0:381d475cfd6c 140 void flush(void);
sawa 0:381d475cfd6c 141 void TxIrqHandler(void);
sawa 0:381d475cfd6c 142 void RxIrqHandler(void);
sawa 0:381d475cfd6c 143
sawa 0:381d475cfd6c 144 XBusError sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize);
sawa 0:381d475cfd6c 145 };
sawa 0:381d475cfd6c 146
sawa 0:381d475cfd6c 147
sawa 0:381d475cfd6c 148 #endif // of XBusServo_h
sawa 0:381d475cfd6c 149