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@14:8f44990ecb74, 2014-10-08 (annotated)

Committer:
sawa
Date:
Wed Oct 08 07:22:00 2014 +0000
Revision:
14:8f44990ecb74
Parent:
13:5e2aa53353a8
Child:
17:3ffb2e3e3bec
comment update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sawa 3:9a10ad81d04e 1 /**
sawa 3:9a10ad81d04e 2 * @file XBusServo.h
sawa 3:9a10ad81d04e 3 * @brief this header file will contain all required
sawa 13:5e2aa53353a8 4 * definitions and basic utilities functions
sawa 13:5e2aa53353a8 5 * for controling XBus servo.
sawa 3:9a10ad81d04e 6 * @author Zak Sawa
sawa 3:9a10ad81d04e 7 * @note Copyright (c) 2014-2014 JR PROPO
sawa 3:9a10ad81d04e 8 * @note Released under the MIT License: http://mbed.org/license/mit
sawa 0:381d475cfd6c 9 */
sawa 13:5e2aa53353a8 10
sawa 0:381d475cfd6c 11 #ifndef XBusServo_h
sawa 0:381d475cfd6c 12 #define XBusServo_h
sawa 0:381d475cfd6c 13
sawa 0:381d475cfd6c 14 #include "mbed.h"
sawa 0:381d475cfd6c 15
sawa 5:7246a46379f7 16 /// standard interval time for XBus servo
sawa 1:bd80d3e8f3a3 17 #define kXBusStandardInterval 14 // mSec
sawa 0:381d475cfd6c 18
sawa 5:7246a46379f7 19 /// angle data for XBus servo
sawa 1:bd80d3e8f3a3 20 #define kXbusServoMinimum 0x1249 // 900uSec -60 or -90 degree
sawa 1:bd80d3e8f3a3 21 #define kXbusServoNeutral 0x7FFF // 1500uSec 0 degree
sawa 1:bd80d3e8f3a3 22 #define kXbusServoMaximum 0xEDB6 // 2100uSec 60 or 90 degree
sawa 1:bd80d3e8f3a3 23
sawa 5:7246a46379f7 24 /// maximum number of XBus servo
sawa 0:381d475cfd6c 25 #define kXBusMaxServoNum 50
sawa 0:381d475cfd6c 26
sawa 5:7246a46379f7 27 /// XBus Get/Set/Status command order
sawa 0:381d475cfd6c 28 typedef enum {
sawa 0:381d475cfd6c 29 kXBusOrder_1_Mode = 0x01,
sawa 0:381d475cfd6c 30 kXBusOrder_1_ID = 0x03,
sawa 0:381d475cfd6c 31 kXBusOrder_2_Version = 0x04, // only for get
sawa 0:381d475cfd6c 32 kXBusOrder_2_Product = 0x05, // only for get
sawa 0:381d475cfd6c 33 kXBusOrder_1_Unsupported = 0x06, // only for status
sawa 0:381d475cfd6c 34 kXBusOrder_2_Reset = 0x07, // only for set
sawa 0:381d475cfd6c 35 kXBusOrder_2_ParamWrite = 0x08, // only for set
sawa 0:381d475cfd6c 36
sawa 0:381d475cfd6c 37 kXBusOrder_2_Reverse = 0x10,
sawa 0:381d475cfd6c 38 kXBusOrder_2_Neutral = 0x11,
sawa 0:381d475cfd6c 39 kXBusOrder_2_H_Travel = 0x12,
sawa 0:381d475cfd6c 40 kXBusOrder_2_L_Travel = 0x13,
sawa 0:381d475cfd6c 41 kXBusOrder_2_H_Limit = 0x14,
sawa 0:381d475cfd6c 42 kXBusOrder_2_L_Limit = 0x15,
sawa 0:381d475cfd6c 43 kXBusOrder_1_P_Gain = 0x16,
sawa 0:381d475cfd6c 44 kXBusOrder_1_I_Gain = 0x17,
sawa 0:381d475cfd6c 45 kXBusOrder_1_D_Gain = 0x18,
sawa 0:381d475cfd6c 46 kXBusOrder_1_DeadBand = 0x19,
sawa 0:381d475cfd6c 47 kXBusOrder_2_PowerOffset = 0x1A,
sawa 0:381d475cfd6c 48 kXBusOrder_1_AlarmLevel = 0x1B,
sawa 0:381d475cfd6c 49 kXBusOrder_2_AlarmDelay = 0x1C,
sawa 0:381d475cfd6c 50 kXBusOrder_1_Angle_180 = 0x1D,
sawa 0:381d475cfd6c 51 kXBusOrder_1_SlowStart = 0x1E,
sawa 0:381d475cfd6c 52 kXBusOrder_1_StopMode = 0x1F,
sawa 0:381d475cfd6c 53 kXBusOrder_2_CurrentPos = 0x20, // only for get
sawa 0:381d475cfd6c 54 kXBusOrder_1_CurrentPow = 0x21, // only for get
sawa 0:381d475cfd6c 55 kXBusOrder_1_SpeedLimit = 0x22,
sawa 0:381d475cfd6c 56 kXBusOrder_2_MaxInteger = 0x23,
sawa 0:381d475cfd6c 57 } XBusOrder;
sawa 0:381d475cfd6c 58
sawa 0:381d475cfd6c 59
sawa 5:7246a46379f7 60 /// XBus parameter index
sawa 0:381d475cfd6c 61 typedef enum {
sawa 0:381d475cfd6c 62 kParamIdx_Unused0 = 0x0000,
sawa 0:381d475cfd6c 63 kParamIdx_AllData_wID = 0x0001,
sawa 0:381d475cfd6c 64 kParamIdx_AllData_woID = 0x0002,
sawa 0:381d475cfd6c 65 kParamIdx_ServoID = 0x0003,
sawa 0:381d475cfd6c 66 kParamIdx_Reversed = 0x0004,
sawa 0:381d475cfd6c 67 kParamIdx_NeutralOffset = 0x0005,
sawa 0:381d475cfd6c 68 kParamIdx_TravelHigh = 0x0006,
sawa 0:381d475cfd6c 69 kParamIdx_TravelLow = 0x0007,
sawa 0:381d475cfd6c 70 kParamIdx_LimitHigh = 0x0008,
sawa 0:381d475cfd6c 71 kParamIdx_LimitLow = 0x0009,
sawa 0:381d475cfd6c 72 kParamIdx_PGainDiff = 0x000A,
sawa 0:381d475cfd6c 73 kParamIdx_IGainDiff = 0x000B,
sawa 0:381d475cfd6c 74 kParamIdx_DGainDiff = 0x000C,
sawa 0:381d475cfd6c 75 kParamIdx_DeadBandDiff = 0x000D,
sawa 0:381d475cfd6c 76 kParamIdx_PWOffsetDiff = 0x000E,
sawa 0:381d475cfd6c 77 kParamIdx_AlarmLevel = 0x000F,
sawa 0:381d475cfd6c 78 kParamIdx_AlarmDelay = 0x0010,
sawa 0:381d475cfd6c 79 kParamIdx_Angle_180 = 0x0011,
sawa 0:381d475cfd6c 80 kParamIdx_SlowStart = 0x0012,
sawa 0:381d475cfd6c 81 kParamIdx_StopMode = 0x0013,
sawa 0:381d475cfd6c 82 kParamIdx_SpeedLimit = 0x0014,
sawa 0:381d475cfd6c 83 kParamIdx_MaxIntegerDiff = 0x0015,
sawa 0:381d475cfd6c 84 } XBusParamIdx;
sawa 0:381d475cfd6c 85
sawa 0:381d475cfd6c 86
sawa 5:7246a46379f7 87 /// XBus error code
sawa 0:381d475cfd6c 88 typedef enum {
sawa 0:381d475cfd6c 89 kXBusError_NoError = 0x0000,
sawa 0:381d475cfd6c 90 kXBusError_CRCError,
sawa 0:381d475cfd6c 91 kXBusError_ServoNumOverflow,
sawa 0:381d475cfd6c 92 kXBusError_ServoNumIsZero,
sawa 0:381d475cfd6c 93 kXBusError_AddWithSameID,
sawa 0:381d475cfd6c 94 kXBusError_IDNotFound,
sawa 0:381d475cfd6c 95 kXBusError_Unsupported,
sawa 0:381d475cfd6c 96 kXBusError_OnlyForTxOnlyMode,
sawa 0:381d475cfd6c 97 kXBusError_OnlyForNormalMode,
sawa 0:381d475cfd6c 98
sawa 0:381d475cfd6c 99 kXBusError_NumOfError,
sawa 0:381d475cfd6c 100 } XBusError;
sawa 0:381d475cfd6c 101
sawa 0:381d475cfd6c 102
sawa 9:9248ea2cb4b5 103 /**
sawa 13:5e2aa53353a8 104 * @brief Library class for XBus servo
sawa 13:5e2aa53353a8 105 * @note 2014/09/02 : move from Arduino lib by Sawa
sawa 13:5e2aa53353a8 106 */
sawa 2:4aca5ffce457 107 class XBusServo // : private RawSerial
sawa 0:381d475cfd6c 108 {
sawa 0:381d475cfd6c 109 public:
sawa 13:5e2aa53353a8 110 /**
sawa 13:5e2aa53353a8 111 * @param tx pin name for tx
sawa 13:5e2aa53353a8 112 * @param rx pin name for rx
sawa 13:5e2aa53353a8 113 * @param maxServoNum max number of servo that you want to connect.
sawa 13:5e2aa53353a8 114 * (limit 50)
sawa 13:5e2aa53353a8 115 * this does just to resetve the buffer. you need to
sawa 13:5e2aa53353a8 116 * add XBus servo at the beginning of your sketch
sawa 13:5e2aa53353a8 117 *
sawa 13:5e2aa53353a8 118 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 119 */
sawa 0:381d475cfd6c 120 XBusServo(PinName tx, PinName rx, uint8_t maxServoNum);
sawa 0:381d475cfd6c 121
sawa 0:381d475cfd6c 122 public:
sawa 13:5e2aa53353a8 123 /**
sawa 13:5e2aa53353a8 124 * @return XBus error code
sawa 13:5e2aa53353a8 125 * @brief start function to use XBus
sawa 13:5e2aa53353a8 126 * @author 2014/10/07 : Zak Sawa
sawa 13:5e2aa53353a8 127 */
sawa 1:bd80d3e8f3a3 128 XBusError start();
sawa 13:5e2aa53353a8 129 /**
sawa 13:5e2aa53353a8 130 * @brief stop function to use XBus
sawa 13:5e2aa53353a8 131 * @author 2014/10/07 : Zak Sawa
sawa 13:5e2aa53353a8 132 */
sawa 1:bd80d3e8f3a3 133 void stop();
sawa 1:bd80d3e8f3a3 134
sawa 13:5e2aa53353a8 135 /**
sawa 13:5e2aa53353a8 136 * @return XBus error code
sawa 13:5e2aa53353a8 137 * @param channelID channel ID of the XBus servo that you want to use
sawa 13:5e2aa53353a8 138 * @param initValue initial value of this XBus servo
sawa 13:5e2aa53353a8 139 * use kXbusServoNeutral for center of the XBus servo
sawa 13:5e2aa53353a8 140 * @brief add new servo to the buffer on this library
sawa 13:5e2aa53353a8 141 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 142 */
sawa 0:381d475cfd6c 143 XBusError addServo(uint8_t channelID, uint16_t initValue);
sawa 13:5e2aa53353a8 144 /**
sawa 13:5e2aa53353a8 145 * @return XBus error code
sawa 13:5e2aa53353a8 146 * @param channelID channel ID of the XBus servo that you want to remove
sawa 13:5e2aa53353a8 147 * @brief remove the servo from the buffer on this library
sawa 13:5e2aa53353a8 148 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 149 */
sawa 0:381d475cfd6c 150 XBusError removeServo(uint8_t channelID);
sawa 13:5e2aa53353a8 151 /**
sawa 13:5e2aa53353a8 152 * @return XBus error code
sawa 13:5e2aa53353a8 153 * @param channelID channel ID of the XBus servo that you want to set
sawa 13:5e2aa53353a8 154 * @param value value of this XBus servo
sawa 13:5e2aa53353a8 155 * use kXbusServoNeutral for center of the XBus servo
sawa 13:5e2aa53353a8 156 * @brief set new value to the servo
sawa 13:5e2aa53353a8 157 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 158 */
sawa 0:381d475cfd6c 159 XBusError setServo(uint8_t channelID, uint16_t value);
sawa 0:381d475cfd6c 160
sawa 13:5e2aa53353a8 161 /**
sawa 13:5e2aa53353a8 162 * @brief This should be called on the timer handler when you
sawa 13:5e2aa53353a8 163 * use the XBus servo.
sawa 13:5e2aa53353a8 164 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 165 */
sawa 0:381d475cfd6c 166 void sendChannelDataPacket(void);
sawa 0:381d475cfd6c 167
sawa 13:5e2aa53353a8 168 /**
sawa 13:5e2aa53353a8 169 * @return XBus error code
sawa 13:5e2aa53353a8 170 * @param oldChannelID channel IDof the XBus servo to change the ID
sawa 13:5e2aa53353a8 171 * @param newChannelID new channel ID for the XBus servo
sawa 13:5e2aa53353a8 172 * @brief set new channel ID to the XBus servo
sawa 13:5e2aa53353a8 173 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 174 */
sawa 0:381d475cfd6c 175 XBusError setChannelID(uint8_t oldChannelID, uint8_t newChannelID);
sawa 13:5e2aa53353a8 176 /**
sawa 13:5e2aa53353a8 177 * @return XBus error code
sawa 13:5e2aa53353a8 178 * @param channelID channel ID of the XBus servo that you want to set to
sawa 13:5e2aa53353a8 179 * @param order the order that you want
sawa 13:5e2aa53353a8 180 * @param value the value that you want to set and return current value
sawa 13:5e2aa53353a8 181 * @brief send set command to the XBus servo
sawa 13:5e2aa53353a8 182 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 183 */
sawa 0:381d475cfd6c 184 XBusError setCommand(uint8_t channelID, uint8_t order, int16_t* value);
sawa 13:5e2aa53353a8 185 /**
sawa 13:5e2aa53353a8 186 * @return XBus error code
sawa 13:5e2aa53353a8 187 * @param channelID channel ID of the XBus servo that you want to get from
sawa 13:5e2aa53353a8 188 * @param order the order that you want
sawa 13:5e2aa53353a8 189 * @param value the value that you want to get from
sawa 13:5e2aa53353a8 190 * @brief send get command to the XBus servo
sawa 13:5e2aa53353a8 191 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 192 */
sawa 0:381d475cfd6c 193 XBusError getCommand(uint8_t channelID, uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 194
sawa 13:5e2aa53353a8 195 /**
sawa 13:5e2aa53353a8 196 * @return XBus error code
sawa 13:5e2aa53353a8 197 * @param newChannelID new channel ID for the XBus servo
sawa 13:5e2aa53353a8 198 * @brief set new channel ID to the XBus servo
sawa 14:8f44990ecb74 199 * @note this is only for TX only mode
sawa 13:5e2aa53353a8 200 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 201 */
sawa 0:381d475cfd6c 202 XBusError setChannelID(uint8_t newChannelID);
sawa 13:5e2aa53353a8 203 /**
sawa 13:5e2aa53353a8 204 * @return XBus error code
sawa 13:5e2aa53353a8 205 * @param order the order that you want
sawa 13:5e2aa53353a8 206 * @param value the value that you want to set and return current value
sawa 13:5e2aa53353a8 207 * @brief send set command to the XBus servo
sawa 14:8f44990ecb74 208 * @note this is only for TX only mode
sawa 13:5e2aa53353a8 209 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 210 */
sawa 0:381d475cfd6c 211 XBusError setCommand(uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 212
sawa 0:381d475cfd6c 213
sawa 0:381d475cfd6c 214 private:
sawa 1:bd80d3e8f3a3 215 #define kRecieveBufferSize 64
sawa 1:bd80d3e8f3a3 216
sawa 1:bd80d3e8f3a3 217 RawSerial XBusPort;
sawa 1:bd80d3e8f3a3 218
sawa 0:381d475cfd6c 219 uint8_t txOnly; // 1 for TX only mode
sawa 0:381d475cfd6c 220 PinName txPin; //
sawa 0:381d475cfd6c 221 uint8_t numOfServo; // number of servos
sawa 0:381d475cfd6c 222 uint8_t maxServo; // max number of servos
sawa 0:381d475cfd6c 223 uint8_t* chPacketBuffer; // channel data packet buffer
sawa 0:381d475cfd6c 224 uint8_t* sendBuffer; // serial send buffer
sawa 0:381d475cfd6c 225 uint8_t* sendBufferPointer;
sawa 0:381d475cfd6c 226 uint8_t sendLength;
sawa 0:381d475cfd6c 227 uint8_t recieveBuffer[kRecieveBufferSize]; // serial recieve buffer
sawa 0:381d475cfd6c 228 uint8_t recieveBufferPointer;
sawa 0:381d475cfd6c 229 uint8_t dirty; //
sawa 0:381d475cfd6c 230 uint8_t serialWriteBusy; //
sawa 0:381d475cfd6c 231 volatile uint8_t modifyServosNow; //
sawa 0:381d475cfd6c 232
sawa 0:381d475cfd6c 233 uint8_t crc_table(uint8_t data, uint8_t crc);
sawa 0:381d475cfd6c 234 uint8_t crc8(uint8_t* buffer, uint8_t length);
sawa 13:5e2aa53353a8 235 /**
sawa 13:5e2aa53353a8 236 * @return data size for this order
sawa 13:5e2aa53353a8 237 * @param order the order that you want to know
sawa 13:5e2aa53353a8 238 * @brief get the data size of this order
sawa 13:5e2aa53353a8 239 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 240 */
sawa 0:381d475cfd6c 241 uint8_t getDataSize(uint8_t order);
sawa 0:381d475cfd6c 242
sawa 13:5e2aa53353a8 243 /**
sawa 13:5e2aa53353a8 244 * @param buffer data buffer to send
sawa 13:5e2aa53353a8 245 * @param length data length on the buffer
sawa 13:5e2aa53353a8 246 * @brief start to send all packet data
sawa 13:5e2aa53353a8 247 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 248 */
sawa 0:381d475cfd6c 249 void write(uint8_t* buffer, uint8_t length);
sawa 13:5e2aa53353a8 250 /**
sawa 13:5e2aa53353a8 251 * @brief wait to send all packet data
sawa 13:5e2aa53353a8 252 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 253 */
sawa 0:381d475cfd6c 254 void flush(void);
sawa 13:5e2aa53353a8 255 /**
sawa 13:5e2aa53353a8 256 * @brief handler for Tx buffer empty
sawa 13:5e2aa53353a8 257 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 258 */
sawa 0:381d475cfd6c 259 void TxIrqHandler(void);
sawa 13:5e2aa53353a8 260 /**
sawa 13:5e2aa53353a8 261 * @brief handler for Rx buffer full
sawa 13:5e2aa53353a8 262 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 263 */
sawa 0:381d475cfd6c 264 void RxIrqHandler(void);
sawa 0:381d475cfd6c 265
sawa 13:5e2aa53353a8 266 /**
sawa 13:5e2aa53353a8 267 * @param command The commnad that you want to send
sawa 13:5e2aa53353a8 268 * @param channelID The channel ID of the XBus servo that you want to set up
sawa 13:5e2aa53353a8 269 * @param order The order that you want to set up
sawa 13:5e2aa53353a8 270 * @param value The value that you want to set / get
sawa 13:5e2aa53353a8 271 * @param valueSize The value size. 1 byte(char) or 2 byte(int)
sawa 13:5e2aa53353a8 272 * @brief This should NOT be called on the timer handler when you
sawa 13:5e2aa53353a8 273 * setup the XBus servo.
sawa 13:5e2aa53353a8 274 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 275 */
sawa 0:381d475cfd6c 276 XBusError sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize);
sawa 0:381d475cfd6c 277 };
sawa 0:381d475cfd6c 278
sawa 0:381d475cfd6c 279
sawa 0:381d475cfd6c 280 #endif // of XBusServo_h
sawa 0:381d475cfd6c 281