Diff: XBusServo.h

Revision:

17:3ffb2e3e3bec

Parent:

14:8f44990ecb74

Child:

18:75ddf12d93b6

--- a/XBusServo.h	Wed Oct 08 07:39:19 2014 +0000
+++ b/XBusServo.h	Thu Oct 30 05:11:46 2014 +0000
@@ -12,6 +12,7 @@
 #define XBusServo_h
 
 #include "mbed.h"
+//#include "MODSERIAL.h"
 
 /// standard interval time for XBus servo
 #define kXBusStandardInterval       14              // mSec
@@ -24,7 +25,50 @@
 /// maximum number of XBus servo
 #define kXBusMaxServoNum            50
 
-/// XBus Get/Set/Status command order
+
+//! XBus error code
+typedef enum {
+    kXBusError_NoError =            0x0000,
+    kXBusError_CRCError,
+    kXBusError_ServoNumOverflow,
+    kXBusError_ServoNumIsZero,
+    kXBusError_AddWithSameID,
+    kXBusError_IDNotFound,
+    kXBusError_Unsupported,
+    kXBusError_OnlyForTxOnlyMode,
+    kXBusError_OnlyForNormalMode,
+    kXBusError_MemoryFull,
+
+    kXBusError_NumOfError,
+} XBusError;
+
+//! XBus parameter index
+typedef enum {
+    kParamIdx_Unused0 =             0x0000,
+    kParamIdx_AllData_wID =         0x0001,
+    kParamIdx_AllData_woID =        0x0002,
+    kParamIdx_ServoID =             0x0003,
+    kParamIdx_Reversed =            0x0004,
+    kParamIdx_NeutralOffset =       0x0005,
+    kParamIdx_TravelHigh =          0x0006,
+    kParamIdx_TravelLow =           0x0007,
+    kParamIdx_LimitHigh =           0x0008,
+    kParamIdx_LimitLow =            0x0009,
+    kParamIdx_PGainDiff =           0x000A,
+    kParamIdx_IGainDiff =           0x000B,
+    kParamIdx_DGainDiff =           0x000C,
+    kParamIdx_DeadBandDiff =        0x000D,
+    kParamIdx_PWOffsetDiff =        0x000E,
+    kParamIdx_AlarmLevel =          0x000F,
+    kParamIdx_AlarmDelay =          0x0010,
+    kParamIdx_Angle_180 =           0x0011,
+    kParamIdx_SlowStart =           0x0012,
+    kParamIdx_StopMode =            0x0013,
+    kParamIdx_SpeedLimit =          0x0014,
+    kParamIdx_MaxIntegerDiff =      0x0015,
+} XBusParamIdx;
+
+//! XBus Get/Set/Status command order
 typedef enum {
     kXBusOrder_1_Mode =             0x01,
     kXBusOrder_1_ID =               0x03,
@@ -57,59 +101,19 @@
 } XBusOrder;
 
 
-/// XBus parameter index
-typedef enum {
-    kParamIdx_Unused0 =             0x0000,
-    kParamIdx_AllData_wID =         0x0001,
-    kParamIdx_AllData_woID =        0x0002,
-    kParamIdx_ServoID =             0x0003,
-    kParamIdx_Reversed =            0x0004,
-    kParamIdx_NeutralOffset =       0x0005,
-    kParamIdx_TravelHigh =          0x0006,
-    kParamIdx_TravelLow =           0x0007,
-    kParamIdx_LimitHigh =           0x0008,
-    kParamIdx_LimitLow =            0x0009,
-    kParamIdx_PGainDiff =           0x000A,
-    kParamIdx_IGainDiff =           0x000B,
-    kParamIdx_DGainDiff =           0x000C,
-    kParamIdx_DeadBandDiff =        0x000D,
-    kParamIdx_PWOffsetDiff =        0x000E,
-    kParamIdx_AlarmLevel =          0x000F,
-    kParamIdx_AlarmDelay =          0x0010,
-    kParamIdx_Angle_180 =           0x0011,
-    kParamIdx_SlowStart =           0x0012,
-    kParamIdx_StopMode =            0x0013,
-    kParamIdx_SpeedLimit =          0x0014,
-    kParamIdx_MaxIntegerDiff =      0x0015,
-} XBusParamIdx;
-
-
-/// XBus error code
-typedef enum {
-    kXBusError_NoError =            0x0000,
-    kXBusError_CRCError,
-    kXBusError_ServoNumOverflow,
-    kXBusError_ServoNumIsZero,
-    kXBusError_AddWithSameID,
-    kXBusError_IDNotFound,
-    kXBusError_Unsupported,
-    kXBusError_OnlyForTxOnlyMode,
-    kXBusError_OnlyForNormalMode,
-
-    kXBusError_NumOfError,
-} XBusError;
-
-
 /**
  *   @brief              Library class for XBus servo
  *   @note               2014/09/02 : move from Arduino lib by Sawa
  */
-class XBusServo // : private RawSerial
+class XBusServo
 {
 public:
+
+
     /**
      *  @param tx           pin name for tx
      *  @param rx           pin name for rx
+     *  @param sw           pin name for switch tx
      *  @param maxServoNum  max number of servo that you want to connect.
      *                      (limit 50)
      *                      this does just to resetve the buffer.  you need to
@@ -117,17 +121,20 @@
      *
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
-    XBusServo(PinName tx, PinName rx, uint8_t maxServoNum);
+    XBusServo(PinName tx, PinName rx, PinName sw, uint8_t maxServoNum);
 
 public:
     /**
      *  @return             XBus error code
-     *  @brief              start function to use XBus
+     *  @brief              Start function to use XBus
+     *                      This should NOT be called on interrupt handler.
      *  @author             2014/10/07 : Zak Sawa
      */
     XBusError       start();
+
     /**
-     *  @brief              stop function to use XBus
+     *  @brief              Stop function to use XBus
+     *                      This should NOT be called on interrupt handler.
      *  @author             2014/10/07 : Zak Sawa
      */
     void            stop();
@@ -137,23 +144,31 @@
      *  @param channelID    channel ID of the XBus servo that you want to use
      *  @param initValue    initial value of this XBus servo
      *                      use kXbusServoNeutral for center of the XBus servo
-     *  @brief              add new servo to the buffer on this library
+     *  @brief              Add new servo to the buffer on this library
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       addServo(uint8_t channelID, uint16_t initValue);
+
     /**
      *  @return             XBus error code
      *  @param channelID    channel ID of the XBus servo that you want to remove
-     *  @brief              remove the servo from the buffer on this library
+     *  @brief              Remove the servo from the buffer on this library
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       removeServo(uint8_t channelID);
+
     /**
      *  @return             XBus error code
      *  @param channelID    channel ID of the XBus servo that you want to set
      *  @param value        value of this XBus servo
      *                      use kXbusServoNeutral for center of the XBus servo
-     *  @brief              set new value to the servo
+     *  @brief              Set new value to the servo
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       setServo(uint8_t channelID, uint16_t value);
@@ -169,25 +184,33 @@
      *  @return             XBus error code
      *  @param oldChannelID channel IDof the XBus servo to change the ID
      *  @param newChannelID new channel ID for the XBus servo
-     *  @brief              set new channel ID to the XBus servo
+     *  @brief              Set new channel ID to the XBus servo
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       setChannelID(uint8_t oldChannelID, uint8_t newChannelID);
+
     /**
      *  @return             XBus error code
      *  @param channelID    channel ID of the XBus servo that you want to set to
      *  @param order        the order that you want
      *  @param value        the value that you want to set and return current value
-     *  @brief              send set command to the XBus servo
+     *  @brief              Send set command to the XBus servo
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       setCommand(uint8_t channelID, uint8_t order, int16_t* value);
+
     /**
      *  @return             XBus error code
      *  @param channelID    channel ID of the XBus servo that you want to get from
      *  @param order        the order that you want
      *  @param value        the value that you want to get from
-     *  @brief              send get command to the XBus servo
+     *  @brief              Send get command to the XBus servo
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       getCommand(uint8_t channelID, uint8_t order, int16_t* value);
@@ -195,16 +218,21 @@
     /**
      *  @return             XBus error code
      *  @param newChannelID new channel ID for the XBus servo
-     *  @brief              set new channel ID to the XBus servo
+     *  @brief              Set new channel ID to the XBus servo
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @note               this is only for TX only mode
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     XBusError       setChannelID(uint8_t newChannelID);
+
     /**
      *  @return             XBus error code
      *  @param order        the order that you want
      *  @param value        the value that you want to set and return current value
-     *  @brief              send set command to the XBus servo
+     *  @brief              Send set command to the XBus servo
+     *                      This should NOT be called on interrupt handler when you
+     *                      setup the XBus servo.
      *  @note               this is only for TX only mode
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
@@ -212,9 +240,12 @@
 
 
 private:
-#define         kRecieveBufferSize          64
+#define         kRecieveBufferSize          32
 
+//    MODSERIAL           XBusPort;
     RawSerial           XBusPort;
+    DigitalOut          TxSwitch;
+    Timeout             TxSwitchTimer;
 
     uint8_t             txOnly;          // 1 for TX only mode
     PinName             txPin;           //
@@ -222,20 +253,21 @@
     uint8_t             maxServo;        // max number of servos
     uint8_t*            chPacketBuffer;  // channel data packet buffer
     uint8_t*            sendBuffer;      // serial send buffer
-    uint8_t*            sendBufferPointer;
-    uint8_t             sendLength;
+    volatile uint8_t*   sendBufferPointer;
+    volatile uint8_t    sendLength;
     uint8_t             recieveBuffer[kRecieveBufferSize];   // serial recieve buffer
-    uint8_t             recieveBufferPointer;
+    volatile int8_t     recieveBufferPointer;
     uint8_t             dirty;           //
-    uint8_t             serialWriteBusy; //
+    volatile uint8_t    serialCommandBusy; //
     volatile uint8_t    modifyServosNow; //
+    volatile uint8_t    need2ReadData;
 
     uint8_t             crc_table(uint8_t data, uint8_t crc);
     uint8_t             crc8(uint8_t* buffer, uint8_t length);
     /**
      *  @return             data size for this order
      *  @param order        the order that you want to know
-     *  @brief              get the data size of this order
+     *  @brief              Get the data size of this order
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */
     uint8_t             getDataSize(uint8_t    order);
@@ -243,33 +275,44 @@
     /**
      *  @param buffer       data buffer to send
      *  @param length       data length on the buffer
-     *  @brief              start to send all packet data
+     *  @brief              Start to send all packet data
      *  @author             2014/09/30 : Zak Sawa
      */
     void                write(uint8_t* buffer, uint8_t length);
+
     /**
-     *  @brief              wait to send all packet data
+     *  @brief              Wait to send all packet data
      *  @author             2014/09/30 : Zak Sawa
      */
     void                flush(void);
+
     /**
      *  @brief              handler for Tx buffer empty
      *  @author             2014/09/30 : Zak Sawa
      */
+//    void                TxIrqHandler(MODSERIAL_IRQ_INFO *q);
     void                TxIrqHandler(void);
+
     /**
      *  @brief              handler for Rx buffer full
      *  @author             2014/09/30 : Zak Sawa
      */
+//    void                RxIrqHandler(MODSERIAL_IRQ_INFO *q);
     void                RxIrqHandler(void);
 
     /**
+     *  @brief              handler for Tx switch
+     *  @author             2014/10/29 : Zak Sawa
+     */
+    void                TxSwitchHandler(void);
+
+    /**
      *  @param command      The commnad that you want to send
      *  @param channelID    The channel ID of the XBus servo that you want to set up
      *  @param order        The order that you want to set up
      *  @param value        The value that you want to set / get
      *  @param valueSize    The value size.  1 byte(char) or 2 byte(int)
-     *  @brief              This should NOT be called on the timer handler when you
+     *  @brief              This should NOT be called on interrupt handler when you
      *                      setup the XBus servo.
      *  @author             2014/09/02 : move from Arduino lib by Zak Sawa
      */