Kazutaka "Zak" Sawa
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
Diff: XBusServo.h
- Revision:
- 13:5e2aa53353a8
- Parent:
- 12:0e9d5941fc22
- Child:
- 14:8f44990ecb74
--- a/XBusServo.h Wed Oct 08 06:08:44 2014 +0000
+++ b/XBusServo.h Wed Oct 08 07:18:27 2014 +0000
@@ -1,12 +1,13 @@
/**
* @file XBusServo.h
* @brief this header file will contain all required
- * definitions and basic utilities functions.
+ * definitions and basic utilities functions
+ * for controling XBus servo.
* @author Zak Sawa
* @note Copyright (c) 2014-2014 JR PROPO
* @note Released under the MIT License: http://mbed.org/license/mit
*/
-
+
#ifndef XBusServo_h
#define XBusServo_h
@@ -100,48 +101,113 @@
/**
- @brief Library class for XBus servo
- @note 2014/09/02 : move from Arduino lib by Sawa
-*/
+ * @brief Library class for XBus servo
+ * @note 2014/09/02 : move from Arduino lib by Sawa
+ */
class XBusServo // : private RawSerial
{
public:
-/**
- @param tx pin name for tx
- @param rx pin name for rx
- @param maxServoNum max number of servo that you want to connect.
- (limit 50)
- this does just to resetve the buffer. you need to
- add XBus servo at the beginning of your sketch
-
- @note 2014/09/02 : move from Arduino lib by Sawa
-*/
+ /**
+ * @param tx pin name for tx
+ * @param rx pin name for rx
+ * @param maxServoNum max number of servo that you want to connect.
+ * (limit 50)
+ * this does just to resetve the buffer. you need to
+ * add XBus servo at the beginning of your sketch
+ *
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
XBusServo(PinName tx, PinName rx, uint8_t maxServoNum);
public:
-/**
- @return XBus error code
- @brief start function to use XBus
- @note 2014/09/02 : move from Arduino lib by Sawa
-*/
+ /**
+ * @return XBus error code
+ * @brief start function to use XBus
+ * @author 2014/10/07 : Zak Sawa
+ */
XBusError start();
-/**
- @brief stop function to use XBus
- @note 2014/09/02 : move from Arduino lib by Sawa
-*/
+ /**
+ * @brief stop function to use XBus
+ * @author 2014/10/07 : Zak Sawa
+ */
void stop();
+ /**
+ * @return XBus error code
+ * @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
+ * @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
+ * @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
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
XBusError setServo(uint8_t channelID, uint16_t value);
+ /**
+ * @brief This should be called on the timer handler when you
+ * use the XBus servo.
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
void sendChannelDataPacket(void);
+ /**
+ * @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
+ * @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
+ * @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
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
XBusError getCommand(uint8_t channelID, uint8_t order, int16_t* value);
+ /**
+ * @return XBus error code
+ * @param newChannelID new channel ID for the XBus servo
+ * @brief set new channel ID to the XBus servo
+ * 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
+ * this is only for TX only mode
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
XBusError setCommand(uint8_t order, int16_t* value);
@@ -166,13 +232,47 @@
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
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
uint8_t getDataSize(uint8_t order);
+ /**
+ * @param buffer data buffer to send
+ * @param length data length on the buffer
+ * @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
+ * @author 2014/09/30 : Zak Sawa
+ */
void flush(void);
+ /**
+ * @brief handler for Tx buffer empty
+ * @author 2014/09/30 : Zak Sawa
+ */
void TxIrqHandler(void);
+ /**
+ * @brief handler for Rx buffer full
+ * @author 2014/09/30 : Zak Sawa
+ */
void RxIrqHandler(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
+ * setup the XBus servo.
+ * @author 2014/09/02 : move from Arduino lib by Zak Sawa
+ */
XBusError sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize);
};