File content as of revision 4:d88f498d259b:

/**
 *  @file   XBusServo.h
 *  @brief  this header file will contain all required
 *          definitions and basic utilities functions.
 *  @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

#include "mbed.h"

// standard interval time for XBus servo
#define kXBusStandardInterval       14              // mSec

// angle data for XBus servo
#define kXbusServoMinimum           0x1249          // 900uSec      -60 or -90 degree
#define kXbusServoNeutral           0x7FFF          // 1500uSec     0 degree
#define kXbusServoMaximum           0xEDB6          // 2100uSec     60 or 90 degree

// maximum number of XBus servo
#define kXBusMaxServoNum            50

// XBus Get/Set/Status command order
typedef enum {
    kXBusOrder_1_Mode =             0x01,
    kXBusOrder_1_ID =               0x03,
    kXBusOrder_2_Version =          0x04,           // only for get
    kXBusOrder_2_Product =          0x05,           // only for get
    kXBusOrder_1_Unsupported =      0x06,           // only for status
    kXBusOrder_2_Reset =            0x07,           // only for set
    kXBusOrder_2_ParamWrite =       0x08,           // only for set

    kXBusOrder_2_Reverse =          0x10,
    kXBusOrder_2_Neutral =          0x11,
    kXBusOrder_2_H_Travel =         0x12,
    kXBusOrder_2_L_Travel =         0x13,
    kXBusOrder_2_H_Limit =          0x14,
    kXBusOrder_2_L_Limit =          0x15,
    kXBusOrder_1_P_Gain =           0x16,
    kXBusOrder_1_I_Gain =           0x17,
    kXBusOrder_1_D_Gain =           0x18,
    kXBusOrder_1_DeadBand =         0x19,
    kXBusOrder_2_PowerOffset =      0x1A,
    kXBusOrder_1_AlarmLevel =       0x1B,
    kXBusOrder_2_AlarmDelay =       0x1C,
    kXBusOrder_1_Angle_180 =        0x1D,
    kXBusOrder_1_SlowStart =        0x1E,
    kXBusOrder_1_StopMode =         0x1F,
    kXBusOrder_2_CurrentPos =       0x20,           // only for get
    kXBusOrder_1_CurrentPow =       0x21,           // only for get
    kXBusOrder_1_SpeedLimit =       0x22,
    kXBusOrder_2_MaxInteger =       0x23,
} 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;



class XBusServo // : private RawSerial
{
public:
/** XBusServo::XBusServo
    @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

    @bref               Constructor

    @note               2014/09/02 : move from Arduino lib by Sawa
*/
    XBusServo(PinName tx, PinName rx, uint8_t maxServoNum);

public:
    XBusError       start();
    void            stop();

    XBusError       addServo(uint8_t channelID, uint16_t initValue);
    XBusError       removeServo(uint8_t channelID);
    XBusError       setServo(uint8_t channelID, uint16_t value);

    void            sendChannelDataPacket(void);

    XBusError       setChannelID(uint8_t oldChannelID, uint8_t newChannelID);
    XBusError       setCommand(uint8_t channelID, uint8_t order, int16_t* value);
    XBusError       getCommand(uint8_t channelID, uint8_t order, int16_t* value);

    XBusError       setChannelID(uint8_t newChannelID);
    XBusError       setCommand(uint8_t order, int16_t* value);


private:
#define         kRecieveBufferSize          64

    RawSerial           XBusPort;

    uint8_t             txOnly;          // 1 for TX only mode
    PinName             txPin;           //
    uint8_t             numOfServo;      // number of servos
    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;
    uint8_t             recieveBuffer[kRecieveBufferSize];   // serial recieve buffer
    uint8_t             recieveBufferPointer;
    uint8_t             dirty;           //
    uint8_t             serialWriteBusy; //
    volatile uint8_t    modifyServosNow; //

    uint8_t             crc_table(uint8_t data, uint8_t crc);
    uint8_t             crc8(uint8_t* buffer, uint8_t length);
    uint8_t             getDataSize(uint8_t    order);

    void                write(uint8_t* buffer, uint8_t length);
    void                flush(void);
    void                TxIrqHandler(void);
    void                RxIrqHandler(void);

    XBusError           sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize);
};


#endif  // of XBusServo_h