雄介 太田 / Dynamixel

Dyanamixel

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MX28.cpp@2:08072af3e9da, 2015-04-09 (annotated)

Committer:
yusuke_kyo
Date:
Thu Apr 09 04:23:51 2015 +0000
Revision:
2:08072af3e9da
Parent:
1:3ac0919c093f
Child:
5:950c4f4f73c6
MultiTurn mode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_kyo 0:10c9fb86002f 1 /* mbed AX-12+ Servo Library
yusuke_kyo 0:10c9fb86002f 2 *
yusuke_kyo 0:10c9fb86002f 3 * Copyright (c) 2010, cstyles (http://mbed.org)
yusuke_kyo 0:10c9fb86002f 4 *
yusuke_kyo 0:10c9fb86002f 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
yusuke_kyo 0:10c9fb86002f 6 * of this software and associated documentation files (the "Software"), to deal
yusuke_kyo 0:10c9fb86002f 7 * in the Software without restriction, including without limitation the rights
yusuke_kyo 0:10c9fb86002f 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
yusuke_kyo 0:10c9fb86002f 9 * copies of the Software, and to permit persons to whom the Software is
yusuke_kyo 0:10c9fb86002f 10 * furnished to do so, subject to the following conditions:
yusuke_kyo 0:10c9fb86002f 11 *
yusuke_kyo 0:10c9fb86002f 12 * The above copyright notice and this permission notice shall be included in
yusuke_kyo 0:10c9fb86002f 13 * all copies or substantial portions of the Software.
yusuke_kyo 0:10c9fb86002f 14 *
yusuke_kyo 0:10c9fb86002f 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
yusuke_kyo 0:10c9fb86002f 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
yusuke_kyo 0:10c9fb86002f 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
yusuke_kyo 0:10c9fb86002f 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
yusuke_kyo 0:10c9fb86002f 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
yusuke_kyo 0:10c9fb86002f 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
yusuke_kyo 0:10c9fb86002f 21 * THE SOFTWARE.
yusuke_kyo 0:10c9fb86002f 22 */
yusuke_kyo 0:10c9fb86002f 23
yusuke_kyo 0:10c9fb86002f 24 #include "MX28.h"
yusuke_kyo 0:10c9fb86002f 25 #include "mbed.h"
yusuke_kyo 0:10c9fb86002f 26 //#include "SerialHalfDuplex.h"
yusuke_kyo 0:10c9fb86002f 27
yusuke_kyo 0:10c9fb86002f 28 MX28::MX28(PinName tx, PinName rx, int ID)
yusuke_kyo 0:10c9fb86002f 29 : _mx28(tx,rx) {
yusuke_kyo 0:10c9fb86002f 30
yusuke_kyo 0:10c9fb86002f 31 _mx28.baud(1000000);
yusuke_kyo 0:10c9fb86002f 32 _ID = ID;
yusuke_kyo 0:10c9fb86002f 33 }
yusuke_kyo 0:10c9fb86002f 34
yusuke_kyo 0:10c9fb86002f 35 // Set the mode of the servo
yusuke_kyo 0:10c9fb86002f 36 // 0 = Positional (0-300 degrees)
yusuke_kyo 0:10c9fb86002f 37 // 1 = Rotational -1 to 1 speed
yusuke_kyo 0:10c9fb86002f 38 int MX28::SetMode(int mode) {
yusuke_kyo 0:10c9fb86002f 39
yusuke_kyo 0:10c9fb86002f 40 if (mode == 1) { // set CR
yusuke_kyo 0:10c9fb86002f 41 SetCWLimit(0);
yusuke_kyo 0:10c9fb86002f 42 SetCCWLimit(0);
yusuke_kyo 0:10c9fb86002f 43 SetCRSpeed(0.0);
yusuke_kyo 0:10c9fb86002f 44 } else {
yusuke_kyo 0:10c9fb86002f 45 SetCWLimit(0);
yusuke_kyo 2:08072af3e9da 46 SetCCWLimit(360);
yusuke_kyo 0:10c9fb86002f 47 SetCRSpeed(0.0);
yusuke_kyo 0:10c9fb86002f 48 }
yusuke_kyo 0:10c9fb86002f 49 return(0);
yusuke_kyo 0:10c9fb86002f 50 }
yusuke_kyo 0:10c9fb86002f 51
yusuke_kyo 0:10c9fb86002f 52
yusuke_kyo 0:10c9fb86002f 53 // if flag[0] is set, were blocking
yusuke_kyo 0:10c9fb86002f 54 // if flag[1] is set, we're registering
yusuke_kyo 0:10c9fb86002f 55 // they are mutually exclusive operations
yusuke_kyo 0:10c9fb86002f 56 int MX28::SetGoal(int degrees, int flags) {
yusuke_kyo 0:10c9fb86002f 57
yusuke_kyo 0:10c9fb86002f 58 char reg_flag = 0;
yusuke_kyo 0:10c9fb86002f 59 char data[2];
yusuke_kyo 0:10c9fb86002f 60
yusuke_kyo 0:10c9fb86002f 61 // set the flag is only the register bit is set in the flag
yusuke_kyo 0:10c9fb86002f 62 if (flags == 0x2) {
yusuke_kyo 0:10c9fb86002f 63 reg_flag = 1;
yusuke_kyo 0:10c9fb86002f 64 }
yusuke_kyo 0:10c9fb86002f 65
yusuke_kyo 0:10c9fb86002f 66 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 67 short goal = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 68 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 69 printf("SetGoal to 0x%x\n",goal);
yusuke_kyo 0:10c9fb86002f 70 }
yusuke_kyo 0:10c9fb86002f 71
yusuke_kyo 0:10c9fb86002f 72 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 73 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 74
yusuke_kyo 0:10c9fb86002f 75 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 76 int rVal = write(_ID, MX28_REG_GOAL_POSITION, 2, data, reg_flag);
yusuke_kyo 0:10c9fb86002f 77
yusuke_kyo 0:10c9fb86002f 78 if (flags == 1) {
yusuke_kyo 0:10c9fb86002f 79 // block until it comes to a halt
yusuke_kyo 0:10c9fb86002f 80 while (isMoving()) {}
yusuke_kyo 0:10c9fb86002f 81 }
yusuke_kyo 0:10c9fb86002f 82 return(rVal);
yusuke_kyo 0:10c9fb86002f 83 }
yusuke_kyo 0:10c9fb86002f 84
yusuke_kyo 0:10c9fb86002f 85
yusuke_kyo 0:10c9fb86002f 86 // Set continuous rotation speed from -1 to 1
yusuke_kyo 0:10c9fb86002f 87 int MX28::SetCRSpeed(float speed) {
yusuke_kyo 0:10c9fb86002f 88
yusuke_kyo 0:10c9fb86002f 89 // bit 10 = direction, 0 = CCW, 1=CW
yusuke_kyo 0:10c9fb86002f 90 // bits 9-0 = Speed
yusuke_kyo 0:10c9fb86002f 91 char data[2];
yusuke_kyo 0:10c9fb86002f 92
yusuke_kyo 0:10c9fb86002f 93 int goal = (0x3ff * abs(speed));
yusuke_kyo 0:10c9fb86002f 94
yusuke_kyo 0:10c9fb86002f 95 // Set direction CW if we have a negative speed
yusuke_kyo 0:10c9fb86002f 96 if (speed < 0) {
yusuke_kyo 0:10c9fb86002f 97 goal |= (0x1 << 10);
yusuke_kyo 0:10c9fb86002f 98 }
yusuke_kyo 0:10c9fb86002f 99
yusuke_kyo 0:10c9fb86002f 100 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 101 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 102
yusuke_kyo 0:10c9fb86002f 103 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 104 int rVal = write(_ID, 0x20, 2, data);
yusuke_kyo 0:10c9fb86002f 105
yusuke_kyo 0:10c9fb86002f 106 return(rVal);
yusuke_kyo 0:10c9fb86002f 107 }
yusuke_kyo 0:10c9fb86002f 108
yusuke_kyo 0:10c9fb86002f 109
yusuke_kyo 0:10c9fb86002f 110 int MX28::SetCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 111
yusuke_kyo 0:10c9fb86002f 112 char data[2];
yusuke_kyo 0:10c9fb86002f 113
yusuke_kyo 0:10c9fb86002f 114 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 115 short limit = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 116
yusuke_kyo 0:10c9fb86002f 117 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 118 printf("SetCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 119 }
yusuke_kyo 0:10c9fb86002f 120
yusuke_kyo 0:10c9fb86002f 121 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 122 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 123
yusuke_kyo 0:10c9fb86002f 124 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 125 return (write(_ID, MX28_REG_CW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 126
yusuke_kyo 0:10c9fb86002f 127 }
yusuke_kyo 0:10c9fb86002f 128
yusuke_kyo 1:3ac0919c093f 129
yusuke_kyo 0:10c9fb86002f 130 int MX28::SetCCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 131
yusuke_kyo 0:10c9fb86002f 132 char data[2];
yusuke_kyo 0:10c9fb86002f 133
yusuke_kyo 0:10c9fb86002f 134 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 135 short limit = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 136
yusuke_kyo 0:10c9fb86002f 137 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 138 printf("SetCCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 139 }
yusuke_kyo 0:10c9fb86002f 140
yusuke_kyo 0:10c9fb86002f 141 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 142 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 143
yusuke_kyo 0:10c9fb86002f 144 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 145 return (write(_ID, MX28_REG_CCW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 146 }
yusuke_kyo 0:10c9fb86002f 147
yusuke_kyo 0:10c9fb86002f 148
yusuke_kyo 0:10c9fb86002f 149 int MX28::SetID (int CurrentID, int NewID) {
yusuke_kyo 0:10c9fb86002f 150
yusuke_kyo 0:10c9fb86002f 151 char data[1];
yusuke_kyo 0:10c9fb86002f 152 data[0] = NewID;
yusuke_kyo 0:10c9fb86002f 153 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 154 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
yusuke_kyo 0:10c9fb86002f 155 }
yusuke_kyo 0:10c9fb86002f 156 return (write(CurrentID, MX28_REG_ID, 1, data));
yusuke_kyo 0:10c9fb86002f 157
yusuke_kyo 0:10c9fb86002f 158 }
yusuke_kyo 0:10c9fb86002f 159
yusuke_kyo 0:10c9fb86002f 160
yusuke_kyo 0:10c9fb86002f 161 // return 1 is the servo is still in flight
yusuke_kyo 0:10c9fb86002f 162 int MX28::isMoving(void) {
yusuke_kyo 0:10c9fb86002f 163
yusuke_kyo 0:10c9fb86002f 164 char data[1];
yusuke_kyo 0:10c9fb86002f 165 read(_ID,MX28_REG_MOVING,1,data);
yusuke_kyo 0:10c9fb86002f 166 return(data[0]);
yusuke_kyo 0:10c9fb86002f 167 }
yusuke_kyo 0:10c9fb86002f 168
yusuke_kyo 0:10c9fb86002f 169
yusuke_kyo 0:10c9fb86002f 170 void MX28::trigger(void) {
yusuke_kyo 0:10c9fb86002f 171
yusuke_kyo 0:10c9fb86002f 172 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 173 char sum = 0;
yusuke_kyo 0:10c9fb86002f 174
yusuke_kyo 0:10c9fb86002f 175 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 176 printf("\nTriggered\n");
yusuke_kyo 0:10c9fb86002f 177 }
yusuke_kyo 0:10c9fb86002f 178
yusuke_kyo 0:10c9fb86002f 179 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 180 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 181 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 182 }
yusuke_kyo 0:10c9fb86002f 183
yusuke_kyo 0:10c9fb86002f 184 TxBuf[0] = 0xFF;
yusuke_kyo 0:10c9fb86002f 185 TxBuf[1] = 0xFF;
yusuke_kyo 0:10c9fb86002f 186
yusuke_kyo 0:10c9fb86002f 187 // ID - Broadcast
yusuke_kyo 0:10c9fb86002f 188 TxBuf[2] = 0xFE;
yusuke_kyo 0:10c9fb86002f 189 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 190
yusuke_kyo 0:10c9fb86002f 191 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 192 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 193 }
yusuke_kyo 0:10c9fb86002f 194
yusuke_kyo 0:10c9fb86002f 195 // Length
yusuke_kyo 0:10c9fb86002f 196 TxBuf[3] = 0x02;
yusuke_kyo 0:10c9fb86002f 197 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 198 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 199 printf(" Length %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 200 }
yusuke_kyo 0:10c9fb86002f 201
yusuke_kyo 0:10c9fb86002f 202 // Instruction - ACTION
yusuke_kyo 0:10c9fb86002f 203 TxBuf[4] = 0x04;
yusuke_kyo 0:10c9fb86002f 204 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 205 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 206 printf(" Instruction 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 207 }
yusuke_kyo 0:10c9fb86002f 208
yusuke_kyo 0:10c9fb86002f 209 // Checksum
yusuke_kyo 0:10c9fb86002f 210 TxBuf[5] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 211 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 212 printf(" Checksum 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 213 }
yusuke_kyo 0:10c9fb86002f 214
yusuke_kyo 0:10c9fb86002f 215 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 216 for (int i = 0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 217 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 218 }
yusuke_kyo 0:10c9fb86002f 219
yusuke_kyo 0:10c9fb86002f 220 // This is a broadcast packet, so there will be no reply
yusuke_kyo 0:10c9fb86002f 221
yusuke_kyo 0:10c9fb86002f 222 return;
yusuke_kyo 0:10c9fb86002f 223 }
yusuke_kyo 0:10c9fb86002f 224
yusuke_kyo 0:10c9fb86002f 225
yusuke_kyo 0:10c9fb86002f 226 float MX28::GetPosition(void) {
yusuke_kyo 0:10c9fb86002f 227
yusuke_kyo 0:10c9fb86002f 228 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 229 printf("\nGetPosition(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 230 }
yusuke_kyo 0:10c9fb86002f 231
yusuke_kyo 0:10c9fb86002f 232 char data[2];
yusuke_kyo 0:10c9fb86002f 233
yusuke_kyo 0:10c9fb86002f 234 int ErrorCode = read(_ID, MX28_REG_POSITION, 2, data);
yusuke_kyo 0:10c9fb86002f 235 short position = data[0] + (data[1] << 8);
yusuke_kyo 0:10c9fb86002f 236 float angle = (position * 300)/1024;
yusuke_kyo 0:10c9fb86002f 237
yusuke_kyo 0:10c9fb86002f 238 return (angle);
yusuke_kyo 0:10c9fb86002f 239 }
yusuke_kyo 0:10c9fb86002f 240
yusuke_kyo 0:10c9fb86002f 241
yusuke_kyo 0:10c9fb86002f 242 float MX28::GetTemp (void) {
yusuke_kyo 0:10c9fb86002f 243
yusuke_kyo 0:10c9fb86002f 244 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 245 printf("\nGetTemp(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 246 }
yusuke_kyo 0:10c9fb86002f 247 char data[1];
yusuke_kyo 0:10c9fb86002f 248 int ErrorCode = read(_ID, MX28_REG_TEMP, 1, data);
yusuke_kyo 0:10c9fb86002f 249 float temp = data[0];
yusuke_kyo 0:10c9fb86002f 250 return(temp);
yusuke_kyo 0:10c9fb86002f 251 }
yusuke_kyo 0:10c9fb86002f 252
yusuke_kyo 0:10c9fb86002f 253
yusuke_kyo 0:10c9fb86002f 254 float MX28::GetVolts (void) {
yusuke_kyo 0:10c9fb86002f 255
yusuke_kyo 0:10c9fb86002f 256 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 257 printf("\nGetVolts(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 258 }
yusuke_kyo 0:10c9fb86002f 259 char data[1];
yusuke_kyo 0:10c9fb86002f 260 int ErrorCode = read(_ID, MX28_REG_VOLTS, 1, data);
yusuke_kyo 0:10c9fb86002f 261 float volts = data[0]/10.0;
yusuke_kyo 0:10c9fb86002f 262 return(volts);
yusuke_kyo 0:10c9fb86002f 263 }
yusuke_kyo 0:10c9fb86002f 264
yusuke_kyo 1:3ac0919c093f 265
yusuke_kyo 0:10c9fb86002f 266 float MX28::GetCurrent (void) {
yusuke_kyo 0:10c9fb86002f 267
yusuke_kyo 0:10c9fb86002f 268 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 269 printf("\nGetCurrent(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 270 }
yusuke_kyo 0:10c9fb86002f 271 char data[2];
yusuke_kyo 0:10c9fb86002f 272 int ErrorCode = read(_ID, MX28_REG_CURRENT, 2, data);
yusuke_kyo 0:10c9fb86002f 273 float current = ((data[0]+(data[1] << 8))-0x8FF)*0.0045;
yusuke_kyo 0:10c9fb86002f 274 return(current);
yusuke_kyo 0:10c9fb86002f 275 }
yusuke_kyo 0:10c9fb86002f 276
yusuke_kyo 1:3ac0919c093f 277
yusuke_kyo 1:3ac0919c093f 278 int MX28::TorqueEnable (int mode) {
yusuke_kyo 1:3ac0919c093f 279
yusuke_kyo 1:3ac0919c093f 280 char data[1];
yusuke_kyo 1:3ac0919c093f 281 data[0] = mode;
yusuke_kyo 1:3ac0919c093f 282
yusuke_kyo 1:3ac0919c093f 283 return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data));
yusuke_kyo 1:3ac0919c093f 284 }
yusuke_kyo 1:3ac0919c093f 285
yusuke_kyo 1:3ac0919c093f 286
yusuke_kyo 1:3ac0919c093f 287 int MX28::SetTorqueLimit (float torque_lim) {
yusuke_kyo 1:3ac0919c093f 288
yusuke_kyo 1:3ac0919c093f 289 short limit = torque_lim * 1023;
yusuke_kyo 1:3ac0919c093f 290 char data[2];
yusuke_kyo 1:3ac0919c093f 291 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 1:3ac0919c093f 292 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 1:3ac0919c093f 293
yusuke_kyo 1:3ac0919c093f 294 return (write(_ID, MX28_REG_TORQUE_LIMIT, 2, data));
yusuke_kyo 1:3ac0919c093f 295 }
yusuke_kyo 1:3ac0919c093f 296
yusuke_kyo 0:10c9fb86002f 297 int MX28::read(int ID, int start, int bytes, char* data) {
yusuke_kyo 0:10c9fb86002f 298
yusuke_kyo 0:10c9fb86002f 299 char PacketLength = 0x4;
yusuke_kyo 0:10c9fb86002f 300 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 301 char sum = 0;
yusuke_kyo 0:10c9fb86002f 302 char Status[16];
yusuke_kyo 0:10c9fb86002f 303
yusuke_kyo 0:10c9fb86002f 304 Status[4] = 0xFE; // return code
yusuke_kyo 0:10c9fb86002f 305
yusuke_kyo 0:10c9fb86002f 306 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 307 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
yusuke_kyo 0:10c9fb86002f 308 }
yusuke_kyo 0:10c9fb86002f 309
yusuke_kyo 0:10c9fb86002f 310 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 311 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 312 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 313 }
yusuke_kyo 0:10c9fb86002f 314
yusuke_kyo 0:10c9fb86002f 315 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 316 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 317
yusuke_kyo 0:10c9fb86002f 318 // ID
yusuke_kyo 0:10c9fb86002f 319 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 320 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 321 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 322 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 323 }
yusuke_kyo 0:10c9fb86002f 324
yusuke_kyo 0:10c9fb86002f 325 // Packet Length
yusuke_kyo 0:10c9fb86002f 326 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
yusuke_kyo 0:10c9fb86002f 327 sum += TxBuf[3]; // Accululate the packet sum
yusuke_kyo 0:10c9fb86002f 328 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 329 printf(" Length : 0x%x\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 330 }
yusuke_kyo 0:10c9fb86002f 331
yusuke_kyo 0:10c9fb86002f 332 // Instruction - Read
yusuke_kyo 0:10c9fb86002f 333 TxBuf[4] = 0x2;
yusuke_kyo 0:10c9fb86002f 334 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 335 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 336 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 337 }
yusuke_kyo 0:10c9fb86002f 338
yusuke_kyo 0:10c9fb86002f 339 // Start Address
yusuke_kyo 0:10c9fb86002f 340 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 341 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 342 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 343 printf(" Start Address : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 344 }
yusuke_kyo 0:10c9fb86002f 345
yusuke_kyo 0:10c9fb86002f 346 // Bytes to read
yusuke_kyo 0:10c9fb86002f 347 TxBuf[6] = bytes;
yusuke_kyo 0:10c9fb86002f 348 sum += TxBuf[6];
yusuke_kyo 0:10c9fb86002f 349 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 350 printf(" No bytes : 0x%x\n",TxBuf[6]);
yusuke_kyo 0:10c9fb86002f 351 }
yusuke_kyo 0:10c9fb86002f 352
yusuke_kyo 0:10c9fb86002f 353 // Checksum
yusuke_kyo 0:10c9fb86002f 354 TxBuf[7] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 355 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 356 printf(" Checksum : 0x%x\n",TxBuf[7]);
yusuke_kyo 0:10c9fb86002f 357 }
yusuke_kyo 0:10c9fb86002f 358
yusuke_kyo 0:10c9fb86002f 359 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 360 for (int i = 0; i<8 ; i++) {
yusuke_kyo 0:10c9fb86002f 361 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 362 }
yusuke_kyo 0:10c9fb86002f 363
yusuke_kyo 0:10c9fb86002f 364 // Wait for the bytes to be transmitted
yusuke_kyo 0:10c9fb86002f 365 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 366
yusuke_kyo 0:10c9fb86002f 367 // Skip if the read was to the broadcast address
yusuke_kyo 0:10c9fb86002f 368 if (_ID != 0xFE) {
yusuke_kyo 0:10c9fb86002f 369
yusuke_kyo 0:10c9fb86002f 370 // Receive the Status packet 6+ number of bytes read
yusuke_kyo 0:10c9fb86002f 371 for (int i=0; i<(6+bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 372 Status[i] = _mx28.getc();
yusuke_kyo 0:10c9fb86002f 373 }
yusuke_kyo 0:10c9fb86002f 374
yusuke_kyo 0:10c9fb86002f 375 // Copy the data from Status into data for return
yusuke_kyo 0:10c9fb86002f 376 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 377 data[i] = Status[5+i];
yusuke_kyo 0:10c9fb86002f 378 }
yusuke_kyo 0:10c9fb86002f 379
yusuke_kyo 0:10c9fb86002f 380 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 381 printf("\nStatus Packet\n");
yusuke_kyo 0:10c9fb86002f 382 printf(" Header : 0x%x\n",Status[0]);
yusuke_kyo 0:10c9fb86002f 383 printf(" Header : 0x%x\n",Status[1]);
yusuke_kyo 0:10c9fb86002f 384 printf(" ID : 0x%x\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 385 printf(" Length : 0x%x\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 386 printf(" Error Code : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 387
yusuke_kyo 0:10c9fb86002f 388 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 389 printf(" Data : 0x%x\n",Status[5+i]);
yusuke_kyo 0:10c9fb86002f 390 }
yusuke_kyo 0:10c9fb86002f 391
yusuke_kyo 0:10c9fb86002f 392 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
yusuke_kyo 0:10c9fb86002f 393 }
yusuke_kyo 0:10c9fb86002f 394
yusuke_kyo 0:10c9fb86002f 395 } // if (ID!=0xFE)
yusuke_kyo 0:10c9fb86002f 396
yusuke_kyo 0:10c9fb86002f 397 return(Status[4]);
yusuke_kyo 0:10c9fb86002f 398 }
yusuke_kyo 0:10c9fb86002f 399
yusuke_kyo 0:10c9fb86002f 400
yusuke_kyo 0:10c9fb86002f 401 int MX28:: write(int ID, int start, int bytes, char* data, int flag) {
yusuke_kyo 0:10c9fb86002f 402 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
yusuke_kyo 0:10c9fb86002f 403
yusuke_kyo 0:10c9fb86002f 404 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 405 char sum = 0;
yusuke_kyo 0:10c9fb86002f 406 char Status[6];
yusuke_kyo 0:10c9fb86002f 407
yusuke_kyo 0:10c9fb86002f 408 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 409 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
yusuke_kyo 0:10c9fb86002f 410 }
yusuke_kyo 0:10c9fb86002f 411
yusuke_kyo 0:10c9fb86002f 412 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 413 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 414 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 415 }
yusuke_kyo 0:10c9fb86002f 416
yusuke_kyo 0:10c9fb86002f 417 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 418 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 419
yusuke_kyo 0:10c9fb86002f 420 // ID
yusuke_kyo 0:10c9fb86002f 421 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 422 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 423
yusuke_kyo 0:10c9fb86002f 424 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 425 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 426 }
yusuke_kyo 0:10c9fb86002f 427
yusuke_kyo 0:10c9fb86002f 428 // packet Length
yusuke_kyo 0:10c9fb86002f 429 TxBuf[3] = 3+bytes;
yusuke_kyo 0:10c9fb86002f 430 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 431
yusuke_kyo 0:10c9fb86002f 432 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 433 printf(" Length : %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 434 }
yusuke_kyo 0:10c9fb86002f 435
yusuke_kyo 0:10c9fb86002f 436 // Instruction
yusuke_kyo 0:10c9fb86002f 437 if (flag == 1) {
yusuke_kyo 0:10c9fb86002f 438 TxBuf[4]=0x04;
yusuke_kyo 0:10c9fb86002f 439 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 440 } else {
yusuke_kyo 0:10c9fb86002f 441 TxBuf[4]=0x03;
yusuke_kyo 0:10c9fb86002f 442 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 443 }
yusuke_kyo 0:10c9fb86002f 444
yusuke_kyo 0:10c9fb86002f 445 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 446 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 447 }
yusuke_kyo 0:10c9fb86002f 448
yusuke_kyo 0:10c9fb86002f 449 // Start Address
yusuke_kyo 0:10c9fb86002f 450 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 451 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 452 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 453 printf(" Start : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 454 }
yusuke_kyo 0:10c9fb86002f 455
yusuke_kyo 0:10c9fb86002f 456 // data
yusuke_kyo 0:10c9fb86002f 457 for (char i=0; i<bytes ; i++) {
yusuke_kyo 0:10c9fb86002f 458 TxBuf[6+i] = data[i];
yusuke_kyo 0:10c9fb86002f 459 sum += TxBuf[6+i];
yusuke_kyo 0:10c9fb86002f 460 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 461 printf(" Data : 0x%x\n",TxBuf[6+i]);
yusuke_kyo 0:10c9fb86002f 462 }
yusuke_kyo 0:10c9fb86002f 463 }
yusuke_kyo 0:10c9fb86002f 464
yusuke_kyo 0:10c9fb86002f 465 // checksum
yusuke_kyo 0:10c9fb86002f 466 TxBuf[6+bytes] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 467 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 468 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
yusuke_kyo 0:10c9fb86002f 469 }
yusuke_kyo 0:10c9fb86002f 470
yusuke_kyo 0:10c9fb86002f 471 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 472 for (int i = 0; i < (7 + bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 473 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 474 }
yusuke_kyo 0:10c9fb86002f 475
yusuke_kyo 0:10c9fb86002f 476 // Wait for data to transmit
yusuke_kyo 0:10c9fb86002f 477 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 478
yusuke_kyo 0:10c9fb86002f 479 // make sure we have a valid return
yusuke_kyo 0:10c9fb86002f 480 Status[4]=0x00;
yusuke_kyo 0:10c9fb86002f 481
yusuke_kyo 0:10c9fb86002f 482 // we'll only get a reply if it was not broadcast
yusuke_kyo 0:10c9fb86002f 483 if (_ID!=0xFE) {
yusuke_kyo 0:10c9fb86002f 484
yusuke_kyo 0:10c9fb86002f 485 // response is always 6 bytes
yusuke_kyo 0:10c9fb86002f 486 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 0:10c9fb86002f 487 for (int i=0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 488 Status[i] = _mx28.getc();
yusuke_kyo 0:10c9fb86002f 489 }
yusuke_kyo 0:10c9fb86002f 490
yusuke_kyo 0:10c9fb86002f 491 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 492 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 493 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
yusuke_kyo 0:10c9fb86002f 494 printf(" ID : %d\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 495 printf(" Length : %d\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 496 printf(" Error : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 497 printf(" Checksum : 0x%x\n",Status[5]);
yusuke_kyo 0:10c9fb86002f 498 }
yusuke_kyo 0:10c9fb86002f 499
yusuke_kyo 0:10c9fb86002f 500
yusuke_kyo 0:10c9fb86002f 501 }
yusuke_kyo 0:10c9fb86002f 502
yusuke_kyo 0:10c9fb86002f 503 return(Status[4]); // return error code
yusuke_kyo 0:10c9fb86002f 504 }