雄介 太田 / Dynamixel

Dyanamixel

Dependents:   YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more

MX28.cpp@0:10c9fb86002f, 2015-03-31 (annotated)

Committer:
yusuke_kyo
Date:
Tue Mar 31 09:45:27 2015 +0000
Revision:
0:10c9fb86002f
Child:
1:3ac0919c093f
Dynamixel

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 0:10c9fb86002f 46 SetCCWLimit(300);
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 0:10c9fb86002f 129 int MX28::SetCCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 130
yusuke_kyo 0:10c9fb86002f 131 char data[2];
yusuke_kyo 0:10c9fb86002f 132
yusuke_kyo 0:10c9fb86002f 133 // 4095 / 360 * degrees
yusuke_kyo 0:10c9fb86002f 134 short limit = (4095 * degrees) / 360;
yusuke_kyo 0:10c9fb86002f 135
yusuke_kyo 0:10c9fb86002f 136 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 137 printf("SetCCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 138 }
yusuke_kyo 0:10c9fb86002f 139
yusuke_kyo 0:10c9fb86002f 140 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 141 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 142
yusuke_kyo 0:10c9fb86002f 143 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 144 return (write(_ID, MX28_REG_CCW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 145 }
yusuke_kyo 0:10c9fb86002f 146
yusuke_kyo 0:10c9fb86002f 147
yusuke_kyo 0:10c9fb86002f 148 int MX28::SetID (int CurrentID, int NewID) {
yusuke_kyo 0:10c9fb86002f 149
yusuke_kyo 0:10c9fb86002f 150 char data[1];
yusuke_kyo 0:10c9fb86002f 151 data[0] = NewID;
yusuke_kyo 0:10c9fb86002f 152 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 153 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
yusuke_kyo 0:10c9fb86002f 154 }
yusuke_kyo 0:10c9fb86002f 155 return (write(CurrentID, MX28_REG_ID, 1, data));
yusuke_kyo 0:10c9fb86002f 156
yusuke_kyo 0:10c9fb86002f 157 }
yusuke_kyo 0:10c9fb86002f 158
yusuke_kyo 0:10c9fb86002f 159
yusuke_kyo 0:10c9fb86002f 160 // return 1 is the servo is still in flight
yusuke_kyo 0:10c9fb86002f 161 int MX28::isMoving(void) {
yusuke_kyo 0:10c9fb86002f 162
yusuke_kyo 0:10c9fb86002f 163 char data[1];
yusuke_kyo 0:10c9fb86002f 164 read(_ID,MX28_REG_MOVING,1,data);
yusuke_kyo 0:10c9fb86002f 165 return(data[0]);
yusuke_kyo 0:10c9fb86002f 166 }
yusuke_kyo 0:10c9fb86002f 167
yusuke_kyo 0:10c9fb86002f 168
yusuke_kyo 0:10c9fb86002f 169 void MX28::trigger(void) {
yusuke_kyo 0:10c9fb86002f 170
yusuke_kyo 0:10c9fb86002f 171 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 172 char sum = 0;
yusuke_kyo 0:10c9fb86002f 173
yusuke_kyo 0:10c9fb86002f 174 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 175 printf("\nTriggered\n");
yusuke_kyo 0:10c9fb86002f 176 }
yusuke_kyo 0:10c9fb86002f 177
yusuke_kyo 0:10c9fb86002f 178 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 179 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 180 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 181 }
yusuke_kyo 0:10c9fb86002f 182
yusuke_kyo 0:10c9fb86002f 183 TxBuf[0] = 0xFF;
yusuke_kyo 0:10c9fb86002f 184 TxBuf[1] = 0xFF;
yusuke_kyo 0:10c9fb86002f 185
yusuke_kyo 0:10c9fb86002f 186 // ID - Broadcast
yusuke_kyo 0:10c9fb86002f 187 TxBuf[2] = 0xFE;
yusuke_kyo 0:10c9fb86002f 188 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 189
yusuke_kyo 0:10c9fb86002f 190 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 191 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 192 }
yusuke_kyo 0:10c9fb86002f 193
yusuke_kyo 0:10c9fb86002f 194 // Length
yusuke_kyo 0:10c9fb86002f 195 TxBuf[3] = 0x02;
yusuke_kyo 0:10c9fb86002f 196 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 197 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 198 printf(" Length %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 199 }
yusuke_kyo 0:10c9fb86002f 200
yusuke_kyo 0:10c9fb86002f 201 // Instruction - ACTION
yusuke_kyo 0:10c9fb86002f 202 TxBuf[4] = 0x04;
yusuke_kyo 0:10c9fb86002f 203 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 204 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 205 printf(" Instruction 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 206 }
yusuke_kyo 0:10c9fb86002f 207
yusuke_kyo 0:10c9fb86002f 208 // Checksum
yusuke_kyo 0:10c9fb86002f 209 TxBuf[5] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 210 if (MX28_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 211 printf(" Checksum 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 212 }
yusuke_kyo 0:10c9fb86002f 213
yusuke_kyo 0:10c9fb86002f 214 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 215 for (int i = 0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 216 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 217 }
yusuke_kyo 0:10c9fb86002f 218
yusuke_kyo 0:10c9fb86002f 219 // This is a broadcast packet, so there will be no reply
yusuke_kyo 0:10c9fb86002f 220
yusuke_kyo 0:10c9fb86002f 221 return;
yusuke_kyo 0:10c9fb86002f 222 }
yusuke_kyo 0:10c9fb86002f 223
yusuke_kyo 0:10c9fb86002f 224
yusuke_kyo 0:10c9fb86002f 225 float MX28::GetPosition(void) {
yusuke_kyo 0:10c9fb86002f 226
yusuke_kyo 0:10c9fb86002f 227 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 228 printf("\nGetPosition(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 229 }
yusuke_kyo 0:10c9fb86002f 230
yusuke_kyo 0:10c9fb86002f 231 char data[2];
yusuke_kyo 0:10c9fb86002f 232
yusuke_kyo 0:10c9fb86002f 233 int ErrorCode = read(_ID, MX28_REG_POSITION, 2, data);
yusuke_kyo 0:10c9fb86002f 234 short position = data[0] + (data[1] << 8);
yusuke_kyo 0:10c9fb86002f 235 float angle = (position * 300)/1024;
yusuke_kyo 0:10c9fb86002f 236
yusuke_kyo 0:10c9fb86002f 237 return (angle);
yusuke_kyo 0:10c9fb86002f 238 }
yusuke_kyo 0:10c9fb86002f 239
yusuke_kyo 0:10c9fb86002f 240
yusuke_kyo 0:10c9fb86002f 241 float MX28::GetTemp (void) {
yusuke_kyo 0:10c9fb86002f 242
yusuke_kyo 0:10c9fb86002f 243 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 244 printf("\nGetTemp(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 245 }
yusuke_kyo 0:10c9fb86002f 246 char data[1];
yusuke_kyo 0:10c9fb86002f 247 int ErrorCode = read(_ID, MX28_REG_TEMP, 1, data);
yusuke_kyo 0:10c9fb86002f 248 float temp = data[0];
yusuke_kyo 0:10c9fb86002f 249 return(temp);
yusuke_kyo 0:10c9fb86002f 250 }
yusuke_kyo 0:10c9fb86002f 251
yusuke_kyo 0:10c9fb86002f 252
yusuke_kyo 0:10c9fb86002f 253 float MX28::GetVolts (void) {
yusuke_kyo 0:10c9fb86002f 254
yusuke_kyo 0:10c9fb86002f 255 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 256 printf("\nGetVolts(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 257 }
yusuke_kyo 0:10c9fb86002f 258 char data[1];
yusuke_kyo 0:10c9fb86002f 259 int ErrorCode = read(_ID, MX28_REG_VOLTS, 1, data);
yusuke_kyo 0:10c9fb86002f 260 float volts = data[0]/10.0;
yusuke_kyo 0:10c9fb86002f 261 return(volts);
yusuke_kyo 0:10c9fb86002f 262 }
yusuke_kyo 0:10c9fb86002f 263
yusuke_kyo 0:10c9fb86002f 264 float MX28::GetCurrent (void) {
yusuke_kyo 0:10c9fb86002f 265
yusuke_kyo 0:10c9fb86002f 266 if (MX28_DEBUG) {
yusuke_kyo 0:10c9fb86002f 267 printf("\nGetCurrent(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 268 }
yusuke_kyo 0:10c9fb86002f 269 char data[2];
yusuke_kyo 0:10c9fb86002f 270 int ErrorCode = read(_ID, MX28_REG_CURRENT, 2, data);
yusuke_kyo 0:10c9fb86002f 271 float current = ((data[0]+(data[1] << 8))-0x8FF)*0.0045;
yusuke_kyo 0:10c9fb86002f 272 return(current);
yusuke_kyo 0:10c9fb86002f 273 }
yusuke_kyo 0:10c9fb86002f 274
yusuke_kyo 0:10c9fb86002f 275 int MX28::read(int ID, int start, int bytes, char* data) {
yusuke_kyo 0:10c9fb86002f 276
yusuke_kyo 0:10c9fb86002f 277 char PacketLength = 0x4;
yusuke_kyo 0:10c9fb86002f 278 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 279 char sum = 0;
yusuke_kyo 0:10c9fb86002f 280 char Status[16];
yusuke_kyo 0:10c9fb86002f 281
yusuke_kyo 0:10c9fb86002f 282 Status[4] = 0xFE; // return code
yusuke_kyo 0:10c9fb86002f 283
yusuke_kyo 0:10c9fb86002f 284 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 285 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
yusuke_kyo 0:10c9fb86002f 286 }
yusuke_kyo 0:10c9fb86002f 287
yusuke_kyo 0:10c9fb86002f 288 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 289 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 290 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 291 }
yusuke_kyo 0:10c9fb86002f 292
yusuke_kyo 0:10c9fb86002f 293 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 294 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 295
yusuke_kyo 0:10c9fb86002f 296 // ID
yusuke_kyo 0:10c9fb86002f 297 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 298 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 299 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 300 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 301 }
yusuke_kyo 0:10c9fb86002f 302
yusuke_kyo 0:10c9fb86002f 303 // Packet Length
yusuke_kyo 0:10c9fb86002f 304 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
yusuke_kyo 0:10c9fb86002f 305 sum += TxBuf[3]; // Accululate the packet sum
yusuke_kyo 0:10c9fb86002f 306 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 307 printf(" Length : 0x%x\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 308 }
yusuke_kyo 0:10c9fb86002f 309
yusuke_kyo 0:10c9fb86002f 310 // Instruction - Read
yusuke_kyo 0:10c9fb86002f 311 TxBuf[4] = 0x2;
yusuke_kyo 0:10c9fb86002f 312 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 313 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 314 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 315 }
yusuke_kyo 0:10c9fb86002f 316
yusuke_kyo 0:10c9fb86002f 317 // Start Address
yusuke_kyo 0:10c9fb86002f 318 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 319 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 320 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 321 printf(" Start Address : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 322 }
yusuke_kyo 0:10c9fb86002f 323
yusuke_kyo 0:10c9fb86002f 324 // Bytes to read
yusuke_kyo 0:10c9fb86002f 325 TxBuf[6] = bytes;
yusuke_kyo 0:10c9fb86002f 326 sum += TxBuf[6];
yusuke_kyo 0:10c9fb86002f 327 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 328 printf(" No bytes : 0x%x\n",TxBuf[6]);
yusuke_kyo 0:10c9fb86002f 329 }
yusuke_kyo 0:10c9fb86002f 330
yusuke_kyo 0:10c9fb86002f 331 // Checksum
yusuke_kyo 0:10c9fb86002f 332 TxBuf[7] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 333 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 334 printf(" Checksum : 0x%x\n",TxBuf[7]);
yusuke_kyo 0:10c9fb86002f 335 }
yusuke_kyo 0:10c9fb86002f 336
yusuke_kyo 0:10c9fb86002f 337 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 338 for (int i = 0; i<8 ; i++) {
yusuke_kyo 0:10c9fb86002f 339 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 340 }
yusuke_kyo 0:10c9fb86002f 341
yusuke_kyo 0:10c9fb86002f 342 // Wait for the bytes to be transmitted
yusuke_kyo 0:10c9fb86002f 343 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 344
yusuke_kyo 0:10c9fb86002f 345 // Skip if the read was to the broadcast address
yusuke_kyo 0:10c9fb86002f 346 if (_ID != 0xFE) {
yusuke_kyo 0:10c9fb86002f 347
yusuke_kyo 0:10c9fb86002f 348 // Receive the Status packet 6+ number of bytes read
yusuke_kyo 0:10c9fb86002f 349 for (int i=0; i<(6+bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 350 Status[i] = _mx28.getc();
yusuke_kyo 0:10c9fb86002f 351 }
yusuke_kyo 0:10c9fb86002f 352
yusuke_kyo 0:10c9fb86002f 353 // Copy the data from Status into data for return
yusuke_kyo 0:10c9fb86002f 354 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 355 data[i] = Status[5+i];
yusuke_kyo 0:10c9fb86002f 356 }
yusuke_kyo 0:10c9fb86002f 357
yusuke_kyo 0:10c9fb86002f 358 if (MX28_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 359 printf("\nStatus Packet\n");
yusuke_kyo 0:10c9fb86002f 360 printf(" Header : 0x%x\n",Status[0]);
yusuke_kyo 0:10c9fb86002f 361 printf(" Header : 0x%x\n",Status[1]);
yusuke_kyo 0:10c9fb86002f 362 printf(" ID : 0x%x\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 363 printf(" Length : 0x%x\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 364 printf(" Error Code : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 365
yusuke_kyo 0:10c9fb86002f 366 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 367 printf(" Data : 0x%x\n",Status[5+i]);
yusuke_kyo 0:10c9fb86002f 368 }
yusuke_kyo 0:10c9fb86002f 369
yusuke_kyo 0:10c9fb86002f 370 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
yusuke_kyo 0:10c9fb86002f 371 }
yusuke_kyo 0:10c9fb86002f 372
yusuke_kyo 0:10c9fb86002f 373 } // if (ID!=0xFE)
yusuke_kyo 0:10c9fb86002f 374
yusuke_kyo 0:10c9fb86002f 375 return(Status[4]);
yusuke_kyo 0:10c9fb86002f 376 }
yusuke_kyo 0:10c9fb86002f 377
yusuke_kyo 0:10c9fb86002f 378
yusuke_kyo 0:10c9fb86002f 379 int MX28:: write(int ID, int start, int bytes, char* data, int flag) {
yusuke_kyo 0:10c9fb86002f 380 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
yusuke_kyo 0:10c9fb86002f 381
yusuke_kyo 0:10c9fb86002f 382 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 383 char sum = 0;
yusuke_kyo 0:10c9fb86002f 384 char Status[6];
yusuke_kyo 0:10c9fb86002f 385
yusuke_kyo 0:10c9fb86002f 386 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 387 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
yusuke_kyo 0:10c9fb86002f 388 }
yusuke_kyo 0:10c9fb86002f 389
yusuke_kyo 0:10c9fb86002f 390 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 391 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 392 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 393 }
yusuke_kyo 0:10c9fb86002f 394
yusuke_kyo 0:10c9fb86002f 395 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 396 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 397
yusuke_kyo 0:10c9fb86002f 398 // ID
yusuke_kyo 0:10c9fb86002f 399 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 400 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 401
yusuke_kyo 0:10c9fb86002f 402 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 403 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 404 }
yusuke_kyo 0:10c9fb86002f 405
yusuke_kyo 0:10c9fb86002f 406 // packet Length
yusuke_kyo 0:10c9fb86002f 407 TxBuf[3] = 3+bytes;
yusuke_kyo 0:10c9fb86002f 408 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 409
yusuke_kyo 0:10c9fb86002f 410 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 411 printf(" Length : %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 412 }
yusuke_kyo 0:10c9fb86002f 413
yusuke_kyo 0:10c9fb86002f 414 // Instruction
yusuke_kyo 0:10c9fb86002f 415 if (flag == 1) {
yusuke_kyo 0:10c9fb86002f 416 TxBuf[4]=0x04;
yusuke_kyo 0:10c9fb86002f 417 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 418 } else {
yusuke_kyo 0:10c9fb86002f 419 TxBuf[4]=0x03;
yusuke_kyo 0:10c9fb86002f 420 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 421 }
yusuke_kyo 0:10c9fb86002f 422
yusuke_kyo 0:10c9fb86002f 423 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 424 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 425 }
yusuke_kyo 0:10c9fb86002f 426
yusuke_kyo 0:10c9fb86002f 427 // Start Address
yusuke_kyo 0:10c9fb86002f 428 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 429 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 430 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 431 printf(" Start : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 432 }
yusuke_kyo 0:10c9fb86002f 433
yusuke_kyo 0:10c9fb86002f 434 // data
yusuke_kyo 0:10c9fb86002f 435 for (char i=0; i<bytes ; i++) {
yusuke_kyo 0:10c9fb86002f 436 TxBuf[6+i] = data[i];
yusuke_kyo 0:10c9fb86002f 437 sum += TxBuf[6+i];
yusuke_kyo 0:10c9fb86002f 438 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 439 printf(" Data : 0x%x\n",TxBuf[6+i]);
yusuke_kyo 0:10c9fb86002f 440 }
yusuke_kyo 0:10c9fb86002f 441 }
yusuke_kyo 0:10c9fb86002f 442
yusuke_kyo 0:10c9fb86002f 443 // checksum
yusuke_kyo 0:10c9fb86002f 444 TxBuf[6+bytes] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 445 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 446 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
yusuke_kyo 0:10c9fb86002f 447 }
yusuke_kyo 0:10c9fb86002f 448
yusuke_kyo 0:10c9fb86002f 449 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 450 for (int i = 0; i < (7 + bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 451 _mx28.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 452 }
yusuke_kyo 0:10c9fb86002f 453
yusuke_kyo 0:10c9fb86002f 454 // Wait for data to transmit
yusuke_kyo 0:10c9fb86002f 455 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 456
yusuke_kyo 0:10c9fb86002f 457 // make sure we have a valid return
yusuke_kyo 0:10c9fb86002f 458 Status[4]=0x00;
yusuke_kyo 0:10c9fb86002f 459
yusuke_kyo 0:10c9fb86002f 460 // we'll only get a reply if it was not broadcast
yusuke_kyo 0:10c9fb86002f 461 if (_ID!=0xFE) {
yusuke_kyo 0:10c9fb86002f 462
yusuke_kyo 0:10c9fb86002f 463 // response is always 6 bytes
yusuke_kyo 0:10c9fb86002f 464 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 0:10c9fb86002f 465 for (int i=0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 466 Status[i] = _mx28.getc();
yusuke_kyo 0:10c9fb86002f 467 }
yusuke_kyo 0:10c9fb86002f 468
yusuke_kyo 0:10c9fb86002f 469 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 470 if (MX28_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 471 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
yusuke_kyo 0:10c9fb86002f 472 printf(" ID : %d\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 473 printf(" Length : %d\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 474 printf(" Error : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 475 printf(" Checksum : 0x%x\n",Status[5]);
yusuke_kyo 0:10c9fb86002f 476 }
yusuke_kyo 0:10c9fb86002f 477
yusuke_kyo 0:10c9fb86002f 478
yusuke_kyo 0:10c9fb86002f 479 }
yusuke_kyo 0:10c9fb86002f 480
yusuke_kyo 0:10c9fb86002f 481 return(Status[4]); // return error code
yusuke_kyo 0:10c9fb86002f 482 }