雄介 太田 / Dynamixel

Dyanamixel

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AX12.cpp@1:3ac0919c093f, 2015-04-08 (annotated)

Committer:
yusuke_kyo
Date:
Wed Apr 08 08:03:42 2015 +0000
Revision:
1:3ac0919c093f
Parent:
0:10c9fb86002f
Child:
3:97fc13b4168c
SerialHalfDuplex -> Serial

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 "AX12.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 AX12::AX12(PinName tx, PinName rx, int ID)
yusuke_kyo 0:10c9fb86002f 29 : _ax12(tx,rx) {
yusuke_kyo 0:10c9fb86002f 30
yusuke_kyo 0:10c9fb86002f 31 _ax12.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 AX12::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 AX12::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 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 67 short goal = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 68 if (AX12_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, AX12_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 AX12::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 AX12::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 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 115 short limit = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 116
yusuke_kyo 0:10c9fb86002f 117 if (AX12_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, AX12_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 AX12::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 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 135 short limit = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 136
yusuke_kyo 0:10c9fb86002f 137 if (AX12_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, AX12_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 AX12::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 (AX12_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, AX12_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 AX12::isMoving(void) {
yusuke_kyo 0:10c9fb86002f 163
yusuke_kyo 0:10c9fb86002f 164 char data[1];
yusuke_kyo 0:10c9fb86002f 165 read(_ID,AX12_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 AX12::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 (AX12_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 (AX12_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 (AX12_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 (AX12_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 (AX12_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 (AX12_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 _ax12.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 AX12::GetPosition(void) {
yusuke_kyo 0:10c9fb86002f 227
yusuke_kyo 0:10c9fb86002f 228 if (AX12_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, AX12_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 AX12::GetTemp (void) {
yusuke_kyo 0:10c9fb86002f 243
yusuke_kyo 0:10c9fb86002f 244 if (AX12_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, AX12_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 AX12::GetVolts (void) {
yusuke_kyo 0:10c9fb86002f 255 if (AX12_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, AX12_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 1:3ac0919c093f 264
yusuke_kyo 1:3ac0919c093f 265 int AX12::TorqueEnable (int mode) {
yusuke_kyo 0:10c9fb86002f 266
yusuke_kyo 0:10c9fb86002f 267 char data[1];
yusuke_kyo 0:10c9fb86002f 268 data[0] = mode;
yusuke_kyo 0:10c9fb86002f 269
yusuke_kyo 0:10c9fb86002f 270 return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
yusuke_kyo 0:10c9fb86002f 271 }
yusuke_kyo 0:10c9fb86002f 272
yusuke_kyo 1:3ac0919c093f 273
yusuke_kyo 1:3ac0919c093f 274 int AX12::SetTorqueLimit (float torque_lim) {
yusuke_kyo 1:3ac0919c093f 275
yusuke_kyo 1:3ac0919c093f 276 short limit = torque_lim * 1023;
yusuke_kyo 1:3ac0919c093f 277 char data[2];
yusuke_kyo 1:3ac0919c093f 278 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 1:3ac0919c093f 279 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 1:3ac0919c093f 280
yusuke_kyo 1:3ac0919c093f 281 return (write(_ID, AX12_REG_TORQUE_LIMIT, 2, data));
yusuke_kyo 1:3ac0919c093f 282 }
yusuke_kyo 1:3ac0919c093f 283
yusuke_kyo 1:3ac0919c093f 284
yusuke_kyo 0:10c9fb86002f 285 int AX12::read(int ID, int start, int bytes, char* data) {
yusuke_kyo 0:10c9fb86002f 286
yusuke_kyo 0:10c9fb86002f 287 char PacketLength = 0x4;
yusuke_kyo 0:10c9fb86002f 288 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 289 char sum = 0;
yusuke_kyo 0:10c9fb86002f 290 char Status[16];
yusuke_kyo 0:10c9fb86002f 291
yusuke_kyo 0:10c9fb86002f 292 Status[4] = 0xFE; // return code
yusuke_kyo 0:10c9fb86002f 293
yusuke_kyo 0:10c9fb86002f 294 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 295 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
yusuke_kyo 0:10c9fb86002f 296 }
yusuke_kyo 0:10c9fb86002f 297
yusuke_kyo 0:10c9fb86002f 298 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 299 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 300 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 301 }
yusuke_kyo 0:10c9fb86002f 302
yusuke_kyo 0:10c9fb86002f 303 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 304 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 305
yusuke_kyo 0:10c9fb86002f 306 // ID
yusuke_kyo 0:10c9fb86002f 307 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 308 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 309 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 310 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 311 }
yusuke_kyo 0:10c9fb86002f 312
yusuke_kyo 0:10c9fb86002f 313 // Packet Length
yusuke_kyo 0:10c9fb86002f 314 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
yusuke_kyo 0:10c9fb86002f 315 sum += TxBuf[3]; // Accululate the packet sum
yusuke_kyo 0:10c9fb86002f 316 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 317 printf(" Length : 0x%x\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 318 }
yusuke_kyo 0:10c9fb86002f 319
yusuke_kyo 0:10c9fb86002f 320 // Instruction - Read
yusuke_kyo 0:10c9fb86002f 321 TxBuf[4] = 0x2;
yusuke_kyo 0:10c9fb86002f 322 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 323 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 324 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 325 }
yusuke_kyo 0:10c9fb86002f 326
yusuke_kyo 0:10c9fb86002f 327 // Start Address
yusuke_kyo 0:10c9fb86002f 328 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 329 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 330 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 331 printf(" Start Address : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 332 }
yusuke_kyo 0:10c9fb86002f 333
yusuke_kyo 0:10c9fb86002f 334 // Bytes to read
yusuke_kyo 0:10c9fb86002f 335 TxBuf[6] = bytes;
yusuke_kyo 0:10c9fb86002f 336 sum += TxBuf[6];
yusuke_kyo 0:10c9fb86002f 337 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 338 printf(" No bytes : 0x%x\n",TxBuf[6]);
yusuke_kyo 0:10c9fb86002f 339 }
yusuke_kyo 0:10c9fb86002f 340
yusuke_kyo 0:10c9fb86002f 341 // Checksum
yusuke_kyo 0:10c9fb86002f 342 TxBuf[7] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 343 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 344 printf(" Checksum : 0x%x\n",TxBuf[7]);
yusuke_kyo 0:10c9fb86002f 345 }
yusuke_kyo 0:10c9fb86002f 346
yusuke_kyo 0:10c9fb86002f 347 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 348 for (int i = 0; i<8 ; i++) {
yusuke_kyo 0:10c9fb86002f 349 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 350 }
yusuke_kyo 0:10c9fb86002f 351
yusuke_kyo 0:10c9fb86002f 352 // Wait for the bytes to be transmitted
yusuke_kyo 0:10c9fb86002f 353 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 354
yusuke_kyo 0:10c9fb86002f 355 // Skip if the read was to the broadcast address
yusuke_kyo 0:10c9fb86002f 356 if (_ID != 0xFE) {
yusuke_kyo 0:10c9fb86002f 357
yusuke_kyo 0:10c9fb86002f 358 // Receive the Status packet 6+ number of bytes read
yusuke_kyo 0:10c9fb86002f 359 for (int i=0; i<(6+bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 360 Status[i] = _ax12.getc();
yusuke_kyo 0:10c9fb86002f 361 }
yusuke_kyo 0:10c9fb86002f 362
yusuke_kyo 0:10c9fb86002f 363 // Copy the data from Status into data for return
yusuke_kyo 0:10c9fb86002f 364 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 365 data[i] = Status[5+i];
yusuke_kyo 0:10c9fb86002f 366 }
yusuke_kyo 0:10c9fb86002f 367
yusuke_kyo 0:10c9fb86002f 368 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 369 printf("\nStatus Packet\n");
yusuke_kyo 0:10c9fb86002f 370 printf(" Header : 0x%x\n",Status[0]);
yusuke_kyo 0:10c9fb86002f 371 printf(" Header : 0x%x\n",Status[1]);
yusuke_kyo 0:10c9fb86002f 372 printf(" ID : 0x%x\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 373 printf(" Length : 0x%x\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 374 printf(" Error Code : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 375
yusuke_kyo 0:10c9fb86002f 376 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 377 printf(" Data : 0x%x\n",Status[5+i]);
yusuke_kyo 0:10c9fb86002f 378 }
yusuke_kyo 0:10c9fb86002f 379
yusuke_kyo 0:10c9fb86002f 380 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
yusuke_kyo 0:10c9fb86002f 381 }
yusuke_kyo 0:10c9fb86002f 382
yusuke_kyo 0:10c9fb86002f 383 } // if (ID!=0xFE)
yusuke_kyo 0:10c9fb86002f 384
yusuke_kyo 0:10c9fb86002f 385 return(Status[4]);
yusuke_kyo 0:10c9fb86002f 386 }
yusuke_kyo 0:10c9fb86002f 387
yusuke_kyo 0:10c9fb86002f 388
yusuke_kyo 0:10c9fb86002f 389 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
yusuke_kyo 0:10c9fb86002f 390 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
yusuke_kyo 0:10c9fb86002f 391
yusuke_kyo 0:10c9fb86002f 392 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 393 char sum = 0;
yusuke_kyo 0:10c9fb86002f 394 char Status[6];
yusuke_kyo 0:10c9fb86002f 395
yusuke_kyo 0:10c9fb86002f 396 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 397 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
yusuke_kyo 0:10c9fb86002f 398 }
yusuke_kyo 0:10c9fb86002f 399
yusuke_kyo 0:10c9fb86002f 400 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 401 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 402 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 403 }
yusuke_kyo 0:10c9fb86002f 404
yusuke_kyo 0:10c9fb86002f 405 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 406 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 407
yusuke_kyo 0:10c9fb86002f 408 // ID
yusuke_kyo 0:10c9fb86002f 409 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 410 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 411
yusuke_kyo 0:10c9fb86002f 412 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 413 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 414 }
yusuke_kyo 0:10c9fb86002f 415
yusuke_kyo 0:10c9fb86002f 416 // packet Length
yusuke_kyo 0:10c9fb86002f 417 TxBuf[3] = 3+bytes;
yusuke_kyo 0:10c9fb86002f 418 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 419
yusuke_kyo 0:10c9fb86002f 420 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 421 printf(" Length : %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 422 }
yusuke_kyo 0:10c9fb86002f 423
yusuke_kyo 0:10c9fb86002f 424 // Instruction
yusuke_kyo 0:10c9fb86002f 425 if (flag == 1) {
yusuke_kyo 0:10c9fb86002f 426 TxBuf[4]=0x04;
yusuke_kyo 0:10c9fb86002f 427 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 428 } else {
yusuke_kyo 0:10c9fb86002f 429 TxBuf[4]=0x03;
yusuke_kyo 0:10c9fb86002f 430 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 431 }
yusuke_kyo 0:10c9fb86002f 432
yusuke_kyo 0:10c9fb86002f 433 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 434 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 435 }
yusuke_kyo 0:10c9fb86002f 436
yusuke_kyo 0:10c9fb86002f 437 // Start Address
yusuke_kyo 0:10c9fb86002f 438 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 439 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 440 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 441 printf(" Start : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 442 }
yusuke_kyo 0:10c9fb86002f 443
yusuke_kyo 0:10c9fb86002f 444 // data
yusuke_kyo 0:10c9fb86002f 445 for (char i=0; i<bytes ; i++) {
yusuke_kyo 0:10c9fb86002f 446 TxBuf[6+i] = data[i];
yusuke_kyo 0:10c9fb86002f 447 sum += TxBuf[6+i];
yusuke_kyo 0:10c9fb86002f 448 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 449 printf(" Data : 0x%x\n",TxBuf[6+i]);
yusuke_kyo 0:10c9fb86002f 450 }
yusuke_kyo 0:10c9fb86002f 451 }
yusuke_kyo 0:10c9fb86002f 452
yusuke_kyo 0:10c9fb86002f 453 // checksum
yusuke_kyo 0:10c9fb86002f 454 TxBuf[6+bytes] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 455 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 456 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
yusuke_kyo 0:10c9fb86002f 457 }
yusuke_kyo 0:10c9fb86002f 458
yusuke_kyo 0:10c9fb86002f 459 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 460 for (int i = 0; i < (7 + bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 461 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 462 }
yusuke_kyo 0:10c9fb86002f 463
yusuke_kyo 0:10c9fb86002f 464 // Wait for data to transmit
yusuke_kyo 0:10c9fb86002f 465 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 466
yusuke_kyo 0:10c9fb86002f 467 // make sure we have a valid return
yusuke_kyo 0:10c9fb86002f 468 Status[4]=0x00;
yusuke_kyo 0:10c9fb86002f 469
yusuke_kyo 0:10c9fb86002f 470 // we'll only get a reply if it was not broadcast
yusuke_kyo 0:10c9fb86002f 471 if (_ID!=0xFE) {
yusuke_kyo 0:10c9fb86002f 472
yusuke_kyo 0:10c9fb86002f 473 // response is always 6 bytes
yusuke_kyo 0:10c9fb86002f 474 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 0:10c9fb86002f 475 for (int i=0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 476 Status[i] = _ax12.getc();
yusuke_kyo 0:10c9fb86002f 477 }
yusuke_kyo 0:10c9fb86002f 478
yusuke_kyo 0:10c9fb86002f 479 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 480 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 481 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
yusuke_kyo 0:10c9fb86002f 482 printf(" ID : %d\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 483 printf(" Length : %d\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 484 printf(" Error : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 485 printf(" Checksum : 0x%x\n",Status[5]);
yusuke_kyo 0:10c9fb86002f 486 }
yusuke_kyo 0:10c9fb86002f 487
yusuke_kyo 0:10c9fb86002f 488
yusuke_kyo 0:10c9fb86002f 489 }
yusuke_kyo 0:10c9fb86002f 490
yusuke_kyo 0:10c9fb86002f 491 return(Status[4]); // return error code
yusuke_kyo 0:10c9fb86002f 492 }