雄介 太田 / Dynamixel

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AX12.cpp@12:7affd17fcb66, 2015-05-03 (annotated)

Committer:
yusuke_kyo
Date:
Sun May 03 16:17:31 2015 +0000
Revision:
12:7affd17fcb66
Parent:
9:0927a7b74806 
Debug;

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 12:7affd17fcb66 24 int timer=0;
yusuke_kyo 12:7affd17fcb66 25
yusuke_kyo 0:10c9fb86002f 26 #include "AX12.h"
yusuke_kyo 0:10c9fb86002f 27 #include "mbed.h"
yusuke_kyo 0:10c9fb86002f 28 //#include "SerialHalfDuplex.h"
yusuke_kyo 0:10c9fb86002f 29
yusuke_kyo 5:950c4f4f73c6 30 AX12::AX12(PinName tx, PinName rx, int ID, int baudrate)
yusuke_kyo 0:10c9fb86002f 31 : _ax12(tx,rx) {
yusuke_kyo 0:10c9fb86002f 32
yusuke_kyo 5:950c4f4f73c6 33 _ax12.baud(baudrate);
yusuke_kyo 0:10c9fb86002f 34 _ID = ID;
yusuke_kyo 0:10c9fb86002f 35 }
yusuke_kyo 0:10c9fb86002f 36
yusuke_kyo 0:10c9fb86002f 37 // Set the mode of the servo
yusuke_kyo 0:10c9fb86002f 38 // 0 = Positional (0-300 degrees)
yusuke_kyo 0:10c9fb86002f 39 // 1 = Rotational -1 to 1 speed
yusuke_kyo 0:10c9fb86002f 40 int AX12::SetMode(int mode) {
yusuke_kyo 0:10c9fb86002f 41
yusuke_kyo 0:10c9fb86002f 42 if (mode == 1) { // set CR
yusuke_kyo 0:10c9fb86002f 43 SetCWLimit(0);
yusuke_kyo 0:10c9fb86002f 44 SetCCWLimit(0);
yusuke_kyo 0:10c9fb86002f 45 SetCRSpeed(0.0);
yusuke_kyo 0:10c9fb86002f 46 } else {
yusuke_kyo 0:10c9fb86002f 47 SetCWLimit(0);
yusuke_kyo 0:10c9fb86002f 48 SetCCWLimit(300);
yusuke_kyo 0:10c9fb86002f 49 SetCRSpeed(0.0);
yusuke_kyo 0:10c9fb86002f 50 }
yusuke_kyo 0:10c9fb86002f 51 return(0);
yusuke_kyo 0:10c9fb86002f 52 }
yusuke_kyo 0:10c9fb86002f 53
yusuke_kyo 0:10c9fb86002f 54
yusuke_kyo 0:10c9fb86002f 55 // if flag[0] is set, were blocking
yusuke_kyo 0:10c9fb86002f 56 // if flag[1] is set, we're registering
yusuke_kyo 0:10c9fb86002f 57 // they are mutually exclusive operations
yusuke_kyo 0:10c9fb86002f 58 int AX12::SetGoal(int degrees, int flags) {
yusuke_kyo 0:10c9fb86002f 59
yusuke_kyo 0:10c9fb86002f 60 char reg_flag = 0;
yusuke_kyo 0:10c9fb86002f 61 char data[2];
yusuke_kyo 0:10c9fb86002f 62
yusuke_kyo 0:10c9fb86002f 63 // set the flag is only the register bit is set in the flag
yusuke_kyo 0:10c9fb86002f 64 if (flags == 0x2) {
yusuke_kyo 0:10c9fb86002f 65 reg_flag = 1;
yusuke_kyo 0:10c9fb86002f 66 }
yusuke_kyo 0:10c9fb86002f 67
yusuke_kyo 0:10c9fb86002f 68 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 69 short goal = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 70 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 71 printf("SetGoal to 0x%x\n",goal);
yusuke_kyo 0:10c9fb86002f 72 }
yusuke_kyo 0:10c9fb86002f 73
yusuke_kyo 0:10c9fb86002f 74 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 75 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 76
yusuke_kyo 0:10c9fb86002f 77 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 78 int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
yusuke_kyo 0:10c9fb86002f 79
yusuke_kyo 0:10c9fb86002f 80 if (flags == 1) {
yusuke_kyo 0:10c9fb86002f 81 // block until it comes to a halt
yusuke_kyo 0:10c9fb86002f 82 while (isMoving()) {}
yusuke_kyo 0:10c9fb86002f 83 }
yusuke_kyo 0:10c9fb86002f 84 return(rVal);
yusuke_kyo 0:10c9fb86002f 85 }
yusuke_kyo 0:10c9fb86002f 86
yusuke_kyo 0:10c9fb86002f 87
yusuke_kyo 0:10c9fb86002f 88 // Set continuous rotation speed from -1 to 1
yusuke_kyo 0:10c9fb86002f 89 int AX12::SetCRSpeed(float speed) {
yusuke_kyo 0:10c9fb86002f 90
yusuke_kyo 0:10c9fb86002f 91 // bit 10 = direction, 0 = CCW, 1=CW
yusuke_kyo 0:10c9fb86002f 92 // bits 9-0 = Speed
yusuke_kyo 0:10c9fb86002f 93 char data[2];
yusuke_kyo 0:10c9fb86002f 94
yusuke_kyo 0:10c9fb86002f 95 int goal = (0x3ff * abs(speed));
yusuke_kyo 0:10c9fb86002f 96
yusuke_kyo 6:5ce46b6748fd 97 if (AX12_DEBUG) {
yusuke_kyo 6:5ce46b6748fd 98 printf("SetCRSpeed to 0x%x\n",goal);
yusuke_kyo 6:5ce46b6748fd 99 }
yusuke_kyo 6:5ce46b6748fd 100
yusuke_kyo 0:10c9fb86002f 101 // Set direction CW if we have a negative speed
yusuke_kyo 0:10c9fb86002f 102 if (speed < 0) {
yusuke_kyo 0:10c9fb86002f 103 goal |= (0x1 << 10);
yusuke_kyo 0:10c9fb86002f 104 }
yusuke_kyo 0:10c9fb86002f 105
yusuke_kyo 0:10c9fb86002f 106 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 107 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 108
yusuke_kyo 0:10c9fb86002f 109 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 110 int rVal = write(_ID, 0x20, 2, data);
yusuke_kyo 0:10c9fb86002f 111
yusuke_kyo 0:10c9fb86002f 112 return(rVal);
yusuke_kyo 0:10c9fb86002f 113 }
yusuke_kyo 0:10c9fb86002f 114
yusuke_kyo 0:10c9fb86002f 115
yusuke_kyo 0:10c9fb86002f 116 int AX12::SetCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 117
yusuke_kyo 0:10c9fb86002f 118 char data[2];
yusuke_kyo 0:10c9fb86002f 119
yusuke_kyo 0:10c9fb86002f 120 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 121 short limit = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 122
yusuke_kyo 0:10c9fb86002f 123 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 124 printf("SetCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 125 }
yusuke_kyo 0:10c9fb86002f 126
yusuke_kyo 0:10c9fb86002f 127 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 128 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 129
yusuke_kyo 0:10c9fb86002f 130 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 131 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 132
yusuke_kyo 0:10c9fb86002f 133 }
yusuke_kyo 0:10c9fb86002f 134
yusuke_kyo 1:3ac0919c093f 135
yusuke_kyo 0:10c9fb86002f 136 int AX12::SetCCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 137
yusuke_kyo 0:10c9fb86002f 138 char data[2];
yusuke_kyo 0:10c9fb86002f 139
yusuke_kyo 0:10c9fb86002f 140 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 141 short limit = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 142
yusuke_kyo 0:10c9fb86002f 143 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 144 printf("SetCCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 145 }
yusuke_kyo 0:10c9fb86002f 146
yusuke_kyo 0:10c9fb86002f 147 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 148 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 149
yusuke_kyo 0:10c9fb86002f 150 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 151 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 152 }
yusuke_kyo 0:10c9fb86002f 153
yusuke_kyo 0:10c9fb86002f 154
yusuke_kyo 0:10c9fb86002f 155 int AX12::SetID (int CurrentID, int NewID) {
yusuke_kyo 0:10c9fb86002f 156
yusuke_kyo 0:10c9fb86002f 157 char data[1];
yusuke_kyo 0:10c9fb86002f 158 data[0] = NewID;
yusuke_kyo 0:10c9fb86002f 159 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 160 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
yusuke_kyo 0:10c9fb86002f 161 }
yusuke_kyo 0:10c9fb86002f 162 return (write(CurrentID, AX12_REG_ID, 1, data));
yusuke_kyo 0:10c9fb86002f 163
yusuke_kyo 0:10c9fb86002f 164 }
yusuke_kyo 0:10c9fb86002f 165
yusuke_kyo 0:10c9fb86002f 166
yusuke_kyo 0:10c9fb86002f 167 // return 1 is the servo is still in flight
yusuke_kyo 0:10c9fb86002f 168 int AX12::isMoving(void) {
yusuke_kyo 0:10c9fb86002f 169
yusuke_kyo 0:10c9fb86002f 170 char data[1];
yusuke_kyo 0:10c9fb86002f 171 read(_ID,AX12_REG_MOVING,1,data);
yusuke_kyo 0:10c9fb86002f 172 return(data[0]);
yusuke_kyo 0:10c9fb86002f 173 }
yusuke_kyo 0:10c9fb86002f 174
yusuke_kyo 0:10c9fb86002f 175
yusuke_kyo 0:10c9fb86002f 176 void AX12::trigger(void) {
yusuke_kyo 0:10c9fb86002f 177
yusuke_kyo 0:10c9fb86002f 178 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 179 char sum = 0;
yusuke_kyo 0:10c9fb86002f 180
yusuke_kyo 0:10c9fb86002f 181 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 182 printf("\nTriggered\n");
yusuke_kyo 0:10c9fb86002f 183 }
yusuke_kyo 0:10c9fb86002f 184
yusuke_kyo 0:10c9fb86002f 185 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 186 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 187 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 188 }
yusuke_kyo 0:10c9fb86002f 189
yusuke_kyo 0:10c9fb86002f 190 TxBuf[0] = 0xFF;
yusuke_kyo 0:10c9fb86002f 191 TxBuf[1] = 0xFF;
yusuke_kyo 0:10c9fb86002f 192
yusuke_kyo 0:10c9fb86002f 193 // ID - Broadcast
yusuke_kyo 0:10c9fb86002f 194 TxBuf[2] = 0xFE;
yusuke_kyo 0:10c9fb86002f 195 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 196
yusuke_kyo 0:10c9fb86002f 197 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 198 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 199 }
yusuke_kyo 0:10c9fb86002f 200
yusuke_kyo 0:10c9fb86002f 201 // Length
yusuke_kyo 0:10c9fb86002f 202 TxBuf[3] = 0x02;
yusuke_kyo 0:10c9fb86002f 203 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 204 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 205 printf(" Length %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 206 }
yusuke_kyo 0:10c9fb86002f 207
yusuke_kyo 0:10c9fb86002f 208 // Instruction - ACTION
yusuke_kyo 0:10c9fb86002f 209 TxBuf[4] = 0x04;
yusuke_kyo 0:10c9fb86002f 210 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 211 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 212 printf(" Instruction 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 213 }
yusuke_kyo 0:10c9fb86002f 214
yusuke_kyo 0:10c9fb86002f 215 // Checksum
yusuke_kyo 0:10c9fb86002f 216 TxBuf[5] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 217 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 218 printf(" Checksum 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 219 }
yusuke_kyo 0:10c9fb86002f 220
yusuke_kyo 0:10c9fb86002f 221 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 222 for (int i = 0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 223 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 224 }
yusuke_kyo 0:10c9fb86002f 225
yusuke_kyo 0:10c9fb86002f 226 // This is a broadcast packet, so there will be no reply
yusuke_kyo 0:10c9fb86002f 227
yusuke_kyo 0:10c9fb86002f 228 return;
yusuke_kyo 0:10c9fb86002f 229 }
yusuke_kyo 0:10c9fb86002f 230
yusuke_kyo 0:10c9fb86002f 231
yusuke_kyo 0:10c9fb86002f 232 float AX12::GetPosition(void) {
yusuke_kyo 0:10c9fb86002f 233
yusuke_kyo 0:10c9fb86002f 234 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 235 printf("\nGetPosition(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 236 }
yusuke_kyo 0:10c9fb86002f 237
yusuke_kyo 0:10c9fb86002f 238 char data[2];
yusuke_kyo 0:10c9fb86002f 239
yusuke_kyo 0:10c9fb86002f 240 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
yusuke_kyo 0:10c9fb86002f 241 short position = data[0] + (data[1] << 8);
yusuke_kyo 0:10c9fb86002f 242 float angle = (position * 300)/1024;
yusuke_kyo 3:97fc13b4168c 243
yusuke_kyo 0:10c9fb86002f 244 return (angle);
yusuke_kyo 0:10c9fb86002f 245 }
yusuke_kyo 0:10c9fb86002f 246
yusuke_kyo 0:10c9fb86002f 247
yusuke_kyo 0:10c9fb86002f 248 float AX12::GetTemp (void) {
yusuke_kyo 0:10c9fb86002f 249
yusuke_kyo 0:10c9fb86002f 250 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 251 printf("\nGetTemp(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 252 }
yusuke_kyo 0:10c9fb86002f 253 char data[1];
yusuke_kyo 0:10c9fb86002f 254 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
yusuke_kyo 0:10c9fb86002f 255 float temp = data[0];
yusuke_kyo 0:10c9fb86002f 256 return(temp);
yusuke_kyo 0:10c9fb86002f 257 }
yusuke_kyo 0:10c9fb86002f 258
yusuke_kyo 0:10c9fb86002f 259
yusuke_kyo 0:10c9fb86002f 260 float AX12::GetVolts (void) {
yusuke_kyo 0:10c9fb86002f 261 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 262 printf("\nGetVolts(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 263 }
yusuke_kyo 0:10c9fb86002f 264 char data[1];
yusuke_kyo 0:10c9fb86002f 265 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
yusuke_kyo 0:10c9fb86002f 266 float volts = data[0]/10.0;
yusuke_kyo 0:10c9fb86002f 267 return(volts);
yusuke_kyo 0:10c9fb86002f 268 }
yusuke_kyo 0:10c9fb86002f 269
yusuke_kyo 1:3ac0919c093f 270
yusuke_kyo 1:3ac0919c093f 271 int AX12::TorqueEnable (int mode) {
yusuke_kyo 0:10c9fb86002f 272
yusuke_kyo 0:10c9fb86002f 273 char data[1];
yusuke_kyo 0:10c9fb86002f 274 data[0] = mode;
yusuke_kyo 0:10c9fb86002f 275
yusuke_kyo 0:10c9fb86002f 276 return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
yusuke_kyo 0:10c9fb86002f 277 }
yusuke_kyo 0:10c9fb86002f 278
yusuke_kyo 1:3ac0919c093f 279
yusuke_kyo 1:3ac0919c093f 280 int AX12::SetTorqueLimit (float torque_lim) {
yusuke_kyo 1:3ac0919c093f 281
yusuke_kyo 1:3ac0919c093f 282 short limit = torque_lim * 1023;
yusuke_kyo 1:3ac0919c093f 283 char data[2];
yusuke_kyo 1:3ac0919c093f 284 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 1:3ac0919c093f 285 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 1:3ac0919c093f 286
yusuke_kyo 1:3ac0919c093f 287 return (write(_ID, AX12_REG_TORQUE_LIMIT, 2, data));
yusuke_kyo 1:3ac0919c093f 288 }
yusuke_kyo 1:3ac0919c093f 289
yusuke_kyo 1:3ac0919c093f 290
yusuke_kyo 0:10c9fb86002f 291 int AX12::read(int ID, int start, int bytes, char* data) {
yusuke_kyo 0:10c9fb86002f 292
yusuke_kyo 0:10c9fb86002f 293 char PacketLength = 0x4;
yusuke_kyo 0:10c9fb86002f 294 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 295 char sum = 0;
yusuke_kyo 0:10c9fb86002f 296 char Status[16];
yusuke_kyo 0:10c9fb86002f 297
yusuke_kyo 0:10c9fb86002f 298 Status[4] = 0xFE; // return code
yusuke_kyo 0:10c9fb86002f 299
yusuke_kyo 0:10c9fb86002f 300 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 301 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
yusuke_kyo 0:10c9fb86002f 302 }
yusuke_kyo 0:10c9fb86002f 303
yusuke_kyo 0:10c9fb86002f 304 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 305 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 306 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 307 }
yusuke_kyo 0:10c9fb86002f 308
yusuke_kyo 0:10c9fb86002f 309 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 310 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 311
yusuke_kyo 0:10c9fb86002f 312 // ID
yusuke_kyo 0:10c9fb86002f 313 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 314 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 315 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 316 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 317 }
yusuke_kyo 0:10c9fb86002f 318
yusuke_kyo 0:10c9fb86002f 319 // Packet Length
yusuke_kyo 0:10c9fb86002f 320 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
yusuke_kyo 0:10c9fb86002f 321 sum += TxBuf[3]; // Accululate the packet sum
yusuke_kyo 0:10c9fb86002f 322 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 323 printf(" Length : 0x%x\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 324 }
yusuke_kyo 0:10c9fb86002f 325
yusuke_kyo 0:10c9fb86002f 326 // Instruction - Read
yusuke_kyo 0:10c9fb86002f 327 TxBuf[4] = 0x2;
yusuke_kyo 0:10c9fb86002f 328 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 329 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 330 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 331 }
yusuke_kyo 0:10c9fb86002f 332
yusuke_kyo 0:10c9fb86002f 333 // Start Address
yusuke_kyo 0:10c9fb86002f 334 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 335 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 336 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 337 printf(" Start Address : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 338 }
yusuke_kyo 0:10c9fb86002f 339
yusuke_kyo 0:10c9fb86002f 340 // Bytes to read
yusuke_kyo 0:10c9fb86002f 341 TxBuf[6] = bytes;
yusuke_kyo 0:10c9fb86002f 342 sum += TxBuf[6];
yusuke_kyo 0:10c9fb86002f 343 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 344 printf(" No bytes : 0x%x\n",TxBuf[6]);
yusuke_kyo 0:10c9fb86002f 345 }
yusuke_kyo 0:10c9fb86002f 346
yusuke_kyo 0:10c9fb86002f 347 // Checksum
yusuke_kyo 0:10c9fb86002f 348 TxBuf[7] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 349 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 350 printf(" Checksum : 0x%x\n",TxBuf[7]);
yusuke_kyo 0:10c9fb86002f 351 }
yusuke_kyo 0:10c9fb86002f 352
yusuke_kyo 0:10c9fb86002f 353 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 354 for (int i = 0; i<8 ; i++) {
yusuke_kyo 0:10c9fb86002f 355 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 356 }
yusuke_kyo 0:10c9fb86002f 357
yusuke_kyo 0:10c9fb86002f 358 // Wait for the bytes to be transmitted
yusuke_kyo 0:10c9fb86002f 359 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 360
yusuke_kyo 0:10c9fb86002f 361 // Skip if the read was to the broadcast address
yusuke_kyo 0:10c9fb86002f 362 if (_ID != 0xFE) {
yusuke_kyo 12:7affd17fcb66 363 if(timer==0){
yusuke_kyo 12:7affd17fcb66 364 // Receive the Status packet 6+ number of bytes read
yusuke_kyo 12:7affd17fcb66 365 for (int i=0; i<(6+bytes) ; i++) {
yusuke_kyo 12:7affd17fcb66 366 Status[i] = _ax12.getc();
yusuke_kyo 12:7affd17fcb66 367 }
yusuke_kyo 0:10c9fb86002f 368 }
yusuke_kyo 12:7affd17fcb66 369 else{
yusuke_kyo 12:7affd17fcb66 370 // response packet is always 6 bytes
yusuke_kyo 12:7affd17fcb66 371 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 12:7affd17fcb66 372 // timeout is a little more than the time to transmit
yusuke_kyo 12:7affd17fcb66 373 // the packet back, i.e. 60 bit periods, round up to 100
yusuke_kyo 12:7affd17fcb66 374 int timeout = 0;
yusuke_kyo 12:7affd17fcb66 375 int plen = 0;
yusuke_kyo 12:7affd17fcb66 376 while ((timeout < 100) && (plen<6)) {
yusuke_kyo 12:7affd17fcb66 377
yusuke_kyo 12:7affd17fcb66 378 if (_ax12.readable()) {
yusuke_kyo 12:7affd17fcb66 379 Status[plen] = _ax12.getc();
yusuke_kyo 12:7affd17fcb66 380 plen++;
yusuke_kyo 12:7affd17fcb66 381 timeout = 0;
yusuke_kyo 12:7affd17fcb66 382 }
yusuke_kyo 12:7affd17fcb66 383
yusuke_kyo 12:7affd17fcb66 384 // wait for the bit period
yusuke_kyo 12:7affd17fcb66 385 // int baudrate = 1000000;
yusuke_kyo 12:7affd17fcb66 386 // wait (1.0/baudrate);
yusuke_kyo 12:7affd17fcb66 387 wait(0.01);
yusuke_kyo 12:7affd17fcb66 388 timeout++;
yusuke_kyo 12:7affd17fcb66 389 }
yusuke_kyo 12:7affd17fcb66 390
yusuke_kyo 12:7affd17fcb66 391 if (timeout == ((6+bytes)*10) ) {
yusuke_kyo 12:7affd17fcb66 392 return(-1);
yusuke_kyo 12:7affd17fcb66 393 }
yusuke_kyo 12:7affd17fcb66 394 }
yusuke_kyo 12:7affd17fcb66 395
yusuke_kyo 0:10c9fb86002f 396 // Copy the data from Status into data for return
yusuke_kyo 0:10c9fb86002f 397 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 398 data[i] = Status[5+i];
yusuke_kyo 0:10c9fb86002f 399 }
yusuke_kyo 12:7affd17fcb66 400
yusuke_kyo 0:10c9fb86002f 401 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 402 printf("\nStatus Packet\n");
yusuke_kyo 0:10c9fb86002f 403 printf(" Header : 0x%x\n",Status[0]);
yusuke_kyo 0:10c9fb86002f 404 printf(" Header : 0x%x\n",Status[1]);
yusuke_kyo 0:10c9fb86002f 405 printf(" ID : 0x%x\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 406 printf(" Length : 0x%x\n",Status[3]);
yusuke_kyo 6:5ce46b6748fd 407 printf(" Error Code : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 408
yusuke_kyo 0:10c9fb86002f 409 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 410 printf(" Data : 0x%x\n",Status[5+i]);
yusuke_kyo 0:10c9fb86002f 411 }
yusuke_kyo 0:10c9fb86002f 412
yusuke_kyo 0:10c9fb86002f 413 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
yusuke_kyo 0:10c9fb86002f 414 }
yusuke_kyo 0:10c9fb86002f 415
yusuke_kyo 0:10c9fb86002f 416 } // if (ID!=0xFE)
yusuke_kyo 9:0927a7b74806 417
yusuke_kyo 9:0927a7b74806 418 if(AX12_ERROR_DEBUG && Status[4]!=0) printf("\nError Code : 0x%x\n", Status[4]);
yusuke_kyo 0:10c9fb86002f 419
yusuke_kyo 0:10c9fb86002f 420 return(Status[4]);
yusuke_kyo 0:10c9fb86002f 421 }
yusuke_kyo 0:10c9fb86002f 422
yusuke_kyo 0:10c9fb86002f 423
yusuke_kyo 0:10c9fb86002f 424 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
yusuke_kyo 0:10c9fb86002f 425 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
yusuke_kyo 0:10c9fb86002f 426
yusuke_kyo 0:10c9fb86002f 427 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 428 char sum = 0;
yusuke_kyo 0:10c9fb86002f 429 char Status[6];
yusuke_kyo 0:10c9fb86002f 430
yusuke_kyo 0:10c9fb86002f 431 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 432 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
yusuke_kyo 0:10c9fb86002f 433 }
yusuke_kyo 0:10c9fb86002f 434
yusuke_kyo 0:10c9fb86002f 435 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 436 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 437 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 438 }
yusuke_kyo 0:10c9fb86002f 439
yusuke_kyo 0:10c9fb86002f 440 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 441 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 442
yusuke_kyo 0:10c9fb86002f 443 // ID
yusuke_kyo 0:10c9fb86002f 444 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 445 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 446
yusuke_kyo 0:10c9fb86002f 447 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 448 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 449 }
yusuke_kyo 0:10c9fb86002f 450
yusuke_kyo 0:10c9fb86002f 451 // packet Length
yusuke_kyo 0:10c9fb86002f 452 TxBuf[3] = 3+bytes;
yusuke_kyo 0:10c9fb86002f 453 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 454
yusuke_kyo 0:10c9fb86002f 455 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 456 printf(" Length : %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 457 }
yusuke_kyo 0:10c9fb86002f 458
yusuke_kyo 0:10c9fb86002f 459 // Instruction
yusuke_kyo 0:10c9fb86002f 460 if (flag == 1) {
yusuke_kyo 0:10c9fb86002f 461 TxBuf[4]=0x04;
yusuke_kyo 0:10c9fb86002f 462 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 463 } else {
yusuke_kyo 0:10c9fb86002f 464 TxBuf[4]=0x03;
yusuke_kyo 0:10c9fb86002f 465 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 466 }
yusuke_kyo 0:10c9fb86002f 467
yusuke_kyo 0:10c9fb86002f 468 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 469 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 470 }
yusuke_kyo 0:10c9fb86002f 471
yusuke_kyo 0:10c9fb86002f 472 // Start Address
yusuke_kyo 0:10c9fb86002f 473 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 474 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 475 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 476 printf(" Start : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 477 }
yusuke_kyo 0:10c9fb86002f 478
yusuke_kyo 0:10c9fb86002f 479 // data
yusuke_kyo 0:10c9fb86002f 480 for (char i=0; i<bytes ; i++) {
yusuke_kyo 0:10c9fb86002f 481 TxBuf[6+i] = data[i];
yusuke_kyo 0:10c9fb86002f 482 sum += TxBuf[6+i];
yusuke_kyo 0:10c9fb86002f 483 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 484 printf(" Data : 0x%x\n",TxBuf[6+i]);
yusuke_kyo 0:10c9fb86002f 485 }
yusuke_kyo 0:10c9fb86002f 486 }
yusuke_kyo 0:10c9fb86002f 487
yusuke_kyo 0:10c9fb86002f 488 // checksum
yusuke_kyo 0:10c9fb86002f 489 TxBuf[6+bytes] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 490 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 491 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
yusuke_kyo 0:10c9fb86002f 492 }
yusuke_kyo 0:10c9fb86002f 493
yusuke_kyo 0:10c9fb86002f 494 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 495 for (int i = 0; i < (7 + bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 496 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 497 }
yusuke_kyo 0:10c9fb86002f 498
yusuke_kyo 0:10c9fb86002f 499 // Wait for data to transmit
yusuke_kyo 0:10c9fb86002f 500 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 501
yusuke_kyo 0:10c9fb86002f 502 // make sure we have a valid return
yusuke_kyo 0:10c9fb86002f 503 Status[4]=0x00;
yusuke_kyo 0:10c9fb86002f 504
yusuke_kyo 0:10c9fb86002f 505 // we'll only get a reply if it was not broadcast
yusuke_kyo 0:10c9fb86002f 506 if (_ID!=0xFE) {
yusuke_kyo 12:7affd17fcb66 507 if(timer==0){
yusuke_kyo 12:7affd17fcb66 508 // response is always 6 bytes
yusuke_kyo 12:7affd17fcb66 509 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 12:7affd17fcb66 510 for (int i=0; i < 6 ; i++) {
yusuke_kyo 12:7affd17fcb66 511 Status[i] = _ax12.getc();
yusuke_kyo 12:7affd17fcb66 512 }
yusuke_kyo 12:7affd17fcb66 513 }
yusuke_kyo 12:7affd17fcb66 514 else{
yusuke_kyo 0:10c9fb86002f 515
yusuke_kyo 12:7affd17fcb66 516 // response packet is always 6 + bytes
yusuke_kyo 12:7affd17fcb66 517 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 12:7affd17fcb66 518 // timeout is a little more than the time to transmit
yusuke_kyo 12:7affd17fcb66 519 // the packet back, i.e. (6+bytes)*10 bit periods
yusuke_kyo 12:7affd17fcb66 520
yusuke_kyo 12:7affd17fcb66 521 int timeout = 0;
yusuke_kyo 12:7affd17fcb66 522 int plen = 0;
yusuke_kyo 12:7affd17fcb66 523 while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
yusuke_kyo 12:7affd17fcb66 524
yusuke_kyo 12:7affd17fcb66 525 if (_ax12.readable()) {
yusuke_kyo 12:7affd17fcb66 526 Status[plen] = _ax12.getc();
yusuke_kyo 12:7affd17fcb66 527 plen++;
yusuke_kyo 12:7affd17fcb66 528 timeout = 0;
yusuke_kyo 12:7affd17fcb66 529 }
yusuke_kyo 12:7affd17fcb66 530
yusuke_kyo 12:7affd17fcb66 531 // wait for the bit period
yusuke_kyo 12:7affd17fcb66 532 // int baudrate = 1000000;
yusuke_kyo 12:7affd17fcb66 533 // wait (1.0/baudrate);
yusuke_kyo 12:7affd17fcb66 534 wait(0.01);
yusuke_kyo 12:7affd17fcb66 535 timeout++;
yusuke_kyo 12:7affd17fcb66 536 }
yusuke_kyo 0:10c9fb86002f 537 }
yusuke_kyo 12:7affd17fcb66 538
yusuke_kyo 0:10c9fb86002f 539 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 540 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 541 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
yusuke_kyo 0:10c9fb86002f 542 printf(" ID : %d\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 543 printf(" Length : %d\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 544 printf(" Error : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 545 printf(" Checksum : 0x%x\n",Status[5]);
yusuke_kyo 0:10c9fb86002f 546 }
yusuke_kyo 0:10c9fb86002f 547
yusuke_kyo 0:10c9fb86002f 548
yusuke_kyo 0:10c9fb86002f 549 }
yusuke_kyo 0:10c9fb86002f 550
yusuke_kyo 9:0927a7b74806 551 if(AX12_ERROR_DEBUG && Status[4]!=0) printf("\nError Code : 0x%x\n", Status[4]);
yusuke_kyo 9:0927a7b74806 552
yusuke_kyo 0:10c9fb86002f 553 return(Status[4]); // return error code
yusuke_kyo 0:10c9fb86002f 554 }