雄介 太田 / Dynamixel

Dyanamixel

Dependents:   YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more

AX12.cpp@3:97fc13b4168c, 2015-04-10 (annotated)

Committer:
yusuke_kyo
Date:
Fri Apr 10 03:16:21 2015 +0000
Revision:
3:97fc13b4168c
Parent:
1:3ac0919c093f
Child:
5:950c4f4f73c6
serialhalfduplex

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 3:97fc13b4168c 28 Serial pc2(USBTX, USBRX); // tx, rx
yusuke_kyo 3:97fc13b4168c 29
yusuke_kyo 0:10c9fb86002f 30 AX12::AX12(PinName tx, PinName rx, int ID)
yusuke_kyo 0:10c9fb86002f 31 : _ax12(tx,rx) {
yusuke_kyo 0:10c9fb86002f 32
yusuke_kyo 0:10c9fb86002f 33 _ax12.baud(1000000);
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 0:10c9fb86002f 97 // Set direction CW if we have a negative speed
yusuke_kyo 0:10c9fb86002f 98 if (speed < 0) {
yusuke_kyo 0:10c9fb86002f 99 goal |= (0x1 << 10);
yusuke_kyo 0:10c9fb86002f 100 }
yusuke_kyo 0:10c9fb86002f 101
yusuke_kyo 0:10c9fb86002f 102 data[0] = goal & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 103 data[1] = goal >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 104
yusuke_kyo 0:10c9fb86002f 105 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 106 int rVal = write(_ID, 0x20, 2, data);
yusuke_kyo 0:10c9fb86002f 107
yusuke_kyo 0:10c9fb86002f 108 return(rVal);
yusuke_kyo 0:10c9fb86002f 109 }
yusuke_kyo 0:10c9fb86002f 110
yusuke_kyo 0:10c9fb86002f 111
yusuke_kyo 0:10c9fb86002f 112 int AX12::SetCWLimit (int degrees) {
yusuke_kyo 3:97fc13b4168c 113 printf("SetCWLimit to %d\n",degrees);
yusuke_kyo 0:10c9fb86002f 114
yusuke_kyo 0:10c9fb86002f 115 char data[2];
yusuke_kyo 0:10c9fb86002f 116
yusuke_kyo 0:10c9fb86002f 117 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 118 short limit = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 119
yusuke_kyo 0:10c9fb86002f 120 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 121 printf("SetCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 122 }
yusuke_kyo 0:10c9fb86002f 123
yusuke_kyo 0:10c9fb86002f 124 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 125 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 126
yusuke_kyo 0:10c9fb86002f 127 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 128 return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 129
yusuke_kyo 0:10c9fb86002f 130 }
yusuke_kyo 0:10c9fb86002f 131
yusuke_kyo 1:3ac0919c093f 132
yusuke_kyo 0:10c9fb86002f 133 int AX12::SetCCWLimit (int degrees) {
yusuke_kyo 0:10c9fb86002f 134
yusuke_kyo 0:10c9fb86002f 135 char data[2];
yusuke_kyo 0:10c9fb86002f 136
yusuke_kyo 0:10c9fb86002f 137 // 1023 / 300 * degrees
yusuke_kyo 0:10c9fb86002f 138 short limit = (1023 * degrees) / 300;
yusuke_kyo 0:10c9fb86002f 139
yusuke_kyo 0:10c9fb86002f 140 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 141 printf("SetCCWLimit to 0x%x\n",limit);
yusuke_kyo 0:10c9fb86002f 142 }
yusuke_kyo 0:10c9fb86002f 143
yusuke_kyo 0:10c9fb86002f 144 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 0:10c9fb86002f 145 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 0:10c9fb86002f 146
yusuke_kyo 0:10c9fb86002f 147 // write the packet, return the error code
yusuke_kyo 0:10c9fb86002f 148 return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
yusuke_kyo 0:10c9fb86002f 149 }
yusuke_kyo 0:10c9fb86002f 150
yusuke_kyo 0:10c9fb86002f 151
yusuke_kyo 0:10c9fb86002f 152 int AX12::SetID (int CurrentID, int NewID) {
yusuke_kyo 0:10c9fb86002f 153
yusuke_kyo 0:10c9fb86002f 154 char data[1];
yusuke_kyo 0:10c9fb86002f 155 data[0] = NewID;
yusuke_kyo 0:10c9fb86002f 156 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 157 printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
yusuke_kyo 0:10c9fb86002f 158 }
yusuke_kyo 0:10c9fb86002f 159 return (write(CurrentID, AX12_REG_ID, 1, data));
yusuke_kyo 0:10c9fb86002f 160
yusuke_kyo 0:10c9fb86002f 161 }
yusuke_kyo 0:10c9fb86002f 162
yusuke_kyo 0:10c9fb86002f 163
yusuke_kyo 0:10c9fb86002f 164 // return 1 is the servo is still in flight
yusuke_kyo 0:10c9fb86002f 165 int AX12::isMoving(void) {
yusuke_kyo 0:10c9fb86002f 166
yusuke_kyo 0:10c9fb86002f 167 char data[1];
yusuke_kyo 0:10c9fb86002f 168 read(_ID,AX12_REG_MOVING,1,data);
yusuke_kyo 0:10c9fb86002f 169 return(data[0]);
yusuke_kyo 0:10c9fb86002f 170 }
yusuke_kyo 0:10c9fb86002f 171
yusuke_kyo 0:10c9fb86002f 172
yusuke_kyo 0:10c9fb86002f 173 void AX12::trigger(void) {
yusuke_kyo 0:10c9fb86002f 174
yusuke_kyo 0:10c9fb86002f 175 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 176 char sum = 0;
yusuke_kyo 0:10c9fb86002f 177
yusuke_kyo 0:10c9fb86002f 178 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 179 printf("\nTriggered\n");
yusuke_kyo 0:10c9fb86002f 180 }
yusuke_kyo 0:10c9fb86002f 181
yusuke_kyo 0:10c9fb86002f 182 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 183 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 184 printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 185 }
yusuke_kyo 0:10c9fb86002f 186
yusuke_kyo 0:10c9fb86002f 187 TxBuf[0] = 0xFF;
yusuke_kyo 0:10c9fb86002f 188 TxBuf[1] = 0xFF;
yusuke_kyo 0:10c9fb86002f 189
yusuke_kyo 0:10c9fb86002f 190 // ID - Broadcast
yusuke_kyo 0:10c9fb86002f 191 TxBuf[2] = 0xFE;
yusuke_kyo 0:10c9fb86002f 192 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 193
yusuke_kyo 0:10c9fb86002f 194 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 195 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 196 }
yusuke_kyo 0:10c9fb86002f 197
yusuke_kyo 0:10c9fb86002f 198 // Length
yusuke_kyo 0:10c9fb86002f 199 TxBuf[3] = 0x02;
yusuke_kyo 0:10c9fb86002f 200 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 201 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 202 printf(" Length %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 203 }
yusuke_kyo 0:10c9fb86002f 204
yusuke_kyo 0:10c9fb86002f 205 // Instruction - ACTION
yusuke_kyo 0:10c9fb86002f 206 TxBuf[4] = 0x04;
yusuke_kyo 0:10c9fb86002f 207 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 208 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 209 printf(" Instruction 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 210 }
yusuke_kyo 0:10c9fb86002f 211
yusuke_kyo 0:10c9fb86002f 212 // Checksum
yusuke_kyo 0:10c9fb86002f 213 TxBuf[5] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 214 if (AX12_TRIGGER_DEBUG) {
yusuke_kyo 0:10c9fb86002f 215 printf(" Checksum 0x%X\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 216 }
yusuke_kyo 0:10c9fb86002f 217
yusuke_kyo 0:10c9fb86002f 218 // Transmit the packet in one burst with no pausing
yusuke_kyo 0:10c9fb86002f 219 for (int i = 0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 220 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 221 }
yusuke_kyo 0:10c9fb86002f 222
yusuke_kyo 0:10c9fb86002f 223 // This is a broadcast packet, so there will be no reply
yusuke_kyo 0:10c9fb86002f 224
yusuke_kyo 0:10c9fb86002f 225 return;
yusuke_kyo 0:10c9fb86002f 226 }
yusuke_kyo 0:10c9fb86002f 227
yusuke_kyo 0:10c9fb86002f 228
yusuke_kyo 0:10c9fb86002f 229 float AX12::GetPosition(void) {
yusuke_kyo 3:97fc13b4168c 230 pc2.printf("\nGetPosition(ID%d)",_ID);
yusuke_kyo 0:10c9fb86002f 231
yusuke_kyo 0:10c9fb86002f 232 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 233 printf("\nGetPosition(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 234 }
yusuke_kyo 0:10c9fb86002f 235
yusuke_kyo 0:10c9fb86002f 236 char data[2];
yusuke_kyo 0:10c9fb86002f 237
yusuke_kyo 0:10c9fb86002f 238 int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
yusuke_kyo 3:97fc13b4168c 239 pc2.printf("\n1");
yusuke_kyo 0:10c9fb86002f 240 short position = data[0] + (data[1] << 8);
yusuke_kyo 3:97fc13b4168c 241 pc2.printf("\n2");
yusuke_kyo 0:10c9fb86002f 242 float angle = (position * 300)/1024;
yusuke_kyo 3:97fc13b4168c 243 pc2.printf("\n3");
yusuke_kyo 3:97fc13b4168c 244
yusuke_kyo 3:97fc13b4168c 245 pc2.printf("\nGetPosition(angle%f)\n",angle);
yusuke_kyo 0:10c9fb86002f 246 return (angle);
yusuke_kyo 0:10c9fb86002f 247 }
yusuke_kyo 0:10c9fb86002f 248
yusuke_kyo 0:10c9fb86002f 249
yusuke_kyo 0:10c9fb86002f 250 float AX12::GetTemp (void) {
yusuke_kyo 0:10c9fb86002f 251
yusuke_kyo 0:10c9fb86002f 252 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 253 printf("\nGetTemp(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 254 }
yusuke_kyo 0:10c9fb86002f 255 char data[1];
yusuke_kyo 0:10c9fb86002f 256 int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
yusuke_kyo 0:10c9fb86002f 257 float temp = data[0];
yusuke_kyo 0:10c9fb86002f 258 return(temp);
yusuke_kyo 0:10c9fb86002f 259 }
yusuke_kyo 0:10c9fb86002f 260
yusuke_kyo 0:10c9fb86002f 261
yusuke_kyo 0:10c9fb86002f 262 float AX12::GetVolts (void) {
yusuke_kyo 0:10c9fb86002f 263 if (AX12_DEBUG) {
yusuke_kyo 0:10c9fb86002f 264 printf("\nGetVolts(%d)",_ID);
yusuke_kyo 0:10c9fb86002f 265 }
yusuke_kyo 0:10c9fb86002f 266 char data[1];
yusuke_kyo 0:10c9fb86002f 267 int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
yusuke_kyo 0:10c9fb86002f 268 float volts = data[0]/10.0;
yusuke_kyo 0:10c9fb86002f 269 return(volts);
yusuke_kyo 0:10c9fb86002f 270 }
yusuke_kyo 0:10c9fb86002f 271
yusuke_kyo 1:3ac0919c093f 272
yusuke_kyo 1:3ac0919c093f 273 int AX12::TorqueEnable (int mode) {
yusuke_kyo 0:10c9fb86002f 274
yusuke_kyo 0:10c9fb86002f 275 char data[1];
yusuke_kyo 0:10c9fb86002f 276 data[0] = mode;
yusuke_kyo 0:10c9fb86002f 277
yusuke_kyo 0:10c9fb86002f 278 return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
yusuke_kyo 0:10c9fb86002f 279 }
yusuke_kyo 0:10c9fb86002f 280
yusuke_kyo 1:3ac0919c093f 281
yusuke_kyo 1:3ac0919c093f 282 int AX12::SetTorqueLimit (float torque_lim) {
yusuke_kyo 1:3ac0919c093f 283
yusuke_kyo 1:3ac0919c093f 284 short limit = torque_lim * 1023;
yusuke_kyo 1:3ac0919c093f 285 char data[2];
yusuke_kyo 1:3ac0919c093f 286 data[0] = limit & 0xff; // bottom 8 bits
yusuke_kyo 1:3ac0919c093f 287 data[1] = limit >> 8; // top 8 bits
yusuke_kyo 1:3ac0919c093f 288
yusuke_kyo 1:3ac0919c093f 289 return (write(_ID, AX12_REG_TORQUE_LIMIT, 2, data));
yusuke_kyo 1:3ac0919c093f 290 }
yusuke_kyo 1:3ac0919c093f 291
yusuke_kyo 1:3ac0919c093f 292
yusuke_kyo 0:10c9fb86002f 293 int AX12::read(int ID, int start, int bytes, char* data) {
yusuke_kyo 0:10c9fb86002f 294
yusuke_kyo 0:10c9fb86002f 295 char PacketLength = 0x4;
yusuke_kyo 0:10c9fb86002f 296 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 297 char sum = 0;
yusuke_kyo 0:10c9fb86002f 298 char Status[16];
yusuke_kyo 0:10c9fb86002f 299
yusuke_kyo 0:10c9fb86002f 300 Status[4] = 0xFE; // return code
yusuke_kyo 0:10c9fb86002f 301
yusuke_kyo 0:10c9fb86002f 302 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 303 printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
yusuke_kyo 0:10c9fb86002f 304 }
yusuke_kyo 0:10c9fb86002f 305
yusuke_kyo 0:10c9fb86002f 306 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 307 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 308 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 309 }
yusuke_kyo 0:10c9fb86002f 310
yusuke_kyo 0:10c9fb86002f 311 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 312 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 313
yusuke_kyo 0:10c9fb86002f 314 // ID
yusuke_kyo 0:10c9fb86002f 315 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 316 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 317 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 318 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 319 }
yusuke_kyo 0:10c9fb86002f 320
yusuke_kyo 0:10c9fb86002f 321 // Packet Length
yusuke_kyo 0:10c9fb86002f 322 TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
yusuke_kyo 0:10c9fb86002f 323 sum += TxBuf[3]; // Accululate the packet sum
yusuke_kyo 0:10c9fb86002f 324 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 325 printf(" Length : 0x%x\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 326 }
yusuke_kyo 0:10c9fb86002f 327
yusuke_kyo 0:10c9fb86002f 328 // Instruction - Read
yusuke_kyo 0:10c9fb86002f 329 TxBuf[4] = 0x2;
yusuke_kyo 0:10c9fb86002f 330 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 331 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 332 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 333 }
yusuke_kyo 0:10c9fb86002f 334
yusuke_kyo 0:10c9fb86002f 335 // Start Address
yusuke_kyo 0:10c9fb86002f 336 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 337 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 338 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 339 printf(" Start Address : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 340 }
yusuke_kyo 0:10c9fb86002f 341
yusuke_kyo 0:10c9fb86002f 342 // Bytes to read
yusuke_kyo 0:10c9fb86002f 343 TxBuf[6] = bytes;
yusuke_kyo 0:10c9fb86002f 344 sum += TxBuf[6];
yusuke_kyo 0:10c9fb86002f 345 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 346 printf(" No bytes : 0x%x\n",TxBuf[6]);
yusuke_kyo 0:10c9fb86002f 347 }
yusuke_kyo 0:10c9fb86002f 348
yusuke_kyo 0:10c9fb86002f 349 // Checksum
yusuke_kyo 0:10c9fb86002f 350 TxBuf[7] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 351 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 352 printf(" Checksum : 0x%x\n",TxBuf[7]);
yusuke_kyo 0:10c9fb86002f 353 }
yusuke_kyo 0:10c9fb86002f 354
yusuke_kyo 0:10c9fb86002f 355 // Transmit the packet in one burst with no pausing
yusuke_kyo 3:97fc13b4168c 356 pc2.printf("read:transmit the packet");
yusuke_kyo 0:10c9fb86002f 357 for (int i = 0; i<8 ; i++) {
yusuke_kyo 0:10c9fb86002f 358 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 359 }
yusuke_kyo 3:97fc13b4168c 360 pc2.printf("read:transmit the packet : end");
yusuke_kyo 0:10c9fb86002f 361
yusuke_kyo 0:10c9fb86002f 362 // Wait for the bytes to be transmitted
yusuke_kyo 0:10c9fb86002f 363 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 364
yusuke_kyo 0:10c9fb86002f 365 // Skip if the read was to the broadcast address
yusuke_kyo 0:10c9fb86002f 366 if (_ID != 0xFE) {
yusuke_kyo 0:10c9fb86002f 367
yusuke_kyo 0:10c9fb86002f 368 // Receive the Status packet 6+ number of bytes read
yusuke_kyo 0:10c9fb86002f 369 for (int i=0; i<(6+bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 370 Status[i] = _ax12.getc();
yusuke_kyo 0:10c9fb86002f 371 }
yusuke_kyo 0:10c9fb86002f 372
yusuke_kyo 0:10c9fb86002f 373 // Copy the data from Status into data for return
yusuke_kyo 0:10c9fb86002f 374 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 375 data[i] = Status[5+i];
yusuke_kyo 0:10c9fb86002f 376 }
yusuke_kyo 0:10c9fb86002f 377
yusuke_kyo 0:10c9fb86002f 378 if (AX12_READ_DEBUG) {
yusuke_kyo 0:10c9fb86002f 379 printf("\nStatus Packet\n");
yusuke_kyo 0:10c9fb86002f 380 printf(" Header : 0x%x\n",Status[0]);
yusuke_kyo 0:10c9fb86002f 381 printf(" Header : 0x%x\n",Status[1]);
yusuke_kyo 0:10c9fb86002f 382 printf(" ID : 0x%x\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 383 printf(" Length : 0x%x\n",Status[3]);
yusuke_kyo 3:97fc13b4168c 384 pc2.printf(" Error Code : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 385
yusuke_kyo 0:10c9fb86002f 386 for (int i=0; i < Status[3]-2 ; i++) {
yusuke_kyo 0:10c9fb86002f 387 printf(" Data : 0x%x\n",Status[5+i]);
yusuke_kyo 0:10c9fb86002f 388 }
yusuke_kyo 0:10c9fb86002f 389
yusuke_kyo 0:10c9fb86002f 390 printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
yusuke_kyo 0:10c9fb86002f 391 }
yusuke_kyo 0:10c9fb86002f 392
yusuke_kyo 0:10c9fb86002f 393 } // if (ID!=0xFE)
yusuke_kyo 0:10c9fb86002f 394
yusuke_kyo 0:10c9fb86002f 395 return(Status[4]);
yusuke_kyo 0:10c9fb86002f 396 }
yusuke_kyo 0:10c9fb86002f 397
yusuke_kyo 0:10c9fb86002f 398
yusuke_kyo 0:10c9fb86002f 399 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
yusuke_kyo 0:10c9fb86002f 400 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
yusuke_kyo 0:10c9fb86002f 401
yusuke_kyo 0:10c9fb86002f 402 char TxBuf[16];
yusuke_kyo 0:10c9fb86002f 403 char sum = 0;
yusuke_kyo 0:10c9fb86002f 404 char Status[6];
yusuke_kyo 0:10c9fb86002f 405
yusuke_kyo 0:10c9fb86002f 406 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 407 printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
yusuke_kyo 0:10c9fb86002f 408 }
yusuke_kyo 0:10c9fb86002f 409
yusuke_kyo 0:10c9fb86002f 410 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 411 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 412 printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
yusuke_kyo 0:10c9fb86002f 413 }
yusuke_kyo 0:10c9fb86002f 414
yusuke_kyo 0:10c9fb86002f 415 TxBuf[0] = 0xff;
yusuke_kyo 0:10c9fb86002f 416 TxBuf[1] = 0xff;
yusuke_kyo 0:10c9fb86002f 417
yusuke_kyo 0:10c9fb86002f 418 // ID
yusuke_kyo 0:10c9fb86002f 419 TxBuf[2] = ID;
yusuke_kyo 0:10c9fb86002f 420 sum += TxBuf[2];
yusuke_kyo 0:10c9fb86002f 421
yusuke_kyo 0:10c9fb86002f 422 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 423 printf(" ID : %d\n",TxBuf[2]);
yusuke_kyo 0:10c9fb86002f 424 }
yusuke_kyo 0:10c9fb86002f 425
yusuke_kyo 0:10c9fb86002f 426 // packet Length
yusuke_kyo 0:10c9fb86002f 427 TxBuf[3] = 3+bytes;
yusuke_kyo 0:10c9fb86002f 428 sum += TxBuf[3];
yusuke_kyo 0:10c9fb86002f 429
yusuke_kyo 0:10c9fb86002f 430 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 431 printf(" Length : %d\n",TxBuf[3]);
yusuke_kyo 0:10c9fb86002f 432 }
yusuke_kyo 0:10c9fb86002f 433
yusuke_kyo 0:10c9fb86002f 434 // Instruction
yusuke_kyo 0:10c9fb86002f 435 if (flag == 1) {
yusuke_kyo 0:10c9fb86002f 436 TxBuf[4]=0x04;
yusuke_kyo 0:10c9fb86002f 437 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 438 } else {
yusuke_kyo 0:10c9fb86002f 439 TxBuf[4]=0x03;
yusuke_kyo 0:10c9fb86002f 440 sum += TxBuf[4];
yusuke_kyo 0:10c9fb86002f 441 }
yusuke_kyo 0:10c9fb86002f 442
yusuke_kyo 0:10c9fb86002f 443 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 444 printf(" Instruction : 0x%x\n",TxBuf[4]);
yusuke_kyo 0:10c9fb86002f 445 }
yusuke_kyo 0:10c9fb86002f 446
yusuke_kyo 0:10c9fb86002f 447 // Start Address
yusuke_kyo 0:10c9fb86002f 448 TxBuf[5] = start;
yusuke_kyo 0:10c9fb86002f 449 sum += TxBuf[5];
yusuke_kyo 0:10c9fb86002f 450 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 451 printf(" Start : 0x%x\n",TxBuf[5]);
yusuke_kyo 0:10c9fb86002f 452 }
yusuke_kyo 0:10c9fb86002f 453
yusuke_kyo 0:10c9fb86002f 454 // data
yusuke_kyo 0:10c9fb86002f 455 for (char i=0; i<bytes ; i++) {
yusuke_kyo 0:10c9fb86002f 456 TxBuf[6+i] = data[i];
yusuke_kyo 0:10c9fb86002f 457 sum += TxBuf[6+i];
yusuke_kyo 0:10c9fb86002f 458 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 459 printf(" Data : 0x%x\n",TxBuf[6+i]);
yusuke_kyo 0:10c9fb86002f 460 }
yusuke_kyo 0:10c9fb86002f 461 }
yusuke_kyo 0:10c9fb86002f 462
yusuke_kyo 0:10c9fb86002f 463 // checksum
yusuke_kyo 0:10c9fb86002f 464 TxBuf[6+bytes] = 0xFF - sum;
yusuke_kyo 0:10c9fb86002f 465 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 466 printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
yusuke_kyo 0:10c9fb86002f 467 }
yusuke_kyo 0:10c9fb86002f 468
yusuke_kyo 0:10c9fb86002f 469 // Transmit the packet in one burst with no pausing
yusuke_kyo 3:97fc13b4168c 470 pc2.printf("transmit the packet\n");
yusuke_kyo 0:10c9fb86002f 471 for (int i = 0; i < (7 + bytes) ; i++) {
yusuke_kyo 0:10c9fb86002f 472 _ax12.putc(TxBuf[i]);
yusuke_kyo 0:10c9fb86002f 473 }
yusuke_kyo 0:10c9fb86002f 474
yusuke_kyo 0:10c9fb86002f 475 // Wait for data to transmit
yusuke_kyo 0:10c9fb86002f 476 wait (0.00002);
yusuke_kyo 0:10c9fb86002f 477
yusuke_kyo 0:10c9fb86002f 478 // make sure we have a valid return
yusuke_kyo 0:10c9fb86002f 479 Status[4]=0x00;
yusuke_kyo 0:10c9fb86002f 480
yusuke_kyo 0:10c9fb86002f 481 // we'll only get a reply if it was not broadcast
yusuke_kyo 0:10c9fb86002f 482 if (_ID!=0xFE) {
yusuke_kyo 0:10c9fb86002f 483
yusuke_kyo 0:10c9fb86002f 484 // response is always 6 bytes
yusuke_kyo 0:10c9fb86002f 485 // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
yusuke_kyo 0:10c9fb86002f 486 for (int i=0; i < 6 ; i++) {
yusuke_kyo 0:10c9fb86002f 487 Status[i] = _ax12.getc();
yusuke_kyo 0:10c9fb86002f 488 }
yusuke_kyo 0:10c9fb86002f 489
yusuke_kyo 0:10c9fb86002f 490 // Build the TxPacket first in RAM, then we'll send in one go
yusuke_kyo 0:10c9fb86002f 491 if (AX12_WRITE_DEBUG) {
yusuke_kyo 0:10c9fb86002f 492 printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
yusuke_kyo 0:10c9fb86002f 493 printf(" ID : %d\n",Status[2]);
yusuke_kyo 0:10c9fb86002f 494 printf(" Length : %d\n",Status[3]);
yusuke_kyo 0:10c9fb86002f 495 printf(" Error : 0x%x\n",Status[4]);
yusuke_kyo 0:10c9fb86002f 496 printf(" Checksum : 0x%x\n",Status[5]);
yusuke_kyo 0:10c9fb86002f 497 }
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 return(Status[4]); // return error code
yusuke_kyo 0:10c9fb86002f 503 }