Diff: DynamixelBus.h

Revision:

0:35c27ebd9e8e

Child:

4:fe2a6b66cb85

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DynamixelBus.h	Thu Dec 10 21:43:35 2015 +0000
@@ -0,0 +1,75 @@
+/* 
+Copyright (c) 2015 Jonathan Pickett & Microsoft. Some appropriate open source license.
+*/
+
+#ifndef __DYNAMIXEL_BUS_H__
+#define __DYNAMIXEL_BUS_H__
+
+#include "mbed.h"
+
+#include <vector>
+using namespace std;
+
+
+enum InstructionTable
+{
+    instructionPing            = 0x1,          // no action. obtain status packet.
+    instructionRead            = 0x2,          // write values in control table
+    instructionWrite           = 0x3,          // read values in control table
+    instructionWriteAction     = 0x4,          // write actions to be performed upon triggering
+    instructionTriggerAction   = 0x5,          // trigger stored actions
+    instructionReset           = 0x6,          // changes ALL control table vaalues to factory default
+    instructionSyncWrite       = 0x83          // write to many servos at once
+};
+
+
+enum StatusCodes
+{
+    statusValid       = 0x80,       // REVIEW: Not in spec. I am overloading this for Ping, such that a 0 return value = unit not found
+    instructionError  = 0x40,
+    overloadError     = 0x20,
+    checksumError     = 0x10,
+    rangeError        = 0x08,
+    overheatingError  = 0x04,
+    angleLimitError   = 0x02,
+    inputVoltageError = 0x01
+};
+
+typedef unsigned char StatusCode;
+
+typedef vector<unsigned char> CommBuffer;
+
+typedef unsigned char ServoId;
+
+typedef pair< ServoId, CommBuffer > SyncIdDataPair;
+    
+class DynamixelBus
+{
+public:
+    DynamixelBus( PinName txUartPin, PinName rxUartPin, PinName txSelectPin, PinName rxSelectPin, int baud );
+    
+    StatusCode  Ping( ServoId id );
+    StatusCode  Read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data );
+    StatusCode  Write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite );
+    StatusCode  WriteAction( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite );
+    void        TriggerAction( ServoId id );
+    StatusCode  HardReset( ServoId id );
+    StatusCode  SyncWrite( unsigned char controlTableStart, unsigned char bytesToWrite, vector<SyncIdDataPair>& data );
+
+private:
+    unsigned char CalculateTxPacketChecksum( CommBuffer& packet );
+    StatusCode send_ping( ServoId id );
+    StatusCode send_write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite );
+    StatusCode send_read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data );
+        
+private:
+    Serial      _uart;      // The uart the servos live on.
+    DigitalOut _txSelect;   // Turn on to enable the tri-state buffer before sending data over the bus. Turn off when data has been sent.
+    DigitalOut _rxSelect;   // Turn on to enable the tri-state buffer before receiving data over the bus. Turn off when data has been received.
+    
+    float _replyDelay;      // The delay time between command being sent and response being sent by the servo.
+    int _baud;              // baud of all connected servos
+    float _responseTimeout;
+};
+
+#endif // __DYNAMIXEL_BUS_H__
\ No newline at end of file