Kazutaka "Zak" Sawa / XBusServo

Library for XBus servo (under construction)

Dependents:   mbed_XBus_Test mbed_XBus_MotionTest XBusServoTest ControlYokutan2017_2 ... more

It's pre-opened page. it's still a little bit unstable to use command packet but mostly work. Tested only on KL25Z

暫定版ページです。 まだコマンドパケット使用時に時々不安定になりますが、概ね動作しています。 KL25Z上でのみ、動作確認しています

XBusServo.cpp@18:75ddf12d93b6, 2014-11-05 (annotated)

Committer:
sawa
Date:
Wed Nov 05 03:12:27 2014 +0000
Revision:
18:75ddf12d93b6
Parent:
17:3ffb2e3e3bec 
test publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sawa 4:d88f498d259b 1 /**
sawa 4:d88f498d259b 2 * @file XBusServo.cpp
sawa 4:d88f498d259b 3 * @brief this header file will contain all required
sawa 4:d88f498d259b 4 * definitions and basic utilities functions.
sawa 16:e283810b53c3 5 * for controling XBus servo.
sawa 4:d88f498d259b 6 * @author Zak Sawa
sawa 4:d88f498d259b 7 * @note Copyright (c) 2014-2014 JR PROPO
sawa 4:d88f498d259b 8 * @note Released under the MIT License: http://mbed.org/license/mit
sawa 0:381d475cfd6c 9 */
sawa 0:381d475cfd6c 10
sawa 0:381d475cfd6c 11 #include "XBusServo.h"
sawa 0:381d475cfd6c 12 #include "pinmap.h"
sawa 0:381d475cfd6c 13
sawa 0:381d475cfd6c 14
sawa 0:381d475cfd6c 15 #define kXBusBaudrate 250000 // bps
sawa 0:381d475cfd6c 16
sawa 17:3ffb2e3e3bec 17 #define kPacketHeaderFooterSize 3
sawa 17:3ffb2e3e3bec 18 #define kPacketPreDataSize 3
sawa 0:381d475cfd6c 19 #define kStartOffsetOfCHData 4
sawa 17:3ffb2e3e3bec 20
sawa 0:381d475cfd6c 21 #define kCHDataSize 4
sawa 0:381d475cfd6c 22 #define kCHDataPacketCommand 0
sawa 0:381d475cfd6c 23 #define kCHDataPacketLength 1
sawa 0:381d475cfd6c 24 #define kCHDataPacketKey 2
sawa 0:381d475cfd6c 25 #define kCHDataPacketType 3
sawa 0:381d475cfd6c 26
sawa 0:381d475cfd6c 27 #define kCmdDataPacketSize 8
sawa 0:381d475cfd6c 28 #define kCmdDataPacketCommand 0
sawa 0:381d475cfd6c 29 #define kCmdDataPacketLength 1
sawa 0:381d475cfd6c 30 #define kCmdDataPacketKey 2
sawa 0:381d475cfd6c 31 #define kCmdDataPacketCH_ID 3
sawa 0:381d475cfd6c 32 #define kCmdDataPacketOrder 4
sawa 0:381d475cfd6c 33 #define kCmdDataPacketData1 5
sawa 0:381d475cfd6c 34 #define kCmdDataPacketData2 6
sawa 0:381d475cfd6c 35 #define kCmdDataPacketCRC 7
sawa 0:381d475cfd6c 36
sawa 0:381d475cfd6c 37
sawa 0:381d475cfd6c 38 // XBus Command
sawa 0:381d475cfd6c 39 typedef enum {
sawa 0:381d475cfd6c 40 kXBusCmd_Set = 0x20,
sawa 0:381d475cfd6c 41 kXBusCmd_Get = 0x21,
sawa 0:381d475cfd6c 42 kXBusCmd_Status = 0x22,
sawa 0:381d475cfd6c 43 kXBusCmd_ModeA = 0xa4
sawa 0:381d475cfd6c 44 } XBusCmd;
sawa 0:381d475cfd6c 45
sawa 0:381d475cfd6c 46
sawa 17:3ffb2e3e3bec 47 // XBus device mode
sawa 0:381d475cfd6c 48 typedef enum {
sawa 0:381d475cfd6c 49 kXBusMode_Operate = 0x01,
sawa 0:381d475cfd6c 50 kXBusMode_IDSet = 0x02
sawa 0:381d475cfd6c 51 } XBusMode;
sawa 0:381d475cfd6c 52
sawa 0:381d475cfd6c 53
sawa 0:381d475cfd6c 54 #define DEBUG
sawa 0:381d475cfd6c 55
sawa 0:381d475cfd6c 56 #ifdef DEBUG
sawa 1:bd80d3e8f3a3 57 #define DBG(fmt) printf(fmt)
sawa 1:bd80d3e8f3a3 58 #define DBGF(fmt, ...) printf(fmt, __VA_ARGS__)
sawa 0:381d475cfd6c 59 #else
sawa 0:381d475cfd6c 60 #define DBG(...)
sawa 0:381d475cfd6c 61 #define DBGF(...)
sawa 0:381d475cfd6c 62 #endif
sawa 0:381d475cfd6c 63
sawa 0:381d475cfd6c 64
sawa 7:04d294709f7a 65 /****************************************************************************
sawa 6:62bf0f21b8d6 66 XBusServo::XBusServo
sawa 17:3ffb2e3e3bec 67
sawa 6:62bf0f21b8d6 68 @param tx pin name for tx
sawa 6:62bf0f21b8d6 69 @param rx pin name for rx
sawa 6:62bf0f21b8d6 70 @param maxServoNum max number of servo that you want to connect.
sawa 6:62bf0f21b8d6 71 (limit 50)
sawa 17:3ffb2e3e3bec 72 this does just to reserve the buffer. you need to
sawa 6:62bf0f21b8d6 73 add XBus servo at the beginning of your sketch
sawa 0:381d475cfd6c 74
sawa 6:62bf0f21b8d6 75 @bref Constructor
sawa 6:62bf0f21b8d6 76
sawa 6:62bf0f21b8d6 77 @note 2014/09/02 : move from Arduino lib by Sawa
sawa 6:62bf0f21b8d6 78 *****************************************************************************/
sawa 17:3ffb2e3e3bec 79 XBusServo::XBusServo(PinName tx, PinName rx, PinName sw, uint8_t maxServoNum)
sawa 17:3ffb2e3e3bec 80 : XBusPort(tx, rx), TxSwitch(sw, 0)
sawa 0:381d475cfd6c 81 {
sawa 0:381d475cfd6c 82 DBG("XBusServo::XBusServo\n");
sawa 0:381d475cfd6c 83
sawa 0:381d475cfd6c 84 // initialize serial
sawa 0:381d475cfd6c 85 txPin = tx;
sawa 17:3ffb2e3e3bec 86 txOnly = false;
sawa 17:3ffb2e3e3bec 87 if (rx == NC)
sawa 17:3ffb2e3e3bec 88 txOnly = true;
sawa 1:bd80d3e8f3a3 89 maxServo = maxServoNum;
sawa 17:3ffb2e3e3bec 90
sawa 17:3ffb2e3e3bec 91 // initialise vars
sawa 17:3ffb2e3e3bec 92 numOfServo = 0;
sawa 17:3ffb2e3e3bec 93 if (maxServo > kXBusMaxServoNum)
sawa 17:3ffb2e3e3bec 94 maxServo = kXBusMaxServoNum;
sawa 17:3ffb2e3e3bec 95 else if (maxServo == 0)
sawa 17:3ffb2e3e3bec 96 maxServo = 1;
sawa 17:3ffb2e3e3bec 97 dirty = false;
sawa 17:3ffb2e3e3bec 98 serialCommandBusy = false;
sawa 17:3ffb2e3e3bec 99 recieveBufferPointer = 0;
sawa 17:3ffb2e3e3bec 100 modifyServosNow = false;
sawa 17:3ffb2e3e3bec 101 sendLength = 0;
sawa 17:3ffb2e3e3bec 102 need2ReadData = false;
sawa 17:3ffb2e3e3bec 103 chPacketBuffer = NULL;
sawa 17:3ffb2e3e3bec 104 sendBuffer = NULL;
sawa 1:bd80d3e8f3a3 105 }
sawa 1:bd80d3e8f3a3 106
sawa 1:bd80d3e8f3a3 107
sawa 1:bd80d3e8f3a3 108 //****************************************************************************
sawa 1:bd80d3e8f3a3 109 // XBusServo::start
sawa 1:bd80d3e8f3a3 110 // return : error code
sawa 1:bd80d3e8f3a3 111 // parameter : none
sawa 1:bd80d3e8f3a3 112 //
sawa 1:bd80d3e8f3a3 113 // start to use XBus
sawa 1:bd80d3e8f3a3 114 // 2014/09/02 : move from Arduino lib by Sawa
sawa 1:bd80d3e8f3a3 115 //****************************************************************************
sawa 1:bd80d3e8f3a3 116 XBusError XBusServo::start()
sawa 1:bd80d3e8f3a3 117 {
sawa 1:bd80d3e8f3a3 118 int bufferSize; // channel data packet buffer size
sawa 1:bd80d3e8f3a3 119
sawa 1:bd80d3e8f3a3 120 DBG("XBusServo::start\n");
sawa 0:381d475cfd6c 121
sawa 17:3ffb2e3e3bec 122 // allocate my buffer
sawa 0:381d475cfd6c 123 bufferSize = kStartOffsetOfCHData + maxServo * kCHDataSize + 1; // add 1 for CRC
sawa 0:381d475cfd6c 124 if (bufferSize < kCmdDataPacketSize)
sawa 0:381d475cfd6c 125 bufferSize = kCmdDataPacketSize;
sawa 1:bd80d3e8f3a3 126
sawa 17:3ffb2e3e3bec 127 chPacketBuffer = new uint8_t[bufferSize];
sawa 17:3ffb2e3e3bec 128 if (chPacketBuffer == NULL) {
sawa 17:3ffb2e3e3bec 129 stop();
sawa 17:3ffb2e3e3bec 130 return kXBusError_MemoryFull;
sawa 17:3ffb2e3e3bec 131 }
sawa 17:3ffb2e3e3bec 132
sawa 17:3ffb2e3e3bec 133 sendBuffer = new uint8_t[bufferSize];
sawa 17:3ffb2e3e3bec 134 if (sendBuffer == NULL) {
sawa 17:3ffb2e3e3bec 135 stop();
sawa 17:3ffb2e3e3bec 136 return kXBusError_MemoryFull;
sawa 17:3ffb2e3e3bec 137 }
sawa 0:381d475cfd6c 138
sawa 0:381d475cfd6c 139 // initialize channel packer buffer
sawa 0:381d475cfd6c 140 chPacketBuffer[kCHDataPacketCommand] = kXBusCmd_ModeA;
sawa 0:381d475cfd6c 141 chPacketBuffer[kCHDataPacketLength] = 0x00;
sawa 0:381d475cfd6c 142 chPacketBuffer[kCHDataPacketKey] = 0x00;
sawa 0:381d475cfd6c 143 chPacketBuffer[kCHDataPacketType] = 0x00;
sawa 0:381d475cfd6c 144
sawa 0:381d475cfd6c 145 // initialize serial
sawa 1:bd80d3e8f3a3 146 XBusPort.baud(kXBusBaudrate);
sawa 17:3ffb2e3e3bec 147 XBusPort.format(8, Serial::None, 1);
sawa 0:381d475cfd6c 148 #if DEVICE_SERIAL_FC
sawa 1:bd80d3e8f3a3 149 XBusPort.set_flow_control(RawSerial::Disabled, NC, NC);
sawa 0:381d475cfd6c 150 #endif
sawa 0:381d475cfd6c 151
sawa 1:bd80d3e8f3a3 152 #ifdef TARGET_KL25Z
sawa 1:bd80d3e8f3a3 153 // do nothing here
sawa 1:bd80d3e8f3a3 154 #else
sawa 1:bd80d3e8f3a3 155 XBusPort.attach(this, &XBusServo::TxIrqHandler, RawSerial::TxIrq);
sawa 1:bd80d3e8f3a3 156 #endif
sawa 1:bd80d3e8f3a3 157
sawa 0:381d475cfd6c 158 serial_pinout_tx(txPin);
sawa 1:bd80d3e8f3a3 159
sawa 1:bd80d3e8f3a3 160 return kXBusError_NoError;
sawa 0:381d475cfd6c 161 }
sawa 0:381d475cfd6c 162
sawa 17:3ffb2e3e3bec 163
sawa 0:381d475cfd6c 164 //****************************************************************************
sawa 1:bd80d3e8f3a3 165 // XBusServo::stop
sawa 0:381d475cfd6c 166 // return : none
sawa 0:381d475cfd6c 167 // parameter : none
sawa 0:381d475cfd6c 168 //
sawa 1:bd80d3e8f3a3 169 // stop to use XBus
sawa 0:381d475cfd6c 170 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 171 //****************************************************************************
sawa 1:bd80d3e8f3a3 172 void XBusServo::stop()
sawa 0:381d475cfd6c 173 {
sawa 1:bd80d3e8f3a3 174 DBG("XBusServo::stop\n");
sawa 0:381d475cfd6c 175
sawa 17:3ffb2e3e3bec 176 delete[] chPacketBuffer;
sawa 17:3ffb2e3e3bec 177 chPacketBuffer = NULL;
sawa 17:3ffb2e3e3bec 178
sawa 17:3ffb2e3e3bec 179 delete[] sendBuffer;
sawa 17:3ffb2e3e3bec 180 sendBuffer = NULL;
sawa 0:381d475cfd6c 181 }
sawa 0:381d475cfd6c 182
sawa 17:3ffb2e3e3bec 183
sawa 0:381d475cfd6c 184 //****************************************************************************
sawa 0:381d475cfd6c 185 // XBusServo::write
sawa 0:381d475cfd6c 186 // return : none
sawa 0:381d475cfd6c 187 // parameter : buffer data buffer to send
sawa 0:381d475cfd6c 188 // length data length on the buffer
sawa 0:381d475cfd6c 189 //
sawa 0:381d475cfd6c 190 // start to send all packet data
sawa 0:381d475cfd6c 191 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 192 //****************************************************************************
sawa 0:381d475cfd6c 193 void XBusServo::write(uint8_t* buffer, uint8_t length)
sawa 0:381d475cfd6c 194 {
sawa 1:bd80d3e8f3a3 195 // DBG("XBusServo::write\n");
sawa 0:381d475cfd6c 196
sawa 17:3ffb2e3e3bec 197 if (serialCommandBusy)
sawa 0:381d475cfd6c 198 return;
sawa 0:381d475cfd6c 199
sawa 17:3ffb2e3e3bec 200 serialCommandBusy = true;
sawa 0:381d475cfd6c 201 XBusServo::sendLength = length;
sawa 0:381d475cfd6c 202 sendBufferPointer = buffer;
sawa 0:381d475cfd6c 203
sawa 1:bd80d3e8f3a3 204 if (XBusPort.putc(*sendBufferPointer++) < 0) {
sawa 17:3ffb2e3e3bec 205 serialCommandBusy = false;
sawa 0:381d475cfd6c 206 XBusServo::sendLength = 0;
sawa 1:bd80d3e8f3a3 207 } else {
sawa 0:381d475cfd6c 208 XBusServo::sendLength--;
sawa 17:3ffb2e3e3bec 209 }
sawa 17:3ffb2e3e3bec 210
sawa 1:bd80d3e8f3a3 211 #ifdef TARGET_KL25Z
sawa 17:3ffb2e3e3bec 212 XBusPort.attach(this, &XBusServo::TxIrqHandler, RawSerial::TxIrq);
sawa 1:bd80d3e8f3a3 213 #endif
sawa 17:3ffb2e3e3bec 214
sawa 0:381d475cfd6c 215 }
sawa 0:381d475cfd6c 216
sawa 0:381d475cfd6c 217
sawa 0:381d475cfd6c 218 //****************************************************************************
sawa 0:381d475cfd6c 219 // XBusServo::flush
sawa 0:381d475cfd6c 220 // return : none
sawa 0:381d475cfd6c 221 // parameter : none
sawa 0:381d475cfd6c 222 //
sawa 17:3ffb2e3e3bec 223 // wait to send all packet data. never call from interrupt.
sawa 0:381d475cfd6c 224 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 225 //****************************************************************************
sawa 0:381d475cfd6c 226 void XBusServo::flush(void)
sawa 0:381d475cfd6c 227 {
sawa 0:381d475cfd6c 228 // DBG("XBusServo::flush\n");
sawa 0:381d475cfd6c 229
sawa 17:3ffb2e3e3bec 230 while(serialCommandBusy)
sawa 0:381d475cfd6c 231 ;
sawa 0:381d475cfd6c 232 }
sawa 0:381d475cfd6c 233
sawa 0:381d475cfd6c 234
sawa 0:381d475cfd6c 235 //****************************************************************************
sawa 17:3ffb2e3e3bec 236 // XBusServo::TxSwitchHandler
sawa 17:3ffb2e3e3bec 237 // return : none
sawa 17:3ffb2e3e3bec 238 // parameter : none
sawa 17:3ffb2e3e3bec 239 //
sawa 17:3ffb2e3e3bec 240 // handler for Tx switch
sawa 17:3ffb2e3e3bec 241 // 2014/10/29 : first write by Sawa
sawa 17:3ffb2e3e3bec 242 //****************************************************************************
sawa 17:3ffb2e3e3bec 243 void XBusServo::TxSwitchHandler(void)
sawa 17:3ffb2e3e3bec 244 {
sawa 17:3ffb2e3e3bec 245 TxSwitch.write(1);
sawa 17:3ffb2e3e3bec 246 }
sawa 17:3ffb2e3e3bec 247
sawa 17:3ffb2e3e3bec 248
sawa 17:3ffb2e3e3bec 249 //****************************************************************************
sawa 0:381d475cfd6c 250 // XBusServo::TxIrqHandler
sawa 0:381d475cfd6c 251 // return : none
sawa 0:381d475cfd6c 252 // parameter : none
sawa 0:381d475cfd6c 253 //
sawa 0:381d475cfd6c 254 // handler for Tx buffer empty
sawa 0:381d475cfd6c 255 // 2014/09/30 : first write by Sawa
sawa 17:3ffb2e3e3bec 256 // 2014/10/24 : add to setup reading for command data packet
sawa 0:381d475cfd6c 257 //****************************************************************************
sawa 0:381d475cfd6c 258 void XBusServo::TxIrqHandler(void)
sawa 0:381d475cfd6c 259 {
sawa 17:3ffb2e3e3bec 260 int result = 0;
sawa 0:381d475cfd6c 261 // DBG("XBusServo::TxIrqHandler\n");
sawa 0:381d475cfd6c 262
sawa 17:3ffb2e3e3bec 263 if (! serialCommandBusy)
sawa 17:3ffb2e3e3bec 264 return; // Is it noise ?
sawa 17:3ffb2e3e3bec 265
sawa 17:3ffb2e3e3bec 266 if (XBusServo::sendLength > 0) {
sawa 17:3ffb2e3e3bec 267 result = XBusPort.putc(*sendBufferPointer++);
sawa 17:3ffb2e3e3bec 268 if (result < 0) {
sawa 17:3ffb2e3e3bec 269 // error occured
sawa 17:3ffb2e3e3bec 270 XBusServo::sendLength = 0;
sawa 17:3ffb2e3e3bec 271 serialCommandBusy = false;
sawa 17:3ffb2e3e3bec 272 } else {
sawa 17:3ffb2e3e3bec 273 XBusServo::sendLength--;
sawa 17:3ffb2e3e3bec 274 return;
sawa 17:3ffb2e3e3bec 275 }
sawa 17:3ffb2e3e3bec 276 }
sawa 17:3ffb2e3e3bec 277
sawa 17:3ffb2e3e3bec 278 #ifdef TARGET_KL25Z
sawa 17:3ffb2e3e3bec 279 XBusPort.attach(NULL, RawSerial::TxIrq);
sawa 17:3ffb2e3e3bec 280 #endif
sawa 17:3ffb2e3e3bec 281
sawa 17:3ffb2e3e3bec 282 if (result < 0)
sawa 0:381d475cfd6c 283 return;
sawa 0:381d475cfd6c 284
sawa 17:3ffb2e3e3bec 285 if (need2ReadData) {
sawa 1:bd80d3e8f3a3 286 #ifdef TARGET_KL25Z
sawa 17:3ffb2e3e3bec 287 TxSwitchTimer.attach_us(this, &XBusServo::TxSwitchHandler, 27);
sawa 1:bd80d3e8f3a3 288 #endif
sawa 0:381d475cfd6c 289 }
sawa 17:3ffb2e3e3bec 290
sawa 17:3ffb2e3e3bec 291 serialCommandBusy = false;
sawa 0:381d475cfd6c 292 }
sawa 0:381d475cfd6c 293
sawa 0:381d475cfd6c 294
sawa 0:381d475cfd6c 295 //****************************************************************************
sawa 0:381d475cfd6c 296 // XBusServo::RxIrqHandler
sawa 0:381d475cfd6c 297 // return : none
sawa 0:381d475cfd6c 298 // parameter : none
sawa 0:381d475cfd6c 299 //
sawa 0:381d475cfd6c 300 // handler for Rx buffer full
sawa 0:381d475cfd6c 301 // 2014/09/30 : first write by Sawa
sawa 17:3ffb2e3e3bec 302 // 2014/10/21 : add to ignore the data myself
sawa 17:3ffb2e3e3bec 303 // 2014/10/24 : modify to get the data from 1st byte of buffer
sawa 0:381d475cfd6c 304 //****************************************************************************
sawa 0:381d475cfd6c 305 void XBusServo::RxIrqHandler(void)
sawa 0:381d475cfd6c 306 {
sawa 0:381d475cfd6c 307 // DBG("XBusServo::RxIrqHandler\n");
sawa 0:381d475cfd6c 308
sawa 17:3ffb2e3e3bec 309 while (XBusPort.readable()) {
sawa 17:3ffb2e3e3bec 310 recieveBuffer[recieveBufferPointer++] = XBusPort.getc();
sawa 17:3ffb2e3e3bec 311 if (recieveBufferPointer >= kRecieveBufferSize)
sawa 17:3ffb2e3e3bec 312 recieveBufferPointer = 0;
sawa 17:3ffb2e3e3bec 313 }
sawa 0:381d475cfd6c 314 }
sawa 0:381d475cfd6c 315
sawa 0:381d475cfd6c 316
sawa 0:381d475cfd6c 317 //****************************************************************************
sawa 0:381d475cfd6c 318 // XBusServo::sendChannelDataPacket
sawa 0:381d475cfd6c 319 // return : none
sawa 0:381d475cfd6c 320 // parameter : none
sawa 0:381d475cfd6c 321 //
sawa 0:381d475cfd6c 322 // This should be called on the timer handler like MsTimer2 when you
sawa 0:381d475cfd6c 323 // use the XBus servo.
sawa 0:381d475cfd6c 324 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 325 //****************************************************************************
sawa 0:381d475cfd6c 326 void XBusServo::sendChannelDataPacket(void)
sawa 0:381d475cfd6c 327 {
sawa 0:381d475cfd6c 328 // DBG("XBusServo::sendChannelDataPacket\n");
sawa 0:381d475cfd6c 329
sawa 0:381d475cfd6c 330 if (modifyServosNow)
sawa 0:381d475cfd6c 331 return;
sawa 0:381d475cfd6c 332
sawa 0:381d475cfd6c 333 if (numOfServo > 0) {
sawa 0:381d475cfd6c 334 if (dirty) {
sawa 17:3ffb2e3e3bec 335 memcpy(sendBuffer, chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + kPacketHeaderFooterSize);
sawa 17:3ffb2e3e3bec 336 dirty = false;
sawa 0:381d475cfd6c 337 }
sawa 0:381d475cfd6c 338
sawa 17:3ffb2e3e3bec 339 need2ReadData = false;
sawa 17:3ffb2e3e3bec 340 write(sendBuffer, sendBuffer[kCHDataPacketLength] + kPacketHeaderFooterSize);
sawa 0:381d475cfd6c 341 }
sawa 0:381d475cfd6c 342 }
sawa 0:381d475cfd6c 343
sawa 0:381d475cfd6c 344
sawa 0:381d475cfd6c 345 //****************************************************************************
sawa 0:381d475cfd6c 346 // XBusServo::sendCommandDataPacket
sawa 0:381d475cfd6c 347 // return : error code
sawa 0:381d475cfd6c 348 // parameter : command The commnad that you want to send
sawa 0:381d475cfd6c 349 // channelID The channel ID of the XBus servo that you want to set up
sawa 0:381d475cfd6c 350 // order The order that you want to set up
sawa 0:381d475cfd6c 351 // value The value that you want to set / get
sawa 0:381d475cfd6c 352 // valueSize The value size. 1 byte(char) or 2 byte(int)
sawa 0:381d475cfd6c 353 //
sawa 17:3ffb2e3e3bec 354 // This should NOT be called on interrupt handler when you
sawa 0:381d475cfd6c 355 // setup the XBus servo.
sawa 0:381d475cfd6c 356 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 357 //****************************************************************************
sawa 0:381d475cfd6c 358 XBusError XBusServo::sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize)
sawa 0:381d475cfd6c 359 {
sawa 0:381d475cfd6c 360 int sendSize;
sawa 17:3ffb2e3e3bec 361 uint8_t dummy;
sawa 18:75ddf12d93b6 362 volatile uint8_t* recieveDataPtr;
sawa 0:381d475cfd6c 363
sawa 0:381d475cfd6c 364 DBG("XBusServo::sendCommandDataPacket\n");
sawa 0:381d475cfd6c 365
sawa 0:381d475cfd6c 366 // setup command
sawa 0:381d475cfd6c 367 sendBuffer[kCmdDataPacketCommand] = command;
sawa 17:3ffb2e3e3bec 368 sendBuffer[kCmdDataPacketLength] = valueSize + kPacketPreDataSize;
sawa 0:381d475cfd6c 369 sendBuffer[kCmdDataPacketKey] = 0x00;
sawa 0:381d475cfd6c 370 sendBuffer[kCmdDataPacketCH_ID] = channelID;
sawa 0:381d475cfd6c 371 sendBuffer[kCmdDataPacketOrder] = order;
sawa 0:381d475cfd6c 372 if (valueSize == 1) { // 1 byte value
sawa 0:381d475cfd6c 373 sendBuffer[kCmdDataPacketData1] = *value & 0x00FF;
sawa 0:381d475cfd6c 374 sendBuffer[kCmdDataPacketData2] = crc8(sendBuffer, sendBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 375 } else {
sawa 0:381d475cfd6c 376 sendBuffer[kCmdDataPacketData1] = (*value >> 8) & 0x00FF;
sawa 0:381d475cfd6c 377 sendBuffer[kCmdDataPacketData2] = *value & 0x00FF;
sawa 0:381d475cfd6c 378 sendBuffer[kCmdDataPacketCRC] = crc8(sendBuffer, sendBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 379 }
sawa 0:381d475cfd6c 380
sawa 0:381d475cfd6c 381 // to recover channel data packet when you call sendChannelDataPacket after this
sawa 17:3ffb2e3e3bec 382 dirty = true;
sawa 17:3ffb2e3e3bec 383
sawa 17:3ffb2e3e3bec 384 // prepair recieve data
sawa 17:3ffb2e3e3bec 385 XBusPort.attach(this, &XBusServo::RxIrqHandler, RawSerial::RxIrq);
sawa 17:3ffb2e3e3bec 386 while (XBusPort.readable())
sawa 17:3ffb2e3e3bec 387 dummy = XBusPort.getc();
sawa 17:3ffb2e3e3bec 388 recieveBufferPointer = 0; // reset recieve buffer
sawa 0:381d475cfd6c 389
sawa 0:381d475cfd6c 390 // send command
sawa 17:3ffb2e3e3bec 391 sendSize = sendBuffer[kCmdDataPacketLength] + kPacketHeaderFooterSize;
sawa 17:3ffb2e3e3bec 392 need2ReadData = ((! txOnly) && (channelID != 0));
sawa 18:75ddf12d93b6 393 recieveDataPtr = &(recieveBuffer[sendSize]);
sawa 18:75ddf12d93b6 394 recieveDataPtr[kCmdDataPacketLength] = 5; // dummy to get real packet size
sawa 0:381d475cfd6c 395 write(sendBuffer, sendSize);
sawa 17:3ffb2e3e3bec 396 // DBG("XBusServo::sendCommandDataPacket 2\n");
sawa 0:381d475cfd6c 397
sawa 18:75ddf12d93b6 398 // if it's tx only mode or ID=0, it's done
sawa 17:3ffb2e3e3bec 399 if (! need2ReadData) {
sawa 17:3ffb2e3e3bec 400 flush();
sawa 17:3ffb2e3e3bec 401 return kXBusError_NoError;
sawa 17:3ffb2e3e3bec 402 }
sawa 0:381d475cfd6c 403
sawa 17:3ffb2e3e3bec 404 // wait to read all packet
sawa 18:75ddf12d93b6 405 while(recieveBufferPointer < (recieveDataPtr[kCmdDataPacketLength] + kPacketHeaderFooterSize + sendSize)) {
sawa 18:75ddf12d93b6 406 if (recieveBufferPointer > 16)
sawa 18:75ddf12d93b6 407 break; // some trouble happen
sawa 18:75ddf12d93b6 408
sawa 17:3ffb2e3e3bec 409 // need to add time out
sawa 17:3ffb2e3e3bec 410 }
sawa 0:381d475cfd6c 411
sawa 17:3ffb2e3e3bec 412 TxSwitch.write(0);
sawa 17:3ffb2e3e3bec 413 // DBG("XBusServo::sendCommandDataPacket 4\n");
sawa 17:3ffb2e3e3bec 414 // change bus direction to Tx mode
sawa 17:3ffb2e3e3bec 415 XBusPort.attach(NULL, RawSerial::RxIrq);
sawa 17:3ffb2e3e3bec 416 need2ReadData = false;
sawa 17:3ffb2e3e3bec 417 serialCommandBusy = false;
sawa 0:381d475cfd6c 418
sawa 17:3ffb2e3e3bec 419 // check CRC
sawa 18:75ddf12d93b6 420 if (crc8((uint8_t*)recieveDataPtr, recieveDataPtr[kCHDataPacketLength] + 3) != 0) {
sawa 17:3ffb2e3e3bec 421 DBG("XBusServo::sendCommandDataPacket kXBusError_CRCError\n");
sawa 17:3ffb2e3e3bec 422 return kXBusError_CRCError;
sawa 17:3ffb2e3e3bec 423 }
sawa 0:381d475cfd6c 424
sawa 17:3ffb2e3e3bec 425 // check unsupported
sawa 18:75ddf12d93b6 426 if (recieveDataPtr[kCmdDataPacketOrder] == kXBusOrder_1_Unsupported) {
sawa 17:3ffb2e3e3bec 427 DBG("XBusServo::sendCommandDataPacket kXBusError_Unsupported\n");
sawa 17:3ffb2e3e3bec 428 return kXBusError_Unsupported;
sawa 17:3ffb2e3e3bec 429 }
sawa 17:3ffb2e3e3bec 430
sawa 17:3ffb2e3e3bec 431 // send back the value
sawa 17:3ffb2e3e3bec 432 if (valueSize == 1) { // 1 byte value
sawa 18:75ddf12d93b6 433 *value = recieveDataPtr[kCmdDataPacketData1];
sawa 17:3ffb2e3e3bec 434 if (*value & 0x0080)
sawa 17:3ffb2e3e3bec 435 *value |= 0xFF00;
sawa 17:3ffb2e3e3bec 436 } else {
sawa 18:75ddf12d93b6 437 *value = recieveDataPtr[kCmdDataPacketData1];
sawa 17:3ffb2e3e3bec 438 *value <<= 8;
sawa 18:75ddf12d93b6 439 *value |= recieveDataPtr[kCmdDataPacketData2];
sawa 0:381d475cfd6c 440 }
sawa 0:381d475cfd6c 441
sawa 0:381d475cfd6c 442 return kXBusError_NoError;
sawa 0:381d475cfd6c 443 }
sawa 0:381d475cfd6c 444
sawa 0:381d475cfd6c 445
sawa 0:381d475cfd6c 446 //****************************************************************************
sawa 0:381d475cfd6c 447 // XBusServo::addServo
sawa 0:381d475cfd6c 448 // return : error code
sawa 0:381d475cfd6c 449 // parameter : channelID channel ID of the XBus servo that you want to use
sawa 0:381d475cfd6c 450 // initValue initial value of this XBus servo
sawa 0:381d475cfd6c 451 // use kXbusServoNeutral for center of the XBus servo
sawa 0:381d475cfd6c 452 //
sawa 0:381d475cfd6c 453 // add new servo to the buffer on this library
sawa 0:381d475cfd6c 454 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 455 //****************************************************************************
sawa 0:381d475cfd6c 456 XBusError XBusServo::addServo(uint8_t channelID, uint16_t initValue)
sawa 0:381d475cfd6c 457 {
sawa 0:381d475cfd6c 458 uint16_t dataOffset;
sawa 0:381d475cfd6c 459
sawa 0:381d475cfd6c 460 DBG("XBusServo::addServo\n");
sawa 0:381d475cfd6c 461
sawa 0:381d475cfd6c 462 // max check
sawa 0:381d475cfd6c 463 if (numOfServo >= maxServo)
sawa 0:381d475cfd6c 464 return kXBusError_ServoNumOverflow;
sawa 0:381d475cfd6c 465
sawa 0:381d475cfd6c 466 // convert to servo ID
sawa 0:381d475cfd6c 467 channelID &= 0x3F;
sawa 0:381d475cfd6c 468
sawa 0:381d475cfd6c 469 // scan servo ID that is already added
sawa 0:381d475cfd6c 470 if (numOfServo > 0) {
sawa 0:381d475cfd6c 471 uint16_t servoNo;
sawa 0:381d475cfd6c 472
sawa 0:381d475cfd6c 473 for (servoNo = 0; servoNo < numOfServo; servoNo++)
sawa 0:381d475cfd6c 474 if (chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo] == channelID)
sawa 0:381d475cfd6c 475 return kXBusError_AddWithSameID; // found same servo ID
sawa 0:381d475cfd6c 476 }
sawa 0:381d475cfd6c 477
sawa 0:381d475cfd6c 478 // atomic flag on
sawa 17:3ffb2e3e3bec 479 modifyServosNow = true;
sawa 0:381d475cfd6c 480
sawa 0:381d475cfd6c 481 // add new servo
sawa 0:381d475cfd6c 482 dataOffset = kStartOffsetOfCHData + kCHDataSize * numOfServo;
sawa 0:381d475cfd6c 483 numOfServo++;
sawa 0:381d475cfd6c 484 chPacketBuffer[kCHDataPacketLength] = numOfServo * kCHDataSize + 2; // add 2 for key and type
sawa 0:381d475cfd6c 485
sawa 0:381d475cfd6c 486 chPacketBuffer[dataOffset] = channelID;
sawa 0:381d475cfd6c 487 chPacketBuffer[dataOffset + 1] = 0x00;
sawa 0:381d475cfd6c 488 chPacketBuffer[dataOffset + 2] = (initValue >> 8) & 0x00FF;
sawa 0:381d475cfd6c 489 chPacketBuffer[dataOffset + 3] = initValue & 0x00FF;
sawa 0:381d475cfd6c 490
sawa 0:381d475cfd6c 491 // calc CRC
sawa 0:381d475cfd6c 492 chPacketBuffer[dataOffset + 4] = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 17:3ffb2e3e3bec 493 dirty = true;
sawa 0:381d475cfd6c 494
sawa 0:381d475cfd6c 495 // atomic flag off
sawa 17:3ffb2e3e3bec 496 modifyServosNow = false;
sawa 0:381d475cfd6c 497
sawa 0:381d475cfd6c 498 return kXBusError_NoError;
sawa 0:381d475cfd6c 499 }
sawa 0:381d475cfd6c 500
sawa 0:381d475cfd6c 501
sawa 0:381d475cfd6c 502 //****************************************************************************
sawa 0:381d475cfd6c 503 // XBusServo::removeServo
sawa 0:381d475cfd6c 504 // return : error code
sawa 0:381d475cfd6c 505 // parameter : channelID channel ID of the XBus servo that you want to remove
sawa 0:381d475cfd6c 506 //
sawa 0:381d475cfd6c 507 // remove the servo from the buffer on this library
sawa 0:381d475cfd6c 508 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 509 //****************************************************************************
sawa 0:381d475cfd6c 510 XBusError XBusServo::removeServo(uint8_t channelID)
sawa 0:381d475cfd6c 511 {
sawa 0:381d475cfd6c 512 DBG("XBusServo::removeServo\n");
sawa 0:381d475cfd6c 513
sawa 0:381d475cfd6c 514 // min check
sawa 0:381d475cfd6c 515 if (numOfServo == 0)
sawa 0:381d475cfd6c 516 return kXBusError_ServoNumIsZero;
sawa 0:381d475cfd6c 517
sawa 0:381d475cfd6c 518 // convert to servo ID
sawa 0:381d475cfd6c 519 channelID &= 0x3F;
sawa 0:381d475cfd6c 520
sawa 0:381d475cfd6c 521 // scan servo ID that is already added
sawa 0:381d475cfd6c 522 if (numOfServo > 0) {
sawa 0:381d475cfd6c 523 uint16_t servoNo;
sawa 0:381d475cfd6c 524
sawa 0:381d475cfd6c 525 for (servoNo = 0; servoNo < numOfServo; servoNo++)
sawa 0:381d475cfd6c 526 if (chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo] == channelID) {
sawa 0:381d475cfd6c 527 // atomic flag on
sawa 17:3ffb2e3e3bec 528 modifyServosNow = true;
sawa 0:381d475cfd6c 529
sawa 0:381d475cfd6c 530 // copy data after that
sawa 0:381d475cfd6c 531 if (servoNo < (numOfServo - 1))
sawa 0:381d475cfd6c 532 memcpy(&(chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo]),
sawa 0:381d475cfd6c 533 &(chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * (servoNo + 1)]),
sawa 0:381d475cfd6c 534 kCHDataSize * (numOfServo - servoNo - 1));
sawa 0:381d475cfd6c 535
sawa 0:381d475cfd6c 536 // update packet size
sawa 0:381d475cfd6c 537 numOfServo--;
sawa 0:381d475cfd6c 538 chPacketBuffer[kCHDataPacketLength] = numOfServo * kCHDataSize + 2; // add 2 for key and type
sawa 0:381d475cfd6c 539
sawa 0:381d475cfd6c 540 // calc CRC
sawa 0:381d475cfd6c 541 chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * numOfServo]
sawa 0:381d475cfd6c 542 = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 17:3ffb2e3e3bec 543 dirty = true;
sawa 0:381d475cfd6c 544
sawa 0:381d475cfd6c 545 // atomic flag off
sawa 17:3ffb2e3e3bec 546 modifyServosNow = false;
sawa 0:381d475cfd6c 547
sawa 0:381d475cfd6c 548 return kXBusError_NoError;
sawa 0:381d475cfd6c 549 }
sawa 0:381d475cfd6c 550 }
sawa 0:381d475cfd6c 551
sawa 0:381d475cfd6c 552 return kXBusError_IDNotFound;
sawa 0:381d475cfd6c 553 }
sawa 0:381d475cfd6c 554
sawa 0:381d475cfd6c 555
sawa 0:381d475cfd6c 556 //****************************************************************************
sawa 0:381d475cfd6c 557 // XBusServo::setServo
sawa 0:381d475cfd6c 558 // return : error code
sawa 0:381d475cfd6c 559 // parameter : channelID channel ID of the XBus servo that you want to set
sawa 0:381d475cfd6c 560 // value value of this XBus servo
sawa 0:381d475cfd6c 561 // use kXbusServoNeutral for center of the XBus servo
sawa 0:381d475cfd6c 562 //
sawa 13:5e2aa53353a8 563 // set new angle to the servo
sawa 0:381d475cfd6c 564 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 565 //****************************************************************************
sawa 0:381d475cfd6c 566 XBusError XBusServo::setServo(uint8_t channelID, uint16_t value)
sawa 0:381d475cfd6c 567 {
sawa 0:381d475cfd6c 568 uint16_t dataOffset;
sawa 0:381d475cfd6c 569
sawa 1:bd80d3e8f3a3 570 // DBG("XBusServo::setServo\n");
sawa 0:381d475cfd6c 571
sawa 0:381d475cfd6c 572 // convert to servo ID
sawa 0:381d475cfd6c 573 channelID &= 0x3F;
sawa 0:381d475cfd6c 574
sawa 0:381d475cfd6c 575 // scan servo ID that is already added
sawa 0:381d475cfd6c 576 if (numOfServo > 0) {
sawa 0:381d475cfd6c 577 int servoNo;
sawa 0:381d475cfd6c 578
sawa 0:381d475cfd6c 579 for (servoNo = 0; servoNo < numOfServo; servoNo++) {
sawa 0:381d475cfd6c 580 dataOffset = kStartOffsetOfCHData + kCHDataSize * servoNo;
sawa 0:381d475cfd6c 581
sawa 0:381d475cfd6c 582 if (chPacketBuffer[dataOffset] == channelID) {
sawa 0:381d475cfd6c 583 // atomic flag on
sawa 17:3ffb2e3e3bec 584 modifyServosNow = true;
sawa 0:381d475cfd6c 585
sawa 0:381d475cfd6c 586 // set value
sawa 0:381d475cfd6c 587 chPacketBuffer[dataOffset + 2] = (value >> 8) & 0x00FF;
sawa 0:381d475cfd6c 588 chPacketBuffer[dataOffset + 3] = value & 0x00FF;
sawa 0:381d475cfd6c 589
sawa 0:381d475cfd6c 590 // calc CRC
sawa 0:381d475cfd6c 591 chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * numOfServo]
sawa 0:381d475cfd6c 592 = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 593 dirty = 1;
sawa 0:381d475cfd6c 594
sawa 0:381d475cfd6c 595 // atomic flag off
sawa 17:3ffb2e3e3bec 596 modifyServosNow = false;
sawa 0:381d475cfd6c 597
sawa 0:381d475cfd6c 598 return kXBusError_NoError;
sawa 0:381d475cfd6c 599 }
sawa 0:381d475cfd6c 600 }
sawa 0:381d475cfd6c 601 }
sawa 0:381d475cfd6c 602
sawa 0:381d475cfd6c 603 return kXBusError_IDNotFound;
sawa 0:381d475cfd6c 604 }
sawa 0:381d475cfd6c 605
sawa 0:381d475cfd6c 606
sawa 0:381d475cfd6c 607 //****************************************************************************
sawa 0:381d475cfd6c 608 // XBusServo::setChannelID
sawa 0:381d475cfd6c 609 // return : error code
sawa 0:381d475cfd6c 610 // parameter : oldChannelID channel IDof the XBus servo to change the ID
sawa 0:381d475cfd6c 611 // newChannelID new channel ID for the XBus servo
sawa 0:381d475cfd6c 612 //
sawa 0:381d475cfd6c 613 // set new channel ID to the XBus servo
sawa 0:381d475cfd6c 614 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 615 //****************************************************************************
sawa 0:381d475cfd6c 616 XBusError XBusServo::setChannelID(uint8_t oldChannelID, uint8_t newChannelID)
sawa 0:381d475cfd6c 617 {
sawa 0:381d475cfd6c 618 XBusError result;
sawa 0:381d475cfd6c 619 int16_t value;
sawa 0:381d475cfd6c 620
sawa 0:381d475cfd6c 621 DBG("XBusServo::setChannelID\n");
sawa 0:381d475cfd6c 622
sawa 0:381d475cfd6c 623 value = kXBusMode_IDSet;
sawa 0:381d475cfd6c 624 result = sendCommandDataPacket(kXBusCmd_Set, oldChannelID, kXBusOrder_1_Mode, &value, 1);
sawa 0:381d475cfd6c 625 if (result != kXBusError_NoError)
sawa 0:381d475cfd6c 626 return result;
sawa 0:381d475cfd6c 627
sawa 0:381d475cfd6c 628 value = newChannelID;
sawa 0:381d475cfd6c 629 result = sendCommandDataPacket(kXBusCmd_Set, oldChannelID, kXBusOrder_1_ID, &value, 1);
sawa 0:381d475cfd6c 630
sawa 0:381d475cfd6c 631 return result;
sawa 0:381d475cfd6c 632 }
sawa 0:381d475cfd6c 633
sawa 0:381d475cfd6c 634
sawa 0:381d475cfd6c 635 //****************************************************************************
sawa 0:381d475cfd6c 636 // XBusServo::setChannelID
sawa 0:381d475cfd6c 637 // return : error code
sawa 0:381d475cfd6c 638 // parameter : newChannelID new channel ID for the XBus servo
sawa 0:381d475cfd6c 639 //
sawa 0:381d475cfd6c 640 // set new channel ID to the XBus servo
sawa 0:381d475cfd6c 641 // this is only for TX only mode
sawa 0:381d475cfd6c 642 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 643 //****************************************************************************
sawa 0:381d475cfd6c 644 XBusError XBusServo::setChannelID(uint8_t newChannelID)
sawa 0:381d475cfd6c 645 {
sawa 0:381d475cfd6c 646 XBusError result;
sawa 0:381d475cfd6c 647 int16_t value;
sawa 0:381d475cfd6c 648
sawa 0:381d475cfd6c 649 DBG("XBusServo::setChannelID\n");
sawa 0:381d475cfd6c 650
sawa 18:75ddf12d93b6 651 if (! txOnly)
sawa 0:381d475cfd6c 652 return kXBusError_OnlyForTxOnlyMode;
sawa 0:381d475cfd6c 653
sawa 0:381d475cfd6c 654 value = kXBusMode_IDSet;
sawa 0:381d475cfd6c 655 result = sendCommandDataPacket(kXBusCmd_Set, 0, kXBusOrder_1_Mode, &value, 1);
sawa 0:381d475cfd6c 656 if (result != kXBusError_NoError)
sawa 0:381d475cfd6c 657 return result;
sawa 0:381d475cfd6c 658
sawa 0:381d475cfd6c 659 value = newChannelID;
sawa 0:381d475cfd6c 660 result = sendCommandDataPacket(kXBusCmd_Set, 0, kXBusOrder_1_ID, &value, 1);
sawa 0:381d475cfd6c 661
sawa 0:381d475cfd6c 662 return result;
sawa 0:381d475cfd6c 663 }
sawa 0:381d475cfd6c 664
sawa 0:381d475cfd6c 665
sawa 0:381d475cfd6c 666 //****************************************************************************
sawa 0:381d475cfd6c 667 // XBusServo::getDataSize
sawa 0:381d475cfd6c 668 // return : data size for this order
sawa 0:381d475cfd6c 669 // parameter : order the order that you want to know
sawa 0:381d475cfd6c 670 //
sawa 0:381d475cfd6c 671 // get the data size of this order
sawa 0:381d475cfd6c 672 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 673 //****************************************************************************
sawa 0:381d475cfd6c 674 uint8_t XBusServo::getDataSize(uint8_t order)
sawa 0:381d475cfd6c 675 {
sawa 18:75ddf12d93b6 676 // DBG("XBusServo::getDataSize\n");
sawa 0:381d475cfd6c 677
sawa 0:381d475cfd6c 678 switch(order) {
sawa 0:381d475cfd6c 679 case kXBusOrder_2_Version: // only for get
sawa 0:381d475cfd6c 680 case kXBusOrder_2_Product: // only for get
sawa 0:381d475cfd6c 681 case kXBusOrder_2_Reset: // only for set
sawa 0:381d475cfd6c 682 case kXBusOrder_2_ParamWrite: // only for set
sawa 0:381d475cfd6c 683 case kXBusOrder_2_Reverse:
sawa 0:381d475cfd6c 684 case kXBusOrder_2_Neutral:
sawa 0:381d475cfd6c 685 case kXBusOrder_2_H_Travel:
sawa 0:381d475cfd6c 686 case kXBusOrder_2_L_Travel:
sawa 0:381d475cfd6c 687 case kXBusOrder_2_H_Limit:
sawa 0:381d475cfd6c 688 case kXBusOrder_2_L_Limit:
sawa 0:381d475cfd6c 689 case kXBusOrder_2_PowerOffset:
sawa 0:381d475cfd6c 690 case kXBusOrder_2_AlarmDelay:
sawa 0:381d475cfd6c 691 case kXBusOrder_2_CurrentPos: // only for get
sawa 0:381d475cfd6c 692 case kXBusOrder_2_MaxInteger:
sawa 18:75ddf12d93b6 693 return 2;
sawa 18:75ddf12d93b6 694 default:
sawa 18:75ddf12d93b6 695 return 1;
sawa 0:381d475cfd6c 696 }
sawa 0:381d475cfd6c 697 }
sawa 0:381d475cfd6c 698
sawa 0:381d475cfd6c 699
sawa 0:381d475cfd6c 700 //****************************************************************************
sawa 0:381d475cfd6c 701 // XBusServo::setCommand
sawa 0:381d475cfd6c 702 // return : error code
sawa 0:381d475cfd6c 703 // parameter : channelID channel ID of the XBus servo that you want to set to
sawa 0:381d475cfd6c 704 // order the order that you want
sawa 0:381d475cfd6c 705 // value the value that you want to set and return current value
sawa 0:381d475cfd6c 706 //
sawa 0:381d475cfd6c 707 // send set command to the XBus servo
sawa 0:381d475cfd6c 708 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 709 //****************************************************************************
sawa 0:381d475cfd6c 710 XBusError XBusServo::setCommand(uint8_t channelID, uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 711 {
sawa 0:381d475cfd6c 712 DBG("XBusServo::setCommand\n");
sawa 0:381d475cfd6c 713
sawa 0:381d475cfd6c 714 return sendCommandDataPacket(kXBusCmd_Set, channelID, order, value, getDataSize(order));
sawa 0:381d475cfd6c 715 }
sawa 0:381d475cfd6c 716
sawa 0:381d475cfd6c 717
sawa 0:381d475cfd6c 718 //****************************************************************************
sawa 0:381d475cfd6c 719 // XBusServo::getCommand
sawa 0:381d475cfd6c 720 // return : error code
sawa 0:381d475cfd6c 721 // parameter : channelID channel ID of the XBus servo that you want to get from
sawa 0:381d475cfd6c 722 // order the order that you want
sawa 0:381d475cfd6c 723 // value the value that you want to get from
sawa 0:381d475cfd6c 724 //
sawa 0:381d475cfd6c 725 // send get command to the XBus servo
sawa 0:381d475cfd6c 726 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 727 //****************************************************************************
sawa 0:381d475cfd6c 728 XBusError XBusServo::getCommand(uint8_t channelID, uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 729 {
sawa 0:381d475cfd6c 730 DBG("XBusServo::getCommand\n");
sawa 0:381d475cfd6c 731
sawa 0:381d475cfd6c 732 return sendCommandDataPacket(kXBusCmd_Get, channelID, order, value, getDataSize(order));
sawa 0:381d475cfd6c 733 }
sawa 0:381d475cfd6c 734
sawa 0:381d475cfd6c 735
sawa 0:381d475cfd6c 736 //****************************************************************************
sawa 0:381d475cfd6c 737 // XBusServo::setCommand
sawa 0:381d475cfd6c 738 // return : error code
sawa 0:381d475cfd6c 739 // parameter : order the order that you want
sawa 13:5e2aa53353a8 740 // value the value that you want to set current value
sawa 0:381d475cfd6c 741 //
sawa 0:381d475cfd6c 742 // send set command to the XBus servo
sawa 0:381d475cfd6c 743 // this is only for TX only mode
sawa 0:381d475cfd6c 744 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 745 //****************************************************************************
sawa 0:381d475cfd6c 746 XBusError XBusServo::setCommand(uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 747 {
sawa 0:381d475cfd6c 748 DBG("XBusServo::setCommand\n");
sawa 0:381d475cfd6c 749
sawa 18:75ddf12d93b6 750 if (! txOnly)
sawa 0:381d475cfd6c 751 return kXBusError_OnlyForTxOnlyMode;
sawa 0:381d475cfd6c 752
sawa 0:381d475cfd6c 753 return sendCommandDataPacket(kXBusCmd_Set, 0, order, value, getDataSize(order));
sawa 0:381d475cfd6c 754 }
sawa 0:381d475cfd6c 755
sawa 0:381d475cfd6c 756
sawa 0:381d475cfd6c 757
sawa 0:381d475cfd6c 758
sawa 0:381d475cfd6c 759
sawa 0:381d475cfd6c 760
sawa 0:381d475cfd6c 761 //****************************************************************************
sawa 0:381d475cfd6c 762 // for CRC
sawa 0:381d475cfd6c 763 static uint8_t s_crc_array[256] = {
sawa 0:381d475cfd6c 764 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83,
sawa 0:381d475cfd6c 765 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
sawa 0:381d475cfd6c 766 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
sawa 0:381d475cfd6c 767 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
sawa 0:381d475cfd6c 768 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0,
sawa 0:381d475cfd6c 769 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
sawa 0:381d475cfd6c 770 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d,
sawa 0:381d475cfd6c 771 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
sawa 0:381d475cfd6c 772 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
sawa 0:381d475cfd6c 773 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
sawa 0:381d475cfd6c 774 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58,
sawa 0:381d475cfd6c 775 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
sawa 0:381d475cfd6c 776 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6,
sawa 0:381d475cfd6c 777 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
sawa 0:381d475cfd6c 778 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
sawa 0:381d475cfd6c 779 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
sawa 0:381d475cfd6c 780 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f,
sawa 0:381d475cfd6c 781 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
sawa 0:381d475cfd6c 782 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92,
sawa 0:381d475cfd6c 783 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
sawa 0:381d475cfd6c 784 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
sawa 0:381d475cfd6c 785 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
sawa 0:381d475cfd6c 786 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1,
sawa 0:381d475cfd6c 787 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
sawa 0:381d475cfd6c 788 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49,
sawa 0:381d475cfd6c 789 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
sawa 0:381d475cfd6c 790 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
sawa 0:381d475cfd6c 791 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
sawa 0:381d475cfd6c 792 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a,
sawa 0:381d475cfd6c 793 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
sawa 0:381d475cfd6c 794 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7,
sawa 0:381d475cfd6c 795 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
sawa 0:381d475cfd6c 796 };
sawa 0:381d475cfd6c 797
sawa 0:381d475cfd6c 798
sawa 0:381d475cfd6c 799 uint8_t XBusServo::crc_table(uint8_t data, uint8_t crc)
sawa 0:381d475cfd6c 800 {
sawa 0:381d475cfd6c 801 uint16_t index = (data ^ crc) & 0xff;
sawa 0:381d475cfd6c 802
sawa 0:381d475cfd6c 803 crc = s_crc_array[index];
sawa 0:381d475cfd6c 804 return crc;
sawa 0:381d475cfd6c 805 }
sawa 0:381d475cfd6c 806
sawa 0:381d475cfd6c 807
sawa 0:381d475cfd6c 808 uint8_t XBusServo::crc8(uint8_t* buffer, uint8_t length)
sawa 0:381d475cfd6c 809 {
sawa 0:381d475cfd6c 810 uint8_t crc = 0;
sawa 0:381d475cfd6c 811
sawa 0:381d475cfd6c 812 while (length-- > 0)
sawa 0:381d475cfd6c 813 crc = crc_table(*buffer++, crc);
sawa 0:381d475cfd6c 814 return crc;
sawa 0:381d475cfd6c 815 }
sawa 0:381d475cfd6c 816
sawa 0:381d475cfd6c 817
sawa 0:381d475cfd6c 818
sawa 0:381d475cfd6c 819