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.h@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 3:9a10ad81d04e 1 /**
sawa 3:9a10ad81d04e 2 * @file XBusServo.h
sawa 3:9a10ad81d04e 3 * @brief this header file will contain all required
sawa 13:5e2aa53353a8 4 * definitions and basic utilities functions
sawa 13:5e2aa53353a8 5 * for controling XBus servo.
sawa 3:9a10ad81d04e 6 * @author Zak Sawa
sawa 3:9a10ad81d04e 7 * @note Copyright (c) 2014-2014 JR PROPO
sawa 3:9a10ad81d04e 8 * @note Released under the MIT License: http://mbed.org/license/mit
sawa 0:381d475cfd6c 9 */
sawa 13:5e2aa53353a8 10
sawa 0:381d475cfd6c 11 #ifndef XBusServo_h
sawa 0:381d475cfd6c 12 #define XBusServo_h
sawa 0:381d475cfd6c 13
sawa 0:381d475cfd6c 14 #include "mbed.h"
sawa 18:75ddf12d93b6 15
sawa 0:381d475cfd6c 16
sawa 5:7246a46379f7 17 /// standard interval time for XBus servo
sawa 1:bd80d3e8f3a3 18 #define kXBusStandardInterval 14 // mSec
sawa 0:381d475cfd6c 19
sawa 5:7246a46379f7 20 /// angle data for XBus servo
sawa 1:bd80d3e8f3a3 21 #define kXbusServoMinimum 0x1249 // 900uSec -60 or -90 degree
sawa 1:bd80d3e8f3a3 22 #define kXbusServoNeutral 0x7FFF // 1500uSec 0 degree
sawa 1:bd80d3e8f3a3 23 #define kXbusServoMaximum 0xEDB6 // 2100uSec 60 or 90 degree
sawa 1:bd80d3e8f3a3 24
sawa 5:7246a46379f7 25 /// maximum number of XBus servo
sawa 0:381d475cfd6c 26 #define kXBusMaxServoNum 50
sawa 0:381d475cfd6c 27
sawa 18:75ddf12d93b6 28 /// convert ServoID & SubID to real Channel ID
sawa 18:75ddf12d93b6 29 #define ChannelID(ServoID, SubID) ((ServoID & 0x3F) | ((SubID << 6) & 0xC0))
sawa 18:75ddf12d93b6 30
sawa 17:3ffb2e3e3bec 31
sawa 17:3ffb2e3e3bec 32 //! XBus error code
sawa 17:3ffb2e3e3bec 33 typedef enum {
sawa 17:3ffb2e3e3bec 34 kXBusError_NoError = 0x0000,
sawa 17:3ffb2e3e3bec 35 kXBusError_CRCError,
sawa 17:3ffb2e3e3bec 36 kXBusError_ServoNumOverflow,
sawa 17:3ffb2e3e3bec 37 kXBusError_ServoNumIsZero,
sawa 17:3ffb2e3e3bec 38 kXBusError_AddWithSameID,
sawa 17:3ffb2e3e3bec 39 kXBusError_IDNotFound,
sawa 17:3ffb2e3e3bec 40 kXBusError_Unsupported,
sawa 17:3ffb2e3e3bec 41 kXBusError_OnlyForTxOnlyMode,
sawa 17:3ffb2e3e3bec 42 kXBusError_OnlyForNormalMode,
sawa 17:3ffb2e3e3bec 43 kXBusError_MemoryFull,
sawa 17:3ffb2e3e3bec 44
sawa 17:3ffb2e3e3bec 45 kXBusError_NumOfError,
sawa 17:3ffb2e3e3bec 46 } XBusError;
sawa 17:3ffb2e3e3bec 47
sawa 17:3ffb2e3e3bec 48 //! XBus parameter index
sawa 17:3ffb2e3e3bec 49 typedef enum {
sawa 17:3ffb2e3e3bec 50 kParamIdx_Unused0 = 0x0000,
sawa 17:3ffb2e3e3bec 51 kParamIdx_AllData_wID = 0x0001,
sawa 17:3ffb2e3e3bec 52 kParamIdx_AllData_woID = 0x0002,
sawa 17:3ffb2e3e3bec 53 kParamIdx_ServoID = 0x0003,
sawa 17:3ffb2e3e3bec 54 kParamIdx_Reversed = 0x0004,
sawa 17:3ffb2e3e3bec 55 kParamIdx_NeutralOffset = 0x0005,
sawa 17:3ffb2e3e3bec 56 kParamIdx_TravelHigh = 0x0006,
sawa 17:3ffb2e3e3bec 57 kParamIdx_TravelLow = 0x0007,
sawa 17:3ffb2e3e3bec 58 kParamIdx_LimitHigh = 0x0008,
sawa 17:3ffb2e3e3bec 59 kParamIdx_LimitLow = 0x0009,
sawa 17:3ffb2e3e3bec 60 kParamIdx_PGainDiff = 0x000A,
sawa 17:3ffb2e3e3bec 61 kParamIdx_IGainDiff = 0x000B,
sawa 17:3ffb2e3e3bec 62 kParamIdx_DGainDiff = 0x000C,
sawa 17:3ffb2e3e3bec 63 kParamIdx_DeadBandDiff = 0x000D,
sawa 17:3ffb2e3e3bec 64 kParamIdx_PWOffsetDiff = 0x000E,
sawa 17:3ffb2e3e3bec 65 kParamIdx_AlarmLevel = 0x000F,
sawa 17:3ffb2e3e3bec 66 kParamIdx_AlarmDelay = 0x0010,
sawa 17:3ffb2e3e3bec 67 kParamIdx_Angle_180 = 0x0011,
sawa 17:3ffb2e3e3bec 68 kParamIdx_SlowStart = 0x0012,
sawa 17:3ffb2e3e3bec 69 kParamIdx_StopMode = 0x0013,
sawa 17:3ffb2e3e3bec 70 kParamIdx_SpeedLimit = 0x0014,
sawa 17:3ffb2e3e3bec 71 kParamIdx_MaxIntegerDiff = 0x0015,
sawa 17:3ffb2e3e3bec 72 } XBusParamIdx;
sawa 17:3ffb2e3e3bec 73
sawa 17:3ffb2e3e3bec 74 //! XBus Get/Set/Status command order
sawa 0:381d475cfd6c 75 typedef enum {
sawa 0:381d475cfd6c 76 kXBusOrder_1_Mode = 0x01,
sawa 0:381d475cfd6c 77 kXBusOrder_1_ID = 0x03,
sawa 0:381d475cfd6c 78 kXBusOrder_2_Version = 0x04, // only for get
sawa 0:381d475cfd6c 79 kXBusOrder_2_Product = 0x05, // only for get
sawa 0:381d475cfd6c 80 kXBusOrder_1_Unsupported = 0x06, // only for status
sawa 0:381d475cfd6c 81 kXBusOrder_2_Reset = 0x07, // only for set
sawa 0:381d475cfd6c 82 kXBusOrder_2_ParamWrite = 0x08, // only for set
sawa 0:381d475cfd6c 83
sawa 0:381d475cfd6c 84 kXBusOrder_2_Reverse = 0x10,
sawa 0:381d475cfd6c 85 kXBusOrder_2_Neutral = 0x11,
sawa 0:381d475cfd6c 86 kXBusOrder_2_H_Travel = 0x12,
sawa 0:381d475cfd6c 87 kXBusOrder_2_L_Travel = 0x13,
sawa 0:381d475cfd6c 88 kXBusOrder_2_H_Limit = 0x14,
sawa 0:381d475cfd6c 89 kXBusOrder_2_L_Limit = 0x15,
sawa 0:381d475cfd6c 90 kXBusOrder_1_P_Gain = 0x16,
sawa 0:381d475cfd6c 91 kXBusOrder_1_I_Gain = 0x17,
sawa 0:381d475cfd6c 92 kXBusOrder_1_D_Gain = 0x18,
sawa 0:381d475cfd6c 93 kXBusOrder_1_DeadBand = 0x19,
sawa 0:381d475cfd6c 94 kXBusOrder_2_PowerOffset = 0x1A,
sawa 0:381d475cfd6c 95 kXBusOrder_1_AlarmLevel = 0x1B,
sawa 0:381d475cfd6c 96 kXBusOrder_2_AlarmDelay = 0x1C,
sawa 0:381d475cfd6c 97 kXBusOrder_1_Angle_180 = 0x1D,
sawa 0:381d475cfd6c 98 kXBusOrder_1_SlowStart = 0x1E,
sawa 0:381d475cfd6c 99 kXBusOrder_1_StopMode = 0x1F,
sawa 0:381d475cfd6c 100 kXBusOrder_2_CurrentPos = 0x20, // only for get
sawa 0:381d475cfd6c 101 kXBusOrder_1_CurrentPow = 0x21, // only for get
sawa 0:381d475cfd6c 102 kXBusOrder_1_SpeedLimit = 0x22,
sawa 0:381d475cfd6c 103 kXBusOrder_2_MaxInteger = 0x23,
sawa 0:381d475cfd6c 104 } XBusOrder;
sawa 0:381d475cfd6c 105
sawa 0:381d475cfd6c 106
sawa 9:9248ea2cb4b5 107 /**
sawa 13:5e2aa53353a8 108 * @brief Library class for XBus servo
sawa 13:5e2aa53353a8 109 * @note 2014/09/02 : move from Arduino lib by Sawa
sawa 13:5e2aa53353a8 110 */
sawa 17:3ffb2e3e3bec 111 class XBusServo
sawa 0:381d475cfd6c 112 {
sawa 0:381d475cfd6c 113 public:
sawa 17:3ffb2e3e3bec 114
sawa 17:3ffb2e3e3bec 115
sawa 13:5e2aa53353a8 116 /**
sawa 13:5e2aa53353a8 117 * @param tx pin name for tx
sawa 13:5e2aa53353a8 118 * @param rx pin name for rx
sawa 17:3ffb2e3e3bec 119 * @param sw pin name for switch tx
sawa 13:5e2aa53353a8 120 * @param maxServoNum max number of servo that you want to connect.
sawa 13:5e2aa53353a8 121 * (limit 50)
sawa 13:5e2aa53353a8 122 * this does just to resetve the buffer. you need to
sawa 13:5e2aa53353a8 123 * add XBus servo at the beginning of your sketch
sawa 13:5e2aa53353a8 124 *
sawa 13:5e2aa53353a8 125 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 126 */
sawa 17:3ffb2e3e3bec 127 XBusServo(PinName tx, PinName rx, PinName sw, uint8_t maxServoNum);
sawa 0:381d475cfd6c 128
sawa 0:381d475cfd6c 129 public:
sawa 13:5e2aa53353a8 130 /**
sawa 13:5e2aa53353a8 131 * @return XBus error code
sawa 17:3ffb2e3e3bec 132 * @brief Start function to use XBus
sawa 17:3ffb2e3e3bec 133 * This should NOT be called on interrupt handler.
sawa 13:5e2aa53353a8 134 * @author 2014/10/07 : Zak Sawa
sawa 13:5e2aa53353a8 135 */
sawa 1:bd80d3e8f3a3 136 XBusError start();
sawa 17:3ffb2e3e3bec 137
sawa 13:5e2aa53353a8 138 /**
sawa 17:3ffb2e3e3bec 139 * @brief Stop function to use XBus
sawa 17:3ffb2e3e3bec 140 * This should NOT be called on interrupt handler.
sawa 13:5e2aa53353a8 141 * @author 2014/10/07 : Zak Sawa
sawa 13:5e2aa53353a8 142 */
sawa 1:bd80d3e8f3a3 143 void stop();
sawa 1:bd80d3e8f3a3 144
sawa 13:5e2aa53353a8 145 /**
sawa 13:5e2aa53353a8 146 * @return XBus error code
sawa 13:5e2aa53353a8 147 * @param channelID channel ID of the XBus servo that you want to use
sawa 13:5e2aa53353a8 148 * @param initValue initial value of this XBus servo
sawa 13:5e2aa53353a8 149 * use kXbusServoNeutral for center of the XBus servo
sawa 17:3ffb2e3e3bec 150 * @brief Add new servo to the buffer on this library
sawa 17:3ffb2e3e3bec 151 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 152 * setup the XBus servo.
sawa 13:5e2aa53353a8 153 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 154 */
sawa 0:381d475cfd6c 155 XBusError addServo(uint8_t channelID, uint16_t initValue);
sawa 17:3ffb2e3e3bec 156
sawa 13:5e2aa53353a8 157 /**
sawa 13:5e2aa53353a8 158 * @return XBus error code
sawa 13:5e2aa53353a8 159 * @param channelID channel ID of the XBus servo that you want to remove
sawa 17:3ffb2e3e3bec 160 * @brief Remove the servo from the buffer on this library
sawa 17:3ffb2e3e3bec 161 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 162 * setup the XBus servo.
sawa 13:5e2aa53353a8 163 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 164 */
sawa 0:381d475cfd6c 165 XBusError removeServo(uint8_t channelID);
sawa 17:3ffb2e3e3bec 166
sawa 13:5e2aa53353a8 167 /**
sawa 13:5e2aa53353a8 168 * @return XBus error code
sawa 13:5e2aa53353a8 169 * @param channelID channel ID of the XBus servo that you want to set
sawa 13:5e2aa53353a8 170 * @param value value of this XBus servo
sawa 13:5e2aa53353a8 171 * use kXbusServoNeutral for center of the XBus servo
sawa 17:3ffb2e3e3bec 172 * @brief Set new value to the servo
sawa 17:3ffb2e3e3bec 173 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 174 * setup the XBus servo.
sawa 13:5e2aa53353a8 175 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 176 */
sawa 0:381d475cfd6c 177 XBusError setServo(uint8_t channelID, uint16_t value);
sawa 0:381d475cfd6c 178
sawa 13:5e2aa53353a8 179 /**
sawa 13:5e2aa53353a8 180 * @brief This should be called on the timer handler when you
sawa 13:5e2aa53353a8 181 * use the XBus servo.
sawa 13:5e2aa53353a8 182 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 183 */
sawa 0:381d475cfd6c 184 void sendChannelDataPacket(void);
sawa 0:381d475cfd6c 185
sawa 13:5e2aa53353a8 186 /**
sawa 13:5e2aa53353a8 187 * @return XBus error code
sawa 13:5e2aa53353a8 188 * @param oldChannelID channel IDof the XBus servo to change the ID
sawa 13:5e2aa53353a8 189 * @param newChannelID new channel ID for the XBus servo
sawa 17:3ffb2e3e3bec 190 * @brief Set new channel ID to the XBus servo
sawa 17:3ffb2e3e3bec 191 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 192 * setup the XBus servo.
sawa 13:5e2aa53353a8 193 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 194 */
sawa 0:381d475cfd6c 195 XBusError setChannelID(uint8_t oldChannelID, uint8_t newChannelID);
sawa 17:3ffb2e3e3bec 196
sawa 13:5e2aa53353a8 197 /**
sawa 13:5e2aa53353a8 198 * @return XBus error code
sawa 13:5e2aa53353a8 199 * @param channelID channel ID of the XBus servo that you want to set to
sawa 13:5e2aa53353a8 200 * @param order the order that you want
sawa 13:5e2aa53353a8 201 * @param value the value that you want to set and return current value
sawa 17:3ffb2e3e3bec 202 * @brief Send set command to the XBus servo
sawa 17:3ffb2e3e3bec 203 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 204 * setup the XBus servo.
sawa 13:5e2aa53353a8 205 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 206 */
sawa 0:381d475cfd6c 207 XBusError setCommand(uint8_t channelID, uint8_t order, int16_t* value);
sawa 17:3ffb2e3e3bec 208
sawa 13:5e2aa53353a8 209 /**
sawa 13:5e2aa53353a8 210 * @return XBus error code
sawa 13:5e2aa53353a8 211 * @param channelID channel ID of the XBus servo that you want to get from
sawa 13:5e2aa53353a8 212 * @param order the order that you want
sawa 13:5e2aa53353a8 213 * @param value the value that you want to get from
sawa 17:3ffb2e3e3bec 214 * @brief Send get command to the XBus servo
sawa 17:3ffb2e3e3bec 215 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 216 * setup the XBus servo.
sawa 13:5e2aa53353a8 217 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 218 */
sawa 0:381d475cfd6c 219 XBusError getCommand(uint8_t channelID, uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 220
sawa 13:5e2aa53353a8 221 /**
sawa 13:5e2aa53353a8 222 * @return XBus error code
sawa 13:5e2aa53353a8 223 * @param newChannelID new channel ID for the XBus servo
sawa 17:3ffb2e3e3bec 224 * @brief Set new channel ID to the XBus servo
sawa 17:3ffb2e3e3bec 225 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 226 * setup the XBus servo.
sawa 14:8f44990ecb74 227 * @note this is only for TX only mode
sawa 13:5e2aa53353a8 228 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 229 */
sawa 0:381d475cfd6c 230 XBusError setChannelID(uint8_t newChannelID);
sawa 17:3ffb2e3e3bec 231
sawa 13:5e2aa53353a8 232 /**
sawa 13:5e2aa53353a8 233 * @return XBus error code
sawa 13:5e2aa53353a8 234 * @param order the order that you want
sawa 13:5e2aa53353a8 235 * @param value the value that you want to set and return current value
sawa 17:3ffb2e3e3bec 236 * @brief Send set command to the XBus servo
sawa 17:3ffb2e3e3bec 237 * This should NOT be called on interrupt handler when you
sawa 17:3ffb2e3e3bec 238 * setup the XBus servo.
sawa 14:8f44990ecb74 239 * @note this is only for TX only mode
sawa 13:5e2aa53353a8 240 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 241 */
sawa 0:381d475cfd6c 242 XBusError setCommand(uint8_t order, int16_t* value);
sawa 0:381d475cfd6c 243
sawa 0:381d475cfd6c 244
sawa 0:381d475cfd6c 245 private:
sawa 17:3ffb2e3e3bec 246 #define kRecieveBufferSize 32
sawa 1:bd80d3e8f3a3 247
sawa 1:bd80d3e8f3a3 248 RawSerial XBusPort;
sawa 17:3ffb2e3e3bec 249 DigitalOut TxSwitch;
sawa 17:3ffb2e3e3bec 250 Timeout TxSwitchTimer;
sawa 1:bd80d3e8f3a3 251
sawa 0:381d475cfd6c 252 uint8_t txOnly; // 1 for TX only mode
sawa 0:381d475cfd6c 253 PinName txPin; //
sawa 0:381d475cfd6c 254 uint8_t numOfServo; // number of servos
sawa 0:381d475cfd6c 255 uint8_t maxServo; // max number of servos
sawa 0:381d475cfd6c 256 uint8_t* chPacketBuffer; // channel data packet buffer
sawa 0:381d475cfd6c 257 uint8_t* sendBuffer; // serial send buffer
sawa 17:3ffb2e3e3bec 258 volatile uint8_t* sendBufferPointer;
sawa 17:3ffb2e3e3bec 259 volatile uint8_t sendLength;
sawa 18:75ddf12d93b6 260 volatile uint8_t recieveBuffer[kRecieveBufferSize]; // serial recieve buffer
sawa 17:3ffb2e3e3bec 261 volatile int8_t recieveBufferPointer;
sawa 0:381d475cfd6c 262 uint8_t dirty; //
sawa 17:3ffb2e3e3bec 263 volatile uint8_t serialCommandBusy; //
sawa 0:381d475cfd6c 264 volatile uint8_t modifyServosNow; //
sawa 17:3ffb2e3e3bec 265 volatile uint8_t need2ReadData;
sawa 0:381d475cfd6c 266
sawa 0:381d475cfd6c 267 uint8_t crc_table(uint8_t data, uint8_t crc);
sawa 0:381d475cfd6c 268 uint8_t crc8(uint8_t* buffer, uint8_t length);
sawa 13:5e2aa53353a8 269 /**
sawa 13:5e2aa53353a8 270 * @return data size for this order
sawa 13:5e2aa53353a8 271 * @param order the order that you want to know
sawa 17:3ffb2e3e3bec 272 * @brief Get the data size of this order
sawa 13:5e2aa53353a8 273 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 274 */
sawa 0:381d475cfd6c 275 uint8_t getDataSize(uint8_t order);
sawa 0:381d475cfd6c 276
sawa 13:5e2aa53353a8 277 /**
sawa 13:5e2aa53353a8 278 * @param buffer data buffer to send
sawa 13:5e2aa53353a8 279 * @param length data length on the buffer
sawa 17:3ffb2e3e3bec 280 * @brief Start to send all packet data
sawa 13:5e2aa53353a8 281 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 282 */
sawa 0:381d475cfd6c 283 void write(uint8_t* buffer, uint8_t length);
sawa 17:3ffb2e3e3bec 284
sawa 13:5e2aa53353a8 285 /**
sawa 17:3ffb2e3e3bec 286 * @brief Wait to send all packet data
sawa 13:5e2aa53353a8 287 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 288 */
sawa 0:381d475cfd6c 289 void flush(void);
sawa 17:3ffb2e3e3bec 290
sawa 13:5e2aa53353a8 291 /**
sawa 13:5e2aa53353a8 292 * @brief handler for Tx buffer empty
sawa 13:5e2aa53353a8 293 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 294 */
sawa 17:3ffb2e3e3bec 295 // void TxIrqHandler(MODSERIAL_IRQ_INFO *q);
sawa 0:381d475cfd6c 296 void TxIrqHandler(void);
sawa 17:3ffb2e3e3bec 297
sawa 13:5e2aa53353a8 298 /**
sawa 13:5e2aa53353a8 299 * @brief handler for Rx buffer full
sawa 13:5e2aa53353a8 300 * @author 2014/09/30 : Zak Sawa
sawa 13:5e2aa53353a8 301 */
sawa 17:3ffb2e3e3bec 302 // void RxIrqHandler(MODSERIAL_IRQ_INFO *q);
sawa 0:381d475cfd6c 303 void RxIrqHandler(void);
sawa 0:381d475cfd6c 304
sawa 13:5e2aa53353a8 305 /**
sawa 17:3ffb2e3e3bec 306 * @brief handler for Tx switch
sawa 17:3ffb2e3e3bec 307 * @author 2014/10/29 : Zak Sawa
sawa 17:3ffb2e3e3bec 308 */
sawa 17:3ffb2e3e3bec 309 void TxSwitchHandler(void);
sawa 17:3ffb2e3e3bec 310
sawa 17:3ffb2e3e3bec 311 /**
sawa 13:5e2aa53353a8 312 * @param command The commnad that you want to send
sawa 13:5e2aa53353a8 313 * @param channelID The channel ID of the XBus servo that you want to set up
sawa 13:5e2aa53353a8 314 * @param order The order that you want to set up
sawa 13:5e2aa53353a8 315 * @param value The value that you want to set / get
sawa 13:5e2aa53353a8 316 * @param valueSize The value size. 1 byte(char) or 2 byte(int)
sawa 17:3ffb2e3e3bec 317 * @brief This should NOT be called on interrupt handler when you
sawa 13:5e2aa53353a8 318 * setup the XBus servo.
sawa 13:5e2aa53353a8 319 * @author 2014/09/02 : move from Arduino lib by Zak Sawa
sawa 13:5e2aa53353a8 320 */
sawa 0:381d475cfd6c 321 XBusError sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize);
sawa 0:381d475cfd6c 322 };
sawa 0:381d475cfd6c 323
sawa 0:381d475cfd6c 324
sawa 0:381d475cfd6c 325 #endif // of XBusServo_h
sawa 0:381d475cfd6c 326