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@15:7d2c82dc31dc, 2014-10-08 (annotated)

Committer:
sawa
Date:
Wed Oct 08 07:36:54 2014 +0000
Revision:
15:7d2c82dc31dc
Parent:
2:4aca5ffce457 
doxygen added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sawa 15:7d2c82dc31dc 1 /*
sawa 2:4aca5ffce457 2 * XBusServo.cpp file
sawa 0:381d475cfd6c 3 *
sawa 0:381d475cfd6c 4 * for mbed
sawa 0:381d475cfd6c 5 *
sawa 0:381d475cfd6c 6 * Copyright (c) 2014-2014 JR PROPO
sawa 1:bd80d3e8f3a3 7 * Released under the MIT License: http://mbed.org/license/mit
sawa 1:bd80d3e8f3a3 8 *
sawa 0:381d475cfd6c 9 * by Zak Sawa
sawa 0:381d475cfd6c 10 */
sawa 0:381d475cfd6c 11
sawa 0:381d475cfd6c 12 #include "XBusServo.h"
sawa 0:381d475cfd6c 13 #include "pinmap.h"
sawa 1:bd80d3e8f3a3 14 #include "gpio_api.h"
sawa 1:bd80d3e8f3a3 15
sawa 0:381d475cfd6c 16
sawa 0:381d475cfd6c 17
sawa 0:381d475cfd6c 18 #define kXBusBaudrate 250000 // bps
sawa 0:381d475cfd6c 19
sawa 0:381d475cfd6c 20 #define kStartOffsetOfCHData 4
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 0:381d475cfd6c 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 0:381d475cfd6c 65
sawa 15:7d2c82dc31dc 66 //****************************************************************************
sawa 0:381d475cfd6c 67 // XBusServo::XBusServo
sawa 2:4aca5ffce457 68 // @returns : none
sawa 2:4aca5ffce457 69 // @param : tx pin name for tx
sawa 2:4aca5ffce457 70 // rx pin name for rx
sawa 2:4aca5ffce457 71 // maxServoNum max number of servo that you want to connect.
sawa 0:381d475cfd6c 72 // (limit 50)
sawa 0:381d475cfd6c 73 // this does just to resetve the buffer. you need to
sawa 0:381d475cfd6c 74 // add XBus servo at the beginning of your sketch
sawa 0:381d475cfd6c 75 //
sawa 0:381d475cfd6c 76 // Constructor
sawa 0:381d475cfd6c 77 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 78 //****************************************************************************
sawa 0:381d475cfd6c 79 XBusServo::XBusServo(PinName tx, PinName rx, uint8_t maxServoNum)
sawa 1:bd80d3e8f3a3 80 : XBusPort(tx, rx)
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 0:381d475cfd6c 86 txOnly = (rx == NC);
sawa 1:bd80d3e8f3a3 87 maxServo = maxServoNum;
sawa 1:bd80d3e8f3a3 88 }
sawa 1:bd80d3e8f3a3 89
sawa 1:bd80d3e8f3a3 90
sawa 1:bd80d3e8f3a3 91 //****************************************************************************
sawa 1:bd80d3e8f3a3 92 // XBusServo::start
sawa 1:bd80d3e8f3a3 93 // return : error code
sawa 1:bd80d3e8f3a3 94 // parameter : none
sawa 1:bd80d3e8f3a3 95 //
sawa 1:bd80d3e8f3a3 96 // start to use XBus
sawa 1:bd80d3e8f3a3 97 // 2014/09/02 : move from Arduino lib by Sawa
sawa 1:bd80d3e8f3a3 98 //****************************************************************************
sawa 1:bd80d3e8f3a3 99 XBusError XBusServo::start()
sawa 1:bd80d3e8f3a3 100 {
sawa 1:bd80d3e8f3a3 101 int bufferSize; // channel data packet buffer size
sawa 1:bd80d3e8f3a3 102
sawa 1:bd80d3e8f3a3 103 DBG("XBusServo::start\n");
sawa 0:381d475cfd6c 104
sawa 0:381d475cfd6c 105 // initialise vars
sawa 0:381d475cfd6c 106 numOfServo = 0;
sawa 0:381d475cfd6c 107 if (maxServo > kXBusMaxServoNum)
sawa 0:381d475cfd6c 108 maxServo = kXBusMaxServoNum;
sawa 0:381d475cfd6c 109 else if (maxServo == 0)
sawa 0:381d475cfd6c 110 maxServo = 1;
sawa 0:381d475cfd6c 111 dirty = 0;
sawa 0:381d475cfd6c 112 serialWriteBusy = 0;
sawa 0:381d475cfd6c 113 recieveBufferPointer = 0;
sawa 0:381d475cfd6c 114 modifyServosNow = 0;
sawa 0:381d475cfd6c 115 sendLength = 0;
sawa 0:381d475cfd6c 116 bufferSize = kStartOffsetOfCHData + maxServo * kCHDataSize + 1; // add 1 for CRC
sawa 0:381d475cfd6c 117 if (bufferSize < kCmdDataPacketSize)
sawa 0:381d475cfd6c 118 bufferSize = kCmdDataPacketSize;
sawa 1:bd80d3e8f3a3 119
sawa 0:381d475cfd6c 120 chPacketBuffer = (uint8_t*)malloc(bufferSize);
sawa 0:381d475cfd6c 121 sendBuffer = (uint8_t*)malloc(bufferSize);
sawa 0:381d475cfd6c 122
sawa 0:381d475cfd6c 123 // initialize channel packer buffer
sawa 0:381d475cfd6c 124 chPacketBuffer[kCHDataPacketCommand] = kXBusCmd_ModeA;
sawa 0:381d475cfd6c 125 chPacketBuffer[kCHDataPacketLength] = 0x00;
sawa 0:381d475cfd6c 126 chPacketBuffer[kCHDataPacketKey] = 0x00;
sawa 0:381d475cfd6c 127 chPacketBuffer[kCHDataPacketType] = 0x00;
sawa 0:381d475cfd6c 128
sawa 0:381d475cfd6c 129 // initialize serial
sawa 1:bd80d3e8f3a3 130 XBusPort.baud(kXBusBaudrate);
sawa 1:bd80d3e8f3a3 131 XBusPort.format(8, RawSerial::None, 1);
sawa 0:381d475cfd6c 132 #if DEVICE_SERIAL_FC
sawa 1:bd80d3e8f3a3 133 XBusPort.set_flow_control(RawSerial::Disabled, NC, NC);
sawa 0:381d475cfd6c 134 #endif
sawa 0:381d475cfd6c 135
sawa 1:bd80d3e8f3a3 136 #ifdef TARGET_KL25Z
sawa 1:bd80d3e8f3a3 137 // do nothing here
sawa 1:bd80d3e8f3a3 138 #else
sawa 1:bd80d3e8f3a3 139 XBusPort.attach(this, &XBusServo::TxIrqHandler, RawSerial::TxIrq);
sawa 1:bd80d3e8f3a3 140 #endif
sawa 1:bd80d3e8f3a3 141 XBusPort.attach(this, &XBusServo::RxIrqHandler, RawSerial::RxIrq);
sawa 1:bd80d3e8f3a3 142
sawa 0:381d475cfd6c 143 serial_pinout_tx(txPin);
sawa 1:bd80d3e8f3a3 144
sawa 1:bd80d3e8f3a3 145 return kXBusError_NoError;
sawa 0:381d475cfd6c 146 }
sawa 0:381d475cfd6c 147
sawa 0:381d475cfd6c 148 //****************************************************************************
sawa 1:bd80d3e8f3a3 149 // XBusServo::stop
sawa 0:381d475cfd6c 150 // return : none
sawa 0:381d475cfd6c 151 // parameter : none
sawa 0:381d475cfd6c 152 //
sawa 1:bd80d3e8f3a3 153 // stop to use XBus
sawa 0:381d475cfd6c 154 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 155 //****************************************************************************
sawa 1:bd80d3e8f3a3 156 void XBusServo::stop()
sawa 0:381d475cfd6c 157 {
sawa 1:bd80d3e8f3a3 158 DBG("XBusServo::stop\n");
sawa 0:381d475cfd6c 159
sawa 0:381d475cfd6c 160 free(chPacketBuffer);
sawa 0:381d475cfd6c 161 free(sendBuffer);
sawa 0:381d475cfd6c 162 }
sawa 0:381d475cfd6c 163
sawa 0:381d475cfd6c 164 //****************************************************************************
sawa 0:381d475cfd6c 165 // XBusServo::write
sawa 0:381d475cfd6c 166 // return : none
sawa 0:381d475cfd6c 167 // parameter : buffer data buffer to send
sawa 0:381d475cfd6c 168 // length data length on the buffer
sawa 0:381d475cfd6c 169 //
sawa 0:381d475cfd6c 170 // start to send all packet data
sawa 0:381d475cfd6c 171 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 172 //****************************************************************************
sawa 0:381d475cfd6c 173 void XBusServo::write(uint8_t* buffer, uint8_t length)
sawa 0:381d475cfd6c 174 {
sawa 1:bd80d3e8f3a3 175 // DBG("XBusServo::write\n");
sawa 0:381d475cfd6c 176
sawa 0:381d475cfd6c 177 if (serialWriteBusy)
sawa 0:381d475cfd6c 178 return;
sawa 0:381d475cfd6c 179
sawa 0:381d475cfd6c 180 serialWriteBusy = 1;
sawa 0:381d475cfd6c 181 XBusServo::sendLength = length;
sawa 0:381d475cfd6c 182 sendBufferPointer = buffer;
sawa 0:381d475cfd6c 183
sawa 1:bd80d3e8f3a3 184 if (XBusPort.putc(*sendBufferPointer++) < 0) {
sawa 0:381d475cfd6c 185 serialWriteBusy = 0;
sawa 0:381d475cfd6c 186 XBusServo::sendLength = 0;
sawa 1:bd80d3e8f3a3 187 } else {
sawa 0:381d475cfd6c 188 XBusServo::sendLength--;
sawa 1:bd80d3e8f3a3 189 #ifdef TARGET_KL25Z
sawa 1:bd80d3e8f3a3 190 XBusPort.attach(this, &XBusServo::TxIrqHandler, RawSerial::TxIrq);
sawa 1:bd80d3e8f3a3 191 #endif
sawa 1:bd80d3e8f3a3 192 }
sawa 0:381d475cfd6c 193 }
sawa 0:381d475cfd6c 194
sawa 0:381d475cfd6c 195
sawa 0:381d475cfd6c 196 //****************************************************************************
sawa 0:381d475cfd6c 197 // XBusServo::flush
sawa 0:381d475cfd6c 198 // return : none
sawa 0:381d475cfd6c 199 // parameter : none
sawa 0:381d475cfd6c 200 //
sawa 0:381d475cfd6c 201 // wait to send all packet data
sawa 0:381d475cfd6c 202 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 203 //****************************************************************************
sawa 0:381d475cfd6c 204 void XBusServo::flush(void)
sawa 0:381d475cfd6c 205 {
sawa 0:381d475cfd6c 206 // DBG("XBusServo::flush\n");
sawa 0:381d475cfd6c 207
sawa 0:381d475cfd6c 208 while(serialWriteBusy)
sawa 0:381d475cfd6c 209 ;
sawa 0:381d475cfd6c 210 }
sawa 0:381d475cfd6c 211
sawa 0:381d475cfd6c 212
sawa 0:381d475cfd6c 213 //****************************************************************************
sawa 0:381d475cfd6c 214 // XBusServo::TxIrqHandler
sawa 0:381d475cfd6c 215 // return : none
sawa 0:381d475cfd6c 216 // parameter : none
sawa 0:381d475cfd6c 217 //
sawa 0:381d475cfd6c 218 // handler for Tx buffer empty
sawa 0:381d475cfd6c 219 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 220 //****************************************************************************
sawa 0:381d475cfd6c 221 void XBusServo::TxIrqHandler(void)
sawa 0:381d475cfd6c 222 {
sawa 0:381d475cfd6c 223 // DBG("XBusServo::TxIrqHandler\n");
sawa 0:381d475cfd6c 224
sawa 0:381d475cfd6c 225 if (! serialWriteBusy)
sawa 0:381d475cfd6c 226 return;
sawa 0:381d475cfd6c 227
sawa 1:bd80d3e8f3a3 228 if (XBusServo::sendLength <= 0) {
sawa 0:381d475cfd6c 229 serialWriteBusy = 0;
sawa 1:bd80d3e8f3a3 230 #ifdef TARGET_KL25Z
sawa 1:bd80d3e8f3a3 231 XBusPort.attach(NULL, RawSerial::TxIrq);
sawa 1:bd80d3e8f3a3 232 #endif
sawa 1:bd80d3e8f3a3 233 } else {
sawa 1:bd80d3e8f3a3 234 if (XBusPort.putc(*sendBufferPointer++) < 0) {
sawa 0:381d475cfd6c 235 serialWriteBusy = 0;
sawa 0:381d475cfd6c 236 XBusServo::sendLength = 0;
sawa 1:bd80d3e8f3a3 237 #ifdef TARGET_KL25Z
sawa 1:bd80d3e8f3a3 238 XBusPort.attach(NULL, RawSerial::TxIrq);
sawa 1:bd80d3e8f3a3 239 #endif
sawa 0:381d475cfd6c 240 } else
sawa 0:381d475cfd6c 241 XBusServo::sendLength--;
sawa 0:381d475cfd6c 242 }
sawa 0:381d475cfd6c 243 }
sawa 0:381d475cfd6c 244
sawa 0:381d475cfd6c 245
sawa 0:381d475cfd6c 246 //****************************************************************************
sawa 0:381d475cfd6c 247 // XBusServo::RxIrqHandler
sawa 0:381d475cfd6c 248 // return : none
sawa 0:381d475cfd6c 249 // parameter : none
sawa 0:381d475cfd6c 250 //
sawa 0:381d475cfd6c 251 // handler for Rx buffer full
sawa 0:381d475cfd6c 252 // 2014/09/30 : first write by Sawa
sawa 0:381d475cfd6c 253 //****************************************************************************
sawa 0:381d475cfd6c 254 void XBusServo::RxIrqHandler(void)
sawa 0:381d475cfd6c 255 {
sawa 0:381d475cfd6c 256 // DBG("XBusServo::RxIrqHandler\n");
sawa 0:381d475cfd6c 257
sawa 1:bd80d3e8f3a3 258 recieveBuffer[recieveBufferPointer++] = XBusPort.getc();
sawa 0:381d475cfd6c 259 if (recieveBufferPointer >= kRecieveBufferSize)
sawa 0:381d475cfd6c 260 recieveBufferPointer = 0;
sawa 0:381d475cfd6c 261 }
sawa 0:381d475cfd6c 262
sawa 0:381d475cfd6c 263
sawa 0:381d475cfd6c 264
sawa 0:381d475cfd6c 265 //****************************************************************************
sawa 0:381d475cfd6c 266 // XBusServo::sendChannelDataPacket
sawa 0:381d475cfd6c 267 // return : none
sawa 0:381d475cfd6c 268 // parameter : none
sawa 0:381d475cfd6c 269 //
sawa 0:381d475cfd6c 270 // This should be called on the timer handler like MsTimer2 when you
sawa 0:381d475cfd6c 271 // use the XBus servo.
sawa 0:381d475cfd6c 272 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 273 //****************************************************************************
sawa 0:381d475cfd6c 274 void XBusServo::sendChannelDataPacket(void)
sawa 0:381d475cfd6c 275 {
sawa 0:381d475cfd6c 276 // DBG("XBusServo::sendChannelDataPacket\n");
sawa 0:381d475cfd6c 277
sawa 0:381d475cfd6c 278 if (modifyServosNow)
sawa 0:381d475cfd6c 279 return;
sawa 0:381d475cfd6c 280
sawa 0:381d475cfd6c 281 if (numOfServo > 0) {
sawa 0:381d475cfd6c 282 if (dirty) {
sawa 0:381d475cfd6c 283 memcpy(sendBuffer, chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 3);
sawa 0:381d475cfd6c 284 dirty = 0;
sawa 0:381d475cfd6c 285 }
sawa 0:381d475cfd6c 286
sawa 0:381d475cfd6c 287 write(sendBuffer, sendBuffer[kCHDataPacketLength] + 3);
sawa 0:381d475cfd6c 288 }
sawa 0:381d475cfd6c 289 }
sawa 0:381d475cfd6c 290
sawa 0:381d475cfd6c 291
sawa 0:381d475cfd6c 292 //****************************************************************************
sawa 0:381d475cfd6c 293 // XBusServo::sendCommandDataPacket
sawa 0:381d475cfd6c 294 // return : error code
sawa 0:381d475cfd6c 295 // parameter : command The commnad that you want to send
sawa 0:381d475cfd6c 296 // channelID The channel ID of the XBus servo that you want to set up
sawa 0:381d475cfd6c 297 // order The order that you want to set up
sawa 0:381d475cfd6c 298 // value The value that you want to set / get
sawa 0:381d475cfd6c 299 // valueSize The value size. 1 byte(char) or 2 byte(int)
sawa 0:381d475cfd6c 300 //
sawa 0:381d475cfd6c 301 // This should NOT be called on the timer handler like MsTimer2 when you
sawa 0:381d475cfd6c 302 // setup the XBus servo.
sawa 0:381d475cfd6c 303 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 304 //****************************************************************************
sawa 0:381d475cfd6c 305 XBusError XBusServo::sendCommandDataPacket(uint8_t command, uint8_t channelID, uint8_t order, int16_t* value, uint8_t valueSize)
sawa 0:381d475cfd6c 306 {
sawa 0:381d475cfd6c 307 int sendSize;
sawa 0:381d475cfd6c 308 uint8_t* recievedPacket;
sawa 0:381d475cfd6c 309
sawa 0:381d475cfd6c 310 DBG("XBusServo::sendCommandDataPacket\n");
sawa 0:381d475cfd6c 311
sawa 0:381d475cfd6c 312 // setup command
sawa 0:381d475cfd6c 313 sendBuffer[kCmdDataPacketCommand] = command;
sawa 0:381d475cfd6c 314 sendBuffer[kCmdDataPacketLength] = valueSize + 3;
sawa 0:381d475cfd6c 315 sendBuffer[kCmdDataPacketKey] = 0x00;
sawa 0:381d475cfd6c 316 sendBuffer[kCmdDataPacketCH_ID] = channelID;
sawa 0:381d475cfd6c 317 sendBuffer[kCmdDataPacketOrder] = order;
sawa 0:381d475cfd6c 318 if (valueSize == 1) { // 1 byte value
sawa 0:381d475cfd6c 319 sendBuffer[kCmdDataPacketData1] = *value & 0x00FF;
sawa 0:381d475cfd6c 320 sendBuffer[kCmdDataPacketData2] = crc8(sendBuffer, sendBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 321 } else {
sawa 0:381d475cfd6c 322 sendBuffer[kCmdDataPacketData1] = (*value >> 8) & 0x00FF;
sawa 0:381d475cfd6c 323 sendBuffer[kCmdDataPacketData2] = *value & 0x00FF;
sawa 0:381d475cfd6c 324 sendBuffer[kCmdDataPacketCRC] = crc8(sendBuffer, sendBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 325 }
sawa 0:381d475cfd6c 326
sawa 0:381d475cfd6c 327 // to recover channel data packet when you call sendChannelDataPacket after this
sawa 0:381d475cfd6c 328 dirty = 1;
sawa 0:381d475cfd6c 329
sawa 0:381d475cfd6c 330 // send command
sawa 0:381d475cfd6c 331 recieveBufferPointer = 0; // reset recieve buffer
sawa 0:381d475cfd6c 332 sendSize = sendBuffer[kCmdDataPacketLength] + 3;
sawa 0:381d475cfd6c 333 write(sendBuffer, sendSize);
sawa 0:381d475cfd6c 334 flush(); // wait to send all bytes
sawa 0:381d475cfd6c 335
sawa 0:381d475cfd6c 336 // if it's tx only mode, it done
sawa 0:381d475cfd6c 337 if (txOnly)
sawa 0:381d475cfd6c 338 return kXBusError_NoError;
sawa 0:381d475cfd6c 339
sawa 0:381d475cfd6c 340 if (channelID != 0) {
sawa 0:381d475cfd6c 341 // change bus direction to Rx mode
sawa 0:381d475cfd6c 342 // DigitalInOut::input();
sawa 0:381d475cfd6c 343
sawa 0:381d475cfd6c 344 recievedPacket = &(recieveBuffer[sendSize]);
sawa 0:381d475cfd6c 345
sawa 0:381d475cfd6c 346 // wait to read all packet
sawa 0:381d475cfd6c 347 while(recieveBufferPointer < (sendSize + kCmdDataPacketSize))
sawa 0:381d475cfd6c 348 ;
sawa 0:381d475cfd6c 349
sawa 0:381d475cfd6c 350 // change bus direction to Tx mode
sawa 0:381d475cfd6c 351 serial_pinout_tx(txPin);
sawa 0:381d475cfd6c 352
sawa 0:381d475cfd6c 353 // check CRC
sawa 0:381d475cfd6c 354 if (crc8(recievedPacket, recievedPacket[kCHDataPacketLength] + 3) != 0)
sawa 0:381d475cfd6c 355 return kXBusError_CRCError;
sawa 0:381d475cfd6c 356
sawa 0:381d475cfd6c 357 // check unsupported
sawa 0:381d475cfd6c 358 if (recievedPacket[kCmdDataPacketOrder] == kXBusOrder_1_Unsupported)
sawa 0:381d475cfd6c 359 return kXBusError_Unsupported;
sawa 0:381d475cfd6c 360
sawa 0:381d475cfd6c 361 // send back the value
sawa 0:381d475cfd6c 362 if (valueSize == 1) { // 1 byte value
sawa 0:381d475cfd6c 363 *value = recievedPacket[kCmdDataPacketData1];
sawa 0:381d475cfd6c 364 if (*value & 0x0080)
sawa 0:381d475cfd6c 365 *value |= 0xFF00;
sawa 0:381d475cfd6c 366 } else {
sawa 0:381d475cfd6c 367 *value = recievedPacket[kCmdDataPacketData1];
sawa 0:381d475cfd6c 368 *value <<= 8;
sawa 0:381d475cfd6c 369 *value |= recievedPacket[kCmdDataPacketData2];
sawa 0:381d475cfd6c 370 }
sawa 0:381d475cfd6c 371 }
sawa 0:381d475cfd6c 372
sawa 0:381d475cfd6c 373 return kXBusError_NoError;
sawa 0:381d475cfd6c 374 }
sawa 0:381d475cfd6c 375
sawa 0:381d475cfd6c 376
sawa 0:381d475cfd6c 377 //****************************************************************************
sawa 0:381d475cfd6c 378 // XBusServo::addServo
sawa 0:381d475cfd6c 379 // return : error code
sawa 0:381d475cfd6c 380 // parameter : channelID channel ID of the XBus servo that you want to use
sawa 0:381d475cfd6c 381 // initValue initial value of this XBus servo
sawa 0:381d475cfd6c 382 // use kXbusServoNeutral for center of the XBus servo
sawa 0:381d475cfd6c 383 //
sawa 0:381d475cfd6c 384 // add new servo to the buffer on this library
sawa 0:381d475cfd6c 385 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 386 //****************************************************************************
sawa 0:381d475cfd6c 387 XBusError XBusServo::addServo(uint8_t channelID, uint16_t initValue)
sawa 0:381d475cfd6c 388 {
sawa 0:381d475cfd6c 389 uint16_t dataOffset;
sawa 0:381d475cfd6c 390
sawa 0:381d475cfd6c 391 DBG("XBusServo::addServo\n");
sawa 0:381d475cfd6c 392
sawa 0:381d475cfd6c 393 // max check
sawa 0:381d475cfd6c 394 if (numOfServo >= maxServo)
sawa 0:381d475cfd6c 395 return kXBusError_ServoNumOverflow;
sawa 0:381d475cfd6c 396
sawa 0:381d475cfd6c 397 // convert to servo ID
sawa 0:381d475cfd6c 398 channelID &= 0x3F;
sawa 0:381d475cfd6c 399
sawa 0:381d475cfd6c 400 // scan servo ID that is already added
sawa 0:381d475cfd6c 401 if (numOfServo > 0) {
sawa 0:381d475cfd6c 402 uint16_t servoNo;
sawa 0:381d475cfd6c 403
sawa 0:381d475cfd6c 404 for (servoNo = 0; servoNo < numOfServo; servoNo++)
sawa 0:381d475cfd6c 405 if (chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo] == channelID)
sawa 0:381d475cfd6c 406 return kXBusError_AddWithSameID; // found same servo ID
sawa 0:381d475cfd6c 407 }
sawa 0:381d475cfd6c 408
sawa 0:381d475cfd6c 409 // atomic flag on
sawa 0:381d475cfd6c 410 modifyServosNow = 1;
sawa 0:381d475cfd6c 411
sawa 0:381d475cfd6c 412 // add new servo
sawa 0:381d475cfd6c 413 dataOffset = kStartOffsetOfCHData + kCHDataSize * numOfServo;
sawa 0:381d475cfd6c 414 numOfServo++;
sawa 0:381d475cfd6c 415 chPacketBuffer[kCHDataPacketLength] = numOfServo * kCHDataSize + 2; // add 2 for key and type
sawa 0:381d475cfd6c 416
sawa 0:381d475cfd6c 417 chPacketBuffer[dataOffset] = channelID;
sawa 0:381d475cfd6c 418 chPacketBuffer[dataOffset + 1] = 0x00;
sawa 0:381d475cfd6c 419 chPacketBuffer[dataOffset + 2] = (initValue >> 8) & 0x00FF;
sawa 0:381d475cfd6c 420 chPacketBuffer[dataOffset + 3] = initValue & 0x00FF;
sawa 0:381d475cfd6c 421
sawa 0:381d475cfd6c 422 // calc CRC
sawa 0:381d475cfd6c 423 chPacketBuffer[dataOffset + 4] = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 424 dirty = 1;
sawa 0:381d475cfd6c 425
sawa 0:381d475cfd6c 426 // atomic flag off
sawa 0:381d475cfd6c 427 modifyServosNow = 0;
sawa 0:381d475cfd6c 428
sawa 0:381d475cfd6c 429 return kXBusError_NoError;
sawa 0:381d475cfd6c 430 }
sawa 0:381d475cfd6c 431
sawa 0:381d475cfd6c 432
sawa 0:381d475cfd6c 433 //****************************************************************************
sawa 0:381d475cfd6c 434 // XBusServo::removeServo
sawa 0:381d475cfd6c 435 // return : error code
sawa 0:381d475cfd6c 436 // parameter : channelID channel ID of the XBus servo that you want to remove
sawa 0:381d475cfd6c 437 //
sawa 0:381d475cfd6c 438 // remove the servo from the buffer on this library
sawa 0:381d475cfd6c 439 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 440 //****************************************************************************
sawa 0:381d475cfd6c 441 XBusError XBusServo::removeServo(uint8_t channelID)
sawa 0:381d475cfd6c 442 {
sawa 0:381d475cfd6c 443 DBG("XBusServo::removeServo\n");
sawa 0:381d475cfd6c 444
sawa 0:381d475cfd6c 445 // min check
sawa 0:381d475cfd6c 446 if (numOfServo == 0)
sawa 0:381d475cfd6c 447 return kXBusError_ServoNumIsZero;
sawa 0:381d475cfd6c 448
sawa 0:381d475cfd6c 449 // convert to servo ID
sawa 0:381d475cfd6c 450 channelID &= 0x3F;
sawa 0:381d475cfd6c 451
sawa 0:381d475cfd6c 452 // scan servo ID that is already added
sawa 0:381d475cfd6c 453 if (numOfServo > 0) {
sawa 0:381d475cfd6c 454 uint16_t servoNo;
sawa 0:381d475cfd6c 455
sawa 0:381d475cfd6c 456 for (servoNo = 0; servoNo < numOfServo; servoNo++)
sawa 0:381d475cfd6c 457 if (chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo] == channelID) {
sawa 0:381d475cfd6c 458 // atomic flag on
sawa 0:381d475cfd6c 459 modifyServosNow = 1;
sawa 0:381d475cfd6c 460
sawa 0:381d475cfd6c 461 // copy data after that
sawa 0:381d475cfd6c 462 if (servoNo < (numOfServo - 1))
sawa 0:381d475cfd6c 463 memcpy(&(chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * servoNo]),
sawa 0:381d475cfd6c 464 &(chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * (servoNo + 1)]),
sawa 0:381d475cfd6c 465 kCHDataSize * (numOfServo - servoNo - 1));
sawa 0:381d475cfd6c 466
sawa 0:381d475cfd6c 467 // update packet size
sawa 0:381d475cfd6c 468 numOfServo--;
sawa 0:381d475cfd6c 469 chPacketBuffer[kCHDataPacketLength] = numOfServo * kCHDataSize + 2; // add 2 for key and type
sawa 0:381d475cfd6c 470
sawa 0:381d475cfd6c 471 // calc CRC
sawa 0:381d475cfd6c 472 chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * numOfServo]
sawa 0:381d475cfd6c 473 = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 474 dirty = 1;
sawa 0:381d475cfd6c 475
sawa 0:381d475cfd6c 476 // atomic flag off
sawa 0:381d475cfd6c 477 modifyServosNow = 0;
sawa 0:381d475cfd6c 478
sawa 0:381d475cfd6c 479 return kXBusError_NoError;
sawa 0:381d475cfd6c 480 }
sawa 0:381d475cfd6c 481 }
sawa 0:381d475cfd6c 482
sawa 0:381d475cfd6c 483 return kXBusError_IDNotFound;
sawa 0:381d475cfd6c 484 }
sawa 0:381d475cfd6c 485
sawa 0:381d475cfd6c 486
sawa 0:381d475cfd6c 487 //****************************************************************************
sawa 0:381d475cfd6c 488 // XBusServo::setServo
sawa 0:381d475cfd6c 489 // return : error code
sawa 0:381d475cfd6c 490 // parameter : channelID channel ID of the XBus servo that you want to set
sawa 0:381d475cfd6c 491 // value value of this XBus servo
sawa 0:381d475cfd6c 492 // use kXbusServoNeutral for center of the XBus servo
sawa 0:381d475cfd6c 493 //
sawa 0:381d475cfd6c 494 // remove the servo from the buffer on this library
sawa 0:381d475cfd6c 495 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 496 //****************************************************************************
sawa 0:381d475cfd6c 497 XBusError XBusServo::setServo(uint8_t channelID, uint16_t value)
sawa 0:381d475cfd6c 498 {
sawa 0:381d475cfd6c 499 uint16_t dataOffset;
sawa 0:381d475cfd6c 500
sawa 1:bd80d3e8f3a3 501 // DBG("XBusServo::setServo\n");
sawa 0:381d475cfd6c 502
sawa 0:381d475cfd6c 503 // convert to servo ID
sawa 0:381d475cfd6c 504 channelID &= 0x3F;
sawa 0:381d475cfd6c 505
sawa 0:381d475cfd6c 506 // scan servo ID that is already added
sawa 0:381d475cfd6c 507 if (numOfServo > 0) {
sawa 0:381d475cfd6c 508 int servoNo;
sawa 0:381d475cfd6c 509
sawa 0:381d475cfd6c 510 for (servoNo = 0; servoNo < numOfServo; servoNo++) {
sawa 0:381d475cfd6c 511 dataOffset = kStartOffsetOfCHData + kCHDataSize * servoNo;
sawa 0:381d475cfd6c 512
sawa 0:381d475cfd6c 513 if (chPacketBuffer[dataOffset] == channelID) {
sawa 0:381d475cfd6c 514 // atomic flag on
sawa 0:381d475cfd6c 515 modifyServosNow = 1;
sawa 0:381d475cfd6c 516
sawa 0:381d475cfd6c 517 // set value
sawa 0:381d475cfd6c 518 chPacketBuffer[dataOffset + 2] = (value >> 8) & 0x00FF;
sawa 0:381d475cfd6c 519 chPacketBuffer[dataOffset + 3] = value & 0x00FF;
sawa 0:381d475cfd6c 520
sawa 0:381d475cfd6c 521 // calc CRC
sawa 0:381d475cfd6c 522 chPacketBuffer[kStartOffsetOfCHData + kCHDataSize * numOfServo]
sawa 0:381d475cfd6c 523 = crc8(chPacketBuffer, chPacketBuffer[kCHDataPacketLength] + 2);
sawa 0:381d475cfd6c 524 dirty = 1;
sawa 0:381d475cfd6c 525
sawa 0:381d475cfd6c 526 // atomic flag off
sawa 0:381d475cfd6c 527 modifyServosNow = 0;
sawa 0:381d475cfd6c 528
sawa 0:381d475cfd6c 529 return kXBusError_NoError;
sawa 0:381d475cfd6c 530 }
sawa 0:381d475cfd6c 531 }
sawa 0:381d475cfd6c 532 }
sawa 0:381d475cfd6c 533
sawa 0:381d475cfd6c 534 return kXBusError_IDNotFound;
sawa 0:381d475cfd6c 535 }
sawa 0:381d475cfd6c 536
sawa 0:381d475cfd6c 537
sawa 0:381d475cfd6c 538 //****************************************************************************
sawa 0:381d475cfd6c 539 // XBusServo::setChannelID
sawa 0:381d475cfd6c 540 // return : error code
sawa 0:381d475cfd6c 541 // parameter : oldChannelID channel IDof the XBus servo to change the ID
sawa 0:381d475cfd6c 542 // newChannelID new channel ID for the XBus servo
sawa 0:381d475cfd6c 543 //
sawa 0:381d475cfd6c 544 // set new channel ID to the XBus servo
sawa 0:381d475cfd6c 545 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 546 //****************************************************************************
sawa 0:381d475cfd6c 547 XBusError XBusServo::setChannelID(uint8_t oldChannelID, uint8_t newChannelID)
sawa 0:381d475cfd6c 548 {
sawa 0:381d475cfd6c 549 XBusError result;
sawa 0:381d475cfd6c 550 int16_t value;
sawa 0:381d475cfd6c 551
sawa 0:381d475cfd6c 552 DBG("XBusServo::setChannelID\n");
sawa 0:381d475cfd6c 553
sawa 0:381d475cfd6c 554 value = kXBusMode_IDSet;
sawa 0:381d475cfd6c 555 result = sendCommandDataPacket(kXBusCmd_Set, oldChannelID, kXBusOrder_1_Mode, &value, 1);
sawa 0:381d475cfd6c 556 if (result != kXBusError_NoError)
sawa 0:381d475cfd6c 557 return result;
sawa 0:381d475cfd6c 558
sawa 0:381d475cfd6c 559 value = newChannelID;
sawa 0:381d475cfd6c 560 result = sendCommandDataPacket(kXBusCmd_Set, oldChannelID, kXBusOrder_1_ID, &value, 1);
sawa 0:381d475cfd6c 561
sawa 0:381d475cfd6c 562 return result;
sawa 0:381d475cfd6c 563 }
sawa 0:381d475cfd6c 564
sawa 0:381d475cfd6c 565
sawa 0:381d475cfd6c 566 //****************************************************************************
sawa 0:381d475cfd6c 567 // XBusServo::setChannelID
sawa 0:381d475cfd6c 568 // return : error code
sawa 0:381d475cfd6c 569 // parameter : newChannelID new channel ID for the XBus servo
sawa 0:381d475cfd6c 570 //
sawa 0:381d475cfd6c 571 // set new channel ID to the XBus servo
sawa 0:381d475cfd6c 572 // this is only for TX only mode
sawa 0:381d475cfd6c 573 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 574 //****************************************************************************
sawa 0:381d475cfd6c 575 XBusError XBusServo::setChannelID(uint8_t newChannelID)
sawa 0:381d475cfd6c 576 {
sawa 0:381d475cfd6c 577 XBusError result;
sawa 0:381d475cfd6c 578 int16_t value;
sawa 0:381d475cfd6c 579
sawa 0:381d475cfd6c 580 DBG("XBusServo::setChannelID\n");
sawa 0:381d475cfd6c 581
sawa 0:381d475cfd6c 582 if (txOnly)
sawa 0:381d475cfd6c 583 return kXBusError_OnlyForTxOnlyMode;
sawa 0:381d475cfd6c 584
sawa 0:381d475cfd6c 585 value = kXBusMode_IDSet;
sawa 0:381d475cfd6c 586 result = sendCommandDataPacket(kXBusCmd_Set, 0, kXBusOrder_1_Mode, &value, 1);
sawa 0:381d475cfd6c 587 if (result != kXBusError_NoError)
sawa 0:381d475cfd6c 588 return result;
sawa 0:381d475cfd6c 589
sawa 0:381d475cfd6c 590 value = newChannelID;
sawa 0:381d475cfd6c 591 result = sendCommandDataPacket(kXBusCmd_Set, 0, kXBusOrder_1_ID, &value, 1);
sawa 0:381d475cfd6c 592
sawa 0:381d475cfd6c 593 return result;
sawa 0:381d475cfd6c 594 }
sawa 0:381d475cfd6c 595
sawa 0:381d475cfd6c 596
sawa 0:381d475cfd6c 597 //****************************************************************************
sawa 0:381d475cfd6c 598 // XBusServo::getDataSize
sawa 0:381d475cfd6c 599 // return : data size for this order
sawa 0:381d475cfd6c 600 // parameter : order the order that you want to know
sawa 0:381d475cfd6c 601 //
sawa 0:381d475cfd6c 602 // get the data size of this order
sawa 0:381d475cfd6c 603 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 604 //****************************************************************************
sawa 0:381d475cfd6c 605 uint8_t XBusServo::getDataSize(uint8_t order)
sawa 0:381d475cfd6c 606 {
sawa 0:381d475cfd6c 607 uint8_t dataSize = 1;
sawa 0:381d475cfd6c 608
sawa 0:381d475cfd6c 609 DBG("XBusServo::getDataSize\n");
sawa 0:381d475cfd6c 610
sawa 0:381d475cfd6c 611 switch(order) {
sawa 0:381d475cfd6c 612 case kXBusOrder_2_Version: // only for get
sawa 0:381d475cfd6c 613 case kXBusOrder_2_Product: // only for get
sawa 0:381d475cfd6c 614 case kXBusOrder_2_Reset: // only for set
sawa 0:381d475cfd6c 615 case kXBusOrder_2_ParamWrite: // only for set
sawa 0:381d475cfd6c 616 case kXBusOrder_2_Reverse:
sawa 0:381d475cfd6c 617 case kXBusOrder_2_Neutral:
sawa 0:381d475cfd6c 618 case kXBusOrder_2_H_Travel:
sawa 0:381d475cfd6c 619 case kXBusOrder_2_L_Travel:
sawa 0:381d475cfd6c 620 case kXBusOrder_2_H_Limit:
sawa 0:381d475cfd6c 621 case kXBusOrder_2_L_Limit:
sawa 0:381d475cfd6c 622 case kXBusOrder_2_PowerOffset:
sawa 0:381d475cfd6c 623 case kXBusOrder_2_AlarmDelay:
sawa 0:381d475cfd6c 624 case kXBusOrder_2_CurrentPos: // only for get
sawa 0:381d475cfd6c 625 case kXBusOrder_2_MaxInteger:
sawa 0:381d475cfd6c 626 dataSize = 2;
sawa 0:381d475cfd6c 627 }
sawa 0:381d475cfd6c 628
sawa 0:381d475cfd6c 629 return dataSize;
sawa 0:381d475cfd6c 630 }
sawa 0:381d475cfd6c 631
sawa 0:381d475cfd6c 632
sawa 0:381d475cfd6c 633 //****************************************************************************
sawa 0:381d475cfd6c 634 // XBusServo::setCommand
sawa 0:381d475cfd6c 635 // return : error code
sawa 0:381d475cfd6c 636 // parameter : channelID channel ID of the XBus servo that you want to set to
sawa 0:381d475cfd6c 637 // order the order that you want
sawa 0:381d475cfd6c 638 // value the value that you want to set and return current value
sawa 0:381d475cfd6c 639 //
sawa 0:381d475cfd6c 640 // send set command to the XBus servo
sawa 0:381d475cfd6c 641 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 642 //****************************************************************************
sawa 0:381d475cfd6c 643 XBusError XBusServo::setCommand(uint8_t channelID, uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 644 {
sawa 0:381d475cfd6c 645 DBG("XBusServo::setCommand\n");
sawa 0:381d475cfd6c 646
sawa 0:381d475cfd6c 647 return sendCommandDataPacket(kXBusCmd_Set, channelID, order, value, getDataSize(order));
sawa 0:381d475cfd6c 648 }
sawa 0:381d475cfd6c 649
sawa 0:381d475cfd6c 650
sawa 0:381d475cfd6c 651 //****************************************************************************
sawa 0:381d475cfd6c 652 // XBusServo::getCommand
sawa 0:381d475cfd6c 653 // return : error code
sawa 0:381d475cfd6c 654 // parameter : channelID channel ID of the XBus servo that you want to get from
sawa 0:381d475cfd6c 655 // order the order that you want
sawa 0:381d475cfd6c 656 // value the value that you want to get from
sawa 0:381d475cfd6c 657 //
sawa 0:381d475cfd6c 658 // send get command to the XBus servo
sawa 0:381d475cfd6c 659 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 660 //****************************************************************************
sawa 0:381d475cfd6c 661 XBusError XBusServo::getCommand(uint8_t channelID, uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 662 {
sawa 0:381d475cfd6c 663 DBG("XBusServo::getCommand\n");
sawa 0:381d475cfd6c 664
sawa 0:381d475cfd6c 665 return sendCommandDataPacket(kXBusCmd_Get, channelID, order, value, getDataSize(order));
sawa 0:381d475cfd6c 666 }
sawa 0:381d475cfd6c 667
sawa 0:381d475cfd6c 668
sawa 0:381d475cfd6c 669 //****************************************************************************
sawa 0:381d475cfd6c 670 // XBusServo::setCommand
sawa 0:381d475cfd6c 671 // return : error code
sawa 0:381d475cfd6c 672 // parameter : order the order that you want
sawa 0:381d475cfd6c 673 // value the value that you want to set and return current value
sawa 0:381d475cfd6c 674 //
sawa 0:381d475cfd6c 675 // send set command to the XBus servo
sawa 0:381d475cfd6c 676 // this is only for TX only mode
sawa 0:381d475cfd6c 677 // 2014/09/02 : move from Arduino lib by Sawa
sawa 0:381d475cfd6c 678 //****************************************************************************
sawa 0:381d475cfd6c 679 XBusError XBusServo::setCommand(uint8_t order, int16_t* value)
sawa 0:381d475cfd6c 680 {
sawa 0:381d475cfd6c 681 DBG("XBusServo::setCommand\n");
sawa 0:381d475cfd6c 682
sawa 0:381d475cfd6c 683 if (txOnly)
sawa 0:381d475cfd6c 684 return kXBusError_OnlyForTxOnlyMode;
sawa 0:381d475cfd6c 685
sawa 0:381d475cfd6c 686 return sendCommandDataPacket(kXBusCmd_Set, 0, order, value, getDataSize(order));
sawa 0:381d475cfd6c 687 }
sawa 0:381d475cfd6c 688
sawa 0:381d475cfd6c 689
sawa 0:381d475cfd6c 690
sawa 0:381d475cfd6c 691
sawa 0:381d475cfd6c 692
sawa 0:381d475cfd6c 693
sawa 0:381d475cfd6c 694 //****************************************************************************
sawa 0:381d475cfd6c 695 // for CRC
sawa 0:381d475cfd6c 696 static uint8_t s_crc_array[256] = {
sawa 0:381d475cfd6c 697 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83,
sawa 0:381d475cfd6c 698 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
sawa 0:381d475cfd6c 699 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
sawa 0:381d475cfd6c 700 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
sawa 0:381d475cfd6c 701 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0,
sawa 0:381d475cfd6c 702 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
sawa 0:381d475cfd6c 703 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d,
sawa 0:381d475cfd6c 704 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
sawa 0:381d475cfd6c 705 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
sawa 0:381d475cfd6c 706 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
sawa 0:381d475cfd6c 707 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58,
sawa 0:381d475cfd6c 708 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
sawa 0:381d475cfd6c 709 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6,
sawa 0:381d475cfd6c 710 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
sawa 0:381d475cfd6c 711 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
sawa 0:381d475cfd6c 712 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
sawa 0:381d475cfd6c 713 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f,
sawa 0:381d475cfd6c 714 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
sawa 0:381d475cfd6c 715 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92,
sawa 0:381d475cfd6c 716 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
sawa 0:381d475cfd6c 717 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
sawa 0:381d475cfd6c 718 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
sawa 0:381d475cfd6c 719 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1,
sawa 0:381d475cfd6c 720 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
sawa 0:381d475cfd6c 721 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49,
sawa 0:381d475cfd6c 722 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
sawa 0:381d475cfd6c 723 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
sawa 0:381d475cfd6c 724 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
sawa 0:381d475cfd6c 725 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a,
sawa 0:381d475cfd6c 726 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
sawa 0:381d475cfd6c 727 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7,
sawa 0:381d475cfd6c 728 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
sawa 0:381d475cfd6c 729 };
sawa 0:381d475cfd6c 730
sawa 0:381d475cfd6c 731
sawa 0:381d475cfd6c 732 uint8_t XBusServo::crc_table(uint8_t data, uint8_t crc)
sawa 0:381d475cfd6c 733 {
sawa 0:381d475cfd6c 734 uint16_t index = (data ^ crc) & 0xff;
sawa 0:381d475cfd6c 735
sawa 0:381d475cfd6c 736 crc = s_crc_array[index];
sawa 0:381d475cfd6c 737 return crc;
sawa 0:381d475cfd6c 738 }
sawa 0:381d475cfd6c 739
sawa 0:381d475cfd6c 740
sawa 0:381d475cfd6c 741 uint8_t XBusServo::crc8(uint8_t* buffer, uint8_t length)
sawa 0:381d475cfd6c 742 {
sawa 0:381d475cfd6c 743 uint8_t crc = 0;
sawa 0:381d475cfd6c 744
sawa 0:381d475cfd6c 745 while (length-- > 0)
sawa 0:381d475cfd6c 746 crc = crc_table(*buffer++, crc);
sawa 0:381d475cfd6c 747 return crc;
sawa 0:381d475cfd6c 748 }
sawa 0:381d475cfd6c 749
sawa 0:381d475cfd6c 750
sawa 0:381d475cfd6c 751
sawa 0:381d475cfd6c 752