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tmk_keyboard/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp
Jun Wako 1fe4406f37 Squashed 'tmk_core/' changes from 7967731..b9e0ea0
b9e0ea0 Merge commit '7fa9d8bdea3773d1195b04d98fcf27cf48ddd81d' as 'tool/mbed/mbed-sdk'
7fa9d8b Squashed 'tool/mbed/mbed-sdk/' content from commit 7c21ce5

git-subtree-dir: tmk_core
git-subtree-split: b9e0ea08cb940de20b3610ecdda18e9d8cd7c552
2015-04-24 16:26:14 +09:00

535 lines
12 KiB
C++

/* mbed AX-12+ Servo Library
*
* Copyright (c) 2010, cstyles (http://mbed.org)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "AX12.h"
#include "mbed.h"
AX12::AX12(PinName tx, PinName rx, int ID, int baud)
: _ax12(tx,rx) {
_baud = baud;
_ID = ID;
_ax12.baud(_baud);
}
// Set the mode of the servo
// 0 = Positional (0-300 degrees)
// 1 = Rotational -1 to 1 speed
int AX12::SetMode(int mode) {
if (mode == 1) { // set CR
SetCWLimit(0);
SetCCWLimit(0);
SetCRSpeed(0.0);
} else {
SetCWLimit(0);
SetCCWLimit(300);
SetCRSpeed(0.0);
}
return(0);
}
// if flag[0] is set, were blocking
// if flag[1] is set, we're registering
// they are mutually exclusive operations
int AX12::SetGoal(int degrees, int flags) {
char reg_flag = 0;
char data[2];
// set the flag is only the register bit is set in the flag
if (flags == 0x2) {
reg_flag = 1;
}
// 1023 / 300 * degrees
short goal = (1023 * degrees) / 300;
#ifdef AX12_DEBUG
printf("SetGoal to 0x%x\n",goal);
#endif
data[0] = goal & 0xff; // bottom 8 bits
data[1] = goal >> 8; // top 8 bits
// write the packet, return the error code
int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
if (flags == 1) {
// block until it comes to a halt
while (isMoving()) {}
}
return(rVal);
}
// Set continuous rotation speed from -1 to 1
int AX12::SetCRSpeed(float speed) {
// bit 10 = direction, 0 = CCW, 1=CW
// bits 9-0 = Speed
char data[2];
int goal = (0x3ff * abs(speed));
// Set direction CW if we have a negative speed
if (speed < 0) {
goal |= (0x1 << 10);
}
data[0] = goal & 0xff; // bottom 8 bits
data[1] = goal >> 8; // top 8 bits
// write the packet, return the error code
int rVal = write(_ID, 0x20, 2, data);
return(rVal);
}
int AX12::SetCWLimit (int degrees) {
char data[2];
// 1023 / 300 * degrees
short limit = (1023 * degrees) / 300;
#ifdef AX12_DEBUG
printf("SetCWLimit to 0x%x\n",limit);
#endif
data[0] = limit & 0xff; // bottom 8 bits
data[1] = limit >> 8; // top 8 bits
// write the packet, return the error code
return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
}
int AX12::SetCCWLimit (int degrees) {
char data[2];
// 1023 / 300 * degrees
short limit = (1023 * degrees) / 300;
#ifdef AX12_DEBUG
printf("SetCCWLimit to 0x%x\n",limit);
#endif
data[0] = limit & 0xff; // bottom 8 bits
data[1] = limit >> 8; // top 8 bits
// write the packet, return the error code
return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
}
int AX12::SetID (int CurrentID, int NewID) {
char data[1];
data[0] = NewID;
#ifdef AX12_DEBUG
printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
#endif
return (write(CurrentID, AX12_REG_ID, 1, data));
}
int AX12::SetBaud (int baud) {
char data[1];
data[0] = baud;
#ifdef AX12_DEBUG
printf("Setting Baud rate to %d\n",baud);
#endif
return (write(0xFE, AX12_REG_BAUD, 1, data));
}
// return 1 is the servo is still in flight
int AX12::isMoving(void) {
char data[1];
read(_ID,AX12_REG_MOVING,1,data);
return(data[0]);
}
void AX12::trigger(void) {
char TxBuf[16];
char sum = 0;
#ifdef AX12_TRIGGER_DEBUG
// Build the TxPacket first in RAM, then we'll send in one go
printf("\nTriggered\n");
printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
#endif
TxBuf[0] = 0xFF;
TxBuf[1] = 0xFF;
// ID - Broadcast
TxBuf[2] = 0xFE;
sum += TxBuf[2];
#ifdef AX12_TRIGGER_DEBUG
printf(" ID : %d\n",TxBuf[2]);
#endif
// Length
TxBuf[3] = 0x02;
sum += TxBuf[3];
#ifdef AX12_TRIGGER_DEBUG
printf(" Length %d\n",TxBuf[3]);
#endif
// Instruction - ACTION
TxBuf[4] = 0x04;
sum += TxBuf[4];
#ifdef AX12_TRIGGER_DEBUG
printf(" Instruction 0x%X\n",TxBuf[5]);
#endif
// Checksum
TxBuf[5] = 0xFF - sum;
#ifdef AX12_TRIGGER_DEBUG
printf(" Checksum 0x%X\n",TxBuf[5]);
#endif
// Transmit the packet in one burst with no pausing
for (int i = 0; i < 6 ; i++) {
_ax12.putc(TxBuf[i]);
}
// This is a broadcast packet, so there will be no reply
return;
}
float AX12::GetPosition(void) {
#ifdef AX12_DEBUG
printf("\nGetPosition(%d)",_ID);
#endif
char data[2];
int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
short position = data[0] + (data[1] << 8);
float angle = (position * 300)/1024;
return (angle);
}
float AX12::GetTemp (void) {
#ifdef AX12_DEBUG
printf("\nGetTemp(%d)",_ID);
#endif
char data[1];
int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
float temp = data[0];
return(temp);
}
float AX12::GetVolts (void) {
#ifdef AX12_DEBUG
printf("\nGetVolts(%d)",_ID);
#endif
char data[1];
int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
float volts = data[0]/10.0;
return(volts);
}
int AX12::read(int ID, int start, int bytes, char* data) {
char PacketLength = 0x4;
char TxBuf[16];
char sum = 0;
char Status[16];
Status[4] = 0xFE; // return code
#ifdef AX12_READ_DEBUG
printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
#endif
// Build the TxPacket first in RAM, then we'll send in one go
#ifdef AX12_READ_DEBUG
printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
#endif
TxBuf[0] = 0xff;
TxBuf[1] = 0xff;
// ID
TxBuf[2] = ID;
sum += TxBuf[2];
#ifdef AX12_READ_DEBUG
printf(" ID : %d\n",TxBuf[2]);
#endif
// Packet Length
TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
sum += TxBuf[3]; // Accululate the packet sum
#ifdef AX12_READ_DEBUG
printf(" Length : 0x%x\n",TxBuf[3]);
#endif
// Instruction - Read
TxBuf[4] = 0x2;
sum += TxBuf[4];
#ifdef AX12_READ_DEBUG
printf(" Instruction : 0x%x\n",TxBuf[4]);
#endif
// Start Address
TxBuf[5] = start;
sum += TxBuf[5];
#ifdef AX12_READ_DEBUG
printf(" Start Address : 0x%x\n",TxBuf[5]);
#endif
// Bytes to read
TxBuf[6] = bytes;
sum += TxBuf[6];
#ifdef AX12_READ_DEBUG
printf(" No bytes : 0x%x\n",TxBuf[6]);
#endif
// Checksum
TxBuf[7] = 0xFF - sum;
#ifdef AX12_READ_DEBUG
printf(" Checksum : 0x%x\n",TxBuf[7]);
#endif
// Transmit the packet in one burst with no pausing
for (int i = 0; i<8 ; i++) {
_ax12.putc(TxBuf[i]);
}
// Wait for the bytes to be transmitted
wait (0.00002);
// Skip if the read was to the broadcast address
if (_ID != 0xFE) {
// response packet is always 6 + bytes
// 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
// timeout is a little more than the time to transmit
// the packet back, i.e. (6+bytes)*10 bit periods
int timeout = 0;
int plen = 0;
while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
if (_ax12.readable()) {
Status[plen] = _ax12.getc();
plen++;
timeout = 0;
}
// wait for the bit period
wait (1.0/_baud);
timeout++;
}
if (timeout == ((6+bytes)*10) ) {
return(-1);
}
// Copy the data from Status into data for return
for (int i=0; i < Status[3]-2 ; i++) {
data[i] = Status[5+i];
}
#ifdef AX12_READ_DEBUG
printf("\nStatus Packet\n");
printf(" Header : 0x%x\n",Status[0]);
printf(" Header : 0x%x\n",Status[1]);
printf(" ID : 0x%x\n",Status[2]);
printf(" Length : 0x%x\n",Status[3]);
printf(" Error Code : 0x%x\n",Status[4]);
for (int i=0; i < Status[3]-2 ; i++) {
printf(" Data : 0x%x\n",Status[5+i]);
}
printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
#endif
} // if (ID!=0xFE)
return(Status[4]);
}
int AX12::write(int ID, int start, int bytes, char* data, int flag) {
// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
char TxBuf[16];
char sum = 0;
char Status[6];
#ifdef AX12_WRITE_DEBUG
printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
#endif
// Build the TxPacket first in RAM, then we'll send in one go
#ifdef AX12_WRITE_DEBUG
printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
#endif
TxBuf[0] = 0xff;
TxBuf[1] = 0xff;
// ID
TxBuf[2] = ID;
sum += TxBuf[2];
#ifdef AX12_WRITE_DEBUG
printf(" ID : %d\n",TxBuf[2]);
#endif
// packet Length
TxBuf[3] = 3+bytes;
sum += TxBuf[3];
#ifdef AX12_WRITE_DEBUG
printf(" Length : %d\n",TxBuf[3]);
#endif
// Instruction
if (flag == 1) {
TxBuf[4]=0x04;
sum += TxBuf[4];
} else {
TxBuf[4]=0x03;
sum += TxBuf[4];
}
#ifdef AX12_WRITE_DEBUG
printf(" Instruction : 0x%x\n",TxBuf[4]);
#endif
// Start Address
TxBuf[5] = start;
sum += TxBuf[5];
#ifdef AX12_WRITE_DEBUG
printf(" Start : 0x%x\n",TxBuf[5]);
#endif
// data
for (char i=0; i<bytes ; i++) {
TxBuf[6+i] = data[i];
sum += TxBuf[6+i];
#ifdef AX12_WRITE_DEBUG
printf(" Data : 0x%x\n",TxBuf[6+i]);
#endif
}
// checksum
TxBuf[6+bytes] = 0xFF - sum;
#ifdef AX12_WRITE_DEBUG
printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
#endif
// Transmit the packet in one burst with no pausing
for (int i = 0; i < (7 + bytes) ; i++) {
_ax12.putc(TxBuf[i]);
}
// Wait for data to transmit
wait (0.00002);
// make sure we have a valid return
Status[4]=0x00;
// we'll only get a reply if it was not broadcast
if (_ID!=0xFE) {
// response packet is always 6 bytes
// 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
// timeout is a little more than the time to transmit
// the packet back, i.e. 60 bit periods, round up to 100
int timeout = 0;
int plen = 0;
while ((timeout < 100) && (plen<6)) {
if (_ax12.readable()) {
Status[plen] = _ax12.getc();
plen++;
timeout = 0;
}
// wait for the bit period
wait (1.0/_baud);
timeout++;
}
// Build the TxPacket first in RAM, then we'll send in one go
#ifdef AX12_WRITE_DEBUG
printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
printf(" ID : %d\n",Status[2]);
printf(" Length : %d\n",Status[3]);
printf(" Error : 0x%x\n",Status[4]);
printf(" Checksum : 0x%x\n",Status[5]);
#endif
}
return(Status[4]); // return error code
}