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