aversive_10-03-12/modules/devices/servo/ax12/ax12.c File Reference

#include <stdio.h>
#include <string.h>
#include "ax12.h"

Go to the source code of this file.

Functions
void	AX12_init (AX12 *s)
void	AX12_set_hardware_send (AX12 *s, int8_t(*pf)(uint8_t))
	Set the function called when writing a character.
void	AX12_set_hardware_recv (AX12 *s, int16_t(*pf)(void))
	Set the function called when reading a character.
void	AX12_set_hardware_switch (AX12 *s, void(*pf)(uint8_t))
	Set the function called when switching line direction.
uint8_t	AX12_checksum (AX12_Packet *packet)
	Compute AX12 packet checksum.
uint8_t	AX12_send (AX12 *s, AX12_Packet *packet)
	Send a formated AX12 instruction packet. Return 0 on on success.
uint8_t	AX12_recv (AX12 *s, AX12_Packet *packet)
uint8_t	AX12_write_byte (AX12 *s, uint8_t id, AX12_ADDRESS address, uint8_t data)
	Write byte in AX-12 memory.
uint8_t	AX12_write_int (AX12 *s, uint8_t id, AX12_ADDRESS address, uint16_t data)
	Write integer (2 bytes) in AX-12 memory.
uint8_t	AX12_read_byte (AX12 *s, uint8_t id, AX12_ADDRESS address, uint8_t *val)
	Read byte from AX-12 memory.
uint8_t	AX12_read_int (AX12 *s, uint8_t id, AX12_ADDRESS address, uint16_t *val)
	Write integer (2 bytes) from AX-12 memory.
uint8_t	AX12_set_position (AX12 *s, uint8_t id, uint16_t position)
	Set AX12 position.
uint8_t	AX12_set_position2 (AX12 *s, uint8_t id, uint16_t position, uint16_t speed)
	Set AX12 position and moving speed.
uint8_t	AX12_set_position3 (AX12 *s, uint8_t id, uint16_t position, uint16_t speed, uint16_t torque)
	Set AX12 position, moving speed and torque.
uint8_t	AX12_get_position (AX12 *s, uint8_t id, uint16_t *pos)
	Read AX12 position.
uint8_t	AX12_get_speed (AX12 *s, uint8_t id, uint16_t *speed)
	Read AX12 speed.
uint8_t	AX12_get_load (AX12 *s, uint8_t id, uint16_t *load)
	Read AX12 load.
uint8_t	AX12_ping (AX12 *s, uint8_t id)
	Ping an AX12 and return error register.
uint8_t	AX12_reset (AX12 *s, uint8_t id)
	Reset AX12 back to factory settings.

---

Function Documentation

uint8_t AX12_checksum

(

AX12_Packet *

packet

)

Compute AX12 packet checksum.

Definition at line 62 of file ax12.c.

References i, AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, and AX12_Packet::params.

Referenced by AX12_recv(), and AX12_send().

uint8_t AX12_get_load	(	AX12 *	s,
		uint8_t	id,
		uint16_t *	load
	)

Read AX12 load.

Definition at line 447 of file ax12.c.

References AA_PRESENT_LOAD_L, and AX12_read_int().

uint8_t AX12_get_position	(	AX12 *	s,
		uint8_t	id,
		uint16_t *	pos
	)

Read AX12 position.

Definition at line 437 of file ax12.c.

References AA_PRESENT_POSITION_L, and AX12_read_int().

uint8_t AX12_get_speed	(	AX12 *	s,
		uint8_t	id,
		uint16_t *	speed
	)

Read AX12 speed.

Definition at line 442 of file ax12.c.

References AA_PRESENT_SPEED_L, and AX12_read_int().

void AX12_init

(

AX12 *

s

)

Definition at line 33 of file ax12.c.

References AX12::hardware_recv, AX12::hardware_send, and AX12::hardware_switch.

uint8_t AX12_ping	(	AX12 *	s,
		uint8_t	id
	)

Ping an AX12 and return error register.

Definition at line 452 of file ax12.c.

References AX12_BROADCAST_ID, AX12_PING, AX12_recv(), AX12_send(), AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, and gen_regs::p.

uint8_t AX12_read_byte	(	AX12 *	,
		uint8_t	id,
		AX12_ADDRESS	address,
		uint8_t *	val
	)

Read byte from AX-12 memory.

Returns:

Error code from AX-12 (0 means okay)

Definition at line 298 of file ax12.c.

References AX12_READ, AX12_recv(), AX12_send(), AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, gen_regs::p, and AX12_Packet::params.

uint8_t AX12_read_int	(	AX12 *	,
		uint8_t	id,
		AX12_ADDRESS	address,
		uint16_t *	val
	)

Write integer (2 bytes) from AX-12 memory.

Returns:

Error code from AX-12 (0 means okay)

Definition at line 330 of file ax12.c.

References AX12_READ, AX12_recv(), AX12_send(), AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, gen_regs::p, and AX12_Packet::params.

Referenced by AX12_get_load(), AX12_get_position(), and AX12_get_speed().

uint8_t AX12_recv	(	AX12 *	s,
		AX12_Packet *	packet
	)

Definition at line 167 of file ax12.c.

References AX12_checksum(), AX12_ERROR_TYPE_BAD_CKSUM, AX12_ERROR_TYPE_INVALID_PACKET, AX12_ERROR_TYPE_NO_ANSWER, AX12_ERROR_TYPE_TIMEOUT, AX12_STATE_READ, AX12_Packet::error, AX12::hardware_recv, AX12::hardware_switch, i, AX12_Packet::id, AX12_Packet::nparams, and AX12_Packet::params.

Referenced by AX12_ping(), AX12_read_byte(), AX12_read_int(), AX12_reset(), AX12_set_position2(), AX12_set_position3(), AX12_write_byte(), and AX12_write_int().

uint8_t AX12_reset	(	AX12 *	s,
		uint8_t	id
	)

Reset AX12 back to factory settings.

Definition at line 474 of file ax12.c.

References AX12_BROADCAST_ID, AX12_recv(), AX12_RESET, AX12_send(), AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, and gen_regs::p.

uint8_t AX12_send	(	AX12 *	s,
		AX12_Packet *	packet
	)

Send a formated AX12 instruction packet. Return 0 on on success.

Definition at line 80 of file ax12.c.

References AX12_checksum(), AX12_ERROR_TYPE_INVALID_PACKET, AX12_ERROR_TYPE_XMIT_FAILED, AX12_STATE_READ, AX12_STATE_WRITE, AX12::hardware_send, AX12::hardware_switch, i, AX12_Packet::id, AX12_Packet::instruction, IRQ_LOCK, IRQ_UNLOCK, AX12_Packet::nparams, AX12_Packet::params, scheduler_disable_save(), and scheduler_enable_restore().

Referenced by AX12_ping(), AX12_read_byte(), AX12_read_int(), AX12_reset(), AX12_set_position2(), AX12_set_position3(), AX12_write_byte(), and AX12_write_int().

void AX12_set_hardware_recv	(	AX12 *	s,
		int16_t(*)(void)	pf
	)

Set the function called when reading a character.

Definition at line 48 of file ax12.c.

References AX12::hardware_recv.

void AX12_set_hardware_send	(	AX12 *	s,
		int8_t(*)(uint8_t)	pf
	)

Set the function called when writing a character.

Definition at line 43 of file ax12.c.

References AX12::hardware_send.

void AX12_set_hardware_switch	(	AX12 *	s,
		void(*)(uint8_t)	pf
	)

Set the function called when switching line direction.

Definition at line 53 of file ax12.c.

References AX12::hardware_switch.

uint8_t AX12_set_position	(	AX12 *	s,
		uint8_t	id,
		uint16_t	position
	)

Set AX12 position.

Definition at line 365 of file ax12.c.

References AA_GOAL_POSITION_L, and AX12_write_int().

uint8_t AX12_set_position2	(	AX12 *	s,
		uint8_t	id,
		uint16_t	position,
		uint16_t	speed
	)

Set AX12 position and moving speed.

Definition at line 370 of file ax12.c.

References AA_GOAL_POSITION_L, AX12_BROADCAST_ID, AX12_recv(), AX12_send(), AX12_WRITE, AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, gen_regs::p, and AX12_Packet::params.

uint8_t AX12_set_position3	(	AX12 *	s,
		uint8_t	id,
		uint16_t	position,
		uint16_t	speed,
		uint16_t	torque
	)

Set AX12 position, moving speed and torque.

Definition at line 402 of file ax12.c.

References AA_GOAL_POSITION_L, AX12_BROADCAST_ID, AX12_recv(), AX12_send(), AX12_WRITE, AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, gen_regs::p, and AX12_Packet::params.

uint8_t AX12_write_byte	(	AX12 *	,
		uint8_t	id,
		AX12_ADDRESS	address,
		uint8_t	data
	)

Write byte in AX-12 memory.

Returns:

Error code from AX-12 (0 means okay)

Definition at line 228 of file ax12.c.

References AX12_BROADCAST_ID, AX12_recv(), AX12_send(), AX12_WRITE, AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, gen_regs::p, and AX12_Packet::params.

uint8_t AX12_write_int	(	AX12 *	,
		uint8_t	id,
		AX12_ADDRESS	address,
		uint16_t	data
	)

Write integer (2 bytes) in AX-12 memory.

Returns:

Error code from AX-12 (0 means okay)

address : data low address+1 : data high

Definition at line 261 of file ax12.c.

References AX12_BROADCAST_ID, AX12_recv(), AX12_send(), AX12_WRITE, AX12_Packet::id, AX12_Packet::instruction, AX12_Packet::nparams, gen_regs::p, and AX12_Packet::params.

Referenced by AX12_set_position().