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Retransmit AX12 command #47

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Retransmit AX12 command #47

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72 changes: 48 additions & 24 deletions src/drivers/actuators/ax12/ax12.c
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#include "ax12.h"

uint8_t ax12_move(uint8_t id, uint16_t position)
void ax12_move(uint8_t id, uint16_t position)
{
uint8_t out_data[9], checksum;

Expand All @@ -19,11 +19,14 @@ uint8_t ax12_move(uint8_t id, uint16_t position)
out_data[8] = checksum;

// Send data to AX12
HAL_UART_Transmit(AX12_UART, out_data, 9, 9);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 9, 9);
}
while(ax12_read_response());
}

uint8_t ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed)
void ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed)
{
uint8_t out_data[11], checksum;

Expand All @@ -45,11 +48,14 @@ uint8_t ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed)
out_data[10] = checksum;

// Send data to AX12
HAL_UART_Transmit(AX12_UART, out_data, 11, 11);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 11, 11);
}
while(ax12_read_response());
}

uint8_t ax12_set_speed(uint8_t id, uint16_t speed)
void ax12_set_speed(uint8_t id, uint16_t speed)
{
uint8_t out_data[9];

Expand All @@ -65,11 +71,14 @@ uint8_t ax12_set_speed(uint8_t id, uint16_t speed)
out_data[7] = speed>>8;
out_data[8] = checksum;

HAL_UART_Transmit(AX12_UART, out_data, 9, 0);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 9, 0);
}
while(ax12_read_response());
}

uint8_t ax12_factory_reset(uint8_t id)
void ax12_factory_reset(uint8_t id)
{
uint8_t out_data[6], checksum = ~(id + AX12_RESET_LENGTH + AX12_RESET);

Expand All @@ -79,11 +88,14 @@ uint8_t ax12_factory_reset(uint8_t id)
out_data[4] = AX12_RESET;
out_data[5] = checksum;

HAL_UART_Transmit(AX12_UART, out_data, 6, 6);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 6, 6);
}
while(ax12_read_response());
}

uint8_t ax12_set_baudrate(uint8_t id, uint32_t baudrate)
void ax12_set_baudrate(uint8_t id, uint32_t baudrate)
{
uint8_t out_data[8], checksum = ~(id + AX12_BAUDRATE_LENGTH + AX12_WRITE_DATA
+ AX12_BAUDRATE + ((2000000/baudrate)-1));
Expand All @@ -96,11 +108,14 @@ uint8_t ax12_set_baudrate(uint8_t id, uint32_t baudrate)
out_data[6] = (2000000/baudrate)-1;
out_data[7] = checksum;

HAL_UART_Transmit(AX12_UART, out_data, 8, 8);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 8, 8);
}
while(ax12_read_response());
}

uint8_t ax12_set_id(uint8_t id, uint8_t new_id)
void ax12_set_id(uint8_t id, uint8_t new_id)
{
uint8_t out_data[8], checksum = ~(id + AX12_ID_LENGTH + AX12_WRITE_DATA
+ AX12_ID + new_id);
Expand All @@ -113,11 +128,14 @@ uint8_t ax12_set_id(uint8_t id, uint8_t new_id)
out_data[6] = new_id;
out_data[7] = checksum;

HAL_UART_Transmit(AX12_UART, out_data, 8, 8);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 8, 8);
}
while(ax12_read_response());
}

uint8_t ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit)
void ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit)
{
uint8_t out_data[11], checksum = ~(id + AX12_AL_LENGTH + AX12_WRITE_DATA
+ AX12_ANGLE_LIMIT + (cw_limit&0xff)
Expand All @@ -135,11 +153,14 @@ uint8_t ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit)
out_data[9] = ccw_limit>>8;
out_data[10] = checksum;

HAL_UART_Transmit(AX12_UART, out_data, 11, 11);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 11, 11);
}
while(ax12_read_response());
}

uint8_t ax12_read_moving_status(uint8_t id)
void ax12_read_moving_status(uint8_t id)
{
uint8_t out_data[8], checksum = ~(id + AX12_MOVING_LENGTH + AX12_READ_DATA
+ AX12_MOVING + AX12_BYTE_READ);
Expand All @@ -152,8 +173,11 @@ uint8_t ax12_read_moving_status(uint8_t id)
out_data[6] = AX12_BYTE_READ;
out_data[7] = checksum;

HAL_UART_Transmit(AX12_UART, out_data, 8, 8);
return ax12_read_response();
do
{
HAL_UART_Transmit(AX12_UART, out_data, 8, 8);
}
while(ax12_read_response());
}

uint8_t ax12_read_response(void)
Expand Down
32 changes: 16 additions & 16 deletions src/drivers/actuators/ax12/ax12.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,49 +32,49 @@
* AX12_UART function
*/

/** \fn uint8_t ax12_move(uint8_t id, uint16_t position)
/** \fn void ax12_move(uint8_t id, uint16_t position)
* \brief Rotates AX12_UART to specified position
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
* @param position [in] Desired position of AX12_UART Possible values are [0,1023]
*/
uint8_t ax12_move(uint8_t id, uint16_t position);
/** \fn uint8_t ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed)
void ax12_move(uint8_t id, uint16_t position);
/** \fn void ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed)
* \brief Rotates AX12_UART to specified position at the specified speed
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
* @param position [in] Desired position of AX12_UART Possible values are [0,1023]
* @param speed [in] Rotate at desired speed Possible values are [0,255]
*/
uint8_t ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed);
/** \fn uint8_t ax12_set_speed(uint8_t id, uint16_t speed)
void ax12_move_speed(uint8_t id, uint16_t position, uint16_t speed);
/** \fn void ax12_set_speed(uint8_t id, uint16_t speed)
* \brief Sets the speed of AX12_UART for future use
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
* @param speed [in] Rotate at desired speed Possible values are [0,255]
*/
uint8_t ax12_set_speed(uint8_t id, uint16_t speed);
/** \fn uint8_t ax12_factory_reset(uint8_t id)
void ax12_set_speed(uint8_t id, uint16_t speed);
/** \fn void ax12_factory_reset(uint8_t id)
* \brief Restes the AX12_UART to factory defaults
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
*/
uint8_t ax12_factory_reset(uint8_t id);
/** \fn uint8_t ax12_set_id(uint8_t id, uint8_t new_id)
void ax12_factory_reset(uint8_t id);
/** \fn void ax12_set_id(uint8_t id, uint8_t new_id)
* \brief Sets the id of AX12_UART for future use
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
* @param new_id [in] The desired new id of AX12_UART.
*/
uint8_t ax12_set_id(uint8_t id, uint8_t new_id);
/** \fn uint8_t ax12_set_baudrate(uint8_t id, uint32_t baudrate)
void ax12_set_id(uint8_t id, uint8_t new_id);
/** \fn void ax12_set_baudrate(uint8_t id, uint32_t baudrate)
* \brief Sets the baudrate of AX12_UART for future use
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
* @param baudrate [in] Specifies the baudrate at which the AX12_UART communicates
*/
uint8_t ax12_set_baudrate(uint8_t id, uint32_t baudrate);
/** \fn uint8_t ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit)
void ax12_set_baudrate(uint8_t id, uint32_t baudrate);
/** \fn void ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit)
* \brief Sets the angle limits for rotating both clockwise and counter clockwise
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
Expand All @@ -83,13 +83,13 @@ uint8_t ax12_set_baudrate(uint8_t id, uint32_t baudrate);
*
* If both angle limits are set to 0 AX12_UART is being used in wheel mode
*/
uint8_t ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit);
/** \fn uint8_t ax12_read_moving_status(uint8_t id)
void ax12_set_angle_limit(uint8_t id, uint16_t cw_limit, uint16_t ccw_limit);
/** \fn void ax12_read_moving_status(uint8_t id)
* \brief Read whether AX12_UART has finished moving
*
* @param id [in] Uniquely identifies the AX12_UART. Possible values are [0,254] If id is 254 the command is broadcasted to all AX12 servo motors
*/
uint8_t ax12_read_moving_status(uint8_t id);
void ax12_read_moving_status(uint8_t id);
/** \fn uint8_t ax12_read_response(void)
* \brief Read response after sending a command to AX12
*/
Expand Down
18 changes: 8 additions & 10 deletions src/executors/revolver/revolver.c
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Original file line number Diff line number Diff line change
@@ -1,24 +1,22 @@
#include "revolver.h"

int8_t revolver_init(void)
void revolver_init(void)
{
return ax12_move(REVOLVER_AX12_ID, revolver_position);
ax12_move(REVOLVER_AX12_ID, revolver_position);
}

int8_t revolver_go_to_position(uint16_t tube_number)
void revolver_go_to_position(uint16_t tube_number)
{
return ax12_move(REVOLVER_AX12_ID,
ax12_move(REVOLVER_AX12_ID,
revolver_position = tube_number * AX12_NEXT_POSITION_INC);
}

int8_t revolver_next(void)
void revolver_next(void)
{
return ax12_move(REVOLVER_AX12_ID,
revolver_position += AX12_NEXT_POSITION_INC);
ax12_move(REVOLVER_AX12_ID, revolver_position += AX12_NEXT_POSITION_INC);
}

int8_t revolver_previous(void)
void revolver_previous(void)
{
return ax12_move(REVOLVER_AX12_ID,
revolver_position -= AX12_NEXT_POSITION_INC);
ax12_move(REVOLVER_AX12_ID, revolver_position -= AX12_NEXT_POSITION_INC);
}
16 changes: 8 additions & 8 deletions src/executors/revolver/revolver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,13 +11,13 @@
int16_t revolver_position = 0;

/**
* \fn int8_t init(void)
* \fn void init(void)
* \brief Set the executor in initial state
*/
int8_t revolver_init(void);
void revolver_init(void);

/**
* \fn int8_t go_to_position(uint8_t)
* \fn void go_to_position(uint8_t)
* \brief Go to specified tube
*
* @param tube_number [in] the number of the tube
Expand All @@ -26,18 +26,18 @@ int8_t revolver_init(void);
*
* Number of tubes - 8
*/
int8_t revolver_go_to_position(uint16_t tube_number);
void revolver_go_to_position(uint16_t tube_number);

/**
* \fn int8_t next(void)
* \fn void next(void)
* \brief Rotate to the next tube
*/
int8_t revolver_next(void);
void revolver_next(void);

/**
* \fn int8_t previous(void)
* \fn void previous(void)
* \brief Rotate to the previous tube
*/
int8_t revolver_previous(void);
void revolver_previous(void);

#endif /* ifndef REVOLVER_EXECUTOR */