ax12.h

/*
 *  ax12.h - C18 library to use the AX-12 servomotor (Dynamixel Series) from
 *  Robotis on the PIC18F family from Microchip.
 *
 *  This library is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */


#ifndef _AX12_H
#define _AX12_H

#define PIN_REMAPABLE_AX12_OUT          _RP10R
#define PIN_REMAPABLE_AX12_IN           10
#define TRIS_PIN_REMAPABLE_AX12         _TRISB10
#define OPEN_DRAIN_PIN_REMAPABLE_AX12   _ODCB10


//#define DOUBLE_COMMANDE_AX12

#define TEST_RECEPTION_AX12


typedef unsigned char byte;

// EEPROM Registers
#define AX_MODEL_NUMBER             0
#define AX_VERSION                  2
#define AX_ID                       3
#define AX_BAUD_RATE                4
#define AX_RETURN_DELAY_TIME        5
#define AX_CW_ANGLE_LIMIT           6
#define AX_CCW_ANGLE_LIMIT          8
#define AX_RESERVED_1               10
#define AX_LIMIT_TEMPERATURE        11
#define AX_DOWN_LIMIT_VOLTAGE       12
#define AX_UP_LIMIT_VOLTAGE         13
#define AX_MAX_TORQUE               14
#define AX_RETURN_LEVEL             16
#define AX_ALARM_LED                17
#define AX_ALARM_SHUTDOWN           18
#define AX_RESERVED_2               19
#define AX_DOWN_CALIBRATION         20
#define AX_UP_CALIBRATION           22

// RAM Registers
#define AX_TORQUE_ENABLE            24
#define AX_LED                      25
#define AX_CW_COMPLIANCE_MARGIN     26
#define AX_CCW_COMPLIANCE_MARGIN    27
#define AX_CW_COMPLIANCE_SLOPE      28
#define AX_CCW_COMPLIANCE_SLOPE     29
#define AX_GOAL_POSITION            30
#define AX_MOVING_SPEED             32
#define AX_TORQUE_LIMIT             34
#define AX_PRESENT_POSITION         36
#define AX_PRESENT_SPEED            38
#define AX_PRESENT_LOAD             40
#define AX_PRESENT_VOLTAGE          42
#define AX_PRESENT_TEMPERATURE      43
#define AX_REGISTERED_INSTRUCTION   44
#define AX_PAUSE_TIME               45
#define AX_MOVING                   46
#define AX_LOCK                     47
#define AX_PUNCH                    48

// Status Return Levels
#define AX_RETURN_NONE              0
#define AX_RETURN_READ              1
#define AX_RETURN_ALL               2

// Instruction Set
#define AX_INST_PING                1
#define AX_INST_READ_DATA           2
#define AX_INST_WRITE_DATA          3
#define AX_INST_REG_WRITE           4
#define AX_INST_ACTION              5
#define AX_INST_RESET               6
#define AX_INST_SYNC_WRITE          131

// Broadcast ID
#define AX_GAUCHE                   3
#define AX_DROIT                    2
#define AX_BROADCAST               254

/*
 * Stucture to decode error fields used in the return status, address17 and
 * address18, where each bit has a different meaning.
 */
typedef struct {
    unsigned input_voltage : 1;
    unsigned angle_limit : 1;
    unsigned overheating : 1;
    unsigned range : 1;
    unsigned cheksum : 1;
    unsigned overload : 1;
    unsigned instruction : 1;
    unsigned : 1;
} errorAX;


/*
 * Public global variables.
 */
extern volatile int responseReadyAX;
typedef volatile struct {
    byte id;
    byte len;
    errorAX error;
    byte params[10]; // Could be larger.
} responseAXtype;
extern responseAXtype responseAX;


void Init_IT_AX12 (void);


/*
 * Function prototypes.
 */
void SetTX(void);
void SetRX(void);
void PushUART(byte b);
void InterruptAX(void);

void PushHeaderAX(byte id, byte len, byte inst);
void PushBufferAX(byte len, byte* buf);
void PushFooterAX(void);

void PingAX(byte id);
void ReadAX(byte id, byte address, byte len);
void WriteAX(byte id, byte address, byte len, byte* buf);
void RegWriteAX(byte id, byte address, byte len, byte* buf);
void ActionAX(byte id);
void ResetAX(byte id);
//void SyncWriteAX(byte id, ...);

byte RegisterLenAX(byte address);
char GetAX(byte id, byte address);
//void PutAX(byte id, byte address, int value);


char PutAX(byte id, byte address, int value);

extern volatile int Delay_TimeOut_AX12;

char PutAX_Check(byte id, byte address, int value);
char GetAX_Check (byte id, byte address);

int GetAX_Pos (byte id);





#endif /* _AX12_H */