DYNAMIXEL
AX-12
C Language Example : Dinamixel access with Atmega128
/*
* The Example of Dynamixel Evaluation with Atmega128
* Date : 2005.5.11
* Author : BS KIM
*/
/*
* included files
*/
#define ENABLE_BIT_DEFINITIONS
//#include <io.h>
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
#define cbi(REG8,BITNUM) REG8 &= ~(_BV(BITNUM))
#define sbi(REG8,BITNUM) REG8 |= _BV(BITNUM)
typedef unsigned char byte;
typedef unsigned int word;
#define ON 1
#define OFF 0
#define _ON 0
#define _OFF 1
//--- Control Table Address ---
//EEPROM AREA
#define P_MODEL_NUMBER_L 0
#define P_MODOEL_NUMBER_H 1
#define P_VERSION 2
#define P_ID 3
#define P_BAUD_RATE 4
#define P_RETURN_DELAY_TIME 5
#define P_CW_ANGLE_LIMIT_L 6
#define P_CW_ANGLE_LIMIT_H 7
#define P_CCW_ANGLE_LIMIT_L 8
#define P_CCW_ANGLE_LIMIT_H 9
#define P_SYSTEM_DATA2 10
#define P_LIMIT_TEMPERATURE 11
#define P_DOWN_LIMIT_VOLTAGE 12
#define P_UP_LIMIT_VOLTAGE 13
#define P_MAX_TORQUE_L 14
#define P_MAX_TORQUE_H 15
#define P_RETURN_LEVEL 16
#define P_ALARM_LED 17
#define P_ALARM_SHUTDOWN 18
#define P_OPERATING_MODE 19
#define P_DOWN_CALIBRATION_L 20
#define P_DOWN_CALIBRATION_H 21
#define P_UP_CALIBRATION_L 22
#define P_UP_CALIBRATION_H 23
#define P_TORQUE_ENABLE (24)
#define P_LED (25)
#define P_CW_COMPLIANCE_MARGIN (26)
#define P_CCW_COMPLIANCE_MARGIN (27)
#define P_CW_COMPLIANCE_SLOPE (28)
#define P_CCW_COMPLIANCE_SLOPE (29)
#define P_GOAL_POSITION_L (30)
#define P_GOAL_POSITION_H (31)
#define P_GOAL_SPEED_L (32)
#define P_GOAL_SPEED_H (33)
#define P_TORQUE_LIMIT_L (34)
#define P_TORQUE_LIMIT_H (35)
#define P_PRESENT_POSITION_L (36)
#define P_PRESENT_POSITION_H (37)
#define P_PRESENT_SPEED_L (38)
#define P_PRESENT_SPEED_H (39)
#define P_PRESENT_LOAD_L (40)
#define P_PRESENT_LOAD_H (41)
#define P_PRESENT_VOLTAGE (42)
#define P_PRESENT_TEMPERATURE (43)
#define P_REGISTERED_INSTRUCTION (44)
#define P_PAUSE_TIME (45)
#define P_MOVING (46)
#define P_LOCK (47)
#define P_PUNCH_L (48)
#define P_PUNCH_H (49)
//--- Instruction ---
#define INST_PING 0x01
#define INST_READ 0x02
#define INST_WRITE 0x03
#define INST_REG_WRITE 0x04
#define INST_ACTION 0x05
#define INST_RESET 0x06
#define INST_DIGITAL_RESET 0x07
#define INST_SYSTEM_READ 0x0C
#define INST_SYSTEM_WRITE 0x0D
#define INST_SYNC_WRITE 0x83
#define INST_SYNC_REG_WRITE 0x84
#define CLEAR_BUFFER gbRxBufferReadPointer = gbRxBufferWritePointer
#define DEFAULT_RETURN_PACKET_SIZE 6
#define BROADCASTING_ID 0xfe
#define TxD8 TxD81
#define RxD8 RxD81
//Hardware Dependent Item
#define DEFAULT_BAUD_RATE 34 //57600bps at 16MHz
////// For CM-5
#define
RS485_TXD
PORTE
&=
~_BV(PE3),PORTE
|=
_BV(PE2)
//PORT_485_DIRECTION = 1
#define
RS485_RXD
PORTE
&=
~_BV(PE2),PORTE
|=
_BV(PE3)
//PORT_485_DIRECTION = 0
/*
////// For CM-2
#define RS485_TXD PORTE |= _BV(PE2); //_485_DIRECTION = 1
#define RS485_RXD PORTE &= ~_BV(PE2);//PORT_485_DIRECTION = 0
*/
//#define TXD0_FINISH UCSR0A,6 //This bit is for checking TxD Buffer
in CPU is empty or not.
//#define TXD1_FINISH UCSR1A,6
#define SET_TxD0_FINISH sbi(UCSR0A,6)
#define RESET_TXD0_FINISH cbi(UCSR0A,6)
#define CHECK_TXD0_FINISH bit_is_set(UCSR0A,6)
#define SET_TxD1_FINISH sbi(UCSR1A,6)
#define RESET_TXD1_FINISH cbi(UCSR1A,6)
#define CHECK_TXD1_FINISH bit_is_set(UCSR1A,6)
#define RX_INTERRUPT 0x01
#define TX_INTERRUPT 0x02
#define OVERFLOW_INTERRUPT 0x01
#define SERIAL_PORT0 0
#define SERIAL_PORT1 1
#define BIT_RS485_DIRECTION0 0x08 //Port E
#define BIT_RS485_DIRECTION1 0x04 //Port E
#define BIT_ZIGBEE_RESET PD4 //out : default 1 //PORTD
#define BIT_ENABLE_RXD_LINK_PC PD5 //out : default 1
#define BIT_ENABLE_RXD_LINK_ZIGBEE PD6 //out : default 0
#define BIT_LINK_PLUGIN PD7 //in, no pull up
void TxD81(byte bTxdData);
void TxD80(byte bTxdData);
void TxDString(byte *bData);
void TxD8Hex(byte bSentData);
void TxD32Dec(long lLong);
byte RxD81(void);
void MiliSec(word wDelayTime);
void PortInitialize(void);
void SerialInitialize(byte bPort, byte bBaudrate, byte bInterrupt);
byte TxPacket(byte bID, byte bInstruction, byte bParameterLength);
byte RxPacket(byte bRxLength);
void PrintBuffer(byte *bpPrintBuffer, byte bLength);
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