- Axis Communication Dynamixel AX-12 User's Manual

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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 bInterru

pt);

byte TxPacket(byte bID, byte bInstruction, byte bParameterLength);

byte RxPacket(byte bRxLength);

void PrintBuffer(byte *bpPrintBuffer, byte bLength);