mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.0 KiB
C++
78 lines
2.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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implementation of Robotis Dynamixel 2.0 protocol for controlling servos
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef AP_ROBOTISSERVO_ENABLED
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#define AP_ROBOTISSERVO_ENABLED 1
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#endif
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#if AP_ROBOTISSERVO_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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class AP_RobotisServo {
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public:
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AP_RobotisServo();
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/* Do not allow copies */
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AP_RobotisServo(const AP_RobotisServo &other) = delete;
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AP_RobotisServo &operator=(const AP_RobotisServo&) = delete;
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static const struct AP_Param::GroupInfo var_info[];
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void update();
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private:
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AP_HAL::UARTDriver *port;
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uint32_t baudrate;
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uint32_t us_per_byte;
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uint32_t us_gap;
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void init(void);
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void detect_servos();
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void add_stuffing(uint8_t *packet);
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void send_packet(uint8_t *txpacket);
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void read_bytes();
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void process_packet(const uint8_t *pkt, uint8_t length);
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void send_command(uint8_t id, uint16_t reg, uint32_t value, uint8_t len);
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void configure_servos(void);
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// auto-detected mask of available servos, from a broadcast ping
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uint16_t servo_mask;
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uint8_t detection_count;
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uint8_t configured_servos;
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bool initialised;
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uint8_t pktbuf[64];
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uint8_t pktbuf_ofs;
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// servo position limits
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AP_Int32 pos_min;
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AP_Int32 pos_max;
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uint32_t last_send_us;
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uint32_t delay_time_us;
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};
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#endif // AP_ROBOTISSERVO_ENABLED
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