mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
77 lines
2.0 KiB
C++
77 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 HAL_PROGRAM_SIZE_LIMIT_KB > 1024
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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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CLASS_NO_COPY(AP_RobotisServo);
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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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uint32_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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