ardupilot/libraries/AP_RobotisServo/AP_RobotisServo.h

78 lines
2.0 KiB
C++

/*
This program 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/>.
*/
/*
implementation of Robotis Dynamixel 2.0 protocol for controlling servos
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_ROBOTISSERVO_ENABLED
#define AP_ROBOTISSERVO_ENABLED 1
#endif
#if AP_ROBOTISSERVO_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
class AP_RobotisServo {
public:
AP_RobotisServo();
/* Do not allow copies */
AP_RobotisServo(const AP_RobotisServo &other) = delete;
AP_RobotisServo &operator=(const AP_RobotisServo&) = delete;
static const struct AP_Param::GroupInfo var_info[];
void update();
private:
AP_HAL::UARTDriver *port;
uint32_t baudrate;
uint32_t us_per_byte;
uint32_t us_gap;
void init(void);
void detect_servos();
void add_stuffing(uint8_t *packet);
void send_packet(uint8_t *txpacket);
void read_bytes();
void process_packet(const uint8_t *pkt, uint8_t length);
void send_command(uint8_t id, uint16_t reg, uint32_t value, uint8_t len);
void configure_servos(void);
// auto-detected mask of available servos, from a broadcast ping
uint16_t servo_mask;
uint8_t detection_count;
uint8_t configured_servos;
bool initialised;
uint8_t pktbuf[64];
uint8_t pktbuf_ofs;
// servo position limits
AP_Int32 pos_min;
AP_Int32 pos_max;
uint32_t last_send_us;
uint32_t delay_time_us;
};
#endif // AP_ROBOTISSERVO_ENABLED