451 lines
8.0 KiB
C++
451 lines
8.0 KiB
C++
/*
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* SCS.cpp
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* 飞特串行舵机通信层协议程序
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* 日期: 2024.12.21
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* 作者: txl
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*/
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#include <stddef.h>
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#include "SCS.h"
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SCS::SCS()
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{
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Level = 1;//除广播指令所有指令返回应答
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u8Status = 0;
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}
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SCS::SCS(u8 End)
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{
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Level = 1;
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this->End = End;
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u8Status = 0;
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}
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SCS::SCS(u8 End, u8 Level)
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{
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this->Level = Level;
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this->End = End;
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u8Status = 0;
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}
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//1个16位数拆分为2个8位数
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//DataL为低位，DataH为高位
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void SCS::Host2SCS(u8 *DataL, u8* DataH, u16 Data)
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{
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if(End){
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*DataL = (Data>>8);
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*DataH = (Data&0xff);
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}else{
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*DataH = (Data>>8);
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*DataL = (Data&0xff);
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}
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}
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//2个8位数组合为1个16位数
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//DataL为低位，DataH为高位
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u16 SCS::SCS2Host(u8 DataL, u8 DataH)
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{
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u16 Data;
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if(End){
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Data = DataL;
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Data<<=8;
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Data |= DataH;
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}else{
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Data = DataH;
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Data<<=8;
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Data |= DataL;
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}
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return Data;
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}
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void SCS::writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun)
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{
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u8 msgLen = 2;
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u8 bBuf[6];
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u8 CheckSum = 0;
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bBuf[0] = 0xff;
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bBuf[1] = 0xff;
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bBuf[2] = ID;
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bBuf[4] = Fun;
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if(nDat){
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msgLen += nLen + 1;
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bBuf[3] = msgLen;
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bBuf[5] = MemAddr;
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writeSCS(bBuf, 6);
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}else{
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bBuf[3] = msgLen;
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writeSCS(bBuf, 5);
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}
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CheckSum = ID + msgLen + Fun + MemAddr;
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u8 i = 0;
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if(nDat){
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for(i=0; i<nLen; i++){
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CheckSum += nDat[i];
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}
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writeSCS(nDat, nLen);
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}
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writeSCS(~CheckSum);
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}
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//普通写指令
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//舵机ID，MemAddr内存表地址，写入数据，写入长度
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int SCS::genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen)
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{
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rFlushSCS();
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writeBuf(ID, MemAddr, nDat, nLen, INST_WRITE);
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wFlushSCS();
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return Ack(ID);
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}
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//异步写指令
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//舵机ID，MemAddr内存表地址，写入数据，写入长度
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int SCS::regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen)
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{
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rFlushSCS();
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writeBuf(ID, MemAddr, nDat, nLen, INST_REG_WRITE);
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wFlushSCS();
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return Ack(ID);
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}
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//异步写执行指令
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//舵机ID
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int SCS::RegWriteAction(u8 ID)
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{
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rFlushSCS();
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writeBuf(ID, 0, NULL, 0, INST_REG_ACTION);
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wFlushSCS();
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return Ack(ID);
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}
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//同步写指令
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//舵机ID[]数组，IDN数组长度，MemAddr内存表地址，写入数据，写入长度
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void SCS::syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen)
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{
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rFlushSCS();
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u8 mesLen = ((nLen+1)*IDN+4);
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u8 Sum = 0;
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u8 bBuf[7];
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bBuf[0] = 0xff;
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bBuf[1] = 0xff;
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bBuf[2] = 0xfe;
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bBuf[3] = mesLen;
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bBuf[4] = INST_SYNC_WRITE;
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bBuf[5] = MemAddr;
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bBuf[6] = nLen;
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writeSCS(bBuf, 7);
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Sum = 0xfe + mesLen + INST_SYNC_WRITE + MemAddr + nLen;
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u8 i, j;
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for(i=0; i<IDN; i++){
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writeSCS(ID[i]);
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writeSCS(nDat+i*nLen, nLen);
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Sum += ID[i];
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for(j=0; j<nLen; j++){
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Sum += nDat[i*nLen+j];
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}
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}
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writeSCS(~Sum);
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wFlushSCS();
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}
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int SCS::writeByte(u8 ID, u8 MemAddr, u8 bDat)
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{
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rFlushSCS();
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writeBuf(ID, MemAddr, &bDat, 1, INST_WRITE);
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wFlushSCS();
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return Ack(ID);
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}
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int SCS::writeWord(u8 ID, u8 MemAddr, u16 wDat)
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{
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u8 bBuf[2];
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Host2SCS(bBuf+0, bBuf+1, wDat);
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rFlushSCS();
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writeBuf(ID, MemAddr, bBuf, 2, INST_WRITE);
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wFlushSCS();
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return Ack(ID);
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}
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//读指令
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//舵机ID，MemAddr内存表地址，返回数据nData，数据长度nLen
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int SCS::Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen)
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{
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rFlushSCS();
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writeBuf(ID, MemAddr, &nLen, 1, INST_READ);
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wFlushSCS();
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u8Error = 0;
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if(!checkHead()){
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u8Error = ERR_NO_REPLY;
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return 0;
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}
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u8 bBuf[4];
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u8Status = 0;
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if(readSCS(bBuf, 3)!=3){
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u8Error = ERR_NO_REPLY;
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return 0;
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}
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if(bBuf[0]!=ID && ID!=0xfe){
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u8Error = ERR_SLAVE_ID;
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return 0;
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}
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if(bBuf[1]!=(nLen+2)){
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u8Error = ERR_BUFF_LEN;
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return 0;
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}
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int Size = readSCS(nData, nLen);
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if(Size!=nLen){
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u8Error = ERR_NO_REPLY;
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return 0;
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}
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if(readSCS(bBuf+3, 1)!=1){
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u8Error = ERR_NO_REPLY;
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return 0;
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}
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u8 calSum = bBuf[0]+bBuf[1]+bBuf[2];
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u8 i;
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for(i=0; i<Size; i++){
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calSum += nData[i];
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}
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calSum = ~calSum;
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if(calSum!=bBuf[3]){
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u8Error = ERR_CRC_CMP;
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return 0;
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}
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u8Status = bBuf[2];
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return Size;
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}
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//读1字节，超时返回-1
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int SCS::readByte(u8 ID, u8 MemAddr)
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{
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u8 bDat;
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int Size = Read(ID, MemAddr, &bDat, 1);
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if(Size!=1){
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return -1;
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}else{
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return bDat;
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}
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}
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//读2字节，超时返回-1
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int SCS::readWord(u8 ID, u8 MemAddr)
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{
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u8 nDat[2];
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int Size;
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u16 wDat;
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Size = Read(ID, MemAddr, nDat, 2);
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if(Size!=2)
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return -1;
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wDat = SCS2Host(nDat[0], nDat[1]);
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return wDat;
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}
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//Ping指令，返回舵机ID，超时返回-1
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int SCS::Ping(u8 ID)
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{
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rFlushSCS();
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writeBuf(ID, 0, NULL, 0, INST_PING);
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wFlushSCS();
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u8Status = 0;
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if(!checkHead()){
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u8Error = ERR_NO_REPLY;
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return -1;
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}
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u8 bBuf[4];
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u8Error = 0;
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if(readSCS(bBuf, 4)!=4){
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u8Error = ERR_NO_REPLY;
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return -1;
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}
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if(bBuf[0]!=ID && ID!=0xfe){
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u8Error = ERR_SLAVE_ID;
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return -1;
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}
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if(bBuf[1]!=2){
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u8Error = ERR_BUFF_LEN;
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return -1;
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}
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u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]);
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if(calSum!=bBuf[3]){
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u8Error = ERR_CRC_CMP;
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return -1;
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}
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u8Status = bBuf[2];
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return bBuf[0];
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}
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int SCS::checkHead()
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{
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u8 bDat;
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u8 bBuf[] = {0, 0};
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u8 Cnt = 0;
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while(1){
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if(!readSCS(&bDat, 1)){
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return 0;
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}
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bBuf[1] = bBuf[0];
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bBuf[0] = bDat;
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if(bBuf[0]==0xff && bBuf[1]==0xff){
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break;
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}
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Cnt++;
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if(Cnt>10){
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return 0;
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}
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}
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return 1;
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}
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int SCS::Ack(u8 ID)
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{
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u8Error = 0;
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if(ID!=0xfe && Level){
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if(!checkHead()){
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u8Error = ERR_NO_REPLY;
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return 0;
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}
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u8Status = 0;
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u8 bBuf[4];
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if(readSCS(bBuf, 4)!=4){
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u8Error = ERR_NO_REPLY;
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return 0;
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}
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if(bBuf[0]!=ID){
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u8Error = ERR_SLAVE_ID;
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return 0;
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}
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if(bBuf[1]!=2){
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u8Error = ERR_BUFF_LEN;
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return 0;
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}
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u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]);
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if(calSum!=bBuf[3]){
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u8Error = ERR_CRC_CMP;
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return 0;
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}
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u8Status = bBuf[2];
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}
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return 1;
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}
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int SCS::syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen)
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{
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rFlushSCS();
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syncReadRxPacketLen = nLen;
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u8 checkSum = (4+0xfe) + IDN + MemAddr + nLen + INST_SYNC_READ;
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u8 i;
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writeSCS(0xff);
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writeSCS(0xff);
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writeSCS(0xfe);
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writeSCS(IDN+4);
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writeSCS(INST_SYNC_READ);
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writeSCS(MemAddr);
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writeSCS(nLen);
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for(i=0; i<IDN; i++){
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writeSCS(ID[i]);
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checkSum += ID[i];
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}
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checkSum = ~checkSum;
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writeSCS(checkSum);
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wFlushSCS();
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syncReadRxBuffLen = readSCS(syncReadRxBuff, syncReadRxBuffMax, syncTimeOut);
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return syncReadRxBuffLen;
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}
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void SCS::syncReadBegin(u8 IDN, u8 rxLen, u32 TimeOut)
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{
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syncReadRxBuffMax = IDN*(rxLen+6);
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syncReadRxBuff = new u8[syncReadRxBuffMax];
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syncTimeOut = TimeOut;
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}
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void SCS::syncReadEnd()
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{
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if(syncReadRxBuff){
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delete syncReadRxBuff;
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syncReadRxBuff = NULL;
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}
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}
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int SCS::syncReadPacketRx(u8 ID, u8 *nDat)
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{
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u16 syncReadRxBuffIndex = 0;
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syncReadRxPacket = nDat;
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syncReadRxPacketIndex = 0;
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u8Error = 0;
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while((syncReadRxBuffIndex+6+syncReadRxPacketLen)<=syncReadRxBuffLen){
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u8 bBuf[] = {0, 0, 0};
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u8 calSum = 0;
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while(syncReadRxBuffIndex<syncReadRxBuffLen){
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bBuf[0] = bBuf[1];
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bBuf[1] = bBuf[2];
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bBuf[2] = syncReadRxBuff[syncReadRxBuffIndex++];
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if(bBuf[0]==0xff && bBuf[1]==0xff && bBuf[2]!=0xff){
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break;
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}
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}
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if(bBuf[2]!=ID){
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continue;
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}
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if(syncReadRxBuff[syncReadRxBuffIndex++]!=(syncReadRxPacketLen+2)){
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continue;
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}
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u8Status = syncReadRxBuff[syncReadRxBuffIndex++];
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calSum = ID + (syncReadRxPacketLen+2) + u8Status;
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for(u8 i=0; i<syncReadRxPacketLen; i++){
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syncReadRxPacket[i] = syncReadRxBuff[syncReadRxBuffIndex++];
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calSum += syncReadRxPacket[i];
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}
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calSum = ~calSum;
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if(calSum!=syncReadRxBuff[syncReadRxBuffIndex++]){
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u8Error = ERR_CRC_CMP;
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return 0;
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}
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return syncReadRxPacketLen;
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}
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return 0;
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}
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int SCS::syncReadRxPacketToByte()
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{
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if(syncReadRxPacketIndex>=syncReadRxPacketLen){
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u8Error = ERR_BUFF_LEN;
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return -1;
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}
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return syncReadRxPacket[syncReadRxPacketIndex++];
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}
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int SCS::syncReadRxPacketToWrod(u8 negBit)
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{
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if((syncReadRxPacketIndex+1)>=syncReadRxPacketLen){
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u8Error = ERR_BUFF_LEN;
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return -1;
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}
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int Word = SCS2Host(syncReadRxPacket[syncReadRxPacketIndex], syncReadRxPacket[syncReadRxPacketIndex+1]);
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syncReadRxPacketIndex += 2;
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if(negBit){
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if(Word&(1<<negBit)){
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Word = -(Word & ~(1<<negBit));
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}
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}
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return Word;
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}
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int SCS::Reset(u8 ID)
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{
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rFlushSCS();
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writeBuf(ID, 0, NULL, 0, INST_RESET);
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wFlushSCS();
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return Ack(ID);
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}
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int SCS::Recal(u8 ID)
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{
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rFlushSCS();
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writeBuf(ID, 0, NULL, 0, INST_CAL);
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wFlushSCS();
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return Ack(ID);
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}
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