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DYNAMIXEL
DX-Series
C Language Example : Dinamixel access with Atmega128
/*
* The Example of Dynamixel Evaluation with Atmega128
* Date : 2004.7.20
*/
#define ENABLE_BIT_DEFINITIONS
//#include <io.h>
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
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
#define RS485_TXD PORTE |= _BV(PE2); //_485_DIRECTION = 1
#define RS485_RXD PORTE &= ~_BV(PE2);//PORT_485_DIRECTION = 0
//#define PORT_485_DIRECTION PORTE.P2 //Bit2 of PortE is linked to
MAX485 direction pin.
//#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 LED_M0_ON cbi(PORTE,3) //PORTE_Bit3
#define LED_M1_ON cbi(PORTE,4) //PORTE_Bit4
#define LED_M2_ON cbi(PORTE,6) //PORTE_Bit6
#define LED_E0_ON cbi(PORTE,7) //PORTE_Bit7
#define LED_E1_ON cbi(PORTB,0) //PORTB_Bit0
#define LED_M0_OFF sbi(PORTE,3) //PORTE_Bit3
#define LED_M1_OFF sbi(PORTE,4) //PORTE_Bit4
#define LED_M2_OFF sbi(PORTE,6) //PORTE_Bit6
#define LED_E0_OFF sbi(PORTE,7) //PORTE_Bit7
#define LED_E1_OFF sbi(PORTB,0) //PORTB_Bit0
#define BIT_LED_M0 0x08 //Port E
#define BIT_LED_M1 0x10 //Port E
#define BIT_LED_M2 0x40 //Port E
#define BIT_LED_E0 0x80 //Port E
#define BIT_LED_E1 0x01 //Port B
#define BIT_RS485_DIRECTION 0x04 //Port E
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 bInterrupt);
byte TxPacket(byte bID, byte bInstruction, byte bParameterLength);
byte RxPacket(byte bRxLength);
void PrintBuffer(byte *bpPrintBuffer, byte bLength);
// --- Gloval Variable Number ---