cModPktProtocol.doxy

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////////////////////////////////////////////////////////////////////////////////
//
// Package:   Dynamixel
//
// File:      cModPktProtocol.doxy
//
// Version:
// $LastChangedDate: 2014-06-25 13:09:23 -0600 (Wed, 25 Jun 2014) $
// $Rev: 3669 $
//
// Description:
// Defines Dynamixel Bus Packet Protocol
//
////////////////////////////////////////////////////////////////////////////////

/*! \file */

/*!
 * \addtogroup dyna_bus_proto
\section dbp_intro Intro
The Dynamixel Bus packats are tranmitted over a half-duplex serial interface 
at baud rates up to 3Mbs. The host initiates communication by transmitting a
request and then waits for a response, if any, from the servo.
There are two broad versions of the protocol:
  - Version 1: Dynamixel product line (e.g. AX, MX, etc).
  - Version 2: Dynamixel Pro product line.

Currently, only Version 1 of the protocol is supported.

\section dbp_pkt_types Supported Packets Types
\termblock
\term \b Ping \termdata Pings the specified servo. \endterm
\term \b Read \termdata Read byte/word from the specified servo. \endterm
\term \b Write \termdata Write byte/word to the specified servo. \endterm
\term \b SyncWrite
  \termdata Synchonize write data to a specified set of servos.
\endterm
\endtermblock

\section dbp_pkt_fields Packet Fields
\termblock
\term \e Field \termdata \e Pos \termdata \e Len \termdata \e Values
  \termdata \e Notes
\endterm
\term FRAME \termdata 0 \termdata 2 \termdata 0xffff
  \termdata All tx/rx packets begin with the frame bytes.
\endterm
\term id \termdata 2 \termdata 1 \termdata 0-253, 254
  \termdata Servo identifier: 0-253, BROADCAST: 254
\endterm
\term len \termdata 3 \termdata 1 \termdata 2-255
  \termdata Length of packet excluding FRAME, len, and chksum.
\endterm
\term inst \termdata 4 \termdata 1 \termdata enum
  \termdata Instruction. PING: 1, READ: 2, WRITE: 3, SYNC_WRITE: 131
\endterm
\term addr \termdata 5 \termdata 1 \termdata 0-255
  \termdata Address of servo control table data.
\endterm
\term val_len \termdata 6 \termdata 1 \termdata 1, 2
  \termdata Length of servo control table data.
\endterm
\term val \termdata - \termdata 1 \termdata byte
  \termdata Byte read/written from/to servo control.
\endterm
\term val_lsb \termdata - \termdata 1 \termdata byte
  \termdata Word LSB read/written from/to servo control table.
\endterm
\term val_msb \termdata - \termdata 1 \termdata byte
  \termdata Word MSB read/written from/to servo control table.
\endterm
\term chksum \termdata len+3 \termdata 1 \termdata byte
  \termdata Checksum over packet excluding FRAME.
\endterm
\endtermblock

\section dbp_pkt Packet Formats
\subsection dbp_pkt_ping Ping
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">TX (6)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">2</td>
  <td style="text-align:center; width:5em;">PING</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">RX (6)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">2</td>
  <td style="text-align:center; width:5em;">PING</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
\endhtml

\subsection dbp_pkt_read_byte Read Byte
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">TX (8)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">4</td>
  <td style="text-align:center; width:5em;">READ</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">1</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">RX (8)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">4</td>
  <td style="text-align:center; width:5em;">READ</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">val</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
\endhtml

\subsection dbp_pkt_read_word Read Word
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">TX (8)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">4</td>
  <td style="text-align:center; width:5em;">READ</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">2</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">RX (9)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">5</td>
  <td style="text-align:center; width:5em;">READ</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">val_lsb</td>
  <td style="text-align:center; width:5em;">val_msb</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
\endhtml

\subsection dbp_pkt_write_byte Write Byte
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">TX (8)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">4</td>
  <td style="text-align:center; width:5em;">WRITE</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">val</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">RX (6)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">2</td>
  <td style="text-align:center; width:5em;">WRITE</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
\endhtml

\subsection dbp_pkt_write_word Write Word
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">TX (9)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">5</td>
  <td style="text-align:center; width:5em;">WRITE</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">val_lsb</td>
  <td style="text-align:center; width:5em;">val_msb</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:5em;">RX (6)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">id</td>
  <td style="text-align:center; width:5em;">2</td>
  <td style="text-align:center; width:5em;">WRITE</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
\endhtml

\subsection dbp_pkt_sync_write_byte Sync Write Byte
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:6em;">TX (len+4)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">BROADCAST</td>
  <td style="text-align:center; width:5em;">4+2*n</td>
  <td style="text-align:center; width:5em;">SYNC_WRITE</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">1</td>
  <td style="text-align:center; width:5em;">id_1</td>
  <td style="text-align:center; width:5em;">val_1</td>
  <td style="text-align:center; width:3em;">...</td>
  <td style="text-align:center; width:5em;">id_n</td>
  <td style="text-align:center; width:5em;">val_n</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<p>no response</p>
\endhtml


\subsection dbp_pkt_sync_write_word Sync Write Word
\beginhtml
<table class="rn-std" style="margin-bottom:10px;">
<tr>
  <td style="text-align:center; width:6em;">TX (len+4)</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">0xff</td>
  <td style="text-align:center; width:5em;">BROADCAST</td>
  <td style="text-align:center; width:5em;">4+3*n</td>
  <td style="text-align:center; width:5em;">SYNC_WRITE</td>
  <td style="text-align:center; width:5em;">addr</td>
  <td style="text-align:center; width:5em;">2</td>
  <td style="text-align:center; width:5em;">id_1</td>
  <td style="text-align:center; width:5em;">val_lsb_1</td>
  <td style="text-align:center; width:5em;">val_msb_1</td>
  <td style="text-align:center; width:3em;">...</td>
  <td style="text-align:center; width:5em;">id_n</td>
  <td style="text-align:center; width:5em;">val_lsb_n</td>
  <td style="text-align:center; width:5em;">val_msb_n</td>
  <td style="text-align:center; width:5em;">chksum</td>
</tr>
</table>
<p>no response</p>
\endhtml

 */
\endhtml


 */