libdxl::dxl Class Reference

Public Member Functions
	dxl ()
	Default constructor.
	~dxl ()
	Destructor.
int	open (const char *deviceName, int baudrate)
	Open Dynamixel Bus serial interface. More...
int	dxl_initialize (int deviceIndex, int baudnum)
	Initialize Dynamixel Bus USB serial interface by index. More...
void	close ()
	Close the Dynamixel Bus serial interface. More...
int	setBaudRate (int baudrate)
	Set Dynamixel Bus serial device baud rate. More...
int	setHalfDuplexCallbacks (dxl_hdctl_tx_cb_t enable_tx_cb, dxl_hdctl_rx_cb_t enable_rx_cb, void *arg)
	Set serial half-duplex callbacks. More...
int	getFd ()
	Get the Dynamixel Bus serial device file descriptor. More...
void	setTxPacketId (int id)
	Set transmit packet servo id. More...
void	setTxPacketInstruction (int instruction)
	Set transmit packet instruction. More...
void	setTxPacketParameter (int index, int value)
	Set transmit packet parameter value. More...
void	setTxPacketLength (int length)
	Set transmit packet length. More...
unsigned int	getRxPacketErrBits ()
	Get receive packet error bits field. More...
bool	getRxPacketError (unsigned int errbit)
	Test if error bit is set on received packet. More...
int	getRxPacketLength ()
	Get receive packet length field. More...
int	getRxPacketParameter (int index)
	Get receive packet parameter value. More...
int	makeWord (int lowbyte, int highbyte)
	Make 16-bit word. More...
int	getLowByte (int word)
	Get low byte from word. More...
int	getHighByte (int word)
	Get high byte from word. More...
void	txPacket ()
	Transmit a previously packed instruction packet. More...
void	rxPacket ()
	Receive status packet. More...
void	txrxPacket ()
	Transmit instruction packet and receive status response packet. More...
int	getResult ()
	Get last transmit/receive result. More...
void	ping (int id)
	Ping servo. More...
int	readByte (int id, int address)
	Read byte from servo's control table. More...
void	writeByte (int id, int address, int value)
	Write byte to servo's control table. More...
int	readWord (int id, int address)
	Read word from servo's control table. More...
void	writeWord (int id, int address, int value)
	Write word to servo's control table. More...

Protected Member Functions
float	dxl_baudnum_to_baudrate (int baudnum)
	Convert Dynamixel baud number to baud rate. More...

Protected Attributes
uint8_t	m_bufInstructionPacket [(150)+10]
	instruction transmit packet buffer
uint8_t	m_bufStatusPacket [(60)+10]
	status receive packet buffer
int	m_nRxPacketLength
	expected received packet length
int	m_nRxGetLength
	current received packet length
int	m_nCommStatus
	communication status
bool	m_bBusUsing
	bus is [not] busy
dxl_hdctl_tx_cb_t	m_fnEnableTx
	enable tx callback
dxl_hdctl_rx_cb_t	m_fnEnableRx
	enable rx callback
void *	m_pTxRxArg
	tx/rx argument passback
dxlhal *	m_pDxlHal

Detailed Description

Definition at line 141 of file dxl.h.

Member Function Documentation

void dxl::close

(

)

Close the Dynamixel Bus serial interface.

The serial device is closed.

Definition at line 89 of file dynamixel.cxx.

References libdxl::dxlhal::close().

Referenced by DynaCommSerial::Close().

{
  m_pDxlHal->close();
}

float dxl::dxl_baudnum_to_baudrate ( int  baudnum )

protected

Convert Dynamixel baud number to baud rate.

Note

This method is deprecated. The preferred method is open().

Parameters

baudnum

Dynamixel baud number.

Returns

Baud rate.

Definition at line 519 of file dynamixel.cxx.

References DXL_BAUDNUM_EXT_2250000, DXL_BAUDNUM_EXT_2500000, and DXL_BAUDNUM_EXT_3000000.

Referenced by dxl_initialize().

{
  switch( baudnum )
  {
    case DXL_BAUDNUM_EXT_2250000:
      return 2250000.0f;
    case DXL_BAUDNUM_EXT_2500000:
      return 2500000.0f;
    case DXL_BAUDNUM_EXT_3000000:
      return 3000000.0f;
    default:
      return 2000000.0f / (float)(baudnum + 1);
  }
}

int dxl::dxl_initialize	(	int	deviceIndex,
		int	baudnum
	)

Initialize Dynamixel Bus USB serial interface by index.

The serial device is opened and attributes set.

Note

This method is deprecated. The preferred method is open().

Parameters

deviceIndex	Device number of /dev/ttyUSBn, n == deviceIndex.
baudnum	Dynamixel baud number.

Returns

Returns 1 on success, 0 on failure.

Definition at line 72 of file dynamixel.cxx.

References dxl_baudnum_to_baudrate(), DXL_COMM_RXSUCCESS, libdxl::dxlhal::dxl_hal_open(), m_bBusUsing, and m_nCommStatus.

Referenced by DynaCommSerial::Open().

{
  float baudrate;  

  baudrate = dxl_baudnum_to_baudrate(baudnum);

  if( m_pDxlHal->dxl_hal_open(deviceIndex, baudrate) == 0 )
  {
    return 0;
  }

  m_nCommStatus = DXL_COMM_RXSUCCESS;
  m_bBusUsing   = false;

  return 1;
}

int dxl::getFd

(

)

Get the Dynamixel Bus serial device file descriptor.

Returns

Returns >= 0 if the device is open, -1 otherwise.

Definition at line 110 of file dynamixel.cxx.

References libdxl::dxlhal::getFd().

Referenced by DynaCommSerial::Open().

{
  return m_pDxlHal->getFd();
}

int dxl::getHighByte

(

int

word

)

Get high byte from word.

Parameters

word	16-bit word.

Returns

Unpacked most significant byte.

Definition at line 173 of file dynamixel.cxx.

Referenced by DynaCommSerial::SyncWrite(), and writeWord().

{
  uint16_t temp;

  temp = (uint16_t)(word & 0xff00);
  temp = (uint16_t)(temp >> 8);
  return (int)temp;
}

int dxl::getLowByte

(

int

word

)

Get low byte from word.

Parameters

word	16-bit word.

Returns

Unpacked least significant byte.

Definition at line 165 of file dynamixel.cxx.

Referenced by DynaCommSerial::SyncWrite(), and writeWord().

{
  uint16_t temp;

  temp = (uint16_t)(word & 0xff);
  return (int)temp;
}

int dxl::getResult

(

)

Get last transmit/receive result.

Returns

Result code.

Definition at line 446 of file dynamixel.cxx.

References m_nCommStatus.

Referenced by DynaCommSerial::Ping(), DynaCommSerial::Read16(), DynaCommSerial::Read8(), DynaCommSerial::Reset(), DynaCommSerial::SyncWrite(), DynaCommSerial::Write16(), and DynaCommSerial::Write8().

{
  return m_nCommStatus;
}

unsigned int dxl::getRxPacketErrBits

(

)

Get receive packet error bits field.

Returns

Error bits.

Definition at line 135 of file dynamixel.cxx.

References DXL_ERRBIT, and m_bufStatusPacket.

Referenced by DynaCommSerial::Read16(), DynaCommSerial::Read8(), DynaCommSerial::Reset(), DynaCommSerial::Write16(), and DynaCommSerial::Write8().

{
  return (unsigned int)m_bufStatusPacket[DXL_ERRBIT];
}

bool dxl::getRxPacketError

(

unsigned int

errbit

)

Test if error bit is set on received packet.

Parameters

errbit

Error bit to test.

Returns

Returns true or false.

Definition at line 140 of file dynamixel.cxx.

References DXL_ERRBIT, and m_bufStatusPacket.

{
  return m_bufStatusPacket[DXL_ERRBIT] & errbit? true: false;
}

int dxl::getRxPacketLength

(

)

Get receive packet length field.

Returns

Receive packet expected length.

Definition at line 145 of file dynamixel.cxx.

References DXL_LENGTH, and m_bufStatusPacket.

{
  return (int)m_bufStatusPacket[DXL_LENGTH];
}

int dxl::getRxPacketParameter

(

int

index

)

Get receive packet parameter value.

Parameters

index

Zero offset parameter index.

Returns

Paramter byte value.

Definition at line 150 of file dynamixel.cxx.

References DXL_PARAMETER, and m_bufStatusPacket.

{
  return (int)m_bufStatusPacket[DXL_PARAMETER+index];
}

int dxl::makeWord	(	int	lowbyte,
		int	highbyte
	)

Make 16-bit word.

Parameters

lowbyte	Least significant byte.
highbyte	Most significant byte.

Returns

Packed word.

Definition at line 155 of file dynamixel.cxx.

Referenced by readWord().

{
  uint16_t word;

  word = (uint16_t)highbyte;
  word = (uint16_t)(word << 8);
  word = (uint16_t)(word + (uint16_t)lowbyte);
  return (int)word;
}

int dxl::open	(	const char *	deviceName,
		int	baudrate
	)

Open Dynamixel Bus serial interface.

The serial device is opened and attributes set.

Parameters

deviceName	Serial device name.
baudrate	Dynamixel baud rate.

Returns

Returns 1 on success, 0 on failure.

Definition at line 59 of file dynamixel.cxx.

References DXL_COMM_RXSUCCESS, m_bBusUsing, m_nCommStatus, and libdxl::dxlhal::open().

Referenced by DynaCommSerial::Open().

{
  if( m_pDxlHal->open(deviceName, baudrate) == 0 )
  {
    return 0;
  }

  m_nCommStatus = DXL_COMM_RXSUCCESS;
  m_bBusUsing   = false;

  return 1;
}

void dxl::ping

(

int

id

)

Ping servo.

Use dxl_get_result() to check for success or failure.

Parameters

id

Servo id.

Definition at line 451 of file dynamixel.cxx.

References DXL_ID, DXL_INST_PING, DXL_INSTRUCTION, DXL_LENGTH, m_bBusUsing, m_bufInstructionPacket, and txrxPacket().

Referenced by DynaCommSerial::Ping().

{
  while( m_bBusUsing );

  m_bufInstructionPacket[DXL_ID] = (uint8_t)id;
  m_bufInstructionPacket[DXL_INSTRUCTION] = DXL_INST_PING;
  m_bufInstructionPacket[DXL_LENGTH] = 2;
  
  txrxPacket();
}

int dxl::readByte	(	int	id,
		int	address
	)

Read byte from servo's control table.

Use dxl_get_result() to check for success or failure.

Parameters

id	Servo id.
address	Control table address.

Returns

Read 8-bit byte.

Definition at line 462 of file dynamixel.cxx.

References DXL_ID, DXL_INST_READ, DXL_INSTRUCTION, DXL_LENGTH, DXL_PARAMETER, m_bBusUsing, m_bufInstructionPacket, m_bufStatusPacket, and txrxPacket().

Referenced by DynaCommSerial::Read8().

{
  while( m_bBusUsing );

  m_bufInstructionPacket[DXL_ID] = (uint8_t)id;
  m_bufInstructionPacket[DXL_INSTRUCTION] = DXL_INST_READ;
  m_bufInstructionPacket[DXL_PARAMETER] = (uint8_t)address;
  m_bufInstructionPacket[DXL_PARAMETER+1] = 1;
  m_bufInstructionPacket[DXL_LENGTH] = 4;
  
  txrxPacket();

  return (int)m_bufStatusPacket[DXL_PARAMETER];
}

int dxl::readWord	(	int	id,
		int	address
	)

Read word from servo's control table.

Use dxl_get_result() to check for success or failure.

Parameters

id	Servo id.
address	Control table address.

Returns

Read 16-bit word.

Definition at line 490 of file dynamixel.cxx.

References DXL_ID, DXL_INST_READ, DXL_INSTRUCTION, DXL_LENGTH, DXL_PARAMETER, m_bBusUsing, m_bufInstructionPacket, m_bufStatusPacket, makeWord(), and txrxPacket().

Referenced by DynaCommSerial::Read16().

{
  while( m_bBusUsing );

  m_bufInstructionPacket[DXL_ID] = (uint8_t)id;
  m_bufInstructionPacket[DXL_INSTRUCTION] = DXL_INST_READ;
  m_bufInstructionPacket[DXL_PARAMETER] = (uint8_t)address;
  m_bufInstructionPacket[DXL_PARAMETER+1] = 2;
  m_bufInstructionPacket[DXL_LENGTH] = 4;
  
  txrxPacket();

  return makeWord((int)m_bufStatusPacket[DXL_PARAMETER], (int)m_bufStatusPacket[DXL_PARAMETER+1]);
}

void dxl::rxPacket

(

)

Receive status packet.

Non-Broadcast Receive Packet

0xff 0xff ID LENGTH ERRBIT paramters CHECKSUM

Definition at line 271 of file dynamixel.cxx.

References DXL_BROADCAST_ID, DXL_COMM_RXCORRUPT, DXL_COMM_RXSUCCESS, DXL_COMM_RXTIMEOUT, DXL_COMM_RXWAITING, DXL_COMM_TXSUCCESS, DXL_ID, DXL_INST_PING, DXL_INSTRUCTION, DXL_LENGTH, libdxl::dxlhal::hasTimedOut(), m_bBusUsing, m_bufInstructionPacket, m_bufStatusPacket, m_fnEnableRx, m_nCommStatus, m_nRxGetLength, m_nRxPacketLength, m_pTxRxArg, and libdxl::dxlhal::rx().

Referenced by txrxPacket().

{
  int     txPktLen;       // transmitted packet length
  int     nRead;          // number bytes read
  int     i, j;           // working indices
  uint8_t checksum = 0;   // packet checksum

  // no pending (good) transmission
  if( !m_bBusUsing )
  {
    return;
  }

  // no reply on broadcast
  if( m_bufInstructionPacket[DXL_ID] == DXL_BROADCAST_ID )
  {
    m_nCommStatus  = DXL_COMM_RXSUCCESS;
    m_bBusUsing    = false;
    return;
  }
  
  // fixed packet header size
  else if( m_nCommStatus == DXL_COMM_TXSUCCESS )
  {
    m_nCommStatus      = DXL_COMM_RXWAITING;
    m_nRxGetLength    = 0;
    m_nRxPacketLength = 6;
  }
  
  txPktLen = (int)m_bufInstructionPacket[DXL_LENGTH] + 4;

  // enable receive if not already done so
  if( m_fnEnableRx != NULL )
  {
    m_fnEnableRx(m_pTxRxArg, txPktLen);
  }

  //
  // Read fixed packet header.
  //
  nRead = m_pDxlHal->rx((uint8_t*)&m_bufStatusPacket[m_nRxGetLength],
                              m_nRxPacketLength - m_nRxGetLength);

  m_nRxGetLength += nRead;

  // fprintf(stderr, "DBG: read=%d, total=%d\n", nRead, m_nRxGetLength);

  if( m_nRxGetLength < m_nRxPacketLength )
  {
    if( m_pDxlHal->hasTimedOut() )
    {
      // nada
      if( m_nRxGetLength == 0 )
      {
        m_nCommStatus = DXL_COMM_RXTIMEOUT;
        // ping is used to probe the chain for servos - so timeouts are common
        if( m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_PING )
        {
          // TO MANY ERRORS LOGERROR("Rx Timed out with 0 bytes.");
        }
      }
      else
      {
        m_nCommStatus = DXL_COMM_RXCORRUPT;
        LOGERROR("Partial packet of %d bytes received.", m_nRxGetLength);
#if 0 // debug
        for(i=0; i<m_nRxGetLength; ++i)
        {
          fprintf(stderr, "0x%02x ", m_bufStatusPacket[i]);
        }
        fprintf(stderr, "\n");
#endif 
      }
      m_bBusUsing = false;
    }
    return;
  }
  
  //
  // Find packet frame.
  //
  for(i=0; i<(m_nRxGetLength-1); ++i)
  {
    if( m_bufStatusPacket[i] == 0xff && m_bufStatusPacket[i+1] == 0xff )
    {
      break;
    }
    else if( i == m_nRxGetLength-2 &&
              m_bufStatusPacket[m_nRxGetLength-1] == 0xff )
    {
      break;
    }
  }  

  // frame slipped
  if( i > 0 )
  {
    // copy
    for( j=0; j<(m_nRxGetLength-i); j++ )
    {
      m_bufStatusPacket[j] = m_bufStatusPacket[j + i];
    }
      
    m_nRxGetLength -= i;    
  }

  if( m_nRxGetLength < m_nRxPacketLength )
  {
    m_nCommStatus = DXL_COMM_RXWAITING;
    return;
  }

  // Check id pairing
  if( m_bufInstructionPacket[DXL_ID] != m_bufStatusPacket[DXL_ID])
  {
    m_nCommStatus = DXL_COMM_RXCORRUPT;
    m_bBusUsing   = false;
    LOGERROR("Tx/Rx ids mismatch.");
    return;
  }
  
  // expected packet length
  m_nRxPacketLength = (int)m_bufStatusPacket[DXL_LENGTH] + 4;

  //
  // Read remaining variable length packet component.
  //
  if( m_nRxGetLength < m_nRxPacketLength )
  {
    nRead = m_pDxlHal->rx((uint8_t*)&m_bufStatusPacket[m_nRxGetLength],
                                m_nRxPacketLength - m_nRxGetLength );
    m_nRxGetLength += nRead;
    if( m_nRxGetLength < m_nRxPacketLength )
    {
      m_nCommStatus = DXL_COMM_RXWAITING;
      return;
    }
  }

  //
  // Validate checksum.
  //
  for( i=0; i<(m_bufStatusPacket[DXL_LENGTH]+1); i++ )
  {
    checksum += m_bufStatusPacket[i+2];
  }
  checksum = (uint8_t)~checksum;

  if( m_bufStatusPacket[m_bufStatusPacket[DXL_LENGTH]+3] != checksum )
  {
    m_nCommStatus = DXL_COMM_RXCORRUPT;
    m_bBusUsing   = false;
    LOGERROR("Checksum mismatch.");
    return;
  }
  
  m_nCommStatus = DXL_COMM_RXSUCCESS;
  m_bBusUsing   = false;
}

int dxl::setBaudRate

(

int

baudrate

)

Set Dynamixel Bus serial device baud rate.

Parameters

baudrate

Baud rate.

Returns

Returns 1 on success, 0 on failure.

Definition at line 94 of file dynamixel.cxx.

References libdxl::dxlhal::setBaudRate().

Referenced by DynaCommSerial::SetBaudRate().

{
  return m_pDxlHal->setBaudRate(baudrate);
}

int dxl::setHalfDuplexCallbacks	(	dxl_hdctl_tx_cb_t	enable_tx_cb,
		dxl_hdctl_rx_cb_t	enable_rx_cb,
		void *	arg
	)

Set serial half-duplex callbacks.

The relavent callback is made just prior to transmitting or receiving a packet.

Parameters

enable_tx_cb	Enable transmit callback.
enable_rx_cb	Enable receive callback.
arg	Tx/Rx callback parameter.

Returns

Returns 1 on success, 0 on failure.

Definition at line 99 of file dynamixel.cxx.

References m_fnEnableRx, m_fnEnableTx, and m_pTxRxArg.

Referenced by DynaCommSerial::SetHalfDuplexCtl().

{
  m_fnEnableTx  = enable_tx_cb;
  m_fnEnableRx  = enable_rx_cb;
  m_pTxRxArg    = arg;

  return 1;
}

void dxl::setTxPacketId

(

int

id

)

Set transmit packet servo id.

Parameters

id	Servo id or broadcast id.

Definition at line 115 of file dynamixel.cxx.

References DXL_ID, and m_bufInstructionPacket.

Referenced by DynaCommSerial::Reset(), and DynaCommSerial::SyncWrite().

{
  m_bufInstructionPacket[DXL_ID] = (uint8_t)id;
}

void dxl::setTxPacketInstruction

(

int

instruction

)

Set transmit packet instruction.

Parameters

instruction

Request instruction id.

Definition at line 120 of file dynamixel.cxx.

References DXL_INSTRUCTION, and m_bufInstructionPacket.

Referenced by DynaCommSerial::Reset(), and DynaCommSerial::SyncWrite().

{
  m_bufInstructionPacket[DXL_INSTRUCTION] = (uint8_t)instruction;
}

void dxl::setTxPacketLength

(

int

length

)

Set transmit packet length.

Parameters

length

Length in bytes.

Definition at line 130 of file dynamixel.cxx.

References DXL_LENGTH, and m_bufInstructionPacket.

Referenced by DynaCommSerial::Reset(), and DynaCommSerial::SyncWrite().

{
  m_bufInstructionPacket[DXL_LENGTH] = (uint8_t)length;
}

void dxl::setTxPacketParameter	(	int	index,
		int	value
	)

Set transmit packet parameter value.

Parameters

index	Zero offset parameter index.
value	Parameter byte value.

Definition at line 125 of file dynamixel.cxx.

References DXL_PARAMETER, and m_bufInstructionPacket.

Referenced by DynaCommSerial::SyncWrite().

{
  m_bufInstructionPacket[DXL_PARAMETER+index] = (uint8_t)value;
}

void dxl::txPacket

(

)

Transmit a previously packed instruction packet.

Transmit Packet

0xff 0xff ID LENGTH INSTRUCTION paramters CHECKSUM

< length field value in instruction packate

< length of packet to transmit

< actual length transmitted

< working index

< packet checksum

Definition at line 182 of file dynamixel.cxx.

References libdxl::dxlhal::clear(), DXL_COMM_RXCORRUPT, DXL_COMM_RXTIMEOUT, DXL_COMM_TXERROR, DXL_COMM_TXFAIL, DXL_COMM_TXSUCCESS, DXL_INST_ACTION, DXL_INST_PING, DXL_INST_READ, DXL_INST_REG_WRITE, DXL_INST_RESET, DXL_INST_SYNC_WRITE, DXL_INST_WRITE, DXL_INSTRUCTION, DXL_LENGTH, DXL_MAXNUM_TXPARAM, DXL_PARAMETER, m_bBusUsing, m_bufInstructionPacket, m_fnEnableRx, m_fnEnableTx, m_nCommStatus, m_pTxRxArg, libdxl::dxlhal::setTimeout(), and libdxl::dxlhal::tx().

Referenced by txrxPacket().

{
  int     txInstLen;    ///< length field value in instruction packate
  int     txPktLen;     ///< length of packet to transmit
  int     txLen;        ///< actual length transmitted
  int     i;            ///< working index
  uint8_t checksum = 0; ///< packet checksum

  // in use
  if( m_bBusUsing )
  {
    return;
  }
  
  m_bBusUsing = true;

  txInstLen = (int)m_bufInstructionPacket[DXL_LENGTH];

  if( txInstLen > (DXL_MAXNUM_TXPARAM+2) )
  {
    m_nCommStatus = DXL_COMM_TXERROR;
    m_bBusUsing   = false;
    return;
  }
  
  if(  m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_PING
    && m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_READ
    && m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_WRITE
    && m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_REG_WRITE
    && m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_ACTION
    && m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_RESET
    && m_bufInstructionPacket[DXL_INSTRUCTION] != DXL_INST_SYNC_WRITE )
  {
    m_nCommStatus = DXL_COMM_TXERROR;
    m_bBusUsing   = false;
    return;
  }
  
  m_bufInstructionPacket[0] = 0xff;
  m_bufInstructionPacket[1] = 0xff;

  for( i=0; i<(txInstLen+1); i++ )
  {
    checksum += m_bufInstructionPacket[i+2];
  }
  m_bufInstructionPacket[txInstLen+3] = (uint8_t)~checksum;
  
  if( m_nCommStatus == DXL_COMM_RXTIMEOUT ||
      m_nCommStatus == DXL_COMM_RXCORRUPT )
  {
    m_pDxlHal->clear();
  }

  txPktLen = txInstLen + 4;

  // enable transmit
  if( m_fnEnableTx != NULL )
  {
    m_fnEnableTx(m_pTxRxArg);
  }

  txLen = (uint8_t)m_pDxlHal->tx((uint8_t*)m_bufInstructionPacket, txPktLen);

  if( txPktLen != txLen )
  {
    LOGERROR("Tx failed.");
    m_nCommStatus = DXL_COMM_TXFAIL;
    m_bBusUsing   = false;
    return;
  }

  // enable receive
  if( m_fnEnableRx != NULL )
  {
    m_fnEnableRx(m_pTxRxArg, txPktLen);
  }

  if( m_bufInstructionPacket[DXL_INSTRUCTION] == DXL_INST_READ )
  {
    m_pDxlHal->setTimeout( m_bufInstructionPacket[DXL_PARAMETER+1] + 6 );
  }
  else
  {
    m_pDxlHal->setTimeout( 6 );
  }

  m_nCommStatus = DXL_COMM_TXSUCCESS;
}

void dxl::txrxPacket

(

)

Transmit instruction packet and receive status response packet.

Use dxl_get_result() to check for success or failure.

Use the tranmit packing functions to build the instruction packet and the receive unpacking function to get any read data.

Definition at line 431 of file dynamixel.cxx.

References DXL_COMM_RXWAITING, DXL_COMM_TXSUCCESS, m_nCommStatus, rxPacket(), and txPacket().

Referenced by ping(), readByte(), readWord(), DynaCommSerial::Reset(), DynaCommSerial::SyncWrite(), writeByte(), and writeWord().

{
  txPacket();

  if( m_nCommStatus != DXL_COMM_TXSUCCESS )
  {
    return;  
  }
  
  do
  {
    rxPacket();    
  } while( m_nCommStatus == DXL_COMM_RXWAITING );  
}

void dxl::writeByte	(	int	id,
		int	address,
		int	value
	)

Write byte to servo's control table.

Use dxl_get_result() to check for success or failure.

Parameters

id	Servo id.
address	Control table address.
value	8-bit value to write.

Definition at line 477 of file dynamixel.cxx.

References DXL_ID, DXL_INST_WRITE, DXL_INSTRUCTION, DXL_LENGTH, DXL_PARAMETER, m_bBusUsing, m_bufInstructionPacket, and txrxPacket().

Referenced by DynaCommSerial::Write8().

{
  while( m_bBusUsing );

  m_bufInstructionPacket[DXL_ID] = (uint8_t)id;
  m_bufInstructionPacket[DXL_INSTRUCTION] = DXL_INST_WRITE;
  m_bufInstructionPacket[DXL_PARAMETER] = (uint8_t)address;
  m_bufInstructionPacket[DXL_PARAMETER+1] = (uint8_t)value;
  m_bufInstructionPacket[DXL_LENGTH] = 4;
  
  txrxPacket();
}

void dxl::writeWord	(	int	id,
		int	address,
		int	value
	)

Write word to servo's control table.

Use dxl_get_result() to check for success or failure.

Parameters

id	Servo id.
address	Control table address.
value	16-bit value to write.

Definition at line 505 of file dynamixel.cxx.

References DXL_ID, DXL_INST_WRITE, DXL_INSTRUCTION, DXL_LENGTH, DXL_PARAMETER, getHighByte(), getLowByte(), m_bBusUsing, m_bufInstructionPacket, and txrxPacket().

Referenced by DynaCommSerial::Write16().

{
  while( m_bBusUsing );

  m_bufInstructionPacket[DXL_ID] = (uint8_t)id;
  m_bufInstructionPacket[DXL_INSTRUCTION] = DXL_INST_WRITE;
  m_bufInstructionPacket[DXL_PARAMETER] = (uint8_t)address;
  m_bufInstructionPacket[DXL_PARAMETER+1] = (uint8_t)getLowByte(value);
  m_bufInstructionPacket[DXL_PARAMETER+2] = (uint8_t)getHighByte(value);
  m_bufInstructionPacket[DXL_LENGTH] = 5;
  
  txrxPacket();
}

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The documentation for this class was generated from the following files:

• include/Dynamixel/dxl/dxl.h
• libdxl/dynamixel.cxx