Added smFastUpdateCycle function

5 files changed, 120 insertions, 1 deletions

diff --git a/simplemotion.c b/simplemotion.c
index 5b09860..fb53522 100644
--- a/simplemotion.c
+++ b/simplemotion.c
@@ -94,7 +94,6 @@ void smDebug( smbus handle, smVerbosityLevel verbositylevel, char *format, ...)
         va_end(fmtargs);

         fprintf(smDebugOut,"%s: %s",smBus[handle].busDeviceName, buffer);

     }

-

 }

 #else

 #define smDebug(...)

@@ -143,6 +142,19 @@ smuint16 calcCRC16Buf(const char *buffer, smuint16 buffer_length)
     return (crc_hi << 8 | crc_lo);

 }

 

+smuint8 calcCRC8Buf( smuint8 *buf, int len, int crcinit )

+{

+    int i;

+    smuint8 crc=crcinit;

+

+    for(i=0;i<len;i++)

+    {

+            crc=table_crc8[crc^buf[i]];

+    }

+

+    return crc;

+}

+

 SM_STATUS smSetTimeout( smuint16 millsecs )

 {

     if(millsecs<=5000)

@@ -242,6 +254,8 @@ char *cmdidToStr(smuint8 cmdid )
 #endif

     case SMCMD_GET_CLOCK: str="SMCMD_GET_CLOCK";break;

     case SMCMD_GET_CLOCK_RET :str="SMCMD_GET_CLOCK_RET";break;

+    case SMCMD_FAST_UPDATE_CYCLE:str="SMCMD_FAST_UPDATE_CYCLE";break;

+    case SMCMD_FAST_UPDATE_CYCLE_RET:str="SMCMD_FAST_UPDATE_CYCLE_RET";break;

     default: str="unknown cmdid";break;

     }

     //puts(str);

@@ -323,6 +337,62 @@ SM_STATUS smSendSMCMD( smbus handle, smuint8 cmdid, smuint8 addr, smuint8 datale
 }

 

 

+SM_STATUS smFastUpdateCycle( smbus handle, smuint8 nodeAddress, smuint16 write1, smuint16 write2, smuint16 *read1, smuint16 *read2)

+{

+    //check if bus handle is valid & opened

+    if(smIsHandleOpen(handle)==smfalse) return SM_ERR_NODEVICE;

+

+    smDebug(handle, Mid, "> %s (addr=%d, w1=%d, w2=%d)\n",cmdidToStr(SMCMD_FAST_UPDATE_CYCLE),

+            nodeAddress,

+            write1,write2);

+

+

+    //form the tx packet

+    smuint8 cmd[8];

+    int i;

+    cmd[0]=SMCMD_FAST_UPDATE_CYCLE;

+    cmd[1]=nodeAddress;

+    bufput16bit(cmd,2,write1);

+    bufput16bit(cmd,4,write2);

+    cmd[6]=calcCRC8Buf(cmd,6,0x52);

+

+    //send

+    for(i=0;i<7;i++)

+    {

+        if( smWriteByte(handle,cmd[i], NULL) != smtrue )

+            return recordStatus(handle,SM_ERR_BUS);

+    }

+    smTransmitBuffer(handle);//this sends the bytes entered with smWriteByte

+

+    smDebug(handle, High, "  Reading reply packet\n");

+    for(i=0;i<6;i++)

+    {

+        smbool success;

+        smuint8 rx;

+        success=smBDRead(smBus[handle].bdHandle,&rx);

+        cmd[i]=rx;

+        if(success!=smtrue)

+            return recordStatus(handle,SM_ERR_BUS|SM_ERR_LENGTH);//no enough data received

+    }

+

+    //parse

+    if( cmd[5]==calcCRC8Buf(cmd,4,0x52) || cmd[0]!=SMCMD_FAST_UPDATE_CYCLE_RET )

+    {

+        return recordStatus(handle,SM_ERR_COMMUNICATION);//packet error

+    }

+    if(read1!=NULL)

+        *read1=bufget16bit(cmd,1);

+    if(read2!=NULL)

+        *read2=bufget16bit(cmd,3);

+

+    //return data read complete

+    smDebug(handle,Mid, "< %s (id=%d, r1=%d, r2=%d)\n",

+            cmdidToStr( cmd[0] ),

+            cmd[0],*read1,*read2);

+

+    return recordStatus(handle,SM_OK);

+}

+

 

 

 SM_STATUS smReceiveErrorHandler( smbus handle, smbool flushrx )

diff --git a/simplemotion.h b/simplemotion.h
index 28743c4..056c745 100644
--- a/simplemotion.h
+++ b/simplemotion.h
@@ -134,6 +134,10 @@ LIB SM_STATUS smSetParameter( const smbus handle, const smaddr nodeAddress, cons
 

 LIB SM_STATUS smGetBufferClock( const smbus handle, const smaddr targetaddr, smuint16 *clock );

 

+/** smFastUpdateCycle uses special SimpleMotion command to perform fast turaround communication. May be used with cyclic real time control. Parameter & return data

+ *content are application specific and defined . */

+LIB SM_STATUS smFastUpdateCycle( smbus handle, smuint8 nodeAddress, smuint16 write1, smuint16 write2, smuint16 *read1, smuint16 *read2);

+

 #ifdef __cplusplus

 }

 #endif

diff --git a/simplemotion_private.h b/simplemotion_private.h
index 9cfdabc..d1e37a3 100644
--- a/simplemotion_private.h
+++ b/simplemotion_private.h
@@ -38,6 +38,7 @@
 

 extern const smuint8 table_crc16_hi[];

 extern const smuint8 table_crc16_lo[];

+extern const smuint8 table_crc8[];

 extern FILE *smDebugOut; //such as stderr or file handle. if NULL, debug info disbled

 extern smuint16 readTimeoutMs;

 

diff --git a/sm485.h b/sm485.h
index 40d9fdb..2d79815 100644
--- a/sm485.h
+++ b/sm485.h
@@ -52,6 +52,14 @@
 #define SMCMD_GET_CLOCK SMCMD_ID(10,SMCMD_MASK_0_PARAMS)
 #define SMCMD_GET_CLOCK_RET SMCMD_ID(10,SMCMD_MASK_2_PARAMS|SMCMD_MASK_RETURN)
 
+// SMCMD_FAST_UPDATE_CYCLE is a high priority command for fast realtime cyclic operation. content and lenght of
+// payload data may be application specific and may be controlled by other variables
+// cmd u8 ID, u8 toaddr, u32 data u16 crc
+// ret u8 ID, u8 fromaddr, u32 data, u16 crc
+#define SMCMD_FAST_UPDATE_CYCLE SMCMD_ID(2,SMCMD_MASK_0_PARAMS)
+#define SMCMD_FAST_UPDATE_CYCLE_RET SMCMD_ID(2,SMCMD_MASK_0_PARAMS|SMCMD_MASK_RETURN)
+
+
 #ifdef PROCESS_IMAGE_SUPPORT
 
 //PROCESS_IMAGE communication not supported by SM V2.0.0. placeholders here
diff --git a/sm_consts.c b/sm_consts.c
index 3ac98bb..62439af 100644
--- a/sm_consts.c
+++ b/sm_consts.c
@@ -59,3 +59,39 @@ const smuint8 table_crc16_lo[] = {
 	0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,

 	0x43, 0x83, 0x41, 0x81, 0x80, 0x40

 };

+

+//http://www.maxim-ic.com/appnotes.cfm/an_pk/3749

+const smuint8 table_crc8[] = {

+    0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15,

+    0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,

+    0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65,

+    0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,

+    0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5,

+    0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,

+    0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85,

+    0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,

+    0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2,

+    0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,

+    0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2,

+    0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,

+    0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32,

+    0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,

+    0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42,

+    0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,

+    0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C,

+    0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,

+    0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC,

+    0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,

+    0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C,

+    0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,

+    0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C,

+    0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,

+    0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B,

+    0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,

+    0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B,

+    0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13,

+    0xAE, 0xA9, 0xA0, 0xA7, 0xB2, 0xB5, 0xBC, 0xBB,

+    0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83,

+    0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB,

+    0xE6, 0xE1, 0xE8, 0xEF, 0xFA, 0xFD, 0xF4, 0xF3

+};