From b912f6291444b32015ff302af6669cf2b760e985 Mon Sep 17 00:00:00 2001 From: Tero K Date: Mon, 4 Jan 2016 12:52:41 +0200 Subject: Added smFastUpdateCycle function --- simplemotion.c | 72 +++++++++++++++++++++++++++++++++++++++++++++++++- simplemotion.h | 4 +++ simplemotion_private.h | 1 + sm485.h | 8 ++++++ sm_consts.c | 36 +++++++++++++++++++++++++ 5 files changed, 120 insertions(+), 1 deletion(-) 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 %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 +}; -- cgit v1.2.3