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/*******************************************************************************
* Copyright (c) 2016, ROBOTIS CO., LTD.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither the name of ROBOTIS nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/
/* Author: Leon Ryu Woon Jung */
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/*
* Protocol2PacketHandler.c
*
* Created on: 2016. 5. 4.
*/
#if defined(_WIN32) || defined(_WIN64)
#define WINDLLEXPORT
#endif
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "dynamixel_sdk/Protocol2PacketHandler.h"
#define TXPACKET_MAX_LEN (4*1024)
#define RXPACKET_MAX_LEN (4*1024)
///////////////// for Protocol 2.0 Packet /////////////////
#define PKT_HEADER0 0
#define PKT_HEADER1 1
#define PKT_HEADER2 2
#define PKT_RESERVED 3
#define PKT_ID 4
#define PKT_LENGTH_L 5
#define PKT_LENGTH_H 6
#define PKT_INSTRUCTION 7
#define PKT_ERROR 8
#define PKT_PARAMETER0 8
///////////////// Protocol 2.0 Error bit /////////////////
#define ERRNUM_RESULT_FAIL 1 // Failed to process the instruction packet.
#define ERRNUM_INSTRUCTION 2 // Instruction error
#define ERRNUM_CRC 3 // CRC check error
#define ERRNUM_DATA_RANGE 4 // Data range error
#define ERRNUM_DATA_LENGTH 5 // Data length error
#define ERRNUM_DATA_LIMIT 6 // Data limit error
#define ERRNUM_ACCESS 7 // Access error
#define ERRBIT_ALERT 128 //When the device has a problem, this bit is set to 1. Check "Device Status Check" value.
void PrintTxRxResult2(int result)
{
switch (result)
{
case COMM_SUCCESS:
printf("[TxRxResult] Communication success.\n");
break;
case COMM_PORT_BUSY:
printf("[TxRxResult] Port is in use!\n");
break;
case COMM_TX_FAIL:
printf("[TxRxResult] Failed transmit instruction packet!\n");
break;
case COMM_RX_FAIL:
printf("[TxRxResult] Failed get status packet from device!\n");
break;
case COMM_TX_ERROR:
printf("[TxRxResult] Incorrect instruction packet!\n");
break;
case COMM_RX_WAITING:
printf("[TxRxResult] Now recieving status packet!\n");
break;
case COMM_RX_TIMEOUT:
printf("[TxRxResult] There is no status packet!\n");
break;
case COMM_RX_CORRUPT:
printf("[TxRxResult] Incorrect status packet!\n");
break;
case COMM_NOT_AVAILABLE:
printf("[TxRxResult] Protocol does not support This function!\n");
break;
default:
break;
}
}
void PrintRxPacketError2(UINT8_T error)
{
if (error & ERRBIT_ALERT)
printf("[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!\n");
int _error = error & ~ERRBIT_ALERT;
switch (_error)
{
case 0:
break;
case ERRNUM_RESULT_FAIL:
printf("[RxPacketError] Failed to process the instruction packet!\n");
break;
case ERRNUM_INSTRUCTION:
printf("[RxPacketError] Undefined instruction or incorrect instruction!\n");
break;
case ERRNUM_CRC:
printf("[RxPacketError] CRC doesn't match!\n");
break;
case ERRNUM_DATA_RANGE:
printf("[RxPacketError] The data value is out of range!\n");
break;
case ERRNUM_DATA_LENGTH:
printf("[RxPacketError] The data length does not match as expected!\n");
break;
case ERRNUM_DATA_LIMIT:
printf("[RxPacketError] The data value exceeds the limit value!\n");
break;
case ERRNUM_ACCESS:
printf("[RxPacketError] Writing or Reading is not available to target address!\n");
break;
default:
printf("[RxPacketError] Unknown error code!\n");
break;
}
}
int GetLastTxRxResult2(int port_num)
{
return packetData[port_num].communication_result_;
}
UINT8_T GetLastRxPacketError2(int port_num)
{
return packetData[port_num].error_;
}
void SetDataWrite2(int port_num, UINT16_T data_length, UINT16_T data_pos, UINT32_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, (data_pos + data_length) * sizeof(UINT8_T));
switch (data_length)
{
case 1:
packetData[port_num].data_write_[data_pos + 0] = DXL_LOBYTE(DXL_LOWORD(data));
break;
case 2:
packetData[port_num].data_write_[data_pos + 0] = DXL_LOBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[data_pos + 1] = DXL_HIBYTE(DXL_LOWORD(data));
break;
case 4:
packetData[port_num].data_write_[data_pos + 0] = DXL_LOBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[data_pos + 1] = DXL_HIBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[data_pos + 2] = DXL_LOBYTE(DXL_HIWORD(data));
packetData[port_num].data_write_[data_pos + 3] = DXL_HIBYTE(DXL_HIWORD(data));
break;
default:
printf("[Set Data Write] failed... ");
break;
}
}
UINT32_T GetDataRead2(int port_num, UINT16_T data_length, UINT16_T data_pos)
{
switch (data_length)
{
case 1:
return packetData[port_num].data_read_[data_pos + 0];
case 2:
return DXL_MAKEWORD(packetData[port_num].data_read_[data_pos + 0], packetData[port_num].data_read_[data_pos + 1]);
case 4:
return DXL_MAKEDWORD(DXL_MAKEWORD(packetData[port_num].data_read_[data_pos + 0], packetData[port_num].data_read_[data_pos + 1])
, DXL_MAKEWORD(packetData[port_num].data_read_[data_pos + 2], packetData[port_num].data_read_[data_pos + 3]));
default:
printf("[Set Data Read] failed... ");
return 0;
}
}
unsigned short UpdateCRC(UINT16_T crc_accum, UINT8_T *data_blk_ptr, UINT16_T data_blk_size)
{
UINT16_T i, j;
UINT16_T crc_table[256] = { 0x0000,
0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027,
0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B,
0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF,
0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5,
0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093,
0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197,
0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE,
0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB,
0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9,
0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176,
0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123,
0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104,
0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D,
0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B,
0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A,
0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C,
0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5,
0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3,
0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7,
0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E,
0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B,
0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9,
0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC,
0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5,
0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243,
0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264,
0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E,
0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208,
0x820D, 0x8207, 0x0202 };
for (j = 0; j < data_blk_size; j++)
{
i = ((UINT16_T)(crc_accum >> 8) ^ *data_blk_ptr++) & 0xFF;
crc_accum = (crc_accum << 8) ^ crc_table[i];
}
return crc_accum;
}
void AddStuffing(UINT8_T *packet)
{
UINT8_T _s;
int i = 0, index = 0;
int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]);
int packet_length_out = packet_length_in;
UINT8_T temp[TXPACKET_MAX_LEN] = { 0 };
for (_s = PKT_HEADER0; _s <= PKT_LENGTH_H; _s++)
temp[_s] = packet[_s]; // FF FF FD XX ID LEN_L LEN_H
index = PKT_INSTRUCTION;
for (i = 0; i < packet_length_in - 2; i++) // except CRC
{
temp[index++] = packet[i + PKT_INSTRUCTION];
if (packet[i + PKT_INSTRUCTION] == 0xFD && packet[i + PKT_INSTRUCTION - 1] == 0xFF && packet[i + PKT_INSTRUCTION - 2] == 0xFF)
{ // FF FF FD
temp[index++] = 0xFD;
packet_length_out++;
}
}
temp[index++] = packet[PKT_INSTRUCTION + packet_length_in - 2];
temp[index++] = packet[PKT_INSTRUCTION + packet_length_in - 1];
if (packet_length_in != packet_length_out)
packet = (UINT8_T *)realloc(packet, index * sizeof(UINT8_T));
for (_s = 0; _s < index; _s++)
packet[_s] = temp[_s];
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packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out);
packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out);
}
void RemoveStuffing(UINT8_T *packet)
{
int i = 0, index = 0;
int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]);
int packet_length_out = packet_length_in;
index = PKT_INSTRUCTION;
for (i = 0; i < packet_length_in - 2; i++) // except CRC
{
if (packet[i + PKT_INSTRUCTION] == 0xFD && packet[i + PKT_INSTRUCTION + 1] == 0xFD && packet[i + PKT_INSTRUCTION - 1] == 0xFF && packet[i + PKT_INSTRUCTION - 2] == 0xFF)
{ // FF FF FD FD
packet_length_out--;
i++;
}
packet[index++] = packet[i + PKT_INSTRUCTION];
}
packet[index++] = packet[PKT_INSTRUCTION + packet_length_in - 2];
packet[index++] = packet[PKT_INSTRUCTION + packet_length_in - 1];
packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out);
packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out);
}
void TxPacket2(int port_num)
{
UINT16_T _total_packet_length = 0;
UINT16_T _written_packet_length = 0;
if (is_using_[port_num])
{
packetData[port_num].communication_result_ = COMM_PORT_BUSY;
return;
}
is_using_[port_num] = true;
// byte stuffing for header
AddStuffing(packetData[port_num].txpacket_);
// check max packet length
_total_packet_length = DXL_MAKEWORD(packetData[port_num].txpacket_[PKT_LENGTH_L], packetData[port_num].txpacket_[PKT_LENGTH_H]) + 7;
// 7: HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H
if (_total_packet_length > TXPACKET_MAX_LEN)
{
is_using_[port_num] = false;
packetData[port_num].communication_result_ = COMM_TX_ERROR;
return;
}
// make packet header
packetData[port_num].txpacket_[PKT_HEADER0] = 0xFF;
packetData[port_num].txpacket_[PKT_HEADER1] = 0xFF;
packetData[port_num].txpacket_[PKT_HEADER2] = 0xFD;
packetData[port_num].txpacket_[PKT_RESERVED] = 0x00;
// add CRC16
UINT16_T crc = UpdateCRC(0, packetData[port_num].txpacket_, _total_packet_length - 2); // 2: CRC16
packetData[port_num].txpacket_[_total_packet_length - 2] = DXL_LOBYTE(crc);
packetData[port_num].txpacket_[_total_packet_length - 1] = DXL_HIBYTE(crc);
// tx packet
ClearPort(port_num);
_written_packet_length = WritePort(port_num, packetData[port_num].txpacket_, _total_packet_length);
if (_total_packet_length != _written_packet_length)
{
is_using_[port_num] = false;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
return;
}
packetData[port_num].communication_result_ = COMM_SUCCESS;
}
void RxPacket2(int port_num)
{
UINT8_T _s;
UINT16_T _idx;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
UINT16_T _rx_length = 0;
UINT16_T _wait_length = 11;
// minimum length ( HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H )
while (true)
{
_rx_length += ReadPort(port_num, &packetData[port_num].rxpacket_[_rx_length], _wait_length - _rx_length);
if (_rx_length >= _wait_length)
{
_idx = 0;
// find packet header
for (_idx = 0; _idx < (_rx_length - 3); _idx++)
{
if ((packetData[port_num].rxpacket_[_idx] == 0xFF) && (packetData[port_num].rxpacket_[_idx + 1] == 0xFF) && (packetData[port_num].rxpacket_[_idx + 2] == 0xFD) && (packetData[port_num].rxpacket_[_idx + 3] != 0xFD))
break;
}
if (_idx == 0) // found at the beginning of the packet
{
if (packetData[port_num].rxpacket_[PKT_RESERVED] != 0x00 ||
packetData[port_num].rxpacket_[PKT_ID] > 0xFC ||
DXL_MAKEWORD(packetData[port_num].rxpacket_[PKT_LENGTH_L], packetData[port_num].rxpacket_[PKT_LENGTH_H]) > RXPACKET_MAX_LEN ||
packetData[port_num].rxpacket_[PKT_INSTRUCTION] != 0x55)
{
// remove the first byte in the packet
for (_s = 0; _s < _rx_length - 1; _s++)
packetData[port_num].rxpacket_[_s] = packetData[port_num].rxpacket_[1 + _s];
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_rx_length -= 1;
continue;
}
// re-calculate the exact length of the rx packet
if (_wait_length != DXL_MAKEWORD(packetData[port_num].rxpacket_[PKT_LENGTH_L], packetData[port_num].rxpacket_[PKT_LENGTH_H]) + PKT_LENGTH_H + 1)
{
_wait_length = DXL_MAKEWORD(packetData[port_num].rxpacket_[PKT_LENGTH_L], packetData[port_num].rxpacket_[PKT_LENGTH_H]) + PKT_LENGTH_H + 1;
continue;
}
if (_rx_length < _wait_length)
{
// check timeout
if (IsPacketTimeout(port_num) == true)
{
if (_rx_length == 0)
packetData[port_num].communication_result_ = COMM_RX_TIMEOUT;
else
packetData[port_num].communication_result_ = COMM_RX_CORRUPT;
break;
}
else
continue;
}
// verify CRC16
UINT16_T crc = DXL_MAKEWORD(packetData[port_num].rxpacket_[_wait_length - 2], packetData[port_num].rxpacket_[_wait_length - 1]);
if (UpdateCRC(0, packetData[port_num].rxpacket_, _wait_length - 2) == crc)
packetData[port_num].communication_result_ = COMM_SUCCESS;
else
packetData[port_num].communication_result_ = COMM_RX_CORRUPT;
break;
}
else
{
// remove unnecessary packets
for (_s = 0; _s < _rx_length - _idx; _s++)
packetData[port_num].rxpacket_[_s] = packetData[port_num].rxpacket_[_idx + _s];
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_rx_length -= _idx;
}
}
else
{
// check timeout
if (IsPacketTimeout(port_num) == true)
{
if (_rx_length == 0)
packetData[port_num].communication_result_ = COMM_RX_TIMEOUT;
else
packetData[port_num].communication_result_ = COMM_RX_CORRUPT;
break;
}
}
}
is_using_[port_num] = false;
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
RemoveStuffing(packetData[port_num].rxpacket_);
}
// NOT for BulkRead / SyncRead instruction
void TxRxPacket2(int port_num)
{
packetData[port_num].communication_result_ = COMM_TX_FAIL;
// tx packet
TxPacket2(port_num);
if (packetData[port_num].communication_result_ != COMM_SUCCESS)
return;
// (ID == Broadcast ID && NOT BulkRead) == no need to wait for status packet
// (Instruction == Action) == no need to wait for status packet
if ((packetData[port_num].txpacket_[PKT_ID] == BROADCAST_ID && packetData[port_num].txpacket_[PKT_INSTRUCTION] != INST_BULK_READ) ||
(packetData[port_num].txpacket_[PKT_ID] == BROADCAST_ID && packetData[port_num].txpacket_[PKT_INSTRUCTION] != INST_SYNC_READ) ||
(packetData[port_num].txpacket_[PKT_INSTRUCTION] == INST_ACTION))
{
is_using_[port_num] = false;
return;
}
// set packet timeout
if (packetData[port_num].txpacket_[PKT_INSTRUCTION] == INST_READ)
SetPacketTimeout(port_num, (UINT16_T)(DXL_MAKEWORD(packetData[port_num].txpacket_[PKT_PARAMETER0 + 2], packetData[port_num].txpacket_[PKT_PARAMETER0 + 3]) + 11));
else
SetPacketTimeout(port_num, (UINT16_T)11); // HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H
RxPacket2(port_num);
// check txpacket ID == rxpacket ID
if (packetData[port_num].txpacket_[PKT_ID] != packetData[port_num].rxpacket_[PKT_ID])
RxPacket2(port_num);
if (packetData[port_num].communication_result_ == COMM_SUCCESS && packetData[port_num].txpacket_[PKT_ID] != BROADCAST_ID)
{
packetData[port_num].error_ = (UINT8_T)packetData[port_num].rxpacket_[PKT_ERROR];
}
}
void Ping2(int port_num, UINT8_T id)
{
PingGetModelNum2(port_num, id);
}
UINT16_T PingGetModelNum2(int port_num, UINT8_T id)
{
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 10);
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, 14);
if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result_ = COMM_NOT_AVAILABLE;
return 0;
}
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 3;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_PING;
TxRxPacket2(port_num);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return DXL_MAKEWORD(packetData[port_num].rxpacket_[PKT_PARAMETER0 + 1], packetData[port_num].rxpacket_[PKT_PARAMETER0 + 2]);
return 0;
}
void BroadcastPing2(int port_num)
{
int _id;
UINT16_T _idx;
packetData[port_num].broadcastping_id_list = (UINT8_T *)calloc(255, sizeof(UINT8_T));
const int STATUS_LENGTH = 14;
int _result = COMM_TX_FAIL;
for (_id = 0; _id < 255; _id++)
packetData[port_num].broadcastping_id_list[_id] = 255;
UINT16_T _rx_length = 0;
UINT16_T _wait_length = STATUS_LENGTH * MAX_ID;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 10 * sizeof(UINT8_T));
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, STATUS_LENGTH * MAX_ID * sizeof(UINT8_T));
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packetData[port_num].txpacket_[PKT_ID] = BROADCAST_ID;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 3;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_PING;
TxPacket2(port_num);
if (packetData[port_num].communication_result_ != COMM_SUCCESS)
{
is_using_[port_num] = false;
return;
}
// set rx timeout
SetPacketTimeout(port_num, (UINT16_T)(_wait_length * 30));
while (1)
{
_rx_length += ReadPort(port_num, &packetData[port_num].rxpacket_[_rx_length], _wait_length - _rx_length);
if (IsPacketTimeout(port_num) == true)// || _rx_length >= _wait_length)
break;
}
is_using_[port_num] = false;
if (_rx_length == 0)
{
packetData[port_num].communication_result_ = COMM_RX_TIMEOUT;
return;
}
while (1)
{
if (_rx_length < STATUS_LENGTH)
{
packetData[port_num].communication_result_ = COMM_RX_CORRUPT;
}
_idx = 0;
// find packet header
for (_idx = 0; _idx < (_rx_length - 2); _idx++)
{
if (packetData[port_num].rxpacket_[_idx] == 0xFF && packetData[port_num].rxpacket_[_idx + 1] == 0xFF && packetData[port_num].rxpacket_[_idx + 2] == 0xFD)
break;
}
if (_idx == 0) // found at the beginning of the packet
{
// verify CRC16
UINT16_T crc = DXL_MAKEWORD(packetData[port_num].rxpacket_[STATUS_LENGTH - 2], packetData[port_num].rxpacket_[STATUS_LENGTH - 1]);
if (UpdateCRC(0, packetData[port_num].rxpacket_, STATUS_LENGTH - 2) == crc)
{
packetData[port_num].broadcastping_id_list[packetData[port_num].rxpacket_[PKT_ID]] = packetData[port_num].rxpacket_[PKT_ID];
packetData[port_num].rxpacket_[_s] = packetData[port_num].rxpacket_[STATUS_LENGTH + _s];
_rx_length -= STATUS_LENGTH;
if (_rx_length == 0)
}
else
{
_result = COMM_RX_CORRUPT;
// remove header (0xFF 0xFF 0xFD)
packetData[port_num].rxpacket_[_s] = packetData[port_num].rxpacket_[3 + _s];
_rx_length -= 3;
}
}
else
{
// remove unnecessary packets
packetData[port_num].rxpacket_[_s] = packetData[port_num].rxpacket_[_idx + _s];
_rx_length -= _idx;
}
}
packetData[port_num].communication_result_ = _result;
return;
}
bool GetBroadcastPingResult2(int port_num, int id)
{
if (packetData[port_num].broadcastping_id_list[id] == id)
return true;
else
return false;
}
void Action2(int port_num, UINT8_T id)
{
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 10);
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 3;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_ACTION;
TxRxPacket2(port_num);
}
void Reboot2(int port_num, UINT8_T id)
{
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 10);
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, 11);
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 3;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_REBOOT;
TxRxPacket2(port_num);
}
void FactoryReset2(int port_num, UINT8_T id, UINT8_T option)
{
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 11);
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, 11);
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packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 4;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_FACTORY_RESET;
packetData[port_num].txpacket_[PKT_PARAMETER0] = option;
TxRxPacket2(port_num);
}
void ReadTx2(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
{
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)malloc(14);
if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result_ = COMM_NOT_AVAILABLE;
return;
}
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 7;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_READ;
packetData[port_num].txpacket_[PKT_PARAMETER0 + 0] = (UINT8_T)DXL_LOBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 1] = (UINT8_T)DXL_HIBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 2] = (UINT8_T)DXL_LOBYTE(length);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 3] = (UINT8_T)DXL_HIBYTE(length);
TxPacket2(port_num);
// set packet timeout
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
SetPacketTimeout(port_num, (UINT16_T)(length + 11));
}
void ReadRx2(int port_num, UINT16_T length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, RXPACKET_MAX_LEN); //(length + 11 + (length/3)); // (length/3): consider stuffing
RxPacket2(port_num);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
{
if (packetData[port_num].error_ != 0)
packetData[port_num].error_ = (UINT8_T)packetData[port_num].rxpacket_[PKT_ERROR];
for (_s = 0; _s < length; _s++)
packetData[port_num].data_read_[_s] = packetData[port_num].rxpacket_[PKT_PARAMETER0 + 1 + _s];
}
}
void ReadTxRx2(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, 14);
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, RXPACKET_MAX_LEN); //(length + 11 + (length/3)); // (length/3): consider stuffing
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if (id >= BROADCAST_ID)
{
packetData[port_num].communication_result_ = COMM_NOT_AVAILABLE;
return;
}
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = 7;
packetData[port_num].txpacket_[PKT_LENGTH_H] = 0;
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_READ;
packetData[port_num].txpacket_[PKT_PARAMETER0 + 0] = (UINT8_T)DXL_LOBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 1] = (UINT8_T)DXL_HIBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 2] = (UINT8_T)DXL_LOBYTE(length);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 3] = (UINT8_T)DXL_HIBYTE(length);
TxRxPacket2(port_num);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
{
if (packetData[port_num].error_ != 0)
packetData[port_num].error_ = (UINT8_T)packetData[port_num].rxpacket_[PKT_ERROR];
for (_s = 0; _s < length; _s++)
packetData[port_num].data_read_[_s] = packetData[port_num].rxpacket_[PKT_PARAMETER0 + 1 + _s];
}
}
void Read1ByteTx2(int port_num, UINT8_T id, UINT16_T address)
{
ReadTx2(port_num, id, address, 1);
}
UINT8_T Read1ByteRx2(int port_num)
{
packetData[port_num].data_read_ = (UINT8_T *)realloc(packetData[port_num].data_read_, 1 * sizeof(UINT8_T));
packetData[port_num].data_read_[0] = 0;
ReadRx2(port_num, 1);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return packetData[port_num].data_read_[0];
return 0;
}
UINT8_T Read1ByteTxRx2(int port_num, UINT8_T id, UINT16_T address)
{
packetData[port_num].data_read_ = (UINT8_T *)realloc(packetData[port_num].data_read_, 1 * sizeof(UINT8_T));
packetData[port_num].data_read_[0] = 0;
ReadTxRx2(port_num, id, address, 1);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return packetData[port_num].data_read_[0];
return 0;
}
void Read2ByteTx2(int port_num, UINT8_T id, UINT16_T address)
{
ReadTx2(port_num, id, address, 2);
}
UINT16_T Read2ByteRx2(int port_num)
{
packetData[port_num].data_read_ = (UINT8_T *)realloc(packetData[port_num].data_read_, 2 * sizeof(UINT8_T));
packetData[port_num].data_read_[0] = 0;
packetData[port_num].data_read_[1] = 0;
ReadRx2(port_num, 2);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return DXL_MAKEWORD(packetData[port_num].data_read_[0], packetData[port_num].data_read_[1]);
return 0;
}
UINT16_T Read2ByteTxRx2(int port_num, UINT8_T id, UINT16_T address)
{
packetData[port_num].data_read_ = (UINT8_T *)realloc(packetData[port_num].data_read_, 2 * sizeof(UINT8_T));
packetData[port_num].data_read_[0] = 0;
packetData[port_num].data_read_[1] = 0;
ReadTxRx2(port_num, id, address, 2);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return DXL_MAKEWORD(packetData[port_num].data_read_[0], packetData[port_num].data_read_[1]);
return 0;
}
void Read4ByteTx2(int port_num, UINT8_T id, UINT16_T address)
{
ReadTx2(port_num, id, address, 4);
}
UINT32_T Read4ByteRx2(int port_num)
{
packetData[port_num].data_read_ = (UINT8_T *)realloc(packetData[port_num].data_read_, 4 * sizeof(UINT8_T));
packetData[port_num].data_read_[0] = 0;
packetData[port_num].data_read_[1] = 0;
packetData[port_num].data_read_[2] = 0;
packetData[port_num].data_read_[3] = 0;
ReadRx2(port_num, 4);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return DXL_MAKEDWORD(DXL_MAKEWORD(packetData[port_num].data_read_[0], packetData[port_num].data_read_[1]), DXL_MAKEWORD(packetData[port_num].data_read_[2], packetData[port_num].data_read_[3]));
return 0;
}
UINT32_T Read4ByteTxRx2(int port_num, UINT8_T id, UINT16_T address)
{
packetData[port_num].data_read_ = (UINT8_T *)realloc(packetData[port_num].data_read_, 4 * sizeof(UINT8_T));
packetData[port_num].data_read_[0] = 0;
packetData[port_num].data_read_[1] = 0;
packetData[port_num].data_read_[2] = 0;
packetData[port_num].data_read_[3] = 0;
ReadTxRx2(port_num, id, address, 4);
if (packetData[port_num].communication_result_ == COMM_SUCCESS)
return DXL_MAKEDWORD(DXL_MAKEWORD(packetData[port_num].data_read_[0], packetData[port_num].data_read_[1]), DXL_MAKEWORD(packetData[port_num].data_read_[2], packetData[port_num].data_read_[3]));
return 0;
}
void WriteTxOnly2(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, length + 12);
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(length + 5);
packetData[port_num].txpacket_[PKT_LENGTH_H] = DXL_HIBYTE(length + 5);
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_WRITE;
packetData[port_num].txpacket_[PKT_PARAMETER0 + 0] = (UINT8_T)DXL_LOBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 1] = (UINT8_T)DXL_HIBYTE(address);
for (_s = 0; _s < length; _s++)
packetData[port_num].txpacket_[PKT_PARAMETER0 + 2 + _s] = packetData[port_num].data_write_[_s];
TxPacket2(port_num);
is_using_[port_num] = false;
}
void WriteTxRx2(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, length + 12);
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, 11);
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packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(length + 5);
packetData[port_num].txpacket_[PKT_LENGTH_H] = DXL_HIBYTE(length + 5);
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_WRITE;
packetData[port_num].txpacket_[PKT_PARAMETER0 + 0] = (UINT8_T)DXL_LOBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 1] = (UINT8_T)DXL_HIBYTE(address);
for (_s = 0; _s < length; _s++)
packetData[port_num].txpacket_[PKT_PARAMETER0 + 2 + _s] = packetData[port_num].data_write_[_s];
TxRxPacket2(port_num);
}
void Write1ByteTxOnly2(int port_num, UINT8_T id, UINT16_T address, UINT8_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, 1 * sizeof(UINT8_T));
packetData[port_num].data_write_[0] = data;
WriteTxOnly2(port_num, id, address, 1);
}
void Write1ByteTxRx2(int port_num, UINT8_T id, UINT16_T address, UINT8_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, 1 * sizeof(UINT8_T));
packetData[port_num].data_write_[0] = data;
WriteTxRx2(port_num, id, address, 1);
}
void Write2ByteTxOnly2(int port_num, UINT8_T id, UINT16_T address, UINT16_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, 2 * sizeof(UINT8_T));
packetData[port_num].data_write_[0] = DXL_LOBYTE(data);
packetData[port_num].data_write_[1] = DXL_HIBYTE(data);
WriteTxOnly2(port_num, id, address, 2);
}
void Write2ByteTxRx2(int port_num, UINT8_T id, UINT16_T address, UINT16_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, 2 * sizeof(UINT8_T));
packetData[port_num].data_write_[0] = DXL_LOBYTE(data);
packetData[port_num].data_write_[1] = DXL_HIBYTE(data);
WriteTxRx2(port_num, id, address, 2);
}
void Write4ByteTxOnly2(int port_num, UINT8_T id, UINT16_T address, UINT32_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, 4 * sizeof(UINT8_T));
packetData[port_num].data_write_[0] = DXL_LOBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[1] = DXL_HIBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[2] = DXL_LOBYTE(DXL_HIWORD(data));
packetData[port_num].data_write_[3] = DXL_HIBYTE(DXL_HIWORD(data));
WriteTxOnly2(port_num, id, address, 4);
}
void Write4ByteTxRx2(int port_num, UINT8_T id, UINT16_T address, UINT32_T data)
{
packetData[port_num].data_write_ = (UINT8_T *)realloc(packetData[port_num].data_write_, 4 * sizeof(UINT8_T));
packetData[port_num].data_write_[0] = DXL_LOBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[1] = DXL_HIBYTE(DXL_LOWORD(data));
packetData[port_num].data_write_[2] = DXL_LOBYTE(DXL_HIWORD(data));
packetData[port_num].data_write_[3] = DXL_HIBYTE(DXL_HIWORD(data));
WriteTxRx2(port_num, id, address, 4);
}
void RegWriteTxOnly2(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, length + 12);
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(length + 5);
packetData[port_num].txpacket_[PKT_LENGTH_H] = DXL_HIBYTE(length + 5);
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_REG_WRITE;
packetData[port_num].txpacket_[PKT_PARAMETER0 + 0] = (UINT8_T)DXL_LOBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 1] = (UINT8_T)DXL_HIBYTE(address);
for (_s = 0; _s < length; _s++)
packetData[port_num].txpacket_[PKT_PARAMETER0 + 2 + _s] = packetData[port_num].data_write_[_s];
TxPacket2(port_num);
is_using_[port_num] = false;
}
void RegWriteTxRx2(int port_num, UINT8_T id, UINT16_T address, UINT16_T length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, length + 12);
packetData[port_num].rxpacket_ = (UINT8_T *)realloc(packetData[port_num].rxpacket_, 11);
packetData[port_num].txpacket_[PKT_ID] = id;
packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(length + 5);
packetData[port_num].txpacket_[PKT_LENGTH_H] = DXL_HIBYTE(length + 5);
packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_REG_WRITE;
packetData[port_num].txpacket_[PKT_PARAMETER0 + 0] = (UINT8_T)DXL_LOBYTE(address);
packetData[port_num].txpacket_[PKT_PARAMETER0 + 1] = (UINT8_T)DXL_HIBYTE(address);
for (_s = 0; _s < length; _s++)
packetData[port_num].txpacket_[PKT_PARAMETER0 + 2 + _s] = packetData[port_num].data_write_[_s];
TxRxPacket2(port_num);
}
void SyncReadTx2(int port_num, UINT16_T start_address, UINT16_T data_length, UINT16_T param_length)
{
UINT8_T _s;
packetData[port_num].communication_result_ = COMM_TX_FAIL;
packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, param_length + 14);
// 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H
packetData[port_num].txpacket_[PKT_ID] = BROADCAST_ID;
packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H