├── CMakeLists.txt
├── README.md
├── examples
    └── HiwonderCommand.cpp
├── tests
    ├── UnitTest.hpp
    └── ut.cpp
├── src
    └── HiwonderBusServo.hpp
└── LICENSE


/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | #
 2 | # This file is part of HiwonderRPI library
 3 | # 
 4 | # HiwonderRPI is free software: you can redistribute it and/or modify 
 5 | # it under ther terms of the GNU General Public License as published by 
 6 | # the Free Software Foundation, either version 3 of the License, or 
 7 | # (at your option) any later version.
 8 | # 
 9 | # HiwonderRPI is distributed in the hope that it will be useful, 
10 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 
11 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
12 | # GNU General Public License for more details.
13 | # 
14 | # You should have received a copy of the GNU General Public License 
15 | # along with HiwonderRPI. If not, see <https://www.gnu.org/licenses/>.
16 | # 
17 | # Author: Adrian Maire escain (at) gmail.com
18 | #
19 | 
20 | # Define minimal CMake version
21 | cmake_minimum_required( VERSION 3.0 )
22 | 
23 | # Project name
24 | project ( "HiwonderRPI" )
25 | # C++17
26 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -Wall -pedantic")
27 | 
28 | include_directories("src")
29 | 
30 | # Command-line example
31 | add_executable("hiwonder" examples/HiwonderCommand.cpp)
32 | target_link_libraries("hiwonder" "wiringPi")
33 | 
34 | # Command-line example
35 | add_executable("ut" tests/ut.cpp)
36 | target_link_libraries("ut" "wiringPi")
37 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | HiwonderRPI
 2 | ===========
 3 | 
 4 | 
 5 | HiwonderRPI is a C++ library to control Hiwonder UART servos with a Raspberry PI.  
 6 | Even if it uses some of the modern C++ features, it is designed with performance and usability in mind.
 7 | 
 8 | Install & use
 9 | -------------
10 | 
11 | 1) Make sure you have git, g++(or equivalent), cmake and wiringPi installed:
12 | 
13 |     $ sudo apt-get install git g++ cmake wiringpi
14 | 
15 | 2) Make sure UART is activated on your RPI
16 | 
17 |     $ sudo raspi-config
18 |       *  5 Interfacing Options
19 |       *  P6 Serial
20 |       *  login shell to be accessible over serial? <NO>
21 |       *  Serial Port Hardware? <YES>
22 |       *  Finish
23 | 
24 | 3) Download the project
25 | 
26 |     $ git clone https://github.com/Escain/HiwonderRPI ./hiwonder_rpi  
27 |     $ cd ..
28 | 
29 | 4) Configure the project
30 | 
31 |     $ mkdir build_hiwonder_rpi  
32 |     $ cd build_hiwonder_rpi  
33 |     $ cmake ../hiwonder_rpi  
34 | 
35 | 5) Build the project:
36 | 
37 |     $ make
38 | 
39 | 6) Test something
40 | 
41 |     $ sudo ./hiwonder
42 | 
43 | 
44 | Feedback & Suggestions
45 | ----------------------
46 | 
47 | For any feedback or suggestion:
48 | 
49 | https://github.com/Escain/HiwonderRPI/discussions
50 | 
51 | Issues
52 | ------
53 | 
54 | If you found a bug or issue, feel free to open an issue at https://github.com/Escain/HiwonderRPI/issues
55 | 
56 | If you are not sure it is an issue, feel free to open a feedback/discussion: https://github.com/Escain/HiwonderRPI/discussions
57 | 
58 | Questions
59 | ---------
60 | 
61 | Please, prefer to post questions at https://www.stackoverflow.com or https://electronics.stackexchange.com and use the tag `[hiwonderrpi]`.
62 | This make them available for other users as well.
63 | 


--------------------------------------------------------------------------------
/examples/HiwonderCommand.cpp:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * This file is part of HiwonderRPI library
  3 |  * 
  4 |  * HiwonderRPI is free software: you can redistribute it and/or modify 
  5 |  * it under ther terms of the GNU General Public License as published by 
  6 |  * the Free Software Foundation, either version 3 of the License, or 
  7 |  * (at your option) any later version.
  8 |  * 
  9 |  * HiwonderRPI is distributed in the hope that it will be useful, 
 10 |  * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 11 |  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
 12 |  * GNU General Public License for more details.
 13 |  * 
 14 |  * You should have received a copy of the GNU General Public License 
 15 |  * along with HiwonderRPI. If not, see <https://www.gnu.org/licenses/>.
 16 |  * 
 17 |  * Author: Adrian Maire escain (at) gmail.com
 18 |  */
 19 | 
 20 | #include <iostream>
 21 | #include <vector>
 22 | #include "HiwonderBusServo.hpp"
 23 | 
 24 | 
 25 | // Some raspian OS still don't have C++17 -> no std::optional
 26 | // This is a very incomplete std::optional implementation
 27 | #if __has_include(<optional>)
 28 | #include <optional>
 29 | #else
 30 | namespace std
 31 | {
 32 | 	template <typename T>
 33 | 	struct optional
 34 | 	{
 35 | 		bool set=false;
 36 | 		T value;
 37 | 		optional() = default;
 38 | 		optional( bool opt ){}
 39 | 		optional( T t): set(true), value(t){}
 40 | 		operator bool() const {return set;}
 41 | 		const T& operator*() const {return value;}
 42 | 	};
 43 | 	
 44 | 	static constexpr bool nullopt = false;
 45 | }
 46 | #endif
 47 | 
 48 | 
 49 | /// Parse and check an argument for a servo ID
 50 | ///@arg str: input string
 51 | ///@arg pos: argument position, for error message
 52 | ///@return servo id
 53 | std::optional<uint8_t> getServoId(const std::string& str, int pos)
 54 | {
 55 | 	uint8_t id=0;
 56 | 	try
 57 | 	{
 58 | 		id = std::stoi(str);
 59 | 	}
 60 | 	catch(...)
 61 | 	{
 62 | 		std::cout << "Error, argument " << pos << " expected "
 63 | 		    "to be a valid servo id" << std::endl;
 64 | 		return std::nullopt;
 65 | 	}
 66 | 	return id;
 67 | }
 68 | 
 69 | 
 70 | /// Parse and check an argument for a servo angle
 71 | ///@arg str: input string
 72 | ///@arg pos: argument position, for error message
 73 | ///@return servo angle
 74 | std::optional<uint16_t> getServoAngle(const std::string& str, int pos)
 75 | {
 76 | 	uint16_t angle=0;
 77 | 	try
 78 | 	{
 79 | 		angle = std::stoi(str);
 80 | 	}
 81 | 	catch(...)
 82 | 	{
 83 | 		std::cout << "Error, argument " << pos << " expected "
 84 | 		    "to be a valid angle" << std::endl;
 85 | 		return std::nullopt;
 86 | 	}
 87 | 	
 88 | 	if (angle <0 || angle >1000)
 89 | 	{
 90 | 		std::cout << "Error, angle " << pos << " must be in the"
 91 | 		    "range [0-1000]" << std::endl;
 92 | 		return std::nullopt;
 93 | 	}
 94 | 	
 95 | 	return angle;
 96 | }
 97 | 
 98 | /// Print the command help message
 99 | void printHelp()
100 | {
101 | 	std::cout << 
102 | 	"Very minimal command to manage Hiwonder servo. \n"
103 | 	" ./hiwonder [command] arg1 arg2 ...\n"
104 | 	"\n"
105 | 	"Command list:\n"
106 | 	" - set_middle <id>: Set the servo with id=<id> to it middle position (500)\n"
107 | 	" - move <id> <angle>: Set the servo with id=<id> to it position=<angle> in 0s\n"
108 | 	" - read_voltage <id>: Return the input voltage for the servo with id=<id>\n"
109 | 	" - read_position <id>: Return the current position of the servo with id=<id>" << std::endl;
110 | }
111 | 
112 | bool checkArguments( int num, int exp, const std::string& name )
113 | {
114 | 	if (num!=exp+2)
115 | 	{
116 | 		std::cout << "Error: " << name << " command expect " << exp << " arguments" << std::endl;
117 | 		printHelp();
118 | 		return false;
119 | 	}
120 | 	return true;
121 | }
122 | 
123 | 
124 | /// main function
125 | auto main(int num, char* args[]) ->int
126 | {
127 | 	if (1 >= num)
128 | 	{
129 | 		printHelp();
130 | 		return 0;
131 | 	}
132 | 	
133 | 	std::vector<std::string> argsStr;
134 | 	for (int i=0; i< num; ++i) argsStr.push_back( args[i]);
135 | 	const auto& command = argsStr[1];
136 | 
137 | 	if (command=="set_middle")
138 | 	{
139 | 		if (!checkArguments(num, 1, "set_middle")) return 1;
140 | 		
141 | 		auto idOpt = getServoId(argsStr[2],1);
142 | 		if (!idOpt) return 1;
143 | 		
144 | 		HiwonderRpi::HiwonderBusServo servo(*idOpt);
145 | 		
146 | 		servo.moveTimeWrite( 500, 0);
147 | 		delay(1500);
148 | 	}
149 | 	else if (command == "move")
150 | 	{
151 | 		if (!checkArguments(num, 2, "move")) return 1;
152 | 		
153 | 		auto idOpt = getServoId(argsStr[2],1);
154 | 		if (!idOpt) return 1;
155 | 		auto angleOpt = getServoAngle(argsStr[3],2);
156 | 		if (!angleOpt) return 1;
157 | 		
158 | 		HiwonderRpi::HiwonderBusServo servo(*idOpt);
159 | 
160 | 		servo.moveTimeWrite( *angleOpt, 0);
161 | 		delay(3000);
162 | 	}
163 | 	else if (command == "read_voltage")
164 | 	{
165 | 		if (!checkArguments(num, 1, "read_voltage")) return 1;
166 | 		
167 | 		auto idOpt = getServoId(argsStr[2],1);
168 | 		if (!idOpt) return 1;
169 | 		
170 | 		HiwonderRpi::HiwonderBusServo servo(*idOpt);
171 | 		std::cout << "    " << static_cast<float>(servo.vinRead())/1000.0f << "V" << std::endl;
172 | 	}
173 | 	else if (command == "read_position")
174 | 	{
175 | 		if (!checkArguments(num, 1, "read_position")) return 1;
176 | 		
177 | 		auto idOpt = getServoId(argsStr[2],1);
178 | 		if (!idOpt) return 1;
179 | 		
180 | 		HiwonderRpi::HiwonderBusServo servo(*idOpt);
181 | 		std::cout << "    " << static_cast<float>(servo.posRead())*0.24f << "º" << std::endl;
182 | 	}
183 | 	else if (command == "demo")
184 | 	{
185 | 		std::cout <<  "Demoing..." <<  std::endl;
186 | 		//demo(fd);
187 | 	}
188 | 	else
189 | 	{
190 | 		printHelp();
191 | 	}
192 | }
193 | 


--------------------------------------------------------------------------------
/tests/UnitTest.hpp:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * This file is part of HiwonderRPI library
  3 |  * 
  4 |  * HiwonderRPI is free software: you can redistribute it and/or modify 
  5 |  * it under ther terms of the GNU General Public License as published by 
  6 |  * the Free Software Foundation, either version 3 of the License, or 
  7 |  * (at your option) any later version.
  8 |  * 
  9 |  * HiwonderRPI is distributed in the hope that it will be useful, 
 10 |  * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 11 |  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
 12 |  * GNU General Public License for more details.
 13 |  * 
 14 |  * You should have received a copy of the GNU General Public License 
 15 |  * along with HiwonderRPI. If not, see <https://www.gnu.org/licenses/>.
 16 |  * 
 17 |  * Author: Adrian Maire escain (at) gmail.com
 18 |  */
 19 | 
 20 | #include <iostream>
 21 | #include <string>
 22 | #include <functional>
 23 | #include <list>
 24 | 
 25 | /*
 26 |  * Create tests in the following way:
 27 |  * UNIT_TEST(NameOfTheTest)
 28 |  * {
 29 |  *     ASSERT(myFunction()==expectedResult);
 30 |  * }
 31 |  *
 32 |  * Create unit_tests with a base clase like
 33 |  * UNIT_TEST(NameOfTheTest, BaseClass)
 34 |  * ...
 35 |  *
 36 |  * You may use the constructor to setup element, and use
 37 |  * Base member in your tests.
 38 |  */
 39 | 
 40 | //*-----------------------------------------------------------------------
 41 | /// Base class for all unit-test
 42 | class TEST
 43 | {
 44 | 	bool m_result=true; ///save the result of the test: true==pass, false==Fail
 45 | 	char _unused[7];       /// Avoid alignment warning
 46 | public:
 47 | 	virtual std::string getName() const =0; /// Return the textual name of the test
 48 | 	virtual ~TEST() = default;
 49 | 	virtual void run()=0;                   /// Run the test
 50 | 
 51 | 	void setFail(){m_result=false;}         /// Save the result of the test Pass/true, Fail/false
 52 | 	bool isPassed(){return m_result;}       /// Retrieve the result of the test
 53 | };
 54 | 
 55 | //*------------------------------------------------------------------------
 56 | /// Registry to save all classes
 57 | class Registry
 58 | {
 59 | public:
 60 | 	using factoryMethod = std::function<TEST*()>;
 61 | 
 62 |     static void registerClass(const std::string& name, factoryMethod meth)
 63 |     {
 64 | 		registry.push_back(std::make_pair(name, meth));
 65 |     }
 66 | 	static const std::list<std::pair<std::string, factoryMethod>>& getRegistry() { return registry; }
 67 | 
 68 | private:
 69 | 	static std::list<std::pair<std::string, factoryMethod>> registry;
 70 | };
 71 | 
 72 | std::list<std::pair<std::string, Registry::factoryMethod>> Registry::registry;
 73 | 
 74 | 
 75 | //*-------------------------------------------------------------------------
 76 | /// ASSERT MACROS
 77 | #define ASSERT(cond)                                         \
 78 | 	if( !(cond) )                                            \
 79 | 	{                                                        \
 80 | 	    std::cout <<  "    " << __LINE__ << " FAIL ASSERT: " \
 81 | 	        << getName() << " : " << #cond << std::endl;     \
 82 | 	    setFail();                                           \
 83 | 	    return;                                              \
 84 | 	}
 85 | 
 86 | #define ASSERT_EQ(a,b)                                       \
 87 | 	if(a!=b)                                                 \
 88 | 	{                                                        \
 89 | 	    std::cout << "    " << __LINE__ << " FAIL EQ: "      \
 90 | 	        << getName() << " : " << #a << "("<< a <<        \
 91 | 	        ") != "<<#b <<"(" <<b<<")" << std::endl;         \
 92 | 	    setFail();                                           \
 93 | 	    return;                                              \
 94 | 	}
 95 | 
 96 | #define ASSERT_NEQ(a,b)                                      \
 97 | 	if(a!=b)                                                 \
 98 | 	{                                                        \
 99 | 	    std::cout << "    " << __LINE__ << " FAIL NEQ: "     \
100 | 	        << getName() << " : " << #a << "("<< a <<        \
101 | 	        ") == "<<#b <<"(" <<b<<")" << std::endl;         \
102 | 	    setFail();                                           \
103 | 	    return;                                              \
104 | 	}
105 | 
106 | 
107 | //*-------------------------------------------------------------------------
108 | #define REGISTER_CLASS(ClassType)                            \
109 | 	static TEST* createInstance()                            \
110 | 	{                                                        \
111 | 	    return new ClassType();                              \
112 | 	}                                                        \
113 | 	static int initRegistry()                                \
114 | 	{                                                        \
115 | 	    Registry::registerClass(                             \
116 | 	        std::string(#ClassType),                         \
117 | 	        ClassType::createInstance);                      \
118 | 	    return 0;                                            \
119 | 	}                                                        \
120 | 	static const int regToken;                               \
121 | 
122 | 
123 | #define DEFINE_REG_CLASS(ClassType)                          \
124 | 	const int ClassType::regToken = ClassType::initRegistry();
125 | 
126 | /// UNIT_TEST standalone, without base class
127 | #define UNIT_TEST1(name)                                     \
128 | 	struct name: public TEST                                 \
129 | 	{                                                        \
130 | 		std::string getName() const override                 \
131 | 		{ return #name;}                                     \
132 | 		void run() override;                                 \
133 | 		REGISTER_CLASS(name)                                 \
134 | 	};                                                       \
135 | 	DEFINE_REG_CLASS(name)                                   \
136 |     void name::run()
137 | 
138 | /// UNIT_TEST with base-class
139 | #define UNIT_TEST2(name,Base)                                \
140 | 	struct name: public TEST, public Base                    \
141 | 	{                                                        \
142 | 		std::string getName() const override                 \
143 | 		{ return #name;}                                     \
144 | 		void run() override;                                 \
145 | 		REGISTER_CLASS(name)                                 \
146 | 	};                                                       \
147 | 	DEFINE_REG_CLASS(name)                                   \
148 | 	void name::run()
149 | 
150 | 
151 | //*----------------------------------------------------------------------
152 | // Make UNIT_TEST to be overloaded for one or two parameters
153 | #define GET_MACRO(_1,_2,NAME,...)                            \
154 | 	NAME
155 | 
156 | #define UNIT_TEST(...)                                       \
157 | 	GET_MACRO(__VA_ARGS__, UNIT_TEST2, UNIT_TEST1, _1)(__VA_ARGS__)
158 | 
159 | 
160 | 
161 | //*----------------------------------------------------------------------
162 | // Main function, calling automatically all UNIT_TEST
163 | int main()
164 | {
165 | 	size_t count = 0;
166 | 	size_t countPassed = 0;
167 | 	for(auto entry : Registry::getRegistry())
168 | 	{
169 | 		const auto& constructor = entry.second;
170 | 		auto* obj = constructor();
171 | 
172 | 		std::cout << "    RUNNING: " << obj->getName() << std::endl;
173 | 		obj->run();
174 | 		if (!obj->isPassed())
175 | 		{
176 | 			std::cout << "FAILED: " << obj->getName() << std::endl;
177 | 		}
178 | 		countPassed += obj->isPassed()?1:0;
179 | 		count++;
180 | 	}
181 | 
182 | 	if (count == countPassed)
183 | 	{
184 | 		std::cout << "ALL TEST PASSED: " << count << std::endl;
185 | 	}
186 | 	else
187 | 	{
188 | 		std::cout << "FAILED: " << countPassed << " passed of " << count << std::endl;
189 | 	}
190 | 
191 | 	return 0;
192 | }
193 | 


--------------------------------------------------------------------------------
/tests/ut.cpp:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * This file is part of HiwonderRPI library
  3 |  * 
  4 |  * HiwonderRPI is free software: you can redistribute it and/or modify 
  5 |  * it under ther terms of the GNU General Public License as published by 
  6 |  * the Free Software Foundation, either version 3 of the License, or 
  7 |  * (at your option) any later version.
  8 |  * 
  9 |  * HiwonderRPI is distributed in the hope that it will be useful, 
 10 |  * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 11 |  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
 12 |  * GNU General Public License for more details.
 13 |  * 
 14 |  * You should have received a copy of the GNU General Public License 
 15 |  * along with HiwonderRPI. If not, see <https://www.gnu.org/licenses/>.
 16 |  * 
 17 |  * Author: Adrian Maire escain (at) gmail.com
 18 |  */
 19 | 
 20 | #include <string>
 21 | #include <unistd.h>
 22 | 
 23 | #include "HiwonderBusServo.hpp"
 24 | #include "UnitTest.hpp"
 25 | 
 26 | constexpr static uint8_t id=1;
 27 | 
 28 | UNIT_TEST(test_have_root_privileges)
 29 | {
 30 | 	ASSERT_EQ( getuid(), 0 );
 31 | }
 32 | 
 33 | UNIT_TEST(message_ensure_servo_id_is_1)
 34 | {
 35 | 	std::cerr << "MESSAGE: Please, ensure servo is connected with ID="<< 
 36 | 	    static_cast<int>(id) << std::endl;
 37 | }
 38 | 
 39 | UNIT_TEST(test_can_create_servo_object)
 40 | {
 41 | 	bool throwed=false;
 42 | 	try
 43 | 	{
 44 | 		HiwonderRpi::HiwonderBusServo(id);
 45 | 	}catch(...)
 46 | 	{
 47 | 		throwed=true;
 48 | 	}
 49 | 	ASSERT(!throwed);
 50 | }
 51 | 
 52 | UNIT_TEST(moveTimeWrite_and_posRead_matches)
 53 | {
 54 | 	constexpr uint16_t devPos = 20;
 55 | 	
 56 | 	HiwonderRpi::HiwonderBusServo servo(id);
 57 | 	
 58 | 	servo.moveTimeWrite(200);
 59 | 	delay(3000);
 60 | 	auto res = servo.posRead();
 61 | 	ASSERT(abs(res-200)<devPos);
 62 | 	
 63 | 	servo.moveTimeWrite(800);
 64 | 	delay(3000);
 65 | 	res = servo.posRead();
 66 | 	ASSERT(abs(res-800)<devPos);
 67 | }
 68 | 
 69 | UNIT_TEST(movetimewrite_and_movetimeread_matches)
 70 | {
 71 | 	HiwonderRpi::HiwonderBusServo servo(id);
 72 | 	
 73 | 	servo.moveTimeWrite(200);
 74 | 	auto res = servo.moveTimeRead();
 75 | 	ASSERT_EQ(res.position, 200);
 76 | 	ASSERT_EQ(res.time, 0);
 77 | 	
 78 | 	servo.moveTimeWrite(800, 300);
 79 | 	res = servo.moveTimeRead();
 80 | 	ASSERT_EQ(res.position, 800);
 81 | 	ASSERT_EQ(res.time, 300);
 82 | }
 83 | 
 84 | UNIT_TEST(vinRead_return_value_close_standard_voltages)
 85 | {
 86 | 	// Agree, this is not very precise check, but anything better idea?
 87 | 	constexpr uint16_t MaxDev = 500;
 88 | 	HiwonderRpi::HiwonderBusServo servo(id);
 89 | 	
 90 | 	auto res = servo.vinRead();
 91 | 	ASSERT(abs(5000-res)<MaxDev || abs(9000-res)<MaxDev || abs(12000-res)<MaxDev);
 92 | }
 93 | 
 94 | 
 95 | // TODO: Those operations don't work yet..
 96 | /*UNIT_TEST(moveTimeWaitWrite_and_moveTimeWaitRead_matches)
 97 | {
 98 | 	HiwonderRpi::HiwonderBusServo servo(id);
 99 | 	
100 | 	servo.moveTimeWaitWrite(423);
101 | 	auto res = servo.moveTimeWaitRead();
102 | 	ASSERT_EQ(res.position, 423);
103 | 	ASSERT_EQ(res.time, 0);
104 | 	
105 | 	servo.moveTimeWrite(865, 567);
106 | 	res = servo.moveTimeRead();
107 | 	ASSERT_EQ(res.position, 865);
108 | 	ASSERT_EQ(res.time, 567);
109 | }
110 | 
111 | UNIT_TEST(waiting_move_start_and_stop)
112 | {
113 | 	constexpr uint16_t devPos = 20;
114 | 	HiwonderRpi::HiwonderBusServo servo(id);
115 | 	
116 | 	// set initial position
117 | 	servo.moveTimeWrite(200);
118 | 	delay(3000);
119 | 	ASSERT(abs(servo.posRead()-200)<devPos);
120 | 	// send waiting move
121 | 	servo.moveTimeWaitWrite(500,1000);
122 | 	delay(100);
123 | 	ASSERT(abs(servo.posRead()-200)<devPos); // Did not started moving
124 | 	// send start
125 | 	servo.moveStart();
126 | 	delay(500);
127 | 	ASSERT(abs(servo.posRead()-350)<devPos); // Servo moved to half travel
128 | 	servo.moveStop();
129 | 	delay(250);
130 | 	ASSERT(abs(servo.posRead()-350)<devPos); // Servo stopped moving
131 | 
132 | }
133 | 
134 | // NOT WORKING?
135 | UNIT_TEST(stop_command_apply)
136 | {
137 | 	constexpr uint16_t devPos = 20;
138 | 	HiwonderRpi::HiwonderBusServo servo(id);
139 | 	
140 | 	// set initial position
141 | 	servo.moveTimeWrite(0);
142 | 	delay(3000);
143 | 	ASSERT(abs(servo.posRead()-0)<devPos);
144 | 	
145 | 	// send long move
146 | 	servo.moveTimeWrite(1000, 2000);
147 | 	delay(1000);
148 | 	std::cout << (int)servo.posRead() << std::endl;
149 | 	ASSERT(abs(servo.posRead()-500)<4*devPos); // Did started moving
150 | 	
151 | 	servo.moveStop();
152 | 	delay(500);
153 | 	ASSERT(abs(servo.posRead()-500)<4*devPos); // Servo stopped moving
154 | 
155 | }*/
156 | 
157 | 
158 | UNIT_TEST(idWrite_and_idRead)
159 | {
160 | 	{
161 | 		HiwonderRpi::HiwonderBusServo servo(id);
162 | 		
163 | 		auto res = servo.idRead();
164 | 		ASSERT_EQ((int)id, (int)res);
165 | 		
166 | 		servo.idWrite(42);
167 | 		delay(100);
168 | 	}
169 | 	{
170 | 		HiwonderRpi::HiwonderBusServo servo(42);
171 | 		auto res = servo.idRead();
172 | 		ASSERT_EQ((int)42, (int)res);
173 | 		
174 | 		servo.idWrite(id);
175 | 		delay(100);
176 | 	}
177 | 	{
178 | 		HiwonderRpi::HiwonderBusServo servo(id);
179 | 		auto res = servo.idRead();
180 | 		ASSERT_EQ((int)id, (int)res);
181 | 	}
182 | }
183 | 
184 | UNIT_TEST(angle_offset_adjust)
185 | {
186 | 	HiwonderRpi::HiwonderBusServo servo(id);
187 | 	
188 | 	// ensure zero at begining
189 | 	servo.angleOffsetAdjust(0);
190 | 	
191 | 	auto res = servo.angleOffsetRead();
192 | 	ASSERT_EQ((int)res, 0);
193 | 	
194 | 	servo.angleOffsetAdjust(100);
195 | 	res = servo.angleOffsetRead();
196 | 	ASSERT_EQ((int)res, 100);
197 | 	delay(500);
198 | 	
199 | 	servo.angleOffsetAdjust(-100);
200 | 	res = servo.angleOffsetRead();
201 | 	ASSERT_EQ((int)res, -100);
202 | 	delay(500);
203 | 	
204 | 	servo.angleOffsetAdjust(0);
205 | }
206 | 
207 | UNIT_TEST(angleLimitWrite_effectively_limit_angle)
208 | {
209 | 	HiwonderRpi::HiwonderBusServo servo(id);
210 | 	
211 | 	constexpr uint16_t devPos = 20;
212 | 	
213 | 	servo.angleLimitWrite(200,500);
214 | 	
215 | 	servo.moveTimeWrite(0);
216 | 	delay(3000);
217 | 	ASSERT(abs(servo.posRead()-200)<devPos);
218 | 	
219 | 	servo.moveTimeWrite(1000);
220 | 	delay(3000);
221 | 	ASSERT(abs(servo.posRead()-500)<devPos);
222 | 	
223 | 	servo.angleLimitWrite(0,1000);
224 | }
225 | 
226 | UNIT_TEST(angleLimitRead_return_same_angleLimitWrite)
227 | {
228 | 	HiwonderRpi::HiwonderBusServo servo(id);
229 | 	
230 | 	servo.angleLimitWrite(200,500);
231 | 	
232 | 	auto limits = servo.angleLimitRead();
233 | 	ASSERT_EQ(limits.minLimit, 200);
234 | 	ASSERT_EQ(limits.maxLimit, 500);
235 | 	
236 | 	servo.angleLimitWrite(0,1000);
237 | 	
238 | 	limits = servo.angleLimitRead();
239 | 	ASSERT_EQ(limits.minLimit, 0);
240 | 	ASSERT_EQ(limits.maxLimit, 1000);
241 | }
242 | 
243 | UNIT_TEST(angleLimitWrite_out_of_limits_is_adjusted)
244 | {
245 | 	HiwonderRpi::HiwonderBusServo servo(id);
246 | 	
247 | 	servo.angleLimitWrite(-200,2000);
248 | 	
249 | 	auto limits = servo.angleLimitRead();
250 | 	ASSERT_EQ(limits.minLimit, 0);
251 | 	ASSERT_EQ(limits.maxLimit, 1000);
252 | 	
253 | 	servo.angleLimitWrite(1500,500);
254 | 	
255 | 	limits = servo.angleLimitRead();
256 | 	ASSERT_EQ(limits.minLimit, 999);
257 | 	ASSERT_EQ(limits.maxLimit, 1000);
258 | 	
259 | 	servo.angleLimitWrite(500,300);
260 | 	
261 | 	limits = servo.angleLimitRead();
262 | 	ASSERT_EQ(limits.minLimit, 500);
263 | 	ASSERT_EQ(limits.maxLimit, 501);
264 | 	
265 | 	servo.angleLimitWrite(0,1000);
266 | 	
267 | 	limits = servo.angleLimitRead();
268 | 	ASSERT_EQ(limits.minLimit, 0);
269 | 	ASSERT_EQ(limits.maxLimit, 1000);
270 | }
271 | 
272 | UNIT_TEST(vinLimit_read_and_write_match)
273 | {
274 | 	HiwonderRpi::HiwonderBusServo servo(id);
275 | 	
276 | 	servo.vinLimitWrite(5000,6000);
277 | 	
278 | 	auto limits = servo.vinLimitRead();
279 | 	ASSERT_EQ(limits.minLimit, 5000);
280 | 	ASSERT_EQ(limits.maxLimit, 6000);
281 | 	
282 | 	servo.vinLimitWrite(7000,11000);
283 | 	
284 | 	limits = servo.vinLimitRead();
285 | 	ASSERT_EQ(limits.minLimit, 7000);
286 | 	ASSERT_EQ(limits.maxLimit, 11000);
287 | }
288 | 
289 | UNIT_TEST(vinLimitWrite_out_of_limits_is_adjusted)
290 | {
291 | 	HiwonderRpi::HiwonderBusServo servo(id);
292 | 	
293 | 	servo.vinLimitWrite(3000,13000);
294 | 	
295 | 	auto limits = servo.vinLimitRead();
296 | 	ASSERT_EQ(limits.minLimit, 4500);
297 | 	ASSERT_EQ(limits.maxLimit, 12000);
298 | 	
299 | 	servo.vinLimitWrite(13000,7000);
300 | 	
301 | 	limits = servo.vinLimitRead();
302 | 	ASSERT_EQ(limits.minLimit, 11999);
303 | 	ASSERT_EQ(limits.maxLimit, 12000);
304 | 	
305 | 	servo.vinLimitWrite(7000,5000);
306 | 	
307 | 	limits = servo.vinLimitRead();
308 | 	ASSERT_EQ(limits.minLimit, 7000);
309 | 	ASSERT_EQ(limits.maxLimit, 7001);
310 | 	
311 | 	servo.vinLimitWrite(4500,12000);
312 | 	
313 | 	limits = servo.vinLimitRead();
314 | 	ASSERT_EQ(limits.minLimit, 4500);
315 | 	ASSERT_EQ(limits.maxLimit, 12000);
316 | }
317 | 
318 | UNIT_TEST(tempLimit_read_and_write_match)
319 | {
320 | 	HiwonderRpi::HiwonderBusServo servo(id);
321 | 	
322 | 	servo.tempMaxLimitWrite(70);
323 | 	ASSERT_EQ((int)servo.tempMaxLimitRead(), 70);
324 | 	
325 | 	servo.tempMaxLimitWrite(90);
326 | 	ASSERT_EQ((int)servo.tempMaxLimitRead(), 90);
327 | }
328 | 
329 | UNIT_TEST(tempMaxLimitWrite_out_of_limits_is_adjusted)
330 | {
331 | 	HiwonderRpi::HiwonderBusServo servo(id);
332 | 	
333 | 	servo.tempMaxLimitWrite(20);
334 | 	ASSERT_EQ((int)servo.tempMaxLimitRead(), 50);
335 | 	
336 | 	servo.tempMaxLimitWrite(120);
337 | 	ASSERT_EQ((int)servo.tempMaxLimitRead(), 100);
338 | 	
339 | 	servo.tempMaxLimitWrite();
340 | 	ASSERT_EQ((int)servo.tempMaxLimitRead(), 85);
341 | }
342 | 
343 | UNIT_TEST(tempRead_between_acceptable_limits)
344 | {
345 | 	HiwonderRpi::HiwonderBusServo servo(id);
346 | 	
347 | 	ASSERT( servo.tempRead() < 100);
348 | 	ASSERT( servo.tempRead() > 10);
349 | }
350 | 
351 | 
352 | UNIT_TEST(servoOrMotorMode_read_and_write_match)
353 | {
354 | 	using Mode = HiwonderRpi::HiwonderBusServo::Mode;
355 | 	HiwonderRpi::HiwonderBusServo servo(id);
356 | 	
357 | 	servo.servoOrMotorModeWrite(Mode::Motor, 400);
358 | 	delay (1000);
359 | 	auto result = servo.servoOrMotorModeRead();
360 | 	ASSERT_EQ( static_cast<uint8_t>(result.mode), static_cast<uint8_t>(Mode::Motor) );
361 | 	ASSERT_EQ( result.speed, 400);
362 | 	
363 | 	servo.servoOrMotorModeWrite(Mode::Motor, -200);
364 | 	delay (1000);
365 | 	result = servo.servoOrMotorModeRead();
366 | 	ASSERT_EQ( static_cast<uint8_t>(result.mode), static_cast<uint8_t>(Mode::Motor) );
367 | 	ASSERT_EQ( result.speed, -200);
368 | 	
369 | 	servo.servoOrMotorModeWrite(Mode::Servo);
370 | 	result = servo.servoOrMotorModeRead();
371 | 	ASSERT_EQ( static_cast<uint8_t>(result.mode), static_cast<uint8_t>(Mode::Servo) );
372 | }
373 | 
374 | UNIT_TEST(loadUnload_read_and_write_match)
375 | {
376 | 	using LoadMode = HiwonderRpi::HiwonderBusServo::LoadMode;
377 | 	HiwonderRpi::HiwonderBusServo servo(id);
378 | 	
379 | 	servo.loadOrUnloadWrite(LoadMode::Unload);
380 | 	auto result = servo.loadOrUnloadRead();
381 | 	ASSERT_EQ( static_cast<uint8_t>(result), static_cast<uint8_t>(LoadMode::Unload) );
382 | 	
383 | 	servo.loadOrUnloadWrite(LoadMode::Load);
384 | 	result = servo.loadOrUnloadRead();
385 | 	ASSERT_EQ( static_cast<uint8_t>(result), static_cast<uint8_t>(LoadMode::Load) );
386 | }
387 | 
388 | UNIT_TEST(powerLed_read_and_write_match)
389 | {
390 | 	using PowerLed = HiwonderRpi::HiwonderBusServo::PowerLed;
391 | 	HiwonderRpi::HiwonderBusServo servo(id);
392 | 	
393 | 	servo.ledCtrlWrite(PowerLed::Off);
394 | 	auto result = servo.ledCtrlRead();
395 | 	ASSERT_EQ( static_cast<uint8_t>(result), static_cast<uint8_t>(PowerLed::Off) );
396 | 	
397 | 	servo.ledCtrlWrite(PowerLed::On);
398 | 	result = servo.ledCtrlRead();
399 | 	ASSERT_EQ( static_cast<uint8_t>(result), static_cast<uint8_t>(PowerLed::On) );
400 | }
401 | 
402 | UNIT_TEST(ledError_read_and_write_match)
403 | {
404 | 	HiwonderRpi::HiwonderBusServo servo(id);
405 | 	
406 | 	servo.ledErrorWrite(true,true,true);
407 | 	auto result = servo.ledErrorRead();
408 | 	ASSERT_EQ(result.overTemperature, true);
409 | 	ASSERT_EQ(result.overVoltage, true);
410 | 	ASSERT_EQ(result.stall, true);
411 | 	
412 | 	servo.ledErrorWrite(false,false,false);
413 | 	result = servo.ledErrorRead();
414 | 	ASSERT_EQ(result.overTemperature, false);
415 | 	ASSERT_EQ(result.overVoltage, false);
416 | 	ASSERT_EQ(result.stall, false);
417 | 
418 | 	servo.ledErrorWrite(true,true,true);
419 | }
420 | 


--------------------------------------------------------------------------------
/src/HiwonderBusServo.hpp:
--------------------------------------------------------------------------------
   1 | /*
   2 |  * This file is part of HiwonderRPI library
   3 |  * 
   4 |  * HiwonderRPI is free software: you can redistribute it and/or modify 
   5 |  * it under ther terms of the GNU General Public License as published by 
   6 |  * the Free Software Foundation, either version 3 of the License, or 
   7 |  * (at your option) any later version.
   8 |  * 
   9 |  * HiwonderRPI is distributed in the hope that it will be useful, 
  10 |  * but WITHOUT ANY WARRANTY; without even the implied warranty of 
  11 |  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
  12 |  * GNU General Public License for more details.
  13 |  * 
  14 |  * You should have received a copy of the GNU General Public License 
  15 |  * along with HiwonderRPI. If not, see <https://www.gnu.org/licenses/>.
  16 |  * 
  17 |  * Author: Adrian Maire escain (at) gmail.com
  18 |  */
  19 | 
  20 | #ifndef HIWONDER_RPI
  21 | #define HIWONDER_RPI
  22 | 
  23 | #include <array>
  24 | #include <cstdint>
  25 | #include <exception>
  26 | #include <functional>
  27 | 
  28 | #include <wiringPi.h>
  29 | #include <wiringSerial.h>
  30 | 
  31 | namespace HiwonderRpi
  32 | {
  33 | 	
  34 | // Literals
  35 | constexpr uint16_t operator ""_uint16( unsigned long long v) { return static_cast<uint16_t>(v);}
  36 | constexpr int16_t operator ""_int16( unsigned long long v) { return static_cast<int16_t>(v);}
  37 | constexpr uint8_t operator ""_uint8( unsigned long long v) { return static_cast<uint8_t>(v);}
  38 | constexpr int8_t operator ""_int8( unsigned long long v) { return static_cast<int8_t>(v);}
  39 | 
  40 | // This class is header-only, for ease of usage.
  41 | 
  42 | /// This class represent a Hiwonder servo, and implement
  43 | /// basic UART communication from a Raspberry PI.
  44 | /// For convenience, command names are keep similar to the documentation, but
  45 | ///     parameters are in a more user-friendly format than bytes.
  46 | ///     Methods in this class and servo commands match 1 to 1.
  47 | class HiwonderBusServo
  48 | {
  49 | 	using Buffer = std::array<uint8_t,10>;
  50 | 	
  51 | public:
  52 | 	struct MoveTime
  53 | 	{
  54 | 		uint16_t position;
  55 | 		uint16_t time;
  56 | 	};
  57 | 	
  58 | 	struct Limit
  59 | 	{
  60 | 		int16_t minLimit=0;
  61 | 		int16_t maxLimit=1000;
  62 | 	};
  63 | 	
  64 | 	enum class Mode: uint8_t
  65 | 	{
  66 | 		Servo = 0,
  67 | 		Motor = 1
  68 | 	};
  69 | 	
  70 | 	enum class LoadMode: uint8_t
  71 | 	{
  72 | 		Unload = 0,
  73 | 		Load = 1
  74 | 	};
  75 | 	
  76 | 	enum class PowerLed: uint8_t
  77 | 	{
  78 | 		Off = 1,
  79 | 		On = 0
  80 | 	};
  81 | 	
  82 | 	struct ModeRead
  83 | 	{
  84 | 		Mode mode=Mode::Servo;
  85 | 		int16_t speed = 0;
  86 | 	};
  87 | 	
  88 | 	struct LedError
  89 | 	{
  90 | 		bool overTemperature;
  91 | 		bool overVoltage;
  92 | 		bool stall;
  93 | 	};
  94 | 	
  95 | 	/// Constructor, accept the servo ID. 
  96 | 	/// Id=254 is the broadcast ID
  97 | 	HiwonderBusServo( uint8_t id=254 );
  98 | 	HiwonderBusServo( const HiwonderBusServo&& );
  99 | 	/// Servo object can not be copied (UART access is unique)
 100 | 	HiwonderBusServo( const HiwonderBusServo& ) = delete;
 101 | 	HiwonderBusServo& operator=( const HiwonderBusServo&) = delete;
 102 | 	
 103 | 	virtual ~HiwonderBusServo();
 104 | 
 105 | 	/// Immediately start moving the servo to the given position
 106 | 	///     trying to reach target position in the given time (ms)
 107 | 	/// @arg position: target absolute position in multiples of 0.24deg
 108 | 	/// @arg time: time to reach the target position in ms (if too short, max-speed is used)
 109 | 	void moveTimeWrite( int16_t position, uint16_t time=0);
 110 | 	
 111 | 	/// Read the values set by moveTimeWrite
 112 | 	MoveTime moveTimeRead() const;
 113 | 	
 114 | 	/// Those functions aren't yet implemented in the servo?
 115 | 		///
 116 | 		void moveTimeWaitWrite( int16_t position, uint16_t time=0);
 117 | 		///
 118 | 		MoveTime moveTimeWaitRead() const;
 119 | 		///
 120 | 		void moveStart();
 121 | 		///
 122 | 		void moveStop();
 123 | 	
 124 | 	/// Set the ID of the servo to <newId>
 125 | 	///     If the current servo ID is unknown, use broadcast constructor
 126 | 	/// @arg newId: the new ID to be set.
 127 | 	void idWrite(uint8_t newId);
 128 | 	
 129 | 	/// Read the id from the servo. This alway uses broadcast (why to read the id if you know it?)
 130 | 	uint8_t idRead() const;
 131 | 	
 132 | 	/// The angle offset is an adjustment on the position (homing).
 133 | 	/// This function set (volatile memory until servo reset) this angle adjustment.
 134 | 	/// @arg angle: Absolute adjustment, in multiples of 0.24deg, 0 is the central position.
 135 | 	void angleOffsetAdjust( int8_t angle );
 136 | 	
 137 | 	/// Return the current offset angle
 138 | 	int8_t angleOffsetRead() const;
 139 | 	
 140 | 	/// Save permanently(over reset, in flash memory) the current offset in the servo.
 141 | 	void angleOffsetWrite();
 142 | 	
 143 | 	/// Set (persistently over shutdown) angle limits; movements are limited to them.
 144 | 	/// @arg minLimit: minimal angle in [0,999]
 145 | 	/// @arg maxLimit: maximal angle in [minLimit+1, 1000]
 146 | 	void angleLimitWrite( int16_t minLimit, int16_t maxLimit);
 147 | 	
 148 | 	/// Retrieve current angle limits
 149 | 	Limit angleLimitRead() const;
 150 | 	
 151 | 	/// Set (persistently over shutdown) voltage limits; Outside, the servo will output no torque
 152 | 	///     and the LED will blink for warnings (if configured/available).
 153 | 	/// @arg minLimit: minimal voltage in [4500,11999]
 154 | 	/// @arg maxLimit: maximal voltage in [minLimit+1, 12000]
 155 | 	void vinLimitWrite( int16_t minLimit, int16_t maxLimit);
 156 | 	
 157 | 	/// Retrieve current voltage limits
 158 | 	Limit vinLimitRead() const;
 159 | 	
 160 | 	/// Set (persistently over shutdown) temperature limits; Outside, the servo will output no torque
 161 | 	///     and the LED will blink for warnings (if configured/available).
 162 | 	/// @arg maxTemp: maximum temperature in [50, 100]
 163 | 	void tempMaxLimitWrite( uint8_t maxTemp=85);
 164 | 	
 165 | 	/// Retrieve current max temperature limit
 166 | 	uint8_t tempMaxLimitRead() const;
 167 | 	
 168 | 	/// Read the current servo temperature in deg celsius
 169 | 	uint8_t tempRead() const;
 170 | 	
 171 | 	/// Read the input voltage to the servo, in mV
 172 | 	uint16_t vinRead() const;
 173 | 	
 174 | 	/// Read the current servo position in multiple of 0.24 deg (1000 = 240deg)
 175 | 	/// Note: the servo can be easily 0.5deg away of it command, that way it can be in negative angle.
 176 | 	int16_t posRead() const;
 177 | 	
 178 | 	/// Set (volatile) the mode of the device: Servo or Motor (position or speed)
 179 | 	/// In case of motor mode, the speed can be specified: 0=stopped, negative/positive for each direction.
 180 | 	/// @arg mode: Servo or Motor
 181 | 	/// @arg speed: In case of Motor-mdoe, the speed [-1000,1000]
 182 | 	void servoOrMotorModeWrite( Mode mode=Mode::Servo, int16_t speed=0 );
 183 | 	
 184 | 	/// Read the Servo or Motor mode, and in case of motor, the speed (0 for servo).
 185 | 	ModeRead servoOrMotorModeRead() const;
 186 | 	
 187 | 	/// Set the servo to "Unload":free-rotation (it will not apply torque to keep a position), or 
 188 | 	/// "Load": normal mode, where the servo tries to hold a given position
 189 | 	/// @arg loadMode: Load or Unload mode to set
 190 | 	void loadOrUnloadWrite( LoadMode loadMode = LoadMode::Load );
 191 | 	
 192 | 	/// Retrieve the Load or Unload mode from the servo
 193 | 	LoadMode loadOrUnloadRead() const;
 194 | 	
 195 | 	/// Set if the Power LED is always ON, or always OFF
 196 | 	/// @arg powerLed: On or Off
 197 | 	void ledCtrlWrite(PowerLed powerLed = PowerLed::On);
 198 | 	
 199 | 	/// Read if the Power LED is ON or OFF
 200 | 	PowerLed ledCtrlRead() const;
 201 | 	
 202 | 	/// Set the different errors to be warned by the LED
 203 | 	/// @arg overTemperature: if to warn over temperature with the LED
 204 | 	/// @arg overVoltage: if to warn over voltage with the LED
 205 | 	/// @arg stall: if to warn when the servo is locked/stall with the LED
 206 | 	void ledErrorWrite( bool overTemperature=true, bool overVoltage=true, bool stall=true);
 207 | 	
 208 | 	/// Read the LED errors set
 209 | 	LedError ledErrorRead() const;
 210 | 
 211 | private:
 212 | 	
 213 | 	/// Message prefix/frame header
 214 | 	constexpr static uint8_t FrameHeader = 0x55;
 215 | 	/// Used to pre-fill buffers before real data is set in
 216 | 	constexpr static uint8_t _pholder = 0;
 217 | 	
 218 | 	/// return the lower byte of an uint16_t
 219 | 	inline static uint8_t getLowByte( const uint16_t in);
 220 | 	
 221 | 	/// return the higher byte of an uint16_t
 222 | 	inline static uint8_t getHighByte( const uint16_t in);
 223 | 	
 224 | 	/// Return the checksum for a given message
 225 | 	inline static uint8_t checksum(const Buffer& buf);
 226 | 
 227 | 	/// Send a buffer of data to the servo
 228 | 	inline void sendBuf(const Buffer& buf) const;
 229 | 	
 230 | 	/// Get a message from the servo (this function is blocking).
 231 | 	/// @throw runtime_error if the message does not arrive until timeout (< 1 ms)
 232 | 	/// Timeout is a busy loop, avoiding long waiting of re-scheduling
 233 | 	inline const Buffer& getMessage() const;
 234 | 	
 235 | 	/// Basic check on a message: 
 236 | 	///    - If the checksum match
 237 | 	///    - If the size of the message is the expected (expect at pos 3)
 238 | 	///    - If the commandId is the expected
 239 | 	/// Return false in case of error
 240 | 	inline static bool checkMessage( const Buffer& buf, uint8_t commandId, size_t expectedSize);
 241 | 	
 242 | 	/// Set all variable elements in buf (Id, and checksum), and send the request, 
 243 | 	///     then it read the result, check it validity and return the buffer.
 244 | 	/// Used internally to reuse common code between all the xxxxREAD commmands
 245 | 	/// @arg buf: Buffer of the request (id, and checksum are computed internally)
 246 | 	/// @arg replySize: expected size of the reply (for checks).
 247 | 	inline const Buffer& genericRead( Buffer& buf, uint8_t replySize ) const;
 248 | 
 249 | 	// Access to the device
 250 | 	int fd = -1;
 251 | 	// Id of the servo
 252 | 	int id = 1;
 253 | };
 254 | 
 255 | 
 256 | 
 257 | 
 258 | //*********************************************************
 259 | //                   IMPLEMENTATION
 260 | //*********************************************************
 261 | 
 262 | uint8_t HiwonderBusServo::getLowByte( const uint16_t in)
 263 | {
 264 | 	return static_cast<uint8_t>(in);
 265 | }
 266 | 
 267 | uint8_t HiwonderBusServo::getHighByte( const uint16_t in)
 268 | {
 269 | 	return static_cast<uint8_t>(in>>8);
 270 | }
 271 | 
 272 | uint8_t HiwonderBusServo::checksum(const Buffer& buf)
 273 | {
 274 | 	uint16_t temp = 0;
 275 | 	for (size_t i=2; i<buf[3]+2u; ++i)
 276 | 	{
 277 | 		temp += buf[i];
 278 | 	}
 279 | 	temp = ~temp;
 280 | 	return getLowByte(temp);
 281 | }
 282 | 
 283 | void HiwonderBusServo::sendBuf(const Buffer& buf) const
 284 | {
 285 | 	for (size_t i=0; i< buf[3]+3u; ++i)
 286 | 	{
 287 | 		serialPutchar(fd, buf[i]);
 288 | 	}
 289 | }
 290 | 	
 291 | const HiwonderBusServo::Buffer& HiwonderBusServo::getMessage() const
 292 | {
 293 | 	static Buffer res;
 294 | 	
 295 | 	constexpr static size_t MaxBusyLoop = 20000;
 296 | 	
 297 | 	// To avoid timeout (too long), poll until we get enough bytes
 298 | 	for(size_t i=0; i<MaxBusyLoop && serialDataAvail(fd)<4; ++i) continue; //noop
 299 | 
 300 | 	
 301 | 	if (serialDataAvail(fd)<4)
 302 | 	{
 303 | 		res[3]=res[2]=0;
 304 | 		throw std::runtime_error("Unable to retrieve message header from servo");
 305 | 		return res;
 306 | 	}
 307 | 	
 308 | 	res[0] = serialGetchar(fd); //frame header 1
 309 | 	res[1] = serialGetchar(fd); //frame header 2
 310 | 	res[2] = serialGetchar(fd); //servo id
 311 | 	res[3] = serialGetchar(fd); //size
 312 | 	
 313 | 	for(size_t i=0; i<MaxBusyLoop && serialDataAvail(fd)<res[3]-1; ++i) continue; //noop
 314 | 	
 315 | 	if (serialDataAvail(fd)<res[3]-1)
 316 | 	{
 317 | 		res[3]=res[2]=0;
 318 | 		throw std::runtime_error("Unable to retrieve message content from servo");
 319 | 		return res;
 320 | 	}
 321 | 	
 322 | 	for (size_t i=0; i<res[3]-1u; ++i)
 323 | 	{
 324 | 		res[i+4] = serialGetchar(fd);
 325 | 	}
 326 | 	
 327 | 	return res;
 328 | }
 329 | 	
 330 | 	
 331 | bool HiwonderBusServo::checkMessage( const Buffer& buf, uint8_t commandId, size_t expectedSize)
 332 | {
 333 | 	if (buf[3] != expectedSize || 
 334 | 			buf[4] != commandId || 
 335 | 			buf[expectedSize+2] != checksum(buf))
 336 | 	{
 337 | 		return false;
 338 | 	}
 339 | 	return true;
 340 | }
 341 | 
 342 | HiwonderBusServo::HiwonderBusServo(uint8_t id): id(id)
 343 | {
 344 | 	fd = serialOpen("/dev/ttyAMA0", 115200);
 345 | 	auto setupResult = wiringPiSetup();
 346 | 	if (0>fd || -1==setupResult)
 347 | 	{
 348 | 		throw std::runtime_error("Unable to setup UART device.");
 349 | 	}
 350 | }
 351 | 
 352 | HiwonderBusServo::~HiwonderBusServo()
 353 | {
 354 | 	serialClose(fd);
 355 | }
 356 | 
 357 | const HiwonderBusServo::Buffer& HiwonderBusServo::genericRead( Buffer& buf, uint8_t replySize ) const
 358 | {
 359 | 	buf[2] = id;
 360 | 	buf[buf[3]+2] = checksum(buf);
 361 | 	
 362 | 	serialFlush(fd);
 363 | 	sendBuf(buf);
 364 | 	
 365 | 	// Read result
 366 | 	const Buffer& res= getMessage();
 367 | 	
 368 | 	if (!checkMessage(res, buf[4], replySize))
 369 | 	{
 370 | 		throw std::runtime_error("Corrupted message received");
 371 | 	}
 372 | 	
 373 | 	return res;
 374 | }
 375 | 
 376 | void HiwonderBusServo::moveTimeWrite( int16_t position, uint16_t time)
 377 | {
 378 | 	constexpr static uint8_t MoveTimeWriteId = 1;
 379 | 	constexpr static uint8_t MoveTimeWriteSize = 7;
 380 | 	
 381 | 	static Buffer buf
 382 | 	{
 383 | 		FrameHeader, 
 384 | 		FrameHeader,
 385 | 		_pholder,
 386 | 		MoveTimeWriteSize,
 387 | 		MoveTimeWriteId,
 388 | 		_pholder,
 389 | 		_pholder,
 390 | 		_pholder,
 391 | 		_pholder,
 392 | 		_pholder
 393 | 	};
 394 | 	
 395 | 	if (position<0) position=0;
 396 | 	if (position>1000) position=1000;
 397 | 	
 398 | 	buf[2] = id;
 399 | 	buf[5] = getLowByte(position);
 400 | 	buf[6] = getHighByte(position);
 401 | 	buf[7] = getLowByte(time);
 402 | 	buf[8] = getHighByte(time);
 403 | 	buf[9] = checksum(buf);
 404 | 	
 405 | 	sendBuf(buf);
 406 | }
 407 | 
 408 | HiwonderBusServo::MoveTime HiwonderBusServo::moveTimeRead() const
 409 | {
 410 | 	constexpr static uint8_t MoveTimeReadId = 2;
 411 | 	constexpr static uint8_t MoveTimeReadSize = 3;
 412 | 	constexpr static uint8_t MoveTimeReplySize = 7;
 413 | 	
 414 | 	static Buffer buf
 415 | 	{
 416 | 		FrameHeader, 
 417 | 		FrameHeader,
 418 | 		_pholder,
 419 | 		MoveTimeReadSize,
 420 | 		MoveTimeReadId,
 421 | 		_pholder
 422 | 	};
 423 | 	
 424 | 	const Buffer& resultBuf = genericRead(buf, MoveTimeReplySize);
 425 | 	
 426 | 	MoveTime result;
 427 | 	result.position = resultBuf[5]+(resultBuf[6]<<8);
 428 | 	result.time = resultBuf[7]+(resultBuf[8]<<8);
 429 | 	return result;
 430 | }
 431 | 
 432 | void HiwonderBusServo::moveTimeWaitWrite( int16_t position, uint16_t time)
 433 | {
 434 | 	constexpr static uint8_t MoveTimeWaitWriteId = 7;
 435 | 	constexpr static uint8_t MoveTimeWaitWriteSize = 7;
 436 | 	
 437 | 	static Buffer buf
 438 | 	{
 439 | 		FrameHeader, 
 440 | 		FrameHeader,
 441 | 		_pholder,
 442 | 		MoveTimeWaitWriteSize,
 443 | 		MoveTimeWaitWriteId,
 444 | 		_pholder,
 445 | 		_pholder,
 446 | 		_pholder,
 447 | 		_pholder,
 448 | 		_pholder
 449 | 	};
 450 | 	
 451 | 	if (position<0) position=0;
 452 | 	if (position>1000) position=1000;
 453 | 	
 454 | 	buf[2] = id;
 455 | 	buf[5] = getLowByte(position);
 456 | 	buf[6] = getHighByte(position);
 457 | 	buf[7] = getLowByte(time);
 458 | 	buf[8] = getHighByte(time);
 459 | 	buf[9] = checksum(buf);
 460 | 	
 461 | 	sendBuf(buf);
 462 | }
 463 | 
 464 | HiwonderBusServo::MoveTime HiwonderBusServo::moveTimeWaitRead() const
 465 | {
 466 | 	constexpr static uint8_t MoveTimeWaitReadId = 8;
 467 | 	constexpr static uint8_t MoveTimeWaitReadSize = 3;
 468 | 	constexpr static uint8_t MoveTimeWaitReplySize = 7;
 469 | 	
 470 | 	static Buffer buf
 471 | 	{
 472 | 		FrameHeader, 
 473 | 		FrameHeader,
 474 | 		_pholder,
 475 | 		MoveTimeWaitReadSize,
 476 | 		MoveTimeWaitReadId,
 477 | 		_pholder
 478 | 	};
 479 | 	
 480 | 	const Buffer& resultBuf = genericRead(buf, MoveTimeWaitReplySize);
 481 | 	
 482 | 	MoveTime result;
 483 | 	result.position = resultBuf[5]+(resultBuf[6]<<8);
 484 | 	result.time = resultBuf[7]+(resultBuf[8]<<8);
 485 | 	return result;
 486 | }
 487 | 
 488 | void HiwonderBusServo::moveStart()
 489 | {
 490 | 	constexpr static uint8_t MoveStartId = 11;
 491 | 	constexpr static uint8_t MoveStartSize = 3;
 492 | 	
 493 | 	static Buffer buf
 494 | 	{
 495 | 		FrameHeader, 
 496 | 		FrameHeader,
 497 | 		_pholder,
 498 | 		MoveStartSize,
 499 | 		MoveStartId,
 500 | 		_pholder
 501 | 	};
 502 | 	buf[5] = checksum(buf);
 503 | 	
 504 | 	sendBuf(buf);
 505 | }
 506 | 
 507 | void HiwonderBusServo::moveStop()
 508 | {
 509 | 	constexpr static uint8_t MoveStopId = 12;
 510 | 	constexpr static uint8_t MoveStopSize = 3;
 511 | 	
 512 | 	static Buffer buf
 513 | 	{
 514 | 		FrameHeader, 
 515 | 		FrameHeader,
 516 | 		_pholder,
 517 | 		MoveStopSize,
 518 | 		MoveStopId,
 519 | 		_pholder
 520 | 	};
 521 | 	buf[5] = checksum(buf);
 522 | 	
 523 | 	sendBuf(buf);
 524 | }
 525 | 
 526 | void HiwonderBusServo::idWrite(uint8_t newId)
 527 | {
 528 | 	constexpr static uint8_t IdWriteId = 13;
 529 | 	constexpr static uint8_t IdWriteSize = 4;
 530 | 	
 531 | 	static Buffer buf
 532 | 	{
 533 | 		FrameHeader, 
 534 | 		FrameHeader,
 535 | 		_pholder,
 536 | 		IdWriteSize,
 537 | 		IdWriteId,
 538 | 		_pholder,
 539 | 		_pholder
 540 | 	};
 541 | 	
 542 | 	buf[2] = id;
 543 | 	buf[5] = newId;
 544 | 	buf[6] = checksum(buf);
 545 | 	
 546 | 	sendBuf(buf);
 547 | }
 548 | 
 549 | uint8_t HiwonderBusServo::idRead() const
 550 | {
 551 | 	constexpr static uint8_t idReadId = 14;
 552 | 	constexpr static uint8_t idReadSize = 3;
 553 | 	constexpr static uint8_t idReplySize = 4;
 554 | 	
 555 | 	static Buffer buf
 556 | 	{
 557 | 		FrameHeader, 
 558 | 		FrameHeader,
 559 | 		_pholder,
 560 | 		idReadSize,
 561 | 		idReadId,
 562 | 		_pholder
 563 | 	};
 564 | 	
 565 | 	buf[2] = 254;
 566 | 	buf[buf[3]+2] = checksum(buf);
 567 | 	
 568 | 	serialFlush(fd);
 569 | 	sendBuf(buf);
 570 | 	
 571 | 	// Read result
 572 | 	const Buffer& res= getMessage();
 573 | 	if (!checkMessage(res, buf[4], idReplySize))
 574 | 	{
 575 | 		throw std::runtime_error("Corrupted message received");
 576 | 	}
 577 | 	
 578 | 	return res[5];
 579 | }
 580 | 
 581 | void HiwonderBusServo::angleOffsetAdjust( int8_t angleDelta )
 582 | {
 583 | 	constexpr static uint8_t AngleOffsetAdjustId = 17;
 584 | 	constexpr static uint8_t AngleOffsetAdjustSize = 4;
 585 | 	
 586 | 	static Buffer buf
 587 | 	{
 588 | 		FrameHeader, 
 589 | 		FrameHeader,
 590 | 		_pholder,
 591 | 		AngleOffsetAdjustSize,
 592 | 		AngleOffsetAdjustId,
 593 | 		_pholder,
 594 | 		_pholder
 595 | 	};
 596 | 	
 597 | 	buf[2] = id;
 598 | 	buf[5] = static_cast<uint8_t>(angleDelta);
 599 | 	buf[6] = checksum(buf);
 600 | 	
 601 | 	sendBuf(buf);
 602 | }
 603 | 
 604 | void HiwonderBusServo::angleOffsetWrite()
 605 | {
 606 | 	constexpr static uint8_t AngleOffsetWriteId = 18;
 607 | 	constexpr static uint8_t AngleOffsetWriteSize = 3;
 608 | 	
 609 | 	static Buffer buf
 610 | 	{
 611 | 		FrameHeader, 
 612 | 		FrameHeader,
 613 | 		_pholder,
 614 | 		AngleOffsetWriteSize,
 615 | 		AngleOffsetWriteId,
 616 | 		_pholder
 617 | 	};
 618 | 	
 619 | 	buf[2] = id;
 620 | 	buf[5] = checksum(buf);
 621 | 	
 622 | 	sendBuf(buf);
 623 | }
 624 | 
 625 | int8_t HiwonderBusServo::angleOffsetRead() const
 626 | {
 627 | 	constexpr static uint8_t AngleOffsetReadId = 19;
 628 | 	constexpr static uint8_t AngleOffsetReadSize = 3;
 629 | 	constexpr static uint8_t AngleOffsetReplySize = 4;
 630 | 	
 631 | 	static Buffer buf
 632 | 	{
 633 | 		FrameHeader, 
 634 | 		FrameHeader,
 635 | 		_pholder,
 636 | 		AngleOffsetReadSize,
 637 | 		AngleOffsetReadId,
 638 | 		_pholder
 639 | 	};
 640 | 	
 641 | 	const Buffer& resultBuf = genericRead(buf, AngleOffsetReplySize);
 642 | 	
 643 | 	return static_cast<int8_t>(resultBuf[5]);
 644 | }
 645 | 
 646 | void HiwonderBusServo::angleLimitWrite( int16_t minLimit, int16_t maxLimit)
 647 | {
 648 | 	constexpr static uint8_t AngleLimitWriteId = 20;
 649 | 	constexpr static uint8_t AngleLimitWriteSize = 7;
 650 | 	
 651 | 	static Buffer buf
 652 | 	{
 653 | 		FrameHeader, 
 654 | 		FrameHeader,
 655 | 		_pholder,
 656 | 		AngleLimitWriteSize,
 657 | 		AngleLimitWriteId,
 658 | 		_pholder,
 659 | 		_pholder,
 660 | 		_pholder,
 661 | 		_pholder,
 662 | 		_pholder
 663 | 	};
 664 | 	
 665 | 	minLimit = std::max(minLimit,0_int16);
 666 | 	minLimit = std::min(minLimit,999_int16); // Min cannot be over 999 (<1000)
 667 | 	maxLimit = std::min(maxLimit,1000_int16);
 668 | 	maxLimit = std::max(maxLimit,static_cast<int16_t>(minLimit+1_int16)); // Max>min
 669 | 	
 670 | 	buf[2] = id;
 671 | 	buf[5] = getLowByte(minLimit);
 672 | 	buf[6] = getHighByte(minLimit);
 673 | 	buf[7] = getLowByte(maxLimit);
 674 | 	buf[8] = getHighByte(maxLimit);
 675 | 	buf[9] = checksum(buf);
 676 | 	
 677 | 	sendBuf(buf);
 678 | }
 679 | 
 680 | HiwonderBusServo::Limit HiwonderBusServo::angleLimitRead() const
 681 | {
 682 | 	constexpr static uint8_t AngleLimitReadId = 21;
 683 | 	constexpr static uint8_t AngleLimitReadSize = 3;
 684 | 	constexpr static uint8_t AngleLimitReplySize = 7;
 685 | 	
 686 | 	static Buffer buf
 687 | 	{
 688 | 		FrameHeader, 
 689 | 		FrameHeader,
 690 | 		_pholder,
 691 | 		AngleLimitReadSize,
 692 | 		AngleLimitReadId,
 693 | 		_pholder
 694 | 	};
 695 | 	
 696 | 	const Buffer& resultBuf = genericRead(buf, AngleLimitReplySize);
 697 | 	
 698 | 	Limit limit;
 699 | 	limit.minLimit = resultBuf[5]+(resultBuf[6]<<8);
 700 | 	limit.maxLimit = resultBuf[7]+(resultBuf[8]<<8);
 701 | 	return limit;
 702 | }
 703 | 
 704 | void HiwonderBusServo::vinLimitWrite( int16_t minLimit, int16_t maxLimit)
 705 | {
 706 | 	constexpr static uint8_t VinLimitWriteId = 22;
 707 | 	constexpr static uint8_t VinLimitWriteSize = 7;
 708 | 	
 709 | 	static Buffer buf
 710 | 	{
 711 | 		FrameHeader, 
 712 | 		FrameHeader,
 713 | 		_pholder,
 714 | 		VinLimitWriteSize,
 715 | 		VinLimitWriteId,
 716 | 		_pholder,
 717 | 		_pholder,
 718 | 		_pholder,
 719 | 		_pholder,
 720 | 		_pholder
 721 | 	};
 722 | 	
 723 | 	minLimit = std::max(minLimit,4500_int16);
 724 | 	minLimit = std::min(minLimit,11999_int16);
 725 | 	maxLimit = std::min(maxLimit,12000_int16);
 726 | 	maxLimit = std::max(maxLimit,static_cast<int16_t>(minLimit+1_int16)); // Max>min
 727 | 	
 728 | 	buf[2] = id;
 729 | 	buf[5] = getLowByte(minLimit);
 730 | 	buf[6] = getHighByte(minLimit);
 731 | 	buf[7] = getLowByte(maxLimit);
 732 | 	buf[8] = getHighByte(maxLimit);
 733 | 	buf[9] = checksum(buf);
 734 | 	
 735 | 	sendBuf(buf);
 736 | }	
 737 | 	
 738 | HiwonderBusServo::Limit HiwonderBusServo::vinLimitRead() const
 739 | {
 740 | 	constexpr static uint8_t VinLimitReadId = 23;
 741 | 	constexpr static uint8_t VinLimitReadSize = 3;
 742 | 	constexpr static uint8_t VinLimitReplySize = 7;
 743 | 	
 744 | 	static Buffer buf
 745 | 	{
 746 | 		FrameHeader, 
 747 | 		FrameHeader,
 748 | 		_pholder,
 749 | 		VinLimitReadSize,
 750 | 		VinLimitReadId,
 751 | 		_pholder
 752 | 	};
 753 | 	
 754 | 	const Buffer& resultBuf = genericRead(buf, VinLimitReplySize);
 755 | 	
 756 | 	Limit limit;
 757 | 	limit.minLimit = resultBuf[5]+(resultBuf[6]<<8);
 758 | 	limit.maxLimit = resultBuf[7]+(resultBuf[8]<<8);
 759 | 	return limit;
 760 | }	
 761 | 	
 762 | void HiwonderBusServo::tempMaxLimitWrite( uint8_t maxTemp)
 763 | {
 764 | 	constexpr static uint8_t TempMaxLimitWriteId = 24;
 765 | 	constexpr static uint8_t TempMaxLimitWriteSize = 4;
 766 | 	
 767 | 	static Buffer buf
 768 | 	{
 769 | 		FrameHeader, 
 770 | 		FrameHeader,
 771 | 		_pholder,
 772 | 		TempMaxLimitWriteSize,
 773 | 		TempMaxLimitWriteId,
 774 | 		_pholder,
 775 | 		_pholder
 776 | 	};
 777 | 	
 778 | 	maxTemp = std::max(maxTemp,50_uint8);
 779 | 	maxTemp = std::min(maxTemp,100_uint8);
 780 | 	
 781 | 	buf[2] = id;
 782 | 	buf[5] = maxTemp;
 783 | 	buf[6] = checksum(buf);
 784 | 	
 785 | 	sendBuf(buf);
 786 | }	
 787 | 
 788 | uint8_t HiwonderBusServo::tempMaxLimitRead() const
 789 | {
 790 | 	constexpr static uint8_t TempMaxLimitReadId = 25;
 791 | 	constexpr static uint8_t TempMaxLimitReadSize = 3;
 792 | 	constexpr static uint8_t TempMaxLimitReplySize = 4;
 793 | 	
 794 | 	static Buffer buf
 795 | 	{
 796 | 		FrameHeader, 
 797 | 		FrameHeader,
 798 | 		_pholder,
 799 | 		TempMaxLimitReadSize,
 800 | 		TempMaxLimitReadId,
 801 | 		_pholder
 802 | 	};
 803 | 	
 804 | 	const Buffer& resultBuf = genericRead(buf, TempMaxLimitReplySize);
 805 | 	
 806 | 	return resultBuf[5];
 807 | }
 808 | 
 809 | uint8_t HiwonderBusServo::tempRead() const
 810 | {
 811 | 	constexpr static uint8_t TempReadId = 26;
 812 | 	constexpr static uint8_t TempReadSize = 3;
 813 | 	constexpr static uint8_t TempReplySize = 4;
 814 | 	
 815 | 	static Buffer buf
 816 | 	{
 817 | 		FrameHeader, 
 818 | 		FrameHeader,
 819 | 		_pholder,
 820 | 		TempReadSize,
 821 | 		TempReadId,
 822 | 		_pholder
 823 | 	};
 824 | 	
 825 | 	const Buffer& resultBuf = genericRead(buf, TempReplySize);
 826 | 	
 827 | 	return resultBuf[5];
 828 | }
 829 | 	
 830 | uint16_t HiwonderBusServo::vinRead() const
 831 | {
 832 | 	constexpr static uint8_t VInReadId = 27;
 833 | 	constexpr static uint8_t VInReadSize = 3;
 834 | 	constexpr static uint8_t VInReplySize = 5;
 835 | 	
 836 | 	static Buffer buf
 837 | 	{
 838 | 		FrameHeader, 
 839 | 		FrameHeader,
 840 | 		_pholder,
 841 | 		VInReadSize,
 842 | 		VInReadId,
 843 | 		_pholder
 844 | 	};
 845 | 	
 846 | 	const Buffer& resultBuf = genericRead(buf, VInReplySize);
 847 | 	
 848 | 	return resultBuf[5]+(resultBuf[6]<<8);
 849 | }
 850 | 
 851 | int16_t HiwonderBusServo::posRead() const
 852 | {
 853 | 	constexpr static uint8_t posReadId = 28;
 854 | 	constexpr static uint8_t posReadSize = 3;
 855 | 	constexpr static uint8_t posReplySize = 5;
 856 | 	
 857 | 	static Buffer buf
 858 | 	{
 859 | 		FrameHeader, 
 860 | 		FrameHeader,
 861 | 		_pholder,
 862 | 		posReadSize,
 863 | 		posReadId,
 864 | 		_pholder
 865 | 	};
 866 | 	
 867 | 	const Buffer& resultBuf = genericRead(buf, posReplySize);
 868 | 	
 869 | 	return resultBuf[5]+(resultBuf[6]<<8);
 870 | }
 871 | 
 872 | void HiwonderBusServo::servoOrMotorModeWrite( Mode mode, int16_t speed )
 873 | {
 874 | 	constexpr static uint8_t ServoOrMotorModeWriteId = 29;
 875 | 	constexpr static uint8_t ServoOrMotorModeWriteSize = 7;
 876 | 	
 877 | 	static Buffer buf
 878 | 	{
 879 | 		FrameHeader, 
 880 | 		FrameHeader,
 881 | 		_pholder,
 882 | 		ServoOrMotorModeWriteSize,
 883 | 		ServoOrMotorModeWriteId,
 884 | 		_pholder,
 885 | 		_pholder,
 886 | 		_pholder,
 887 | 		_pholder,
 888 | 		_pholder
 889 | 	};
 890 | 	
 891 | 	speed = std::max(speed,static_cast<int16_t>(-1000));
 892 | 	speed = std::min(speed,1000_int16);
 893 | 	
 894 | 	buf[2] = id;
 895 | 	buf[5] = static_cast<uint8_t>(mode);
 896 | 	buf[6] = 0_uint8;
 897 | 	buf[7] = getLowByte(speed);
 898 | 	buf[8] = getHighByte(speed);
 899 | 	buf[9] = checksum(buf);
 900 | 	
 901 | 	sendBuf(buf);
 902 | }
 903 | 	
 904 | HiwonderBusServo::ModeRead HiwonderBusServo::servoOrMotorModeRead() const
 905 | {
 906 | 	constexpr static uint8_t servoOrMotorModeReadId = 30;
 907 | 	constexpr static uint8_t servoOrMotorModeReadSize = 3;
 908 | 	constexpr static uint8_t servoOrMotorModeReplySize = 7;
 909 | 	
 910 | 	static Buffer buf
 911 | 	{
 912 | 		FrameHeader, 
 913 | 		FrameHeader,
 914 | 		_pholder,
 915 | 		servoOrMotorModeReadSize,
 916 | 		servoOrMotorModeReadId,
 917 | 		_pholder
 918 | 	};
 919 | 	
 920 | 	const Buffer& resultBuf = genericRead(buf, servoOrMotorModeReplySize);
 921 | 	
 922 | 	ModeRead result;
 923 | 	result.mode = static_cast<Mode>(resultBuf[5]);
 924 | 	result.speed = resultBuf[7]+(resultBuf[8]<<8);
 925 | 	return result;
 926 | }
 927 | 
 928 | void HiwonderBusServo::loadOrUnloadWrite( LoadMode loadMode )
 929 | {
 930 | 	constexpr static uint8_t LoadOrUnloadWriteId = 31;
 931 | 	constexpr static uint8_t LoadOrUnloadWriteSize = 4;
 932 | 	
 933 | 	static Buffer buf
 934 | 	{
 935 | 		FrameHeader, 
 936 | 		FrameHeader,
 937 | 		_pholder,
 938 | 		LoadOrUnloadWriteSize,
 939 | 		LoadOrUnloadWriteId,
 940 | 		_pholder,
 941 | 		_pholder
 942 | 	};
 943 | 	
 944 | 	buf[2] = id;
 945 | 	buf[5] = static_cast<uint8_t>(loadMode);
 946 | 	buf[6] = checksum(buf);
 947 | 	
 948 | 	sendBuf(buf);
 949 | }
 950 | 
 951 | HiwonderBusServo::LoadMode HiwonderBusServo::loadOrUnloadRead() const
 952 | {
 953 | 	constexpr static uint8_t LoadOrUnloadReadId = 32;
 954 | 	constexpr static uint8_t LoadOrUnloadReadSize = 3;
 955 | 	constexpr static uint8_t LoadOrUnloadReplySize = 4;
 956 | 	
 957 | 	static Buffer buf
 958 | 	{
 959 | 		FrameHeader, 
 960 | 		FrameHeader,
 961 | 		_pholder,
 962 | 		LoadOrUnloadReadSize,
 963 | 		LoadOrUnloadReadId,
 964 | 		_pholder
 965 | 	};
 966 | 	
 967 | 	const Buffer& resultBuf = genericRead(buf, LoadOrUnloadReplySize);
 968 | 	
 969 | 	return static_cast<LoadMode>(resultBuf[5]);
 970 | }
 971 | 
 972 | void HiwonderBusServo::ledCtrlWrite(PowerLed powerLed)
 973 | {
 974 | 	constexpr static uint8_t LedCtrlWriteId = 33;
 975 | 	constexpr static uint8_t LedCtrlWriteSize = 4;
 976 | 	
 977 | 	static Buffer buf
 978 | 	{
 979 | 		FrameHeader, 
 980 | 		FrameHeader,
 981 | 		_pholder,
 982 | 		LedCtrlWriteSize,
 983 | 		LedCtrlWriteId,
 984 | 		_pholder,
 985 | 		_pholder
 986 | 	};
 987 | 	
 988 | 	buf[2] = id;
 989 | 	buf[5] = static_cast<uint8_t>(powerLed);
 990 | 	buf[6] = checksum(buf);
 991 | 	
 992 | 	sendBuf(buf);
 993 | }
 994 | 	
 995 | HiwonderBusServo::PowerLed HiwonderBusServo::ledCtrlRead() const
 996 | {
 997 | 	constexpr static uint8_t LedCtrlReadId = 34;
 998 | 	constexpr static uint8_t LedCtrlReadSize = 3;
 999 | 	constexpr static uint8_t LedCtrlReplySize = 4;
1000 | 	
1001 | 	static Buffer buf
1002 | 	{
1003 | 		FrameHeader, 
1004 | 		FrameHeader,
1005 | 		_pholder,
1006 | 		LedCtrlReadSize,
1007 | 		LedCtrlReadId,
1008 | 		_pholder
1009 | 	};
1010 | 	
1011 | 	const Buffer& resultBuf = genericRead(buf, LedCtrlReplySize);
1012 | 	
1013 | 	return static_cast<PowerLed>(resultBuf[5]);
1014 | }
1015 | 
1016 | void HiwonderBusServo::ledErrorWrite( bool overTemperature, bool overVoltage, bool stall)
1017 | {
1018 | 	constexpr static uint8_t LedErrorWriteId = 35;
1019 | 	constexpr static uint8_t LedErrorWriteSize = 4;
1020 | 	
1021 | 	static Buffer buf
1022 | 	{
1023 | 		FrameHeader, 
1024 | 		FrameHeader,
1025 | 		_pholder,
1026 | 		LedErrorWriteSize,
1027 | 		LedErrorWriteId,
1028 | 		_pholder,
1029 | 		_pholder
1030 | 	};
1031 | 	
1032 | 	buf[2] = id;
1033 | 	buf[5] = static_cast<uint8_t>((overTemperature?0x1:0x0) + (overVoltage?0x2:0x0) + (stall?0x4:0x0));
1034 | 	buf[6] = checksum(buf);
1035 | 	
1036 | 	sendBuf(buf);
1037 | }
1038 | 
1039 | HiwonderBusServo::LedError HiwonderBusServo::ledErrorRead() const
1040 | {
1041 | 	constexpr static uint8_t LedErrorReadId = 36;
1042 | 	constexpr static uint8_t LedErrorReadSize = 3;
1043 | 	constexpr static uint8_t LedErrorReplySize = 4;
1044 | 	
1045 | 	static Buffer buf
1046 | 	{
1047 | 		FrameHeader, 
1048 | 		FrameHeader,
1049 | 		_pholder,
1050 | 		LedErrorReadSize,
1051 | 		LedErrorReadId,
1052 | 		_pholder
1053 | 	};
1054 | 	
1055 | 	const Buffer& resultBuf = genericRead(buf, LedErrorReplySize);
1056 | 	
1057 | 	LedError result;
1058 | 	result.overTemperature = resultBuf[5] & 0x1;
1059 | 	result.overVoltage = resultBuf[5] & 0x2;
1060 | 	result.stall = resultBuf[5] & 0x4;
1061 | 	return result;
1062 | }
1063 | 
1064 | }
1065 | #endif //HIWONDER_RPI
1066 | 
1067 | 
1068 | 
1069 | 


--------------------------------------------------------------------------------
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528 | the work, and under which the third party grants, to any of the
529 | parties who would receive the covered work from you, a discriminatory
530 | patent license (a) in connection with copies of the covered work
531 | conveyed by you (or copies made from those copies), or (b) primarily
532 | for and in connection with specific products or compilations that
533 | contain the covered work, unless you entered into that arrangement,
534 | or that patent license was granted, prior to 28 March 2007.
535 | 
536 |   Nothing in this License shall be construed as excluding or limiting
537 | any implied license or other defenses to infringement that may
538 | otherwise be available to you under applicable patent law.
539 | 
540 |   12. No Surrender of Others' Freedom.
541 | 
542 |   If conditions are imposed on you (whether by court order, agreement or
543 | otherwise) that contradict the conditions of this License, they do not
544 | excuse you from the conditions of this License.  If you cannot convey a
545 | covered work so as to satisfy simultaneously your obligations under this
546 | License and any other pertinent obligations, then as a consequence you may
547 | not convey it at all.  For example, if you agree to terms that obligate you
548 | to collect a royalty for further conveying from those to whom you convey
549 | the Program, the only way you could satisfy both those terms and this
550 | License would be to refrain entirely from conveying the Program.
551 | 
552 |   13. Use with the GNU Affero General Public License.
553 | 
554 |   Notwithstanding any other provision of this License, you have
555 | permission to link or combine any covered work with a work licensed
556 | under version 3 of the GNU Affero General Public License into a single
557 | combined work, and to convey the resulting work.  The terms of this
558 | License will continue to apply to the part which is the covered work,
559 | but the special requirements of the GNU Affero General Public License,
560 | section 13, concerning interaction through a network will apply to the
561 | combination as such.
562 | 
563 |   14. Revised Versions of this License.
564 | 
565 |   The Free Software Foundation may publish revised and/or new versions of
566 | the GNU General Public License from time to time.  Such new versions will
567 | be similar in spirit to the present version, but may differ in detail to
568 | address new problems or concerns.
569 | 
570 |   Each version is given a distinguishing version number.  If the
571 | Program specifies that a certain numbered version of the GNU General
572 | Public License "or any later version" applies to it, you have the
573 | option of following the terms and conditions either of that numbered
574 | version or of any later version published by the Free Software
575 | Foundation.  If the Program does not specify a version number of the
576 | GNU General Public License, you may choose any version ever published
577 | by the Free Software Foundation.
578 | 
579 |   If the Program specifies that a proxy can decide which future
580 | versions of the GNU General Public License can be used, that proxy's
581 | public statement of acceptance of a version permanently authorizes you
582 | to choose that version for the Program.
583 | 
584 |   Later license versions may give you additional or different
585 | permissions.  However, no additional obligations are imposed on any
586 | author or copyright holder as a result of your choosing to follow a
587 | later version.
588 | 
589 |   15. Disclaimer of Warranty.
590 | 
591 |   THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
592 | APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
596 | PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
597 | IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
599 | 
600 |   16. Limitation of Liability.
601 | 
602 |   IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
610 | SUCH DAMAGES.
611 | 
612 |   17. Interpretation of Sections 15 and 16.
613 | 
614 |   If the disclaimer of warranty and limitation of liability provided
615 | above cannot be given local legal effect according to their terms,
616 | reviewing courts shall apply local law that most closely approximates
617 | an absolute waiver of all civil liability in connection with the
618 | Program, unless a warranty or assumption of liability accompanies a
619 | copy of the Program in return for a fee.
620 | 
621 |                      END OF TERMS AND CONDITIONS
622 | 
623 |             How to Apply These Terms to Your New Programs
624 | 
625 |   If you develop a new program, and you want it to be of the greatest
626 | possible use to the public, the best way to achieve this is to make it
627 | free software which everyone can redistribute and change under these terms.
628 | 
629 |   To do so, attach the following notices to the program.  It is safest
630 | to attach them to the start of each source file to most effectively
631 | state the exclusion of warranty; and each file should have at least
632 | the "copyright" line and a pointer to where the full notice is found.
633 | 
634 |     <one line to give the program's name and a brief idea of what it does.>
635 |     Copyright (C) <year>  <name of author>
636 | 
637 |     This program is free software: you can redistribute it and/or modify
638 |     it under the terms of the GNU General Public License as published by
639 |     the Free Software Foundation, either version 3 of the License, or
640 |     (at your option) any later version.
641 | 
642 |     This program is distributed in the hope that it will be useful,
643 |     but WITHOUT ANY WARRANTY; without even the implied warranty of
644 |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
645 |     GNU General Public License for more details.
646 | 
647 |     You should have received a copy of the GNU General Public License
648 |     along with this program.  If not, see <https://www.gnu.org/licenses/>.
649 | 
650 | Also add information on how to contact you by electronic and paper mail.
651 | 
652 |   If the program does terminal interaction, make it output a short
653 | notice like this when it starts in an interactive mode:
654 | 
655 |     <program>  Copyright (C) <year>  <name of author>
656 |     This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
657 |     This is free software, and you are welcome to redistribute it
658 |     under certain conditions; type `show c' for details.
659 | 
660 | The hypothetical commands `show w' and `show c' should show the appropriate
661 | parts of the General Public License.  Of course, your program's commands
662 | might be different; for a GUI interface, you would use an "about box".
663 | 
664 |   You should also get your employer (if you work as a programmer) or school,
665 | if any, to sign a "copyright disclaimer" for the program, if necessary.
666 | For more information on this, and how to apply and follow the GNU GPL, see
667 | <https://www.gnu.org/licenses/>.
668 | 
669 |   The GNU General Public License does not permit incorporating your program
670 | into proprietary programs.  If your program is a subroutine library, you
671 | may consider it more useful to permit linking proprietary applications with
672 | the library.  If this is what you want to do, use the GNU Lesser General
673 | Public License instead of this License.  But first, please read
674 | <https://www.gnu.org/licenses/why-not-lgpl.html>.
675 | 


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