Add DYNAMIXEL Slave function (Limited functionality)

examples/advanced/slave/slave.ino

@@ -0,0 +1,89 @@
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// The following definitions are examples when using the DYNAMIXEL Shield.
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); //RX,TX //UART Port on DYNAMIXEL Shield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+#else
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+#endif
+
+// Create a port object for DYNAMIXEL communication.
+// The list of available classes is as follows.
+// 1) DYNAMIXEL::SerialPortHandler     (HardwareSerial only)
+//     -note: If you do not want to use half duplex communication, do not enter the second parameter.
+// 2) DYNAMIXEL::USBSerialPortHandler  (Only USB port on each board)
+DYNAMIXEL::SerialPortHandler dxl_port(DXL_SERIAL, DXL_DIR_PIN);
+
+// Create a Slave object to communicate with the master.
+const float DXL_PROTOCOL_VER_1_0 = 1.0;
+const float DXL_PROTOCOL_VER_2_0 = 2.0;
+const uint16_t DXL_MODEL_NUM = 0x5005; // Modify it to what you want.
+DYNAMIXEL::Slave dxl(dxl_port, DXL_MODEL_NUM);
+
+// Declare the address of the Slave control item you want 
+// to register and the variable (size is also important)
+// to store its data.
+const uint16_t ADDR_CONTROL_ITEM_LED = 10;
+const uint16_t ADDR_CONTROL_ITEM_ANALOG = 20;
+// note: 'int' is not supported because its size varies by system architecture.
+uint8_t control_item_led;
+int16_t control_item_analog;
+
+
+void setup() {
+  // put your setup code here, to run once:
+  DEBUG_SERIAL.begin(115200);
+
+  // Speed setting for communication (not necessary for USB)
+  dxl_port.begin(1000000);
+
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_2_0);
+  dxl.setFirmwareVersion(1);
+  dxl.setID(1);
+
+  // Add control items.
+  // Input the address(p1) and the variable(p2) to write/read the data as parameters.
+  dxl.addControlItem(ADDR_CONTROL_ITEM_LED, control_item_led);
+  dxl.addControlItem(ADDR_CONTROL_ITEM_ANALOG, control_item_analog);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  // If there is a packet from the master, process it.
+  if(dxl.processPacket() == false){
+    DEBUG_SERIAL.print("Last lib err code: ");
+    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
+    DEBUG_SERIAL.print(", ");
+    DEBUG_SERIAL.print("Last status packet err code: ");
+    DEBUG_SERIAL.println(dxl.getLastStatusPacketError());
+    DEBUG_SERIAL.println();
+  }
+
+  // Update or use variables for each control item.
+  digitalWrite(LED_BUILTIN, control_item_led);
+  control_item_analog = analogRead(A0);
+}

examples/advanced/slave_callback/slave_callback.ino

@@ -0,0 +1,112 @@
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// The following definitions are examples when using the DYNAMIXEL Shield.
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); //RX,TX //UART Port on DYNAMIXEL Shield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+#else
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+#endif
+
+// Create a port object for DYNAMIXEL communication.
+// The list of available classes is as follows.
+// 1) DYNAMIXEL::SerialPortHandler     (HardwareSerial only)
+//     -note: If you do not want to use half duplex communication, do not enter the second parameter.
+// 2) DYNAMIXEL::USBSerialPortHandler  (Only USB port on each board)
+DYNAMIXEL::SerialPortHandler dxl_port(DXL_SERIAL, DXL_DIR_PIN);
+
+// Create a Slave object to communicate with the master.
+const float DXL_PROTOCOL_VER_1_0 = 1.0;
+const float DXL_PROTOCOL_VER_2_0 = 2.0;
+const uint16_t DXL_MODEL_NUM = 0x5005; // Modify it to what you want.
+DYNAMIXEL::Slave dxl(dxl_port, DXL_MODEL_NUM);
+
+// Declare the address of the Slave control item you want 
+// to register and the variable (size is also important)
+// to store its data.
+const uint16_t ADDR_CONTROL_ITEM_LED = 10;
+const uint16_t ADDR_CONTROL_ITEM_ANALOG = 20;
+// note: 'int' is not supported because its size varies by system architecture.
+uint8_t control_item_led;
+int16_t control_item_analog;
+
+
+void setup() {
+  // put your setup code here, to run once:
+  DEBUG_SERIAL.begin(115200);
+
+  // Speed setting for communication (not necessary for USB)
+  dxl_port.begin(1000000);
+
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_2_0);
+  dxl.setFirmwareVersion(1);
+  dxl.setID(1);
+
+  // Add control items.
+  // Input the address(p1) and the variable(p2) to write/read the data as parameters.
+  dxl.addControlItem(ADDR_CONTROL_ITEM_LED, control_item_led);
+  dxl.addControlItem(ADDR_CONTROL_ITEM_ANALOG, control_item_analog);
+
+  // Add interrupt callback functions to process read/write packet.
+  dxl.setReadCallbackFunc(read_callback_func);
+  dxl.setWriteCallbackFunc(write_callback_func);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  // If there is a packet from the master, process it.
+  if(dxl.processPacket() == false){
+    DEBUG_SERIAL.print("Last lib err code: ");
+    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
+    DEBUG_SERIAL.print(", ");
+    DEBUG_SERIAL.print("Last status packet err code: ");
+    DEBUG_SERIAL.println(dxl.getLastStatusPacketError());
+    DEBUG_SERIAL.println();
+  }
+}
+
+
+// Function to update data according to master's read request.
+// If you use dxl_err_code, you can send the packet's error code to the Master.
+// See the DYNAMIXEL Protocol documentation for this. 
+// (http://emanual.robotis.com/docs/kr/dxl/protocol2/)
+void read_callback_func(uint16_t item_addr, uint8_t &dxl_err_code)
+{
+  if(item_addr == ADDR_CONTROL_ITEM_ANALOG){
+    control_item_analog = analogRead(A0);
+  }
+}
+
+// Function to update data according to master write request.
+// If you use dxl_err_code, you can send the packet's error code to the Master.
+// See the DYNAMIXEL Protocol documentation for this. 
+// (http://emanual.robotis.com/docs/kr/dxl/protocol2/)
+void write_callback_func(uint16_t item_addr, uint8_t &dxl_err_code)
+{
+  if(item_addr == ADDR_CONTROL_ITEM_LED){
+    digitalWrite(LED_BUILTIN, control_item_led);
+  }
+}

keywords.txt

@@ -8,7 +8,9 @@
 
 Dynamixel2Arduino	KEYWORD1
 Master	KEYWORD1
+Slave	KEYWORD1
 SerialPortHandler	KEYWORD1
+USBSerialPortHandler	KEYWORD1
 
 ###########################################
 # Methods and Functions (KEYWORD2)
@@ -51,8 +53,27 @@ factoryReset	KEYWORD2
 reboot	KEYWORD2
 syncWrite	KEYWORD2
 syncRead	KEYWORD2
+bulkWrite	KEYWORD2
+bulkRead	KEYWORD2
+getLastStatusPacketError	KEYWORD2
+getLastLibErrCode	KEYWORD2
+setLastLibErrCode	KEYWORD2
 
-# Slave Class (TODO)
+# Slave Class
+getModelNumber	KEYWORD2
+setID	KEYWORD2
+getID	KEYWORD2
+setFirmwareVersion	KEYWORD2
+getFirmwareVersion	KEYWORD2
+setPort	KEYWORD2
+setPortProtocolVersion	KEYWORD2
+getPortProtocolVersion	KEYWORD2
+setWriteCallbackFunc	KEYWORD2
+setReadCallbackFunc	KEYWORD2
+processPacket	KEYWORD2
+getLastStatusPacketError	KEYWORD2
+getLastLibErrCode	KEYWORD2
+addControlItem	KEYWORD2
 
 ###########################################
 # Structures (KEYWORD3)

src/utility/port_handler.cpp

@@ -102,4 +102,50 @@ size_t SerialPortHandler::write(uint8_t *buf, size_t len)
 unsigned long SerialPortHandler::getBaud() const
 {
   return baud_;
-}
+}
+
+
+/* USBSerialPortHandler */
+USBSerialPortHandler::USBSerialPortHandler(USB_SERIAL_CLASS& port)
+ : PortHandler(), port_(port)
+{}
+
+void USBSerialPortHandler::begin()
+{
+  port_.begin(1000000);
+  setOpenState(true);
+}
+
+void USBSerialPortHandler::end(void)
+{
+  port_.end();
+  setOpenState(false);
+}
+
+int USBSerialPortHandler::available(void)
+{
+  return port_.available();
+}
+
+int USBSerialPortHandler::read()
+{
+  return port_.read();
+}
+
+size_t USBSerialPortHandler::write(uint8_t c)
+{
+  size_t ret = 0;
+
+  ret = port_.write(c);
+
+  return ret;
+}
+
+size_t USBSerialPortHandler::write(uint8_t *buf, size_t len)
+{
+  size_t ret;
+
+  ret = port_.write(buf, len);
+
+  return ret;      
+}