From 741f43cd56dd5ed88403397f23060e934541bd00 Mon Sep 17 00:00:00 2001 From: Forairaaaaa Date: Tue, 12 May 2026 16:00:41 +0800 Subject: [PATCH] update firmware v1.4.0 --- firmware/CMakeLists.txt | 2 +- firmware/main/apps/app_avatar/app_avatar.cpp | 15 +- firmware/main/apps/app_avatar/app_avatar.h | 3 + .../main/hal/drivers/FTServo_Arduino/LICENSE | 21 + .../hal/drivers/FTServo_Arduino/README.md | 44 ++ .../FTServo_Arduino/library.properties | 11 + .../hal/drivers/FTServo_Arduino/src/HLSCL.cpp | 260 +++++++ .../hal/drivers/FTServo_Arduino/src/HLSCL.h | 89 +++ .../hal/drivers/FTServo_Arduino/src/INST.h | 51 ++ .../hal/drivers/FTServo_Arduino/src/SCS.cpp | 450 ++++++++++++ .../hal/drivers/FTServo_Arduino/src/SCS.h | 64 ++ .../hal/drivers/FTServo_Arduino/src/SCSCL.cpp | 243 +++++++ .../hal/drivers/FTServo_Arduino/src/SCSCL.h | 82 +++ .../drivers/FTServo_Arduino/src/SCSerial.cpp | 191 +++++ .../drivers/FTServo_Arduino/src/SCSerial.h | 39 + .../hal/drivers/FTServo_Arduino/src/SCServo.h | 15 + .../drivers/FTServo_Arduino/src/SMS_STS.cpp | 249 +++++++ .../hal/drivers/FTServo_Arduino/src/SMS_STS.h | 86 +++ .../hal/drivers/SCServo_lib/CMakeLists.txt | 12 - .../main/hal/drivers/SCServo_lib/LICENSE.txt | 674 ------------------ .../main/hal/drivers/SCServo_lib/src/INST.h | 40 -- .../main/hal/drivers/SCServo_lib/src/SCS.cpp | 369 ---------- .../main/hal/drivers/SCServo_lib/src/SCS.h | 56 -- .../hal/drivers/SCServo_lib/src/SCSCL.cpp | 319 --------- .../main/hal/drivers/SCServo_lib/src/SCSCL.h | 86 --- .../hal/drivers/SCServo_lib/src/SCSerial.cpp | 152 ---- .../hal/drivers/SCServo_lib/src/SCSerial.h | 46 -- .../hal/drivers/SCServo_lib/src/SCServo.h | 11 - firmware/main/hal/hal_servo.cpp | 2 +- 29 files changed, 1914 insertions(+), 1768 deletions(-) create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/LICENSE create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/README.md create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/library.properties create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/HLSCL.cpp create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/HLSCL.h create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/INST.h create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCS.cpp create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCS.h create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCSCL.cpp create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCSCL.h create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.cpp create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.h create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SCServo.h create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SMS_STS.cpp create mode 100644 firmware/main/hal/drivers/FTServo_Arduino/src/SMS_STS.h delete mode 100644 firmware/main/hal/drivers/SCServo_lib/CMakeLists.txt delete mode 100644 firmware/main/hal/drivers/SCServo_lib/LICENSE.txt delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/INST.h delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCS.cpp delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCS.h delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCSCL.cpp delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCSCL.h delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCSerial.cpp delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCSerial.h delete mode 100644 firmware/main/hal/drivers/SCServo_lib/src/SCServo.h diff --git a/firmware/CMakeLists.txt b/firmware/CMakeLists.txt index e9a5d8d..565f247 100644 --- a/firmware/CMakeLists.txt +++ b/firmware/CMakeLists.txt @@ -2,7 +2,7 @@ # CMakeLists in this exact order for cmake to work correctly cmake_minimum_required(VERSION 3.16) -set(PROJECT_VER "1.3.1") +set(PROJECT_VER "1.4.0") add_definitions(-DFIRMWARE_VERSION=\"${PROJECT_VER}\") # Add this line to disable the specific warning diff --git a/firmware/main/apps/app_avatar/app_avatar.cpp b/firmware/main/apps/app_avatar/app_avatar.cpp index d1e713d..659b11d 100644 --- a/firmware/main/apps/app_avatar/app_avatar.cpp +++ b/firmware/main/apps/app_avatar/app_avatar.cpp @@ -86,6 +86,7 @@ void AppAvatar::onOpen() // Create default avatar auto avatar = std::make_unique(); avatar->init(lv_screen_active()); + avatar->getPanel()->onClick().connect([&]() { _screen_clicked_flag = true; }); GetStackChan().attachAvatar(std::move(avatar)); /* ------------------------------- BLE events ------------------------------- */ @@ -205,7 +206,10 @@ void AppAvatar::onOpen() LvglLockGuard lvgl_lock; auto sequence = stackchan::animation::parse_sequence_from_json(data.data()); if (!sequence.empty()) { - GetStackChan().addModifier(std::make_unique(sequence)); + if (_dance_modifier_id >= 0) { + GetStackChan().removeModifier(_dance_modifier_id); + } + _dance_modifier_id = GetStackChan().addModifier(std::make_unique(sequence)); } }); @@ -242,6 +246,15 @@ void AppAvatar::onRunning() _ble_motion_data.data_ptr = nullptr; } + if (_screen_clicked_flag) { + _screen_clicked_flag = false; + if (_dance_modifier_id >= 0) { + GetStackChan().removeModifier(_dance_modifier_id); + _dance_modifier_id = -1; + mclog::tagInfo(getAppInfo().name, "dance modifier removed"); + } + } + GetStackChan().update(); view::update_home_indicator(); diff --git a/firmware/main/apps/app_avatar/app_avatar.h b/firmware/main/apps/app_avatar/app_avatar.h index 218d03d..6826663 100644 --- a/firmware/main/apps/app_avatar/app_avatar.h +++ b/firmware/main/apps/app_avatar/app_avatar.h @@ -41,5 +41,8 @@ class AppAvatar : public mooncake::AppAbility { std::unique_ptr _video_window; + bool _screen_clicked_flag = false; + int _dance_modifier_id = -1; + void check_auto_angle_sync_mode(); }; diff --git a/firmware/main/hal/drivers/FTServo_Arduino/LICENSE b/firmware/main/hal/drivers/FTServo_Arduino/LICENSE new file mode 100644 index 0000000..f213df3 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2024 ftservo + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/firmware/main/hal/drivers/FTServo_Arduino/README.md b/firmware/main/hal/drivers/FTServo_Arduino/README.md new file mode 100644 index 0000000..42fd159 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/README.md @@ -0,0 +1,44 @@ +# FEETECH BUS Servo + +> FEETECH BUS Servo library for Arduino and ESP32 + +## Table of Contents + + +* [FEETECH BUS Servo](#ft-series-servo) + * [Table of Contents](#table-of-contents) + * [Requirements](#requirements) + * [Usage](#usage) + * [Notes](#notes) + * [Release](#release) + + +## Requirements + +* arduino-1.6.10 or newer(https://www.arduino.cc/). + +## Usage + +For usage examples, see the [examples](./examples) directory. + +## Notes + +The code for the `SCServo` library is divided into the following +parts: + +* communication layer: [src/SCS.cpp](src/SCS.cpp) +* hardware interface layer: [src/SCSerial.cpp](src/SCSerial.cpp) +* application layer: + * corresponds to the three series of FEETECH BUS Servo + * `SCSCL` application layer program: [src/SCSCL.h](src/SCSCL.h) and [src/SCSCL.cpp](src/SCSCL.cpp) + * `SMS` and `STS` application layer program: [src/SMS_STS.h](src/SMS_STS.h) and [src/SMS_STS.cpp](src/SMS_STS.cpp) + * `HLS` application layer program: [src/HLSCL.h](src/HLSCL.h) and [src/HLSCL.cpp](src/HLSCL.cpp) +* instruction definition header file: [src/INST.h](src/INST.h) +* communication layer program: [src/SCS.h](src/SCS.h) and [src/SCS.cpp](src/SCS.cpp) +* hardware interface program: [src/SCSerial.h](src/SCSerial.h) and [src/SCSerial.cpp](src/SCSerial.cpp) + +Note that there are differences in the memory table definitions of different series of FEETECH BUS servos. + +## Release + +New (GitHub) releases of this library are automatically ingressed by the Arduino Library Manager. diff --git a/firmware/main/hal/drivers/FTServo_Arduino/library.properties b/firmware/main/hal/drivers/FTServo_Arduino/library.properties new file mode 100644 index 0000000..a9e2e81 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/library.properties @@ -0,0 +1,11 @@ +# see https://arduino.github.io/arduino-cli/1.0/library-specification/#library-metadata + +name=FTServo +version=2.0.0 +author=ftservo +maintainer=FEETECH +sentence=FEETECH BUS Servo library for Arduino and ESP32 +paragraph=This library is compatible with all series of FEETECH BUS Servo +category=Other +url=https://github.com/ftservo/FTServo_Arduino +architectures=* diff --git a/firmware/main/hal/drivers/FTServo_Arduino/src/HLSCL.cpp b/firmware/main/hal/drivers/FTServo_Arduino/src/HLSCL.cpp new file mode 100644 index 0000000..fe8230a --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/src/HLSCL.cpp @@ -0,0 +1,260 @@ +/* + * HLSCL.cpp + * 飞特HTS/HLS系列串行舵机应用层程序 + * 日期: 2024.11.21 + * 作者: txl + */ + +#include "HLSCL.h" + +HLSCL::HLSCL() +{ + End = 0; +} + +HLSCL::HLSCL(u8 End):SCSerial(End) +{ +} + +HLSCL::HLSCL(u8 End, u8 Level):SCSerial(End, Level) +{ +} + +int HLSCL::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC, u16 Torque) +{ + if(Position<0){ + Position = -Position; + Position |= (1<<15); + } + u8 bBuf[7]; + bBuf[0] = ACC; + Host2SCS(bBuf+1, bBuf+2, Position); + Host2SCS(bBuf+3, bBuf+4, Torque); + Host2SCS(bBuf+5, bBuf+6, Speed); + + return genWrite(ID, HLSCL_ACC, bBuf, 7); +} + +int HLSCL::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC, u16 Torque) +{ + if(Position<0){ + Position = -Position; + Position |= (1<<15); + } + u8 bBuf[7]; + bBuf[0] = ACC; + Host2SCS(bBuf+1, bBuf+2, Position); + Host2SCS(bBuf+3, bBuf+4, Torque); + Host2SCS(bBuf+5, bBuf+6, Speed); + + return regWrite(ID, HLSCL_ACC, bBuf, 7); +} + +void HLSCL::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[], u16 Torque[]) +{ + u8 offbuf[7*IDN]; + for(u8 i = 0; i +#include "SCS.h" + +SCS::SCS() +{ + Level = 1;//除广播指令所有指令返回应答 + u8Status = 0; +} + +SCS::SCS(u8 End) +{ + Level = 1; + this->End = End; + u8Status = 0; +} + +SCS::SCS(u8 End, u8 Level) +{ + this->Level = Level; + this->End = End; + u8Status = 0; +} + +//1个16位数拆分为2个8位数 +//DataL为低位，DataH为高位 +void SCS::Host2SCS(u8 *DataL, u8* DataH, u16 Data) +{ + if(End){ + *DataL = (Data>>8); + *DataH = (Data&0xff); + }else{ + *DataH = (Data>>8); + *DataL = (Data&0xff); + } +} + +//2个8位数组合为1个16位数 +//DataL为低位，DataH为高位 +u16 SCS::SCS2Host(u8 DataL, u8 DataH) +{ + u16 Data; + if(End){ + Data = DataL; + Data<<=8; + Data |= DataH; + }else{ + Data = DataH; + Data<<=8; + Data |= DataL; + } + return Data; +} + +void SCS::writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun) +{ + u8 msgLen = 2; + u8 bBuf[6]; + u8 CheckSum = 0; + bBuf[0] = 0xff; + bBuf[1] = 0xff; + bBuf[2] = ID; + bBuf[4] = Fun; + if(nDat){ + msgLen += nLen + 1; + bBuf[3] = msgLen; + bBuf[5] = MemAddr; + writeSCS(bBuf, 6); + + }else{ + bBuf[3] = msgLen; + writeSCS(bBuf, 5); + } + CheckSum = ID + msgLen + Fun + MemAddr; + u8 i = 0; + if(nDat){ + for(i=0; i10){ + return 0; + } + } + return 1; +} + +int SCS::Ack(u8 ID) +{ + u8Error = 0; + if(ID!=0xfe && Level){ + if(!checkHead()){ + u8Error = ERR_NO_REPLY; + return 0; + } + u8Status = 0; + u8 bBuf[4]; + if(readSCS(bBuf, 4)!=4){ + u8Error = ERR_NO_REPLY; + return 0; + } + if(bBuf[0]!=ID){ + u8Error = ERR_SLAVE_ID; + return 0; + } + if(bBuf[1]!=2){ + u8Error = ERR_BUFF_LEN; + return 0; + } + u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]); + if(calSum!=bBuf[3]){ + u8Error = ERR_CRC_CMP; + return 0; + } + u8Status = bBuf[2]; + } + return 1; +} + +int SCS::syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen) +{ + rFlushSCS(); + syncReadRxPacketLen = nLen; + u8 checkSum = (4+0xfe) + IDN + MemAddr + nLen + INST_SYNC_READ; + u8 i; + writeSCS(0xff); + writeSCS(0xff); + writeSCS(0xfe); + writeSCS(IDN+4); + writeSCS(INST_SYNC_READ); + writeSCS(MemAddr); + writeSCS(nLen); + for(i=0; i=syncReadRxPacketLen){ + u8Error = ERR_BUFF_LEN; + return -1; + } + return syncReadRxPacket[syncReadRxPacketIndex++]; +} + +int SCS::syncReadRxPacketToWrod(u8 negBit) +{ + if((syncReadRxPacketIndex+1)>=syncReadRxPacketLen){ + u8Error = ERR_BUFF_LEN; + return -1; + } + int Word = SCS2Host(syncReadRxPacket[syncReadRxPacketIndex], syncReadRxPacket[syncReadRxPacketIndex+1]); + syncReadRxPacketIndex += 2; + if(negBit){ + if(Word&(1< 0xff){ + return -1; + } + if(mode > 1){ + return -2; + } + + const u8 servo_id = static_cast(ID); + + if(mode == 1){ + min_angle[servo_id] = readWord(servo_id, SCSCL_MIN_ANGLE_LIMIT_L); + max_angle[servo_id] = readWord(servo_id, SCSCL_MAX_ANGLE_LIMIT_L); + if(min_angle[servo_id] == -1 || max_angle[servo_id] == -1){ + return -3; + } + + angle_limit_cached[servo_id] = true; + return PWMMode(servo_id); + } + + if(!angle_limit_cached[servo_id]){ + return -4; + } + if(writeWord(servo_id, SCSCL_MIN_ANGLE_LIMIT_L, (u16)min_angle[servo_id]) != 1){ + return -5; + } + if(writeWord(servo_id, SCSCL_MAX_ANGLE_LIMIT_L, (u16)max_angle[servo_id]) != 1){ + return -6; + } + + return 0; +} + +int SCSCL::ReadToqueEnable(int ID) +{ + return readWord(ID, SCSCL_TORQUE_ENABLE); +} diff --git a/firmware/main/hal/drivers/FTServo_Arduino/src/SCSCL.h b/firmware/main/hal/drivers/FTServo_Arduino/src/SCSCL.h new file mode 100644 index 0000000..5878ea1 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/src/SCSCL.h @@ -0,0 +1,82 @@ +/* + * SCSCL.h + * 飞特SCSCL系列串行舵机应用层程序 + * 日期: 2024.4.2 + * 作者: + */ + +#ifndef _SCSCL_H +#define _SCSCL_H + +//内存表定义 +//-------EPROM(只读)-------- +#define SCSCL_VERSION_L 3 +#define SCSCL_VERSION_H 4 + +//-------EPROM(读写)-------- +#define SCSCL_ID 5 +#define SCSCL_BAUD_RATE 6 +#define SCSCL_MIN_ANGLE_LIMIT_L 9 +#define SCSCL_MIN_ANGLE_LIMIT_H 10 +#define SCSCL_MAX_ANGLE_LIMIT_L 11 +#define SCSCL_MAX_ANGLE_LIMIT_H 12 +#define SCSCL_CW_DEAD 26 +#define SCSCL_CCW_DEAD 27 + +//-------SRAM(读写)-------- +#define SCSCL_TORQUE_ENABLE 40 +#define SCSCL_GOAL_POSITION_L 42 +#define SCSCL_GOAL_POSITION_H 43 +#define SCSCL_GOAL_TIME_L 44 +#define SCSCL_GOAL_TIME_H 45 +#define SCSCL_GOAL_SPEED_L 46 +#define SCSCL_GOAL_SPEED_H 47 +#define SCSCL_LOCK 48 + +//-------SRAM(只读)-------- +#define SCSCL_PRESENT_POSITION_L 56 +#define SCSCL_PRESENT_POSITION_H 57 +#define SCSCL_PRESENT_SPEED_L 58 +#define SCSCL_PRESENT_SPEED_H 59 +#define SCSCL_PRESENT_LOAD_L 60 +#define SCSCL_PRESENT_LOAD_H 61 +#define SCSCL_PRESENT_VOLTAGE 62 +#define SCSCL_PRESENT_TEMPERATURE 63 +#define SCSCL_MOVING 66 +#define SCSCL_PRESENT_CURRENT_L 69 +#define SCSCL_PRESENT_CURRENT_H 70 + +#include "SCSerial.h" + +class SCSCL : public SCSerial +{ +public: + SCSCL(); + SCSCL(u8 End); + SCSCL(u8 End, u8 Level); + int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//普通写单个舵机位置指令 + int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//异步写单个舵机位置指令(RegWriteAction生效) + void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);//同步写多个舵机位置指令 + int PWMMode(u8 ID);//PWM模式 + int WritePWM(u8 ID, s16 pwmOut);//PWM输出模式指令 + int SwitchMode(int ID, u8 mode);//切换位置模式和PWM模式 + int EnableTorque(u8 ID, u8 Enable);//扭矩控制指令 + int unLockEprom(u8 ID);//eprom解锁 + int LockEprom(u8 ID);//eprom加锁 + int FeedBack(int ID);//反馈舵机信息 + int ReadPos(int ID);//读位置 + int ReadSpeed(int ID);//读速度 + int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000) + int ReadVoltage(int ID);//读电压 + int ReadTemper(int ID);//读温度 + int ReadMove(int ID);//读移动状态 + int ReadCurrent(int ID);//读电流 + int ReadToqueEnable(int ID);//读扭矩使能状态 +private: + u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1]; + int min_angle[256] = {0}; + int max_angle[256] = {0}; + bool angle_limit_cached[256] = {false}; +}; + +#endif \ No newline at end of file diff --git a/firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.cpp b/firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.cpp new file mode 100644 index 0000000..32f0387 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.cpp @@ -0,0 +1,191 @@ +/* + * SCSerial.cpp + * 飞特串行舵机硬件接口层程序 + * 日期: 2024.4.2 + * 作者: + */ + +#include "SCSerial.h" + +#include "esp_log.h" +#include "esp_timer.h" + +static const char *TAG = "FT_SCSerial"; + +SCSerial::SCSerial() +{ + IOTimeOut = 10; + uart_num = UART_NUM_MAX; +} + +SCSerial::SCSerial(u8 End):SCS(End) +{ + IOTimeOut = 10; + uart_num = UART_NUM_MAX; +} + +SCSerial::SCSerial(u8 End, u8 Level):SCS(End, Level) +{ + IOTimeOut = 10; + uart_num = UART_NUM_MAX; +} + +bool SCSerial::begin(uart_port_t uart_num, int baud_rate, int tx_pin, int rx_pin, int buf_size) +{ + this->uart_num = uart_num; + + uart_config_t uart_config = { + .baud_rate = baud_rate, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .rx_flow_ctrl_thresh = 0, + .source_clk = UART_SCLK_DEFAULT, + }; + + esp_err_t ret = uart_driver_install(uart_num, buf_size, buf_size, 0, NULL, 0); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to install UART driver: %s", esp_err_to_name(ret)); + return false; + } + + ret = uart_param_config(uart_num, &uart_config); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to configure UART: %s", esp_err_to_name(ret)); + uart_driver_delete(uart_num); + this->uart_num = UART_NUM_MAX; + return false; + } + + ret = uart_set_pin(uart_num, tx_pin, rx_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to set UART pins: %s", esp_err_to_name(ret)); + uart_driver_delete(uart_num); + this->uart_num = UART_NUM_MAX; + return false; + } + + return true; +} + +void SCSerial::end() +{ + if (uart_num < UART_NUM_MAX) { + uart_driver_delete(uart_num); + uart_num = UART_NUM_MAX; + } +} + +int SCSerial::readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut) +{ + if (uart_num >= UART_NUM_MAX) { + return 0; + } + + int size = 0; + int64_t t_begin = esp_timer_get_time() / 1000; + + while (1) { + size_t available = 0; + uart_get_buffered_data_len(uart_num, &available); + + if (available > 0) { + unsigned char byte; + int len = uart_read_bytes(uart_num, &byte, 1, 0); + if (len > 0) { + if (nDat) { + nDat[size] = byte; + } + size++; + } + } + + if (size >= nLen) { + break; + } + + if ((esp_timer_get_time() / 1000) - t_begin > static_cast(TimeOut)) { + break; + } + + vTaskDelay(pdMS_TO_TICKS(1)); + } + + return size; +} + +int SCSerial::readSCS(unsigned char *nDat, int nLen) +{ + if (uart_num >= UART_NUM_MAX) { + return 0; + } + + int size = 0; + int64_t t_begin = esp_timer_get_time() / 1000; + + while (1) { + size_t available = 0; + uart_get_buffered_data_len(uart_num, &available); + + if (available > 0) { + unsigned char byte; + int len = uart_read_bytes(uart_num, &byte, 1, 0); + if (len > 0) { + if (nDat) { + nDat[size] = byte; + } + size++; + t_begin = esp_timer_get_time() / 1000; + } + } + + if (size >= nLen) { + break; + } + + if ((esp_timer_get_time() / 1000) - t_begin > static_cast(IOTimeOut)) { + break; + } + + vTaskDelay(pdMS_TO_TICKS(1)); + } + + return size; +} + +int SCSerial::writeSCS(unsigned char *nDat, int nLen) +{ + if (uart_num >= UART_NUM_MAX || nDat == NULL) { + return 0; + } + + return uart_write_bytes(uart_num, reinterpret_cast(nDat), nLen); +} + +int SCSerial::writeSCS(unsigned char bDat) +{ + if (uart_num >= UART_NUM_MAX) { + return 0; + } + + return uart_write_bytes(uart_num, reinterpret_cast(&bDat), 1); +} + +void SCSerial::rFlushSCS() +{ + if (uart_num >= UART_NUM_MAX) { + return; + } + + uart_flush_input(uart_num); +} + +void SCSerial::wFlushSCS() +{ + if (uart_num >= UART_NUM_MAX) { + return; + } + + uart_wait_tx_done(uart_num, pdMS_TO_TICKS(100)); +} \ No newline at end of file diff --git a/firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.h b/firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.h new file mode 100644 index 0000000..0fa3962 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/src/SCSerial.h @@ -0,0 +1,39 @@ +/* + * SCSerial.h + * 飞特串行舵机硬件接口层程序 + * 日期: 2024.11.22 + * 作者: txl + */ + +#ifndef _SCSERIAL_H +#define _SCSERIAL_H + +#include "driver/gpio.h" +#include "driver/uart.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" + +#include "SCS.h" + +class SCSerial : public SCS +{ +public: + SCSerial(); + SCSerial(u8 End); + SCSerial(u8 End, u8 Level); + bool begin(uart_port_t uart_num, int baud_rate, int tx_pin, int rx_pin, int buf_size = 1024); + void end(); + +protected: + int writeSCS(unsigned char *nDat, int nLen);//输出nLen字节 + int readSCS(unsigned char *nDat, int nLen);//输入nLen字节 + int readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut); + int writeSCS(unsigned char bDat);//输出1字节 + void rFlushSCS();// + void wFlushSCS();// +public: + unsigned long IOTimeOut;//输入输出超时 + uart_port_t uart_num;//串口编号 +}; + +#endif \ No newline at end of file diff --git a/firmware/main/hal/drivers/FTServo_Arduino/src/SCServo.h b/firmware/main/hal/drivers/FTServo_Arduino/src/SCServo.h new file mode 100644 index 0000000..090dea6 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/src/SCServo.h @@ -0,0 +1,15 @@ +/* + * SCServo.h + * 飞特串行舵机接口 + * 日期: 2024.11.24 + * 作者: txl + */ + +#ifndef _SCSERVO_H +#define _SCSERVO_H + +#include "SCSCL.h" +#include "SMS_STS.h" +#include "HLSCL.h" + +#endif \ No newline at end of file diff --git a/firmware/main/hal/drivers/FTServo_Arduino/src/SMS_STS.cpp b/firmware/main/hal/drivers/FTServo_Arduino/src/SMS_STS.cpp new file mode 100644 index 0000000..d79e919 --- /dev/null +++ b/firmware/main/hal/drivers/FTServo_Arduino/src/SMS_STS.cpp @@ -0,0 +1,249 @@ +/* + * SMS_STS.cpp + * 飞特SMS_STS系列串行舵机应用层程序 + * 日期: 2024.11.21 + * 作者: txl + */ + +#include "SMS_STS.h" + +SMS_STS::SMS_STS() +{ + End = 0; +} + +SMS_STS::SMS_STS(u8 End):SCSerial(End) +{ +} + +SMS_STS::SMS_STS(u8 End, u8 Level):SCSerial(End, Level) +{ +} + +int SMS_STS::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC) +{ + if(Position<0){ + Position = -Position; + Position |= (1<<15); + } + u8 bBuf[7]; + bBuf[0] = ACC; + Host2SCS(bBuf+1, bBuf+2, Position); + Host2SCS(bBuf+3, bBuf+4, 0); + Host2SCS(bBuf+5, bBuf+6, Speed); + + return genWrite(ID, SMS_STS_ACC, bBuf, 7); +} + +int SMS_STS::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC) +{ + if(Position<0){ + Position = -Position; + Position |= (1<<15); + } + u8 bBuf[7]; + bBuf[0] = ACC; + Host2SCS(bBuf+1, bBuf+2, Position); + Host2SCS(bBuf+3, bBuf+4, 0); + Host2SCS(bBuf+5, bBuf+6, Speed); + + return regWrite(ID, SMS_STS_ACC, bBuf, 7); +} + +void SMS_STS::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]) +{ + u8 offbuf[7*IDN]; + for(u8 i = 0; i - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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But first, please read -. diff --git a/firmware/main/hal/drivers/SCServo_lib/src/INST.h b/firmware/main/hal/drivers/SCServo_lib/src/INST.h deleted file mode 100644 index 187fb4b..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/INST.h +++ /dev/null @@ -1,40 +0,0 @@ -/* - * INST.h - * FIT serial servo protocol command definition - */ - -#ifndef _INST_H -#define _INST_H - -#include - -typedef int8_t s8; -typedef uint8_t u8; -typedef uint16_t u16; -typedef int16_t s16; -typedef uint32_t u32; -typedef int32_t s32; - -#define INST_PING 0x01 -#define INST_READ 0x02 -#define INST_WRITE 0x03 -#define INST_REG_WRITE 0x04 -#define INST_REG_ACTION 0x05 -#define INST_SYNC_READ 0x82 -#define INST_SYNC_WRITE 0x83 - -// Baud rate definition -#define _1M 0 -#define _0_5M 1 -#define _250K 2 -#define _128K 3 -#define _115200 4 -#define _76800 5 -#define _57600 6 -#define _38400 7 -#define _19200 8 -#define _14400 9 -#define _9600 10 -#define _4800 11 - -#endif \ No newline at end of file diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCS.cpp b/firmware/main/hal/drivers/SCServo_lib/src/SCS.cpp deleted file mode 100644 index 7c06b5a..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCS.cpp +++ /dev/null @@ -1,369 +0,0 @@ -/* - * SCS.cpp - * FIT serial servo communication layer protocol program - */ - -#include -#include "SCS.h" - -SCS::SCS() -{ - Level = 1; // All commands except broadcast commands return responses - Error = 0; -} - -SCS::SCS(u8 End) -{ - Level = 1; - this->End = End; - Error = 0; -} - -SCS::SCS(u8 End, u8 Level) -{ - this->Level = Level; - this->End = End; - Error = 0; -} - -// Split a 16-bit number into two 8-bit numbers -// DataL is the low bit, DataH is the high bit -void SCS::Host2SCS(u8 *DataL, u8 *DataH, u16 Data) -{ - if (End) { - *DataL = (Data >> 8); - *DataH = (Data & 0xff); - } else { - *DataH = (Data >> 8); - *DataL = (Data & 0xff); - } -} - -// 8-bit numbers are combined into a 16-bit number -// DataL is the low bit, DataH is the high bit -u16 SCS::SCS2Host(u8 DataL, u8 DataH) -{ - u16 Data; - if (End) { - Data = DataL; - Data <<= 8; - Data |= DataH; - } else { - Data = DataH; - Data <<= 8; - Data |= DataL; - } - return Data; -} - -void SCS::writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun) -{ - u8 msgLen = 2; - u8 bBuf[6]; - u8 CheckSum = 0; - bBuf[0] = 0xff; - bBuf[1] = 0xff; - bBuf[2] = ID; - bBuf[4] = Fun; - if (nDat) { - msgLen += nLen + 1; - bBuf[3] = msgLen; - bBuf[5] = MemAddr; - writeSCS(bBuf, 6); - - } else { - bBuf[3] = msgLen; - writeSCS(bBuf, 5); - } - CheckSum = ID + msgLen + Fun + MemAddr; - u8 i = 0; - if (nDat) { - for (i = 0; i < nLen; i++) { - CheckSum += nDat[i]; - } - writeSCS(nDat, nLen); - } - writeSCS(~CheckSum); -} - -// Normal write command -// Servo ID, MemAddr memory table address, write data, write length -int SCS::genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen) -{ - rFlushSCS(); - writeBuf(ID, MemAddr, nDat, nLen, INST_WRITE); - wFlushSCS(); - return Ack(ID); -} - -// Asynchronous write command -// Servo ID, MemAddr memory table address, write data, write length -int SCS::regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen) -{ - rFlushSCS(); - writeBuf(ID, MemAddr, nDat, nLen, INST_REG_WRITE); - wFlushSCS(); - return Ack(ID); -} - -// Asynchronous write execution command -// Servo ID -int SCS::RegWriteAction(u8 ID) -{ - rFlushSCS(); - writeBuf(ID, 0, NULL, 0, INST_REG_ACTION); - wFlushSCS(); - return Ack(ID); -} - -// Synchronous write command -// Servo ID[] array, IDN array length, MemAddr memory table address, write data, write length -void SCS::syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen) -{ - rFlushSCS(); - u8 mesLen = ((nLen + 1) * IDN + 4); - u8 Sum = 0; - u8 bBuf[7]; - bBuf[0] = 0xff; - bBuf[1] = 0xff; - bBuf[2] = 0xfe; - bBuf[3] = mesLen; - bBuf[4] = INST_SYNC_WRITE; - bBuf[5] = MemAddr; - bBuf[6] = nLen; - writeSCS(bBuf, 7); - - Sum = 0xfe + mesLen + INST_SYNC_WRITE + MemAddr + nLen; - u8 i, j; - for (i = 0; i < IDN; i++) { - writeSCS(ID[i]); - writeSCS(nDat + i * nLen, nLen); - Sum += ID[i]; - for (j = 0; j < nLen; j++) { - Sum += nDat[i * nLen + j]; - } - } - writeSCS(~Sum); - wFlushSCS(); -} - -int SCS::writeByte(u8 ID, u8 MemAddr, u8 bDat) -{ - rFlushSCS(); - writeBuf(ID, MemAddr, &bDat, 1, INST_WRITE); - wFlushSCS(); - return Ack(ID); -} - -int SCS::writeWord(u8 ID, u8 MemAddr, u16 wDat) -{ - u8 bBuf[2]; - Host2SCS(bBuf + 0, bBuf + 1, wDat); - rFlushSCS(); - writeBuf(ID, MemAddr, bBuf, 2, INST_WRITE); - wFlushSCS(); - return Ack(ID); -} - -// Read command -// Servo ID, MemAddr memory table address, return data nData, data length nLen -int SCS::Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen) -{ - rFlushSCS(); - writeBuf(ID, MemAddr, &nLen, 1, INST_READ); - wFlushSCS(); - if (!checkHead()) { - return 0; - } - u8 bBuf[4]; - Error = 0; - if (readSCS(bBuf, 3) != 3) { - return 0; - } - int Size = readSCS(nData, nLen); - if (Size != nLen) { - return 0; - } - if (readSCS(bBuf + 3, 1) != 1) { - return 0; - } - u8 calSum = bBuf[0] + bBuf[1] + bBuf[2]; - u8 i; - for (i = 0; i < Size; i++) { - calSum += nData[i]; - } - calSum = ~calSum; - if (calSum != bBuf[3]) { - return 0; - } - Error = bBuf[2]; - return Size; -} - -// Read 1 byte, return -1 if timeout -int SCS::readByte(u8 ID, u8 MemAddr) -{ - u8 bDat; - int Size = Read(ID, MemAddr, &bDat, 1); - if (Size != 1) { - return -1; - } else { - return bDat; - } -} - -// Read 2 bytes, return -1 if timeout -int SCS::readWord(u8 ID, u8 MemAddr) -{ - u8 nDat[2]; - int Size; - u16 wDat; - Size = Read(ID, MemAddr, nDat, 2); - if (Size != 2) return -1; - wDat = SCS2Host(nDat[0], nDat[1]); - return wDat; -} - -// Ping command, return the servo ID, timeout returns -1 -int SCS::Ping(u8 ID) -{ - rFlushSCS(); - writeBuf(ID, 0, NULL, 0, INST_PING); - wFlushSCS(); - Error = 0; - if (!checkHead()) { - return -1; - } - u8 bBuf[4]; - if (readSCS(bBuf, 4) != 4) { - return -1; - } - if (bBuf[0] != ID && ID != 0xfe) { - return -1; - } - if (bBuf[1] != 2) { - return -1; - } - u8 calSum = ~(bBuf[0] + bBuf[1] + bBuf[2]); - if (calSum != bBuf[3]) { - return -1; - } - Error = bBuf[2]; - return bBuf[0]; -} - -int SCS::checkHead() -{ - u8 bDat; - u8 bBuf[2] = {0, 0}; - u8 Cnt = 0; - while (1) { - if (!readSCS(&bDat, 1)) { - return 0; - } - bBuf[1] = bBuf[0]; - bBuf[0] = bDat; - if (bBuf[0] == 0xff && bBuf[1] == 0xff) { - break; - } - Cnt++; - if (Cnt > 10) { - return 0; - } - } - return 1; -} - -int SCS::Ack(u8 ID) -{ - Error = 0; - if (ID != 0xfe && Level) { - if (!checkHead()) { - return 0; - } - u8 bBuf[4]; - if (readSCS(bBuf, 4) != 4) { - return 0; - } - if (bBuf[0] != ID) { - return 0; - } - if (bBuf[1] != 2) { - return 0; - } - u8 calSum = ~(bBuf[0] + bBuf[1] + bBuf[2]); - if (calSum != bBuf[3]) { - return 0; - } - Error = bBuf[2]; - } - return 1; -} - -int SCS::syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen) -{ - syncReadRxPacketLen = nLen; - u8 checkSum = (4 + 0xfe) + IDN + MemAddr + nLen + INST_SYNC_READ; - u8 i; - writeSCS(0xff); - writeSCS(0xff); - writeSCS(0xfe); - writeSCS(IDN + 4); - writeSCS(INST_SYNC_READ); - writeSCS(MemAddr); - writeSCS(nLen); - for (i = 0; i < IDN; i++) { - writeSCS(ID[i]); - checkSum += ID[i]; - } - checkSum = ~checkSum; - writeSCS(checkSum); - return nLen; -} - -int SCS::syncReadPacketRx(u8 ID, u8 *nDat) -{ - syncReadRxPacket = nDat; - syncReadRxPacketIndex = 0; - u8 bBuf[4]; - if (!checkHead()) { - return 0; - } - if (readSCS(bBuf, 3) != 3) { - return 0; - } - if (bBuf[0] != ID) { - return 0; - } - if (bBuf[1] != (syncReadRxPacketLen + 2)) { - return 0; - } - Error = bBuf[2]; - if (readSCS(nDat, syncReadRxPacketLen) != syncReadRxPacketLen) { - return 0; - } - return syncReadRxPacketLen; -} - -int SCS::syncReadRxPacketToByte() -{ - if (syncReadRxPacketIndex >= syncReadRxPacketLen) { - return -1; - } - return syncReadRxPacket[syncReadRxPacketIndex++]; -} - -int SCS::syncReadRxPacketToWrod(u8 negBit) -{ - if ((syncReadRxPacketIndex + 1) >= syncReadRxPacketLen) { - return -1; - } - int Word = SCS2Host(syncReadRxPacket[syncReadRxPacketIndex], syncReadRxPacket[syncReadRxPacketIndex + 1]); - syncReadRxPacketIndex += 2; - if (negBit) { - if (Word & (1 << negBit)) { - Word = -(Word & ~(1 << negBit)); - } - } - return Word; -} diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCS.h b/firmware/main/hal/drivers/SCServo_lib/src/SCS.h deleted file mode 100644 index 3ac2b84..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCS.h +++ /dev/null @@ -1,56 +0,0 @@ -/* - * SCS.h - * FIT serial servo communication layer protocol program - */ - -#ifndef _SCS_H -#define _SCS_H - -#include "INST.h" - -class SCS { -public: - SCS(); - SCS(u8 End); - SCS(u8 End, u8 Level); - int genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen); // Normal write instruction - int regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen); // Asynchronous write command - int RegWriteAction(u8 ID = 0xfe); // Asynchronous write execution instruction - void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen); // Synchronous write instruction - int writeByte(u8 ID, u8 MemAddr, u8 bDat); // Write 1 byte - int writeWord(u8 ID, u8 MemAddr, u16 wDat); // Write 2 bytes - int Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen); // Read instruction - int readByte(u8 ID, u8 MemAddr); // Read 1 byte - int readWord(u8 ID, u8 MemAddr); // Read 2 bytes - int Ping(u8 ID); // Ping Command - int syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen); // Synchronous read instruction packet sending - int syncReadPacketRx( - u8 ID, - u8 *nDat); // Synchronous read return packet reception, successful return memory byte count, failed return 0 - int syncReadRxPacketToByte(); // Decode a byte - int syncReadRxPacketToWrod( - u8 negBit = 0); // Decode two bytes, negBit is the direction, negBit=0 means no direction -public: - u8 Level; // Servo return level - u8 End; // Processor endian structure - u8 Error; // Servo status - u8 syncReadRxPacketIndex; - u8 syncReadRxPacketLen; - u8 *syncReadRxPacket; - -protected: - virtual int writeSCS(unsigned char *nDat, int nLen) = 0; - virtual int readSCS(unsigned char *nDat, int nLen) = 0; - virtual int writeSCS(unsigned char bDat) = 0; - virtual void rFlushSCS() = 0; - virtual void wFlushSCS() = 0; - -protected: - void writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun); - void Host2SCS(u8 *DataL, u8 *DataH, u16 Data); // Split a 16-digit number into two 8-digit numbers - u16 SCS2Host(u8 DataL, u8 DataH); // Two 8-digit numbers combined into a 16-digit number - int Ack(u8 ID); // Return Response - int checkHead(); // Frame header detection -}; - -#endif diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCSCL.cpp b/firmware/main/hal/drivers/SCServo_lib/src/SCSCL.cpp deleted file mode 100644 index bb45907..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCSCL.cpp +++ /dev/null @@ -1,319 +0,0 @@ -/* - * SCSCL.cpp - * FIT SCSCL series serial servo application layer program - */ - -#include "SCSCL.h" - -SCSCL::SCSCL() -{ - End = 1; -} - -SCSCL::SCSCL(u8 End) : SCSerial(End) -{ -} - -SCSCL::SCSCL(u8 End, u8 Level) : SCSerial(End, Level) -{ -} - -int SCSCL::WritePos(u8 ID, u16 Position, u16 Time, u16 Speed) -{ - u8 bBuf[6]; - Host2SCS(bBuf + 0, bBuf + 1, Position); - Host2SCS(bBuf + 2, bBuf + 3, Time); - Host2SCS(bBuf + 4, bBuf + 5, Speed); - - return genWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6); -} - -int SCSCL::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC) -{ - (void)ACC; // ACC parameter is not used in this implementation - u16 Time = 0; - u8 bBuf[6]; - Host2SCS(bBuf + 0, bBuf + 1, Position); - Host2SCS(bBuf + 2, bBuf + 3, Time); - Host2SCS(bBuf + 4, bBuf + 5, Speed); - - return genWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6); -} - -int SCSCL::RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed) -{ - u8 bBuf[6]; - Host2SCS(bBuf + 0, bBuf + 1, Position); - Host2SCS(bBuf + 2, bBuf + 3, Time); - Host2SCS(bBuf + 4, bBuf + 5, Speed); - - return regWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6); -} - -int SCSCL::CalibrationOfs(u8 ID) -{ - return -1; -} - -void SCSCL::SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]) -{ - u8 offbuf[6 * IDN]; - for (u8 i = 0; i < IDN; i++) { - u16 T, V; - if (Time) { - T = Time[i]; - } else { - T = 0; - } - if (Speed) { - V = Speed[i]; - } else { - V = 0; - } - Host2SCS(offbuf + i * 6 + 0, offbuf + i * 6 + 1, Position[i]); - Host2SCS(offbuf + i * 6 + 2, offbuf + i * 6 + 3, T); - Host2SCS(offbuf + i * 6 + 4, offbuf + i * 6 + 5, V); - } - syncWrite(ID, IDN, SCSCL_GOAL_POSITION_L, offbuf, 6); -} - -int SCSCL::PWMMode(u8 ID) -{ - u8 bBuf[4]; - bBuf[0] = 0; - bBuf[1] = 0; - bBuf[2] = 0; - bBuf[3] = 0; - return genWrite(ID, SCSCL_MIN_ANGLE_LIMIT_L, bBuf, 4); -} - -int SCSCL::WritePWM(u8 ID, s16 pwmOut) -{ - if (pwmOut < 0) { - pwmOut = -pwmOut; - pwmOut |= (1 << 10); - } - u8 bBuf[2]; - Host2SCS(bBuf + 0, bBuf + 1, pwmOut); - - return genWrite(ID, SCSCL_GOAL_TIME_L, bBuf, 2); -} - -/** - * Switch between position mode and PWM mode 切换位置模式和PWM模式 - * ID: Servo ID - * mode: 0 for position mode, 1 for PWM mode 0表示位置模式，1表示PWM模式 - * Return: Result of the operation - */ -int SCSCL::SwitchMode(int ID, uint8_t mode) -{ - if (ID < 0 || ID > 1) { - return -1; // Invalid ID - } - if (mode > 1) { - return -2; // Invalid mode - } - - if (mode == 1) { // PWM mode - // Store current angle limits - min_angle[ID] = readWord(ID, SCSCL_MIN_ANGLE_LIMIT_L); - max_angle[ID] = readWord(ID, SCSCL_MAX_ANGLE_LIMIT_L); - - if (min_angle[ID] == -1 || max_angle[ID] == -1) { - return -3; // Failed to read angle limits - } - PWMMode(ID); // Switch to PWM mode - return 0; - } else { // Position mode (mode == 0) - if (writeWord(ID, SCSCL_MIN_ANGLE_LIMIT_L, (uint16_t)min_angle[ID]) != 1) { - return -4; // Failed to write min angle limit - } - if (writeWord(ID, SCSCL_MAX_ANGLE_LIMIT_L, (uint16_t)max_angle[ID]) != 1) { - return -5; // Failed to write max angle limit - } - return 0; - } -} - -/** - * Enable or disable torque 扭矩开关 - * ID: Servo ID - * Enable: 1 to enable, 0 to disable 2 to damping 1表示使能，0表示关闭，2表示阻尼 - * Return: Result of the operation - */ -int SCSCL::EnableTorque(u8 ID, u8 Enable) -{ - return writeByte(ID, SCSCL_TORQUE_ENABLE, Enable); -} - -int SCSCL::unLockEprom(u8 ID) -{ - return writeByte(ID, SCSCL_LOCK, 0); -} - -int SCSCL::LockEprom(u8 ID) -{ - return writeByte(ID, SCSCL_LOCK, 1); -} - -int SCSCL::FeedBack(int ID) -{ - int nLen = Read(ID, SCSCL_PRESENT_POSITION_L, Mem, sizeof(Mem)); - if (nLen != sizeof(Mem)) { - Err = 1; - return -1; - } - Err = 0; - return nLen; -} - -int SCSCL::ReadPos(int ID) -{ - int Pos = -1; - if (ID == -1) { - Pos = Mem[SCSCL_PRESENT_POSITION_L - SCSCL_PRESENT_POSITION_L]; - Pos <<= 8; - Pos |= Mem[SCSCL_PRESENT_POSITION_H - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Pos = readWord(ID, SCSCL_PRESENT_POSITION_L); - if (Pos == -1) { - Err = 1; - } - } - return Pos; -} - -int SCSCL::ReadSpeed(int ID) -{ - int Speed = -1; - if (ID == -1) { - Speed = Mem[SCSCL_PRESENT_SPEED_L - SCSCL_PRESENT_POSITION_L]; - Speed <<= 8; - Speed |= Mem[SCSCL_PRESENT_SPEED_H - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Speed = readWord(ID, SCSCL_PRESENT_SPEED_L); - if (Speed == -1) { - Err = 1; - return -1; - } - } - if (!Err && (Speed & (1 << 15))) { - Speed = -(Speed & ~(1 << 15)); - } - return Speed; -} - -int SCSCL::ReadLoad(int ID) -{ - int Load = -1; - if (ID == -1) { - Load = Mem[SCSCL_PRESENT_LOAD_L - SCSCL_PRESENT_POSITION_L]; - Load <<= 8; - Load |= Mem[SCSCL_PRESENT_LOAD_H - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Load = readWord(ID, SCSCL_PRESENT_LOAD_L); - if (Load == -1) { - Err = 1; - } - } - if (!Err && (Load & (1 << 10))) { - Load = -(Load & ~(1 << 10)); - } - return Load; -} - -int SCSCL::ReadVoltage(int ID) -{ - int Voltage = -1; - if (ID == -1) { - Voltage = Mem[SCSCL_PRESENT_VOLTAGE - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Voltage = readByte(ID, SCSCL_PRESENT_VOLTAGE); - if (Voltage == -1) { - Err = 1; - } - } - return Voltage; -} - -int SCSCL::ReadTemper(int ID) -{ - int Temper = -1; - if (ID == -1) { - Temper = Mem[SCSCL_PRESENT_TEMPERATURE - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Temper = readByte(ID, SCSCL_PRESENT_TEMPERATURE); - if (Temper == -1) { - Err = 1; - } - } - return Temper; -} - -int SCSCL::ReadMove(int ID) -{ - int Move = -1; - if (ID == -1) { - Move = Mem[SCSCL_MOVING - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Move = readByte(ID, SCSCL_MOVING); - if (Move == -1) { - Err = 1; - } - } - return Move; -} - -int SCSCL::ReadMode(int ID) -{ - int ValueRead = -1; - ValueRead = readWord(ID, SCSCL_MIN_ANGLE_LIMIT_L); - if (ValueRead == 0) { - return 1; - } else if (ValueRead > 0) { - return 0; - } - return ValueRead; -} - -int SCSCL::ReadToqueEnable(int ID) -{ - // return writeByte(ID, SCSCL_TORQUE_ENABLE, Enable); - int ValueRead = -1; - ValueRead = readWord(ID, SCSCL_TORQUE_ENABLE); - return ValueRead; -} - -int SCSCL::ReadInfoValue(int ID, int AddInput) -{ - int ValueRead = -1; - ValueRead = readWord(ID, AddInput); - return ValueRead; -} - -int SCSCL::ReadCurrent(int ID) -{ - int Current = -1; - if (ID == -1) { - Current = Mem[SCSCL_PRESENT_CURRENT_L - SCSCL_PRESENT_POSITION_L]; - Current <<= 8; - Current |= Mem[SCSCL_PRESENT_CURRENT_H - SCSCL_PRESENT_POSITION_L]; - } else { - Err = 0; - Current = readWord(ID, SCSCL_PRESENT_CURRENT_L); - if (Current == -1) { - Err = 1; - return -1; - } - } - if (!Err && (Current & (1 << 15))) { - Current = -(Current & ~(1 << 15)); - } - return Current; -} \ No newline at end of file diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCSCL.h b/firmware/main/hal/drivers/SCServo_lib/src/SCSCL.h deleted file mode 100644 index 6424acb..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCSCL.h +++ /dev/null @@ -1,86 +0,0 @@ -/* - * SCSCL.h - * FIT SCSCL series serial servo application layer program - */ - -#ifndef _SCSCL_H -#define _SCSCL_H - -// Memory table definition -//-------EPROM (read-only)-------- -#define SCSCL_VERSION_L 3 -#define SCSCL_VERSION_H 4 - -//-------EPROM (read and write)-------- -#define SCSCL_ID 5 -#define SCSCL_BAUD_RATE 6 -#define SCSCL_MIN_ANGLE_LIMIT_L 9 -#define SCSCL_MIN_ANGLE_LIMIT_H 10 -#define SCSCL_MAX_ANGLE_LIMIT_L 11 -#define SCSCL_MAX_ANGLE_LIMIT_H 12 -#define SCSCL_CW_DEAD 26 -#define SCSCL_CCW_DEAD 27 - -//-------SRAM (read and write)-------- -#define SCSCL_TORQUE_ENABLE 40 -#define SCSCL_GOAL_POSITION_L 42 -#define SCSCL_GOAL_POSITION_H 43 -#define SCSCL_GOAL_TIME_L 44 -#define SCSCL_GOAL_TIME_H 45 -#define SCSCL_GOAL_SPEED_L 46 -#define SCSCL_GOAL_SPEED_H 47 -#define SCSCL_LOCK 48 - -//-------SRAM (read only)-------- -#define SCSCL_PRESENT_POSITION_L 56 -#define SCSCL_PRESENT_POSITION_H 57 -#define SCSCL_PRESENT_SPEED_L 58 -#define SCSCL_PRESENT_SPEED_H 59 -#define SCSCL_PRESENT_LOAD_L 60 -#define SCSCL_PRESENT_LOAD_H 61 -#define SCSCL_PRESENT_VOLTAGE 62 -#define SCSCL_PRESENT_TEMPERATURE 63 -#define SCSCL_MOVING 66 -#define SCSCL_PRESENT_CURRENT_L 69 -#define SCSCL_PRESENT_CURRENT_H 70 - -#include "SCSerial.h" - -class SCSCL : public SCSerial { -public: - SCSCL(); - SCSCL(u8 End); - SCSCL(u8 End, u8 Level); - virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed); // Normal write of single servo position command - virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC); // Single servo position command - virtual int RegWritePos( - u8 ID, u16 Position, u16 Time, - u16 Speed = 0); // Asynchronously write a single servo position command (RegWriteAction takes effect) - virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], - u16 Speed[]); // Synchronously write multiple servo position commands - virtual int PWMMode(u8 ID); // PWM output mode - virtual int WritePWM(u8 ID, s16 pwmOut); // PWM output mode command - virtual int SwitchMode(int ID, uint8_t mode); // Switch between position mode and PWM mode - virtual int EnableTorque(u8 ID, u8 Enable); // Torque control command - virtual int unLockEprom(u8 ID); // eprom unlock - virtual int LockEprom(u8 ID); // eprom lock - virtual int FeedBack(int ID); // Feedback servo information - virtual int ReadPos(int ID); // Read position - virtual int ReadSpeed(int ID); // Read speed - virtual int ReadLoad(int ID); // Read the output voltage percentage to the motor (0~1000) - virtual int ReadVoltage(int ID); // Read voltage - virtual int ReadTemper(int ID); // Read temperature - virtual int ReadMove(int ID); // Read movement status - virtual int ReadCurrent(int ID); // read current - virtual int ReadMode(int ID); - virtual int ReadToqueEnable(int ID); - virtual int CalibrationOfs(u8 ID); - virtual int ReadInfoValue(int ID, int AddInput); - -private: - u8 Mem[SCSCL_PRESENT_CURRENT_H - SCSCL_PRESENT_POSITION_L + 1]; - int min_angle[2]; - int max_angle[2]; -}; - -#endif \ No newline at end of file diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCSerial.cpp b/firmware/main/hal/drivers/SCServo_lib/src/SCSerial.cpp deleted file mode 100644 index 7409864..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCSerial.cpp +++ /dev/null @@ -1,152 +0,0 @@ -/* - * SCSerial.cpp - * FIT serial servo hardware interface layer program - */ - -#include "SCSerial.h" -#include "esp_log.h" -#include "esp_timer.h" - -static const char *TAG = "SCSerial"; - -SCSerial::SCSerial() -{ - IOTimeOut = 100; - uart_num = UART_NUM_MAX; -} - -SCSerial::SCSerial(u8 End) : SCS(End) -{ - IOTimeOut = 100; - uart_num = UART_NUM_MAX; -} - -SCSerial::SCSerial(u8 End, u8 Level) : SCS(End, Level) -{ - IOTimeOut = 100; - uart_num = UART_NUM_MAX; -} - -bool SCSerial::begin(uart_port_t uart_num, int baud_rate, int tx_pin, int rx_pin, int buf_size) -{ - this->uart_num = uart_num; - - uart_config_t uart_config = { - .baud_rate = baud_rate, - .data_bits = UART_DATA_8_BITS, - .parity = UART_PARITY_DISABLE, - .stop_bits = UART_STOP_BITS_1, - .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, - .rx_flow_ctrl_thresh = 0, - .source_clk = UART_SCLK_DEFAULT, - }; - - esp_err_t ret = uart_driver_install(uart_num, buf_size, buf_size, 0, NULL, 0); - if (ret != ESP_OK) { - ESP_LOGE(TAG, "Failed to install UART driver: %s", esp_err_to_name(ret)); - return false; - } - - ret = uart_param_config(uart_num, &uart_config); - if (ret != ESP_OK) { - ESP_LOGE(TAG, "Failed to configure UART: %s", esp_err_to_name(ret)); - uart_driver_delete(uart_num); - return false; - } - - ret = uart_set_pin(uart_num, tx_pin, rx_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE); - if (ret != ESP_OK) { - ESP_LOGE(TAG, "Failed to set UART pins: %s", esp_err_to_name(ret)); - uart_driver_delete(uart_num); - return false; - } - - return true; -} - -void SCSerial::end() -{ - if (uart_num < UART_NUM_MAX) { - uart_driver_delete(uart_num); - uart_num = UART_NUM_MAX; - } -} - -int SCSerial::readSCS(unsigned char *nDat, int nLen) -{ - if (uart_num >= UART_NUM_MAX) { - return 0; - } - - int Size = 0; - int64_t t_begin = esp_timer_get_time() / 1000; // Convert to milliseconds - int64_t t_user; - - while (1) { - size_t available = 0; - uart_get_buffered_data_len(uart_num, &available); - - if (available > 0) { - unsigned char byte; - int len = uart_read_bytes(uart_num, &byte, 1, 0); - if (len > 0) { - if (nDat) { - nDat[Size] = byte; - } - Size++; - t_begin = esp_timer_get_time() / 1000; - } - } - - if (Size >= nLen) { - break; - } - - t_user = (esp_timer_get_time() / 1000) - t_begin; - if (t_user > IOTimeOut) { - break; - } - - vTaskDelay(1 / portTICK_PERIOD_MS); - } - - return Size; -} - -int SCSerial::writeSCS(unsigned char *nDat, int nLen) -{ - if (uart_num >= UART_NUM_MAX || nDat == NULL) { - return 0; - } - - int len = uart_write_bytes(uart_num, (const char *)nDat, nLen); - return len; -} - -int SCSerial::writeSCS(unsigned char bDat) -{ - if (uart_num >= UART_NUM_MAX) { - return 0; - } - - int len = uart_write_bytes(uart_num, (const char *)&bDat, 1); - return len; -} - -void SCSerial::rFlushSCS() -{ - if (uart_num >= UART_NUM_MAX) { - return; - } - - uart_flush_input(uart_num); -} - -void SCSerial::wFlushSCS() -{ - if (uart_num >= UART_NUM_MAX) { - return; - } - - uart_wait_tx_done(uart_num, pdMS_TO_TICKS(100)); -} \ No newline at end of file diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCSerial.h b/firmware/main/hal/drivers/SCServo_lib/src/SCSerial.h deleted file mode 100644 index 97454c7..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCSerial.h +++ /dev/null @@ -1,46 +0,0 @@ -/* - * SCSerial.h - * FIT serial servo hardware interface layer program - */ - -#ifndef _SCSERIAL_H -#define _SCSERIAL_H - -#include "driver/uart.h" -#include "driver/gpio.h" -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include - -#include "SCS.h" - -class SCSerial : public SCS { -public: - SCSerial(); - SCSerial(u8 End); - SCSerial(u8 End, u8 Level); - - // Initialize UART - bool begin(uart_port_t uart_num, int baud_rate, int tx_pin, int rx_pin, int buf_size = 1024); - void end(); - -protected: - virtual int writeSCS(unsigned char *nDat, int nLen); // Output nLen bytes - virtual int readSCS(unsigned char *nDat, int nLen); // Input nLen bytes - virtual int writeSCS(unsigned char bDat); // Output 1 byte - virtual void rFlushSCS(); - virtual void wFlushSCS(); - -public: - unsigned long int IOTimeOut; // Input and output timeout (in milliseconds) - uart_port_t uart_num; // UART port number - int Err; - -public: - virtual int getErr() - { - return Err; - } -}; - -#endif \ No newline at end of file diff --git a/firmware/main/hal/drivers/SCServo_lib/src/SCServo.h b/firmware/main/hal/drivers/SCServo_lib/src/SCServo.h deleted file mode 100644 index 1a5c482..0000000 --- a/firmware/main/hal/drivers/SCServo_lib/src/SCServo.h +++ /dev/null @@ -1,11 +0,0 @@ -/* - * SCServo.h - * FIT serial servo interface - */ - -#ifndef _SCSERVO_H -#define _SCSERVO_H - -#include "SCSCL.h" - -#endif \ No newline at end of file diff --git a/firmware/main/hal/hal_servo.cpp b/firmware/main/hal/hal_servo.cpp index e903957..ff81a74 100644 --- a/firmware/main/hal/hal_servo.cpp +++ b/firmware/main/hal/hal_servo.cpp @@ -4,7 +4,7 @@ * SPDX-License-Identifier: MIT */ #include "hal.h" -#include "drivers/SCServo_lib/src/SCSCL.h" +#include "drivers/FTServo_Arduino/src/SCSCL.h" #include #include #include