Robotis RX-28 User Manual

DYNAMIXEL

RX-28

while(1);
}

void PortInitialize(void)
{
DDRA = DDRB = DDRC = DDRD = DDRE = DDRF = 0; //Set all port to

input direction first.

PORTB = PORTC = PORTD = PORTE = PORTF = PORTG = 0x00; //PortData

initialize to 0

cbi(SFIOR,2); //All Port Pull Up ready
DDRE |= (BIT_RS485_DIRECTION0|BIT_RS485_DIRECTION1); //set output

the bit RS485direction

DDRD

(BIT_ZIGBEE_RESET|BIT_ENABLE_RXD_LINK_PC|BIT_ENA
BLE_RXD_LINK_ZIGBEE);

PORTD &= ~_BV(BIT_LINK_PLUGIN); // no pull up
PORTD |= _BV(BIT_ZIGBEE_RESET);
PORTD |= _BV(BIT_ENABLE_RXD_LINK_PC);
PORTD |= _BV(BIT_ENABLE_RXD_LINK_ZIGBEE);
}

/*
TxPacket() send data to RS485.
TxPacket() needs 3 parameter; ID of Dynamixel, Instruction byte,

Length of parameters.

TxPacket() return length of Return packet from Dynamixel.
*/
byte TxPacket(byte bID, byte bInstruction, byte bParameterLength)
{
byte bCount,bCheckSum,bPacketLength;

gbpTxBuffer[0] = 0xff;
gbpTxBuffer[1] = 0xff;
gbpTxBuffer[2] = bID;
gbpTxBuffer[3]

bParameterLength+2;

//Length(Paramter,Instruction,Checksum)

gbpTxBuffer[4] = bInstruction;
for(bCount = 0; bCount < bParameterLength; bCount++)
{
gbpTxBuffer[bCount+5] = gbpParameter[bCount];
}
bCheckSum = 0;
bPacketLength = bParameterLength+4+2;
for(bCount = 2; bCount < bPacketLength-1; bCount++) //except

0xff,checksum

{
bCheckSum += gbpTxBuffer[bCount];
}
gbpTxBuffer[bCount] = ~bCheckSum; //Writing Checksum with Bit

Inversion

RS485_TXD;
for(bCount = 0; bCount < bPacketLength; bCount++)
{
sbi(UCSR0A,6);//SET_TXD0_FINISH;
TxD80(gbpTxBuffer[bCount]);
}
while(!CHECK_TXD0_FINISH); //Wait until TXD Shift register empty
RS485_RXD;
return(bPacketLength);
}

/*
RxPacket() read data from buffer.
RxPacket() need a Parameter; Total length of Return Packet.
RxPacket() return Length of Return Packet.
*/

byte RxPacket(byte bRxPacketLength)
{
#define RX_TIMEOUT_COUNT2 3000L
#define RX_TIMEOUT_COUNT1 (RX_TIMEOUT_COUNT2*10L)
unsigned long ulCounter;
byte bCount, bLength, bChecksum;
byte bTimeout;

bTimeout = 0;
for(bCount = 0; bCount < bRxPacketLength; bCount++)
{
ulCounter = 0;
while(gbRxBufferReadPointer == gbRxBufferWritePointer)
{
if(ulCounter++ > RX_TIMEOUT_COUNT1)
{
bTimeout = 1;
break;
}
}
if(bTimeout) break;
gbpRxBuffer[bCount]

gbpRxInterruptBuffer[gbRxBufferReadPointer++];

}
bLength = bCount;
bChecksum = 0;

if(gbpTxBuffer[2] != BROADCASTING_ID)
{
if(bTimeout && bRxPacketLength != 255)
{
TxDString("\r\n [Error:RxD Timeout]");
CLEAR_BUFFER;
}

if(bLength > 3) //checking is available.
{
if(gbpRxBuffer[0] != 0xff || gbpRxBuffer[1] != 0xff )
{
TxDString("\r\n [Error:Wrong Header]");
CLEAR_BUFFER;
return 0;
}
if(gbpRxBuffer[2] != gbpTxBuffer[2] )
{
TxDString("\r\n [Error:TxID != RxID]");
CLEAR_BUFFER;
return 0;
}
if(gbpRxBuffer[3] != bLength-4)
{
TxDString("\r\n [Error:Wrong Length]");
CLEAR_BUFFER;
return 0;
}
for(bCount  =  2;  bCount  <  bLength;  bCount++)  bChecksum  +=

gbpRxBuffer[bCount];

if(bChecksum != 0xff)
{
TxDString("\r\n [Error:Wrong CheckSum]");
CLEAR_BUFFER;
return 0;
}
}
}
return bLength;
}

/*
PrintBuffer() print data in Hex code.
PrintBuffer() needs two parameter; name of Pointer(gbpTxBuffer,

gbpRxBuffer)

*/
void PrintBuffer(byte *bpPrintBuffer, byte bLength)
{
byte bCount;
for(bCount = 0; bCount < bLength; bCount++)
{
TxD8Hex(bpPrintBuffer[bCount]);
TxD8(' ');
}
TxDString("(LEN:");TxD8Hex(bLength);TxD8(')');
}