diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 7f62e8b..08c9439 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/sdk b/sdk
index 2b35686..d69f855 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 2b35686d8d692c80c80bdbb6b7e4afa38d94f860
+Subproject commit d69f8551a6307b256cb2917312e57e2949953db1
diff --git a/usrc/feite_servo_motor.cpp b/usrc/feite_servo_motor.cpp
index 7171057..e69de29 100644
--- a/usrc/feite_servo_motor.cpp
+++ b/usrc/feite_servo_motor.cpp
@@ -1,372 +0,0 @@
-#include "feite_servo_motor.hpp"
-
-#include
-#include
-
-// #include "board.h"
-// #include "port.h"
-using namespace iflytop;
-using namespace std;
-using namespace feite;
-#define TAG "FeiTeServoMotor"
-#define OVERTIME 30
-#define DO(func) \
- if (!(func)) { \
- ZLOGE(TAG, "motor[%d] do %s fail", id, #func); \
- return false; \
- }
-
-static void dumphex(const char* tag, uint8_t* data, uint8_t len) {
- #if 1
- printf("%s:", tag);
- for (int i = 0; i < len; i++) {
- printf("%02x ", data[i]);
- }
- printf("\n");
- #endif
-}
-void FeiTeServoMotor::initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) {
- m_uart = uart;
- m_hdma_rx = hdma_rx;
- m_hdma_tx = hdma_tx;
-}
-
-bool FeiTeServoMotor::ping(uint8_t id) {
- ping_cmd_t ping_cmd;
- ping_resp_t ping_resp;
- ping_cmd.header = 0xffff;
- ping_cmd.id = id;
- ping_cmd.len = 2;
- ping_cmd.cmd = kping;
- ping_cmd.checksum = checksum_packet((uint8_t*)&ping_cmd, sizeof(ping_cmd_t));
-
- return tx_and_rx((uint8_t*)&ping_cmd, sizeof(ping_cmd_t), (uint8_t*)&ping_resp, sizeof(ping_resp_t), OVERTIME);
-}
-
-static int16_t getcalibrate(int16_t nowpos, int16_t aftercalibratepos) {
- int16_t calibrate = nowpos - aftercalibratepos;
- while (true) {
- if (calibrate > 2047) {
- calibrate -= 4094;
- } else if (calibrate < -2047) {
- calibrate += 4094;
- } else {
- break;
- }
- }
- return calibrate;
-}
-
-bool FeiTeServoMotor::setmode(uint8_t id, run_mode_e runmode) { return write_u8(id, kRegServoRunMode, (uint8_t)runmode); }
-bool FeiTeServoMotor::getServoCalibration(uint8_t id, int16_t& poscalibration) { return read_s16(id, kRegServoCalibration, 11, poscalibration); }
-
-run_mode_e FeiTeServoMotor::getmode(uint8_t id) {
- uint8_t data = 0;
- bool suc = read_u8(id, kRegServoRunMode, data);
- if (suc) {
- return (run_mode_e)data;
- } else {
- return kMotorMode;
- }
-}
-
-bool FeiTeServoMotor::getmode(uint8_t id, run_mode_e& runmode) {
- uint8_t data = 0;
- bool suc = read_u8(id, kRegServoRunMode, data);
- runmode = (run_mode_e)data;
- return suc;
-}
-
-bool FeiTeServoMotor::setTorqueSwitch(uint8_t id, bool on) { return write_u8(id, kRegServoTorqueSwitch, on ? 1 : 0); }
-bool FeiTeServoMotor::getTorqueSwitch(uint8_t id, bool& on) {
- uint8_t data = 0;
- bool suc = read_u8(id, kRegServoTorqueSwitch, data);
- on = data;
- return suc;
-}
-
-bool FeiTeServoMotor::getNowPos(uint8_t id, int16_t& pos) { return read_s16(id, kRegServoCurrentPos, 15, pos); }
-bool FeiTeServoMotor::setTargetPos(uint8_t id, int16_t pos) { return write_s16(id, kRegServoTargetPos, 15, pos); }
-
-bool FeiTeServoMotor::triggerAysncWrite(uint8_t id) {
- cmd_header_t* cmd_header = (cmd_header_t*)m_txbuf;
- cmd_header->header = 0xffff;
- cmd_header->id = id;
- cmd_header->len = 2;
- cmd_header->cmd = 5;
- cmd_header->data[0] = checksum((uint8_t*)cmd_header, sizeof(cmd_header_t) + 1);
-
- // HAL_UART_Transmit(m_uart, m_txbuf, sizeof(cmd_header_t) + 1, 1000);
- return true;
-}
-
-bool FeiTeServoMotor::rotate(uint8_t id, int16_t speed, uint16_t torque) {
- DO(setmode(id, kMotorMode));
- if (torque == 0) torque = 1000;
- DO(write_u16(id, kRegServoTorqueLimit, torque));
- DO(write_s16(id, kRegServoRunSpeed, 15, speed));
- return true;
-}
-
-bool FeiTeServoMotor::moveTo(uint8_t id, int16_t pos, int16_t speed, uint16_t torque) {
- /**
- * @brief 设置扭矩
- */
- DO(setmode(id, kServoMode));
- if (torque == 0) torque = 1000;
- DO(write_u16(id, kRegServoTorqueLimit, torque));
- DO(write_s16(id, kRegServoRunSpeed, 15, speed));
- DO(setTargetPos(id, pos));
- return true;
-}
-uint16_t abs16(int16_t val) {
- if (val < 0) {
- return -val;
- } else {
- return val;
- }
-}
-bool FeiTeServoMotor::moveWithTorque(uint8_t id, int16_t torque) {
- DO(setmode(id, kOpenMotorMode));
- if (torque == 0) torque = 1000;
- DO(write_u16(id, kRegServoTorqueLimit, abs16(torque)));
- DO(write_s16(id, kRegServoRunTime, 15, torque));
- return true;
-}
-
-static int16_t tosign16(uint16_t* d, int signoff) {
- uint16_t sign = (*d >> signoff) & 0x01;
- uint16_t val = *d & (~(1 << signoff));
- if (sign == 0) {
- return val;
- } else {
- return -val;
- }
-}
-
-bool FeiTeServoMotor::read_status(uint8_t id, status_t* status) {
- // kRegServoCurrentPos
- bool suc = read_reg(id, kRegServoCurrentPos, (uint8_t*)status, sizeof(status_t));
- status->vel = tosign16((uint16_t*)&status->vel, 15);
- if (!suc) return false;
- return true;
-}
-bool FeiTeServoMotor::read_detailed_status(uint8_t id, detailed_status_t* detailed_status) {
- bool suc = read_reg(id, kRegServoCurrentPos, (uint8_t*)detailed_status, sizeof(*detailed_status));
- if (!suc) return false;
- detailed_status->vel = tosign16((uint16_t*)&detailed_status->vel, 15);
- detailed_status->torque = tosign16((uint16_t*)&detailed_status->torque, 10);
-
- return true;
-}
-void FeiTeServoMotor::dump_status(status_t* status) {
- ZLOGI(TAG, "===========status===========");
- ZLOGI(TAG, "= status->pos :%d", status->pos);
- ZLOGI(TAG, "= status->vel :%d", status->vel);
- ZLOGI(TAG, "= status->torque :%d", status->torque);
- ZLOGI(TAG, "=");
-}
-#define BIT_IN_BYTE(byte, off) ((byte >> off) & 0x01)
-void FeiTeServoMotor::dump_detailed_status(detailed_status_t* detailed_status) {
- ZLOGI(TAG, "===========detailed_status===========");
- ZLOGI(TAG, "= detailed_status->pos :%d", detailed_status->pos);
- ZLOGI(TAG, "= detailed_status->vel :%d", detailed_status->vel);
- ZLOGI(TAG, "= detailed_status->torque :%d", detailed_status->torque);
- ZLOGI(TAG, "= detailed_status->voltage :%d", detailed_status->voltage);
- ZLOGI(TAG, "= detailed_status->temperature:%d", detailed_status->temperature);
- ZLOGI(TAG, "= detailed_status->state :%d:%d:%d:%d:%d:%d", BIT_IN_BYTE(detailed_status->state, 0), BIT_IN_BYTE(detailed_status->state, 1), BIT_IN_BYTE(detailed_status->state, 2),
- BIT_IN_BYTE(detailed_status->state, 3), BIT_IN_BYTE(detailed_status->state, 4), BIT_IN_BYTE(detailed_status->state, 5));
- ZLOGI(TAG, "= detailed_status->moveflag :%d", detailed_status->moveflag);
- ZLOGI(TAG, "= detailed_status->current :%d", detailed_status->current);
- ZLOGI(TAG, "=");
-}
-bool FeiTeServoMotor::getMoveFlag(uint8_t id, uint8_t& moveflag) { return read_u8(id, kRegServoMoveFlag, moveflag); }
-
-bool FeiTeServoMotor::reCalibration(int id, int16_t pos) {
- if (pos < 0 || pos > 4095) {
- ZLOGE(TAG, "reCalibration pos:%d out of range", pos);
- return false;
- }
- /**
- * @brief 关闭扭矩快关，防止舵机运动
- */
- setTorqueSwitch(id, false);
- /**
- * @brief 设置当前模式为位置模式
- */
- DO(setmode(id, kServoMode));
-
- int16_t curpos;
- DO(getNowPos(id, curpos));
- int16_t curcalibrate;
- DO(getServoCalibration(id, curcalibrate));
- int16_t realpos = curpos + curcalibrate;
- int16_t newcalibrate = getcalibrate(realpos, pos);
-
- ZLOGI(TAG, "reCalibration id:%d curpos:%d curcalibrate:%d realpos:%d newcalibrate:%d", id, curpos, curcalibrate, realpos, newcalibrate);
- /**
- * @brief 写入新的校准值
- */
- DO(write_u8(id, kRegServoLockFlag, 0));
- DO(write_s16(id, kRegServoCalibration, 11, newcalibrate));
- DO(write_u8(id, kRegServoLockFlag, 1));
- /**
- * @brief 重新设置目标位置为当前这个位置
- */
- int16_t nowpos;
- DO(getNowPos(id, nowpos));
- ZLOGI(TAG, "reCalibration id:%d nowpos:%d:%d", id, nowpos, pos);
- DO(setTargetPos(id, pos));
- return true;
-}
-
-/*******************************************************************************
- * BASEFUNC *
- *******************************************************************************/
-bool FeiTeServoMotor::write_u8(uint8_t id, feite::reg_add_e add, uint8_t regval) { return write_reg(id, false, add, ®val, 1); }
-bool FeiTeServoMotor::read_u8(uint8_t id, feite::reg_add_e add, uint8_t& regval) { return read_reg(id, add, ®val, 1); }
-bool FeiTeServoMotor::write_u16(uint8_t id, feite::reg_add_e add, uint16_t regval) { return write_reg(id, false, add, (uint8_t*)®val, 2); }
-bool FeiTeServoMotor::read_u16(uint8_t id, feite::reg_add_e add, uint16_t& regval) { return read_reg(id, add, (uint8_t*)®val, 2); }
-bool FeiTeServoMotor::async_write_u8(uint8_t id, feite::reg_add_e add, uint8_t regval) { return write_reg(id, true, add, ®val, 1); }
-bool FeiTeServoMotor::async_write_u16(uint8_t id, feite::reg_add_e add, uint16_t regval) { return write_reg(id, true, add, (uint8_t*)®val, 2); }
-bool FeiTeServoMotor::async_write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval) {
- uint16_t val = 0;
- if (regval >= 0) {
- val = regval;
- } else {
- val = -regval;
- val |= (1 << signbitoff);
- }
- return async_write_u16(id, add, val);
-}
-
-bool FeiTeServoMotor::read_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t& regval) {
- uint16_t val = 0;
- bool ret = read_u16(id, add, val);
- if (!ret) return false;
- uint8_t sign = (val >> signbitoff) & 0x01;
- uint16_t realval = val & (~(1 << signbitoff));
- if (sign == 0) {
- regval = realval;
- } else {
- regval = -realval;
- }
- return true;
-}
-bool FeiTeServoMotor::write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval) {
- uint16_t val = 0;
- if (regval >= 0) {
- val = regval;
- } else {
- val = -regval;
- val |= (1 << signbitoff);
- }
- return write_u16(id, add, val);
-}
-bool FeiTeServoMotor::write_reg(uint8_t id, bool async, uint8_t add, uint8_t* data, uint8_t len) { //
- // ZLOGI(TAG, "write_reg id:%d add:%d len:%d", id, add, len);
- cmd_header_t* cmd_header = (cmd_header_t*)m_txbuf;
- receipt_header_t* receipt_header = (receipt_header_t*)m_rxbuf;
- cmd_header->header = 0xffff;
- cmd_header->id = id;
- cmd_header->len = 3 + len; // 3 == cmd + add + checksum
- cmd_header->cmd = async ? kasyncWrite : kwrite;
- cmd_header->data[0] = add;
- memcpy(&cmd_header->data[1], data, len);
-
- int txpacketlen = sizeof(cmd_header_t) + 1 + len + 1;
- int rxpacketlen = sizeof(receipt_header_t) + 1;
-
- uint8_t checksum = checksum_packet((uint8_t*)cmd_header, txpacketlen);
- m_txbuf[txpacketlen - 1] = checksum;
- if (!tx_and_rx(m_txbuf, txpacketlen, m_rxbuf, rxpacketlen, OVERTIME)) {
- ZLOGE(TAG, "write_reg fail,overtime");
- return false;
- }
- if (!(receipt_header->header == 0xffff && receipt_header->id == id)) {
- ZLOGE(TAG, "write_reg fail,receipt header error");
- return false;
- }
- return true;
-}
-bool FeiTeServoMotor::read_reg(uint8_t id, uint8_t add, uint8_t* data, uint8_t len) {
- // return false;
- cmd_header_t* cmd_header = (cmd_header_t*)m_txbuf;
- receipt_header_t* receipt_header = (receipt_header_t*)m_rxbuf;
- cmd_header->header = 0xffff;
- cmd_header->id = id;
- cmd_header->len = 3 + 1; // 4 == cmd + add + checksum + readlen
- cmd_header->cmd = kread;
- cmd_header->data[0] = add;
- cmd_header->data[1] = len;
-
- int txpacketlen = sizeof(cmd_header_t) + 3;
- int rxpacketlen = sizeof(receipt_header_t) + 1 + len;
-
- uint8_t checksum = checksum_packet((uint8_t*)cmd_header, txpacketlen);
-
- m_txbuf[txpacketlen - 1] = checksum;
- if (!tx_and_rx(m_txbuf, txpacketlen, m_rxbuf, rxpacketlen, OVERTIME)) {
- return false;
- }
- if (!(receipt_header->header == 0xffff && receipt_header->id == id)) {
- ZLOGE(TAG, "read_reg fail,receipt header error");
- return false;
- }
- memcpy(data, receipt_header->data, len);
- return true;
-}
-bool FeiTeServoMotor::tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, uint16_t overtimems) {
- uint32_t enter_ticket = HAL_GetTick();
- dumphex("tx:", tx, txdatalen);
-
- HAL_UART_Transmit(m_uart, tx, txdatalen, 1000);
- HAL_UART_Receive_DMA(m_uart, (uint8_t*)rx, expectrxsize);
-
-
- bool overtime_flag = false;
- while (HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_RX || //
- HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_TX_RX) {
- osDelay(1);
- int rxsize = expectrxsize - __HAL_DMA_GET_COUNTER(m_hdma_rx);
- if (rxsize == expectrxsize) {
- dumphex("rx:", rx, expectrxsize);
- break;
- }
- if (zos_haspassedms(enter_ticket) > overtimems) {
- if (expectrxsize != 0 && rxsize != 0) {
- ZLOGW(TAG, "txandrx overtime rxsize:%d != expect_size:%d", rxsize, expectrxsize);
- }
- overtime_flag = true;
- break;
- }
- }
- HAL_UART_DMAStop(m_uart);
- if (overtime_flag) {
- return false;
- }
- return true;
-}
-
-bool FeiTeServoMotor::readversion(uint8_t id, uint8_t& mainversion, uint8_t& subversion, uint8_t& miniserv_mainversion, uint8_t& miniserv_subversion) {
- uint8_t data = 0;
- DO(read_u8(id, kRegFirmwareMainVersion, data));
- mainversion = data;
- DO(read_u8(id, kRegFirmwareSubVersion, data));
- subversion = data;
- DO(read_u8(id, kRegServoMainVersion, data));
- miniserv_mainversion = data;
- DO(read_u8(id, kRegServoSubVersion, data));
- miniserv_subversion = data;
- return true;
-}
-
-uint8_t FeiTeServoMotor::checksum_packet(uint8_t* data, uint8_t len) { return checksum(&data[2], len - 3); }
-uint8_t FeiTeServoMotor::checksum(uint8_t* data, uint8_t len) {
- // CheckSum=~(ID+Length+Instruction+Parameter1+...ParameterN
- uint16_t sum = 0;
- for (int i = 0; i < len; i++) {
- sum += data[i];
- }
- return ~(sum & 0xff);
-}
diff --git a/usrc/feite_servo_motor.hpp b/usrc/feite_servo_motor.hpp
index a308e5c..f3bb450 100644
--- a/usrc/feite_servo_motor.hpp
+++ b/usrc/feite_servo_motor.hpp
@@ -1,210 +1,2 @@
#pragma once
-#include
-#include
-#include
-#include
-#include "sdk/os/zos.hpp"
-
-// #include "sdk/os/zos.hpp"
-
-#define ZSTRUCT(name, ...) \
- typedef struct { \
- __VA_ARGS__ \
- } name;
-
-namespace iflytop {
-namespace feite {
-
-typedef enum {
- kping = 0x01,
- kread = 0x02,
- kwrite = 0x03,
- kasyncWrite = 0x04,
-} cmd_e;
-
-typedef enum {
- kServoMode = 0, // 位置伺服模式 42 号地址来控制电机位置
- kMotorMode = 1, // 电机恒速模式 46 号地址运行速度来控制电机速度 BIT15 为方向位
- kOpenMotorMode = 2, // 扭矩电机模式 44 号地址来控制，1000满扭矩
- kStepMotorMode = 3, // 步进电机模式
-} run_mode_e; // reg:33
-
-typedef enum {
- kRegFirmwareMainVersion = 0, // 固件主版本号
- kRegFirmwareSubVersion = 1, // 固件次版本号
- kRegServoMainVersion = 3, // 舵机主版本号
- kRegServoSubVersion = 4, // 舵机次版本号
- kRegServoId = 5, // ID
- kRegServoBaudRate = 6, // 波特率
- kRegServoDelay = 7, // 返回延时
- kRegServoAckLevel = 8, // 应答状态级别
- kRegServoMinAngle = 9, // 最小角度限制
- kRegServoMaxAngle = 11, // 最大角度限制
- kRegServoMaxTemp = 13, // 最高温度上限
- kRegServoMaxVoltage = 14, // 最高输入电压
- kRegServoMinVoltage = 15, // 最低输入电压
- kRegServoMaxTorque = 16, // 最大扭矩
- kRegServoPhase = 18, // 相位
- kRegServoUnloadCondition = 19, // 卸载条件
- kRegServoLedAlarmCondition = 20, // LED 报警条件
- kRegServoP = 21, // P 比例系
- kRegServoD = 22, // D 微分系
- kRegServoI = 23, // I
- kRegServoMinStart = 24, // 最小启动
- kRegServoCwDeadZone = 26, // 顺时针不灵敏区
- kRegServoCcwDeadZone = 27, // 逆时针不灵敏
- kRegServoProtectCurrent = 28, // 保护电流
- kRegServoAngleResolution = 30, // 角度分辨
-
- kRegServoCalibration = 31, // 位置校正 BIT11为方向位，表示正负方向，BIT0~10位表示范围0-2047步
- kRegServoRunMode = 33, // 运行模式
- kRegServoProtectTorque = 34, // 保护扭矩
- kRegServoProtectTime = 35, // 保护时间
- kRegServoOverloadTorque = 36, // 过载扭矩
- kRegServoSpeedP = 37, // 速度闭环P比例参数
- kRegServoOverloadTime = 38, // 过流保护时间
- kRegServoSpeedI = 39, // 速度闭环I积分参数
- kRegServoTorqueSwitch = 40, // 扭矩开关
- kRegServoAcc = 41, // 加速度
- kRegServoTargetPos = 42, // 目标位置
- kRegServoRunTime = 44, // 运行时间
- kRegServoRunSpeed = 46, // 运行速度
- kRegServoTorqueLimit = 48, // 转矩限制
- kRegServoLockFlag = 55, // 锁标志
- kRegServoCurrentPos = 56, // 当前位置
- kRegServoCurrentSpeed = 58, // 当前速度
- kRegServoCurrentLoad = 60, // 当前负载 bit10为方向位
- kRegServoCurrentVoltage = 62, // 当前电压
- kRegServoCurrentTemp = 63, // 当前温度
- kRegServoAsyncWriteFlag = 64, // 异步写标志
- kRegServoStatus = 65, // 舵机状态
- kRegServoMoveFlag = 66, // 移动标志
- kRegServoCurrentCurrent = 69, // 当前电流
-
- kRegServoCheckSpeed = 80, // 80 移动检查速度
- kRegServoDTime = 81, // 81 D控制时间
- kRegServoSpeedUnit = 82, // 82 速度单位系数
- kRegServoMinSpeedLimit = 83, // 83 最小速度限制
- kRegServoMaxSpeedLimit = 84, // 84 最大速度限制
- kRegServoAccLimit = 85, // 85 加速度限制
- kRegServoAccMultiple = 86, // 86 加速度倍数
-} reg_add_e;
-#pragma pack(1)
-ZSTRUCT(ping_cmd_t, /* */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd; uint8_t checksum;)
-ZSTRUCT(ping_resp_t, /* */ uint16_t header; uint8_t id; uint8_t len; uint8_t status; uint8_t checksum;)
-ZSTRUCT(receipt_header_t, /* */ uint16_t header; uint8_t id; uint8_t len; uint8_t status; uint8_t data[];)
-ZSTRUCT(cmd_header_t, /* */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd; uint8_t data[];)
-
-#pragma pack()
-
-}; // namespace feite
-
-using namespace feite;
-class FeiTeServoMotor {
- public:
-#pragma pack(1)
- typedef struct {
- uint16_t pos; // 56 当前位置 (0->4096)
- int16_t vel; // 58 有符号 bit15为方向位 0.732RPM
- int16_t torque; // 60 扭矩:0.1%
- } status_t;
-
- typedef struct {
- uint16_t pos; // 56 当前位置 (0->4096)
- int16_t vel; // 58 有符号 bit15为方向位 0.732RPM
- int16_t torque; // 60 有符号 bit10为方向位 扭矩:0.1%
- uint8_t voltage; // 62 电压:0.1v
- uint8_t temperature; // 63 温度:1度
- uint8_t __pad0; // 64 占位
- uint8_t state; // 65 舵机状态 Bit0:电压 Bit1:传感器 Bit2:温度 Bit3:电流 Bit4:角度 Bit5:过载
- uint8_t moveflag; // 66 移动标志
- uint8_t __pad1; // 67
- uint8_t __pad2; // 68
- uint16_t current; // 69 当前电流 单位:6.5mA
- } detailed_status_t;
-
-#pragma pack()
- private:
- UART_HandleTypeDef* m_uart;
- DMA_HandleTypeDef* m_hdma_rx;
- DMA_HandleTypeDef* m_hdma_tx;
-
- uint8_t m_txbuf[128] = {0};
- uint8_t m_rxbuf[128] = {0};
-
- public:
- void initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx);
- bool ping(uint8_t id);
- bool readversion(uint8_t id, uint8_t& mainversion, uint8_t& subversion, uint8_t& miniserv_mainversion, uint8_t& miniserv_subversion);
-
- bool setmode(uint8_t id, run_mode_e runmode);
- run_mode_e getmode(uint8_t id);
- bool getmode(uint8_t id, run_mode_e& runmode);
-
- // kRegServoTorqueSwitch
- bool setTorqueSwitch(uint8_t id, bool on);
- bool getTorqueSwitch(uint8_t id, bool& on);
-
- bool getNowPos(uint8_t id, int16_t& pos);
- bool setTargetPos(uint8_t id, int16_t pos);
-
- bool getServoCalibration(uint8_t, int16_t& poscalibration);
- bool reCalibration(int id, int16_t pos);
-
- bool triggerAysncWrite(uint8_t id);
-
- /**
- * @brief 旋转
- *
- * @param id
- * @param speed 运行速度
- * @param torque 扭矩限制 0->1000 0/1000为最大扭矩
- * @return true
- * @return false
- */
- bool rotate(uint8_t id, int16_t speed, uint16_t torque = 0);
- /**
- * @brief 移动到指定位置
- *
- * @param id
- * @param pos
- * @param speed
- * @param torque
- * @return true
- * @return false
- */
- bool moveTo(uint8_t id, int16_t pos, int16_t speed, uint16_t torque);
-
- bool moveWithTorque(uint8_t id, int16_t torque);
-
- bool read_status(uint8_t id, status_t* status);
- void dump_status(status_t* status);
- bool read_detailed_status(uint8_t id, detailed_status_t* detailed_status);
- void dump_detailed_status(detailed_status_t* detailed_status);
-
- bool getMoveFlag(uint8_t id, uint8_t& moveflag);
-
- public:
- bool write_u8(uint8_t id, feite::reg_add_e add, uint8_t regval);
- bool write_u16(uint8_t id, feite::reg_add_e add, uint16_t regval);
- bool write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval);
-
- bool async_write_u8(uint8_t id, feite::reg_add_e add, uint8_t regval);
- bool async_write_u16(uint8_t id, feite::reg_add_e add, uint16_t regval);
- bool async_write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval);
-
- bool read_u8(uint8_t id, feite::reg_add_e add, uint8_t& regval);
- bool read_u16(uint8_t id, feite::reg_add_e add, uint16_t& regval);
- bool read_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t& regval);
-
- public:
- bool write_reg(uint8_t id, bool async, uint8_t add, uint8_t* data, uint8_t len);
- bool read_reg(uint8_t id, uint8_t add, uint8_t* data, uint8_t len);
-
- bool tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, uint16_t overtimems);
- private:
-
- uint8_t checksum(uint8_t* data, uint8_t len);
- uint8_t checksum_packet(uint8_t* data, uint8_t len);
-};
-} // namespace iflytop
+#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
\ No newline at end of file