USBSabertooth.h

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/*
Arduino Library for USB Sabertooth Packet Serial
Copyright (c) 2013 Dimension Engineering LLC
http://www.dimensionengineering.com/arduino

Permission to use, copy, modify, and/or distribute this software for any
purpose with or without fee is hereby granted, provided that the above
copyright notice and this permission notice appear in all copies.

THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER
RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE
USE OR PERFORMANCE OF THIS SOFTWARE.
*/

#ifndef USBSabertooth_h
#define USBSabertooth_h   

#if defined(ARDUINO) && ARDUINO < 100
#error "This library requires Arduino 1.0 or newer."
#endif

#include <Arduino.h>

#if defined(USBCON)
#define SabertoothTXPinSerial Serial1 // Arduino Leonardo has TX->1 on Serial1, not Serial.
#else
#define SabertoothTXPinSerial Serial
#endif
#define SyRenTXPinSerial SabertoothTXPinSerial

#define SABERTOOTH_COMMAND_MAX_BUFFER_LENGTH    10
#define SABERTOOTH_COMMAND_MAX_DATA_LENGTH      5
#define SABERTOOTH_DEFAULT_GET_RETRY_INTERVAL   100
#define SABERTOOTH_DEFAULT_GET_TIMEOUT          SABERTOOTH_INFINITE_TIMEOUT
#define SABERTOOTH_GET_TIMED_OUT               -32768
#define SABERTOOTH_INFINITE_TIMEOUT            -1
#define SABERTOOTH_MAX_VALUE                    16383

enum USBSabertoothCommand
{
  SABERTOOTH_CMD_SET = 40,
  SABERTOOTH_CMD_GET = 41,
};

enum USBSabertoothReplyCode
{
  SABERTOOTH_RC_GET = 73
};

enum USBSabertoothGetType
{
  SABERTOOTH_GET_VALUE       = 0x00,
  SABERTOOTH_GET_BATTERY     = 0x10,
  SABERTOOTH_GET_CURRENT     = 0x20,
  SABERTOOTH_GET_TEMPERATURE = 0x40
};

enum USBSabertoothSetType
{
  SABERTOOTH_SET_VALUE     = 0x00,
  SABERTOOTH_SET_KEEPALIVE = 0x10,
  SABERTOOTH_SET_SHUTDOWN  = 0x20,
  SABERTOOTH_SET_TIMEOUT   = 0x40
};

class USBSabertoothCommandWriter
{
public:
  static size_t writeToBuffer(byte* buffer, byte address, USBSabertoothCommand command, boolean useCRC, const byte* data, size_t lengthOfData);
  static void   writeToStream(Stream& port, byte address, USBSabertoothCommand command, boolean useCRC, const byte* data, size_t lengthOfData);
};

class USBSabertoothChecksum
{
public:
  static byte value(const byte* data, size_t lengthOfData);
};

class USBSabertoothCRC7
{
public:
  void begin();
  void write(byte data);
  void write(const byte* data, size_t lengthOfData);
  void end  ();
  
public:
  inline byte value() const   { return _crc; }
         void value(byte crc) { _crc = crc;  }
  
  static byte value(const byte* data, size_t lengthOfData);
  
private:
  byte _crc;
};

class USBSabertoothCRC14
{
public:
  void begin();
  void write(byte data);
  void write(const byte* data, size_t lengthOfData);
  void end  ();
  
public:
  inline uint16_t value() const       { return _crc; }
         void     value(uint16_t crc) { _crc = crc;  }
  
  static uint16_t value(const byte* data, size_t lengthOfData);
  
private:
  uint16_t _crc;
};

class USBSabertoothReplyReceiver
{
public:
  USBSabertoothReplyReceiver();
  
public:
  inline       byte                   address () const { return _data[0];                         }
  inline       USBSabertoothReplyCode command () const { return (USBSabertoothReplyCode)_data[1]; }
  inline const byte*                  data    () const { return _data;                            }
  inline       boolean                usingCRC() const { return _usingCRC;                        }
  
public:
  inline boolean ready() const { return _ready; }
         void    read (byte data);
         void    reset();
  
private:
  byte   _data[SABERTOOTH_COMMAND_MAX_BUFFER_LENGTH];
  size_t _length; boolean _ready, _usingCRC;
};

class USBSabertoothTimeout
{
public:
  USBSabertoothTimeout(int32_t timeoutMS);
  
public:
  boolean canExpire() const;
  
  boolean expired() const;
  
  void expire();
  
  void reset();
  
private:
  uint32_t _start;
  int32_t  _timeoutMS;
};

class USBSabertoothSerial
{
  friend class USBSabertooth;
  
public:
  USBSabertoothSerial(Stream& port = SabertoothTXPinSerial);
  
public:
  inline Stream& port() { return _port; }

private:
  boolean tryReceivePacket();
  
private:
  USBSabertoothSerial(USBSabertoothSerial& serial); // no copy
  void operator =    (USBSabertoothSerial& serial);

private:
  USBSabertoothReplyReceiver _receiver;
  Stream&                    _port;
};

class USBSabertooth
{
public:
  USBSabertooth(USBSabertoothSerial& serial, byte address);
  
public:
  inline byte address() const { return _address; }

  void command(byte command, byte value);
  
  void command(byte command, const byte* value, size_t bytes);
  
public:
  void motor(int value);
  
  void motor(byte motorOutputNumber, int value);
  
  void power(int value);
  
  void power(byte powerOutputNumber, int value);
  
  void drive(int value);
  
  void turn(int value);
  
  void freewheel(int value = 2048);
  
  void freewheel(byte motorOutputNumber, int value = 2048);
  
  void shutDown(byte type, byte number, boolean value = true);
  
public:
  void set(byte type, byte number, int value);
  
  void setRamping(int value);
  
  void setRamping(byte motorOutputNumber, int value);
    
  void setTimeout(int milliseconds);
  
  void keepAlive();
  
public: 
  inline int get(byte type, byte number)
  {
    return get(type, number, SABERTOOTH_GET_VALUE, false);
  }

  inline int getBattery(byte motorOutputNumber, boolean unscaled = false)
  {
    return get('M', motorOutputNumber, SABERTOOTH_GET_BATTERY, unscaled);
  }
  
  inline int getCurrent(byte motorOutputNumber, boolean unscaled = false)
  {
    return get('M', motorOutputNumber, SABERTOOTH_GET_CURRENT, unscaled);
  }
  
  inline int getTemperature(byte motorOutputNumber, boolean unscaled = false)
  {
    return get('M', motorOutputNumber, SABERTOOTH_GET_TEMPERATURE, unscaled);
  }
  
public:
  inline int32_t getGetRetryInterval() const { return _getRetryInterval; }
  
  inline void setGetRetryInterval(int32_t intervalMS) { _getRetryInterval = intervalMS; }
  
  inline int32_t getGetTimeout() const { return _getTimeout; }
  
  inline void setGetTimeout(int32_t timeoutMS) { _getTimeout = timeoutMS; }

  inline boolean usingCRC() const { return  _crc; }
  
  inline void useChecksum() { _crc = false; }
  
  inline void useCRC() { _crc = true ; }
  
private:
  int get(byte type, byte number,
          USBSabertoothGetType getType, boolean raw);
          
  void set(byte type, byte number, int value,
            USBSabertoothSetType setType);
    
private:
  void init();
  
private:
  const byte           _address;
  boolean              _crc;
  int32_t              _getRetryInterval;
  int32_t              _getTimeout;
  USBSabertoothSerial& _serial;
};

#endif