SCS.h

/*
* 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