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Add API for getting hardware error status #146

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88ee229
Fix for Arduino Uno R4 build error
jonghee-son Feb 25, 2025
022a601
Fix for STM32 based arduino build error
jonghee-son Feb 25, 2025
fd01361
Fixed build error on ARM Cortex-M based Arduino boards.
jonghee-son Mar 18, 2025
a5782fd
Fixed naming inconsistency between LED and DXL_LED_* items
jonghee-son Mar 18, 2025
7d72cc6
[Feature] Added API for HardwareError
jonghee-son Mar 27, 2025
2c28dbe
[Fix] Fixed library error code for not supported models for getHardwa…
jonghee-son Mar 27, 2025
7e7ef36
[Fix] Added model identification logic and DYNAMIXEL-Y support for ge…
jonghee-son Mar 27, 2025
39b041b
[Fix] Added error code identifiers
jonghee-son May 13, 2025
43a0622
[Fix] Fixed error code identifier overlap
jonghee-son May 13, 2025
e052572
[Fix] Fixed bit orientation for HardwareErrorCode identifier
jonghee-son May 13, 2025
486642e
[Fix] Fixed example code sniffet for getHardwareError for better repr…
jonghee-son May 13, 2025
521de0c
[Fix] Fixed example code sniffet for getHardwareError
jonghee-son May 13, 2025
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35 changes: 31 additions & 4 deletions src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -610,14 +610,14 @@ bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
if (state == false) {
writeControlTableItem(ControlTableItem::LED_GREEN, id, state);
writeControlTableItem(ControlTableItem::LED_BLUE, id, state);
writeControlTableItem(ControlTableItem::DXL_LED_GREEN, id, state);
writeControlTableItem(ControlTableItem::DXL_LED_BLUE, id, state);
}
ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
ret = writeControlTableItem(ControlTableItem::DXL_LED_RED, id, state);
break;

default:
ret = writeControlTableItem(ControlTableItem::LED, id, state);
ret = writeControlTableItem(ControlTableItem::DXL_LED, id, state);
break;
}

Expand Down Expand Up @@ -915,6 +915,33 @@ bool Dynamixel2Arduino::getTorqueEnableStat(uint8_t id)
return ret;
}

uint8_t Dynamixel2Arduino::getHardwareError(uint8_t id)
{
uint16_t model_num = getModelNumberFromTable(id);
uint8_t ret = 0;

if(model_num == UNREGISTERED_MODEL){
if(setModelNumber(id, getModelNumber(id)) == true){
model_num = getModelNumberFromTable(id);
}
}
Comment on lines +923 to +927
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@gemini-code-assist gemini-code-assist bot May 12, 2025

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high

What happens if setModelNumber always returns false? This could lead to an infinite loop. Consider adding a counter or a boolean flag to prevent this.

Suggested change
if(model_num == UNREGISTERED_MODEL){
if(setModelNumber(id, getModelNumber(id)) == true){
model_num = getModelNumberFromTable(id);
}
}
if(model_num == UNREGISTERED_MODEL){
static uint8_t retry_count = 0;
if(setModelNumber(id, getModelNumber(id)) == true){
model_num = getModelNumberFromTable(id);
retry_count = 0; // reset the counter if successful
} else {
retry_count++;
if (retry_count > 3) {
setLastLibErrCode(D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER);
return 0; // or some other appropriate error value
}
}
}


if(model_num == AX12A || model_num == AX12W || model_num == AX18A || model_num == DX113 || model_num == DX116 || model_num == DX117 || model_num == RX10 || model_num == RX24F || model_num == RX28 || model_num == RX64 || model_num == EX106 || model_num == MX12W || model_num == MX28 || model_num == MX64 || model_num == MX106 || model_num == XL320)
{
setLastLibErrCode(DXL_LIB_ERROR_NOT_SUPPORTED);
}
else if(model_num == YM070_210_M001_RH || model_num == YM070_210_B001_RH || model_num == YM070_210_R051_RH || model_num == YM070_210_R099_RH || model_num == YM070_210_A051_RH || model_num == YM070_210_A099_RH || model_num == YM080_230_M001_RH || model_num == YM080_230_B001_RH || model_num == YM080_230_R051_RH || model_num == YM080_230_R099_RH || model_num == YM080_230_A051_RH || model_num == YM080_230_A099_RH)
{
ret = (uint8_t)readControlTableItem(ControlTableItem::ERROR_CODE, id);
}
else
{
ret = (uint8_t)readControlTableItem(ControlTableItem::HARDWARE_ERROR_STATUS, id);
}

return ret;
}

int32_t Dynamixel2Arduino::readControlTableItem(uint8_t item_idx, uint8_t id, uint32_t timeout)
{
int32_t ret = 0;
Expand Down
50 changes: 47 additions & 3 deletions src/Dynamixel2Arduino.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,37 @@ enum D2ALibErrorCode
D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER
};

enum HardwareErrorCode
{
INPUT_VOLTAGE_ERROR = 0x01,
OVERHEATING_ERROR = 0x04,
MOTOR_ENCODER_ERROR = 0x08,
ELECTRICAL_SHOCK_ERROR = 0x10,
OVERLOAD_ERROR = 0x20
};

enum DYErrorCode
{
DY_NO_ERROR = 0,
DY_OVER_VOLTAGE_ERROR,
DY_LOW_VOLTAGE_ERROR,
DY_INVERTER_OVERHEATING_ERROR,
DY_MOTOR_OVERHEATING_ERROR,
DY_OVERLOAD_ERROR,
DY_INVERTER_ERROR,
DY_BATTERY_WARNING,
DY_BATTERY_ERROR,
DY_MAGNET_ERROR,
DY_MULTI_TURN_ERROR,
DY_ENCODER_ERROR,
DY_HALL_SENSOR_ERROR,
DY_CALIBRATION_ERROR,
DY_FOLLOWING_ERROR,
DY_BUS_WATCHDOG_ERROR,
DY_OVER_SPEED_ERROR,
DY_POSITION_LIMIT_REACHED_ERROR
};

class Dynamixel2Arduino : public DYNAMIXEL::Master
{
public:
Expand Down Expand Up @@ -385,7 +416,22 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
* @return It returns the Torque Enable data read from DXL control table item.
* If the Torque is On, true(1) is returned. Otherwise false(0) is returned.
*/
bool getTorqueEnableStat(uint8_t id);
bool getTorqueEnableStat(uint8_t id);

/**
* @brief It is API for getting hardware error status of DYNAMIXEL.
* @code
* const int DXL_DIR_PIN = 2;
* Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
* if ((dxl.getHardwareError(1) & INPUT_VOLTAGE_ERROR) == INPUT_VOLTAGE_ERROR) {
* Serial.println("Input Voltage Error");
* }
* @endcode
* @param id DYNAMIXEL Actuator's ID.
* @return It returns 0 on no error, value any other than 0 on hardware error.
* If the read fails, 0 is returned. Whether or not this is an actual value can be confirmed with @getLastLibErrCode().
*/
uint8_t getHardwareError(uint8_t id);

/**
* @brief It is API for getting data of a DYNAMIXEL control table item.
Expand Down Expand Up @@ -441,8 +487,6 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
bool setPositionPIDGain(uint8_t id, uint16_t p_gain, uint16_t i_gain, uint16_t d_gain);
bool setVelocityPIGain(uint8_t id, uint16_t p_gain, uint16_t i_gain);
bool setFeedForwardGain(uint8_t id, uint16_t fisrt_gain, uint16_t second_gain);

uint8_t getHardwareError(uint8_t id);

// https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/issues/73
uint8_t getOperatingMode(uint8_t id);
Expand Down
22 changes: 11 additions & 11 deletions src/actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ const ModelControlTableInfo_t control_table_1_0[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 18, 1},

{ControlTableItem::TORQUE_ENABLE, 24, 1},
{ControlTableItem::LED, 25, 1},
{ControlTableItem::DXL_LED, 25, 1},
{ControlTableItem::CW_COMPLIANCE_MARGIN, 26, 1},
{ControlTableItem::CCW_COMPLIANCE_MARGIN, 27, 1},
{ControlTableItem::CW_COMPLIANCE_SLOPE, 28, 1},
Expand Down Expand Up @@ -85,7 +85,7 @@ const ModelControlTableInfo_t control_table_1_1[] PROGMEM = {
{ControlTableItem::RESOLUTION_DIVIDER, 22, 1},

{ControlTableItem::TORQUE_ENABLE, 24, 1},
{ControlTableItem::LED, 25, 1},
{ControlTableItem::DXL_LED, 25, 1},
{ControlTableItem::D_GAIN, 26, 1},
{ControlTableItem::I_GAIN, 27, 1},
{ControlTableItem::P_GAIN, 28, 1},
Expand Down Expand Up @@ -144,7 +144,7 @@ const ModelControlTableInfo_t xl320_control_table[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 18, 1},

{ControlTableItem::TORQUE_ENABLE, 24, 1},
{ControlTableItem::LED, 25, 1},
{ControlTableItem::DXL_LED, 25, 1},
{ControlTableItem::D_GAIN, 27, 1},
{ControlTableItem::I_GAIN, 28, 1},
{ControlTableItem::P_GAIN, 29, 1},
Expand Down Expand Up @@ -197,7 +197,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 63, 1},

{ControlTableItem::TORQUE_ENABLE, 64, 1},
{ControlTableItem::LED, 65, 1},
{ControlTableItem::DXL_LED, 65, 1},
{ControlTableItem::STATUS_RETURN_LEVEL, 68, 1},
{ControlTableItem::REGISTERED_INSTRUCTION, 69, 1},
{ControlTableItem::HARDWARE_ERROR_STATUS, 70, 1},
Expand Down Expand Up @@ -319,9 +319,9 @@ const ModelControlTableInfo_t pro_r_control_table[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 48, 1},

{ControlTableItem::TORQUE_ENABLE, 562, 1},
{ControlTableItem::LED_RED, 563, 1},
{ControlTableItem::LED_GREEN, 564, 1},
{ControlTableItem::LED_BLUE, 565, 1},
{ControlTableItem::DXL_LED_RED, 563, 1},
{ControlTableItem::DXL_LED_GREEN, 564, 1},
{ControlTableItem::DXL_LED_BLUE, 565, 1},
{ControlTableItem::VELOCITY_I_GAIN, 586, 2},
{ControlTableItem::VELOCITY_P_GAIN, 588, 2},
{ControlTableItem::POSITION_P_GAIN, 594, 2},
Expand Down Expand Up @@ -377,9 +377,9 @@ const ModelControlTableInfo_t pro_ra_pro_plus_control_table[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 63, 1},

{ControlTableItem::TORQUE_ENABLE, 512, 1},
{ControlTableItem::LED_RED, 513, 1},
{ControlTableItem::LED_GREEN, 514, 1},
{ControlTableItem::LED_BLUE, 515, 1},
{ControlTableItem::DXL_LED_RED, 513, 1},
{ControlTableItem::DXL_LED_GREEN, 514, 1},
{ControlTableItem::DXL_LED_BLUE, 515, 1},
{ControlTableItem::STATUS_RETURN_LEVEL, 516, 1},
{ControlTableItem::REGISTERED_INSTRUCTION, 517, 1},
{ControlTableItem::HARDWARE_ERROR_STATUS, 518, 1},
Expand Down Expand Up @@ -475,7 +475,7 @@ const ModelControlTableInfo_t y_control_table[] PROGMEM = {
{ControlTableItem::PROFILE_ACCELERATION_TIME, 248, 4},
{ControlTableItem::PROFIIE_TIME, 252, 4},
{ControlTableItem::TORQUE_ENABLE, 512, 1},
{ControlTableItem::LED, 513, 1},
{ControlTableItem::DXL_LED, 513, 1},
{ControlTableItem::PWM_OFFSET, 516, 2},
{ControlTableItem::CURRENT_OFFSET, 518, 2},
{ControlTableItem::VELOCITY_OFFSET, 520, 4},
Expand Down
8 changes: 4 additions & 4 deletions src/actuator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -331,10 +331,10 @@ namespace ControlTableItem{
SHUTDOWN,

TORQUE_ENABLE,
LED,
LED_RED,
LED_GREEN,
LED_BLUE,
DXL_LED,
DXL_LED_RED,
DXL_LED_GREEN,
DXL_LED_BLUE,
REGISTERED_INSTRUCTION,
HARDWARE_ERROR_STATUS,
VELOCITY_P_GAIN,
Expand Down