dynamixel.h File Reference

Interface definition for Dynamixel devices driver. More...

Detailed Description

#include <stdlib.h>
#include <stdbool.h>
#include "dynamixel_protocol.h"
#include "uart_half_duplex.h"
+ Include dependency graph for dynamixel.h:

Go to the source code of this file.

Data Structures

struct  dynamixel_t
 Descriptor struct for a dynamixel device. More...
 

Typedefs

typedef uint8_t dynamixel_id_t
 device id type
 
typedef uint16_t dynamixel_addr_t
 register address type
 

Enumerations

enum  { DYNAMIXEL_OK, DYNAMIXEL_TIMEOUT, DYNAMIXEL_BUFFER_TOO_SMALL, DYNAMIXEL_INVALID_MESSAGE }
 Possible dynamixel return values. More...
 

Functions

int dynamixel_ping (uart_half_duplex_t *stream, dynamixel_id_t id)
 Send a PING message to a device. More...
 
void dynamixel_init (dynamixel_t *device, uart_half_duplex_t *stream, dynamixel_id_t id)
 Initialize a Dynamixel device. More...
 
int dynamixel_write8 (dynamixel_t *device, dynamixel_addr_t reg, uint8_t value)
 Write to a device 8bits register. More...
 
int dynamixel_write16 (dynamixel_t *device, dynamixel_addr_t reg, uint16_t value)
 Write to a device 16bits register. More...
 
int dynamixel_write (dynamixel_t *device, dynamixel_addr_t reg, const uint8_t *data, size_t length)
 Write to a device address. More...
 
int dynamixel_read8 (dynamixel_t *device, dynamixel_addr_t reg, uint8_t *value)
 Read from a device 8bits register. More...
 
int dynamixel_read16 (dynamixel_t *device, dynamixel_addr_t reg, uint16_t *value)
 Read from a device 16bits register. More...
 
int dynamixel_read (dynamixel_t *device, dynamixel_addr_t reg, uint8_t *data, size_t length)
 Read from a device address. More...