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dynamixel.h File Reference

Interface definition for Dynamixel devices driver. More...

Detailed Description

Interface definition for Dynamixel devices driver.

Author
Loïc Dauphin loic..nosp@m.daup.nosp@m.hin@i.nosp@m.nria.nosp@m..fr

Definition in file dynamixel.h.

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