Feetech driver

Drivers for any device using feetech's servomotors communication bus. More...

Detailed Description

Drivers for any device using feetech's servomotors communication bus.

The bus is mainly used for servomotors, but a device can be anything : sensors, other actuators.

Files
file	feetech_protocol.h
	Feetech protocol definitions.
file	feetech_reader.h
	Interface definition for Feetech packet reader.
file	feetech_writer.h
	Interface definition for Feetech packet writer.
file	feetech.h
	Interface definition for Feetech devices driver.

Data Structures
struct	feetech_t
	Descriptor struct for a feetech device. More...

Typedefs
typedef uint8_t	feetech_id_t
	device id type
typedef uint8_t	feetech_addr_t
	address type

Enumerations
enum	{ FEETECH_OK , FEETECH_TIMEOUT , FEETECH_BUFFER_TOO_SMALL , FEETECH_INVALID_MESSAGE }
	Possible feetech return values. More...

Functions
int	feetech_ping (uart_half_duplex_t *stream, feetech_id_t id)
	Send a PING message to a device.
void	feetech_init (feetech_t *device, uart_half_duplex_t *stream, feetech_id_t id)
	Initialize a Feetech device.
int	feetech_write8 (const feetech_t *device, feetech_addr_t addr, uint8_t value)
	Write to a device 8bits address.
int	feetech_write16 (const feetech_t *device, feetech_addr_t addr, uint16_t value)
	Write to a device 16bits address.
int	feetech_write (const feetech_t *device, feetech_addr_t addr, const uint8_t *data, size_t length)
	Write to a device address.
int	feetech_read8 (const feetech_t *device, feetech_addr_t addr, uint8_t *value)
	Read from a device 8bits address.
int	feetech_read16 (const feetech_t *device, feetech_addr_t addr, uint16_t *value)
	Read from a device 16bits address.
int	feetech_read (const feetech_t *device, feetech_addr_t addr, uint8_t *data, size_t length)
	Read from a device address.

Typedef Documentation

feetech_addr_t

typedef uint8_t feetech_addr_t

address type

Definition at line 37 of file feetech.h.

feetech_id_t

typedef uint8_t feetech_id_t

device id type

Definition at line 36 of file feetech.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

Possible feetech return values.

Enumerator
FEETECH_OK	Success.
FEETECH_TIMEOUT	No response from the device.
FEETECH_BUFFER_TOO_SMALL	Buffer is too small for the message.
FEETECH_INVALID_MESSAGE	Invalid message received.

Definition at line 50 of file feetech.h.

Function Documentation

feetech_init()

void feetech_init	(	feetech_t *	device,
		uart_half_duplex_t *	stream,
		feetech_id_t	id )

Initialize a Feetech device.

Parameters

[out]	device	the Feetech device
[in]	stream	the stream
[in]	id	the device address

feetech_ping()

int feetech_ping	(	uart_half_duplex_t *	stream,
		feetech_id_t	id )

Send a PING message to a device.

Parameters

[in]	stream	the stream
[in]	id	the device address

Returns

FEETECH_OK if a device answered

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received

feetech_read()

int feetech_read	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint8_t *	data,
		size_t	length )

Read from a device address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to start read
[out]	data	the data buffer to fill
[in]	length	the data length

Returns

FEETECH_OK on success

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received

feetech_read16()

int feetech_read16	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint16_t *	value )

Read from a device 16bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to read
[out]	value	the value to read

Returns

FEETECH_OK on success

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received

feetech_read8()

int feetech_read8	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint8_t *	value )

Read from a device 8bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to read
[out]	value	the value to read

Returns

FEETECH_OK on success

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received

feetech_write()

int feetech_write	(	const feetech_t *	device,
		feetech_addr_t	addr,
		const uint8_t *	data,
		size_t	length )

Write to a device address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to start write
[in]	data	the data to write
[in]	length	the data length

Returns

FEETECH_OK on success

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received

feetech_write16()

int feetech_write16	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint16_t	value )

Write to a device 16bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to write
[in]	value	the value to write

Returns

FEETECH_OK on success

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received

feetech_write8()

int feetech_write8	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint8_t	value )

Write to a device 8bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to write
[in]	value	the value to write

Returns

FEETECH_OK on success

FEETECH_TIMEOUT if the device did not answer

FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message

FEETECH_INVALID_MESSAGE if an invalid message was received