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.