dynamixel_writer.h File Reference

Interface definition for Dynamixel packet writer. More...

Detailed Description

Interface definition for Dynamixel packet writer.

Author

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

Definition in file dynamixel_writer.h.

#include "dynamixel_protocol.h"
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>

Include dependency graph for dynamixel_writer.h:

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Data Structures
struct	dynamixel_writer_t
	Dynamixel packet writer struct. More...
void	dynamixel_writer_init (dynamixel_writer_t *writer, uint8_t *buffer, size_t limit)
	Initialize the Dynamixel packet writer.
const uint8_t *	dynamixel_writer_get_data (const dynamixel_writer_t *writer)
	Get the data buffer to send.
size_t	dynamixel_writer_get_size (const dynamixel_writer_t *writer)
	Get the data buffer's size to send.
void	dynamixel_writer_ping_make (dynamixel_writer_t *writer, uint8_t id)
	Build a PING packet.
void	dynamixel_writer_write_make (dynamixel_writer_t *writer, uint8_t id, uint16_t reg, const uint8_t *buffer, size_t size)
	Build a WRITE packet.
void	dynamixel_writer_read_make (dynamixel_writer_t *writer, uint8_t id, uint16_t reg, size_t size)
	Build a READ packet.

Function Documentation

dynamixel_writer_get_data()

const uint8_t * dynamixel_writer_get_data

(

const dynamixel_writer_t *

writer

)

Get the data buffer to send.

Parameters

[out]

writer

the packet writer

Returns

the beginning address of the buffer

dynamixel_writer_get_size()

size_t dynamixel_writer_get_size

(

const dynamixel_writer_t *

writer

)

Get the data buffer's size to send.

Parameters

[out]

writer

the packet writer

Returns

the buffer's size

dynamixel_writer_init()

void dynamixel_writer_init	(	dynamixel_writer_t *	writer,
		uint8_t *	buffer,
		size_t	limit
	)

Initialize the Dynamixel packet writer.

Parameters

[out]	writer	the packet writer
[in]	buffer	the buffer used to store data
[in]	limit	the size of the buffer (= maximum packet size)

dynamixel_writer_ping_make()

void dynamixel_writer_ping_make	(	dynamixel_writer_t *	writer,
		uint8_t	id
	)

Build a PING packet.

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id

dynamixel_writer_read_make()

void dynamixel_writer_read_make	(	dynamixel_writer_t *	writer,
		uint8_t	id,
		uint16_t	reg,
		size_t	size
	)

Build a READ packet.

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id
[in]	reg	the register to read
[in]	size	the size to read

dynamixel_writer_write_make()

void dynamixel_writer_write_make	(	dynamixel_writer_t *	writer,
		uint8_t	id,
		uint16_t	reg,
		const uint8_t *	buffer,
		size_t	size
	)

Build a WRITE packet.

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id
[in]	reg	the register to write in
[in]	buffer	the data buffer to write
[in]	size	the data buffer's size