feetech_writer.h File Reference

Interface definition for Feetech packet writer. More...

Detailed Description

Interface definition for Feetech packet writer.

Author

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

Definition in file feetech_writer.h.

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

Include dependency graph for feetech_writer.h:

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Data Structures
struct	feetech_writer_t
	Feetech packet writer struct. More...
void	feetech_writer_init (feetech_writer_t *writer, uint8_t *buffer, size_t buffer_max_size)
	Initialize the Feetech packet writer.
const uint8_t *	feetech_writer_get_data (const feetech_writer_t *writer)
	Get the data buffer to send.
size_t	feetech_writer_get_size (const feetech_writer_t *writer)
	Get the data buffer's size to send.
void	feetech_writer_response_make (feetech_writer_t *writer, uint8_t id, const uint8_t *buffer, size_t size)
	Build a response packet.
void	feetech_writer_ack_make (feetech_writer_t *writer, uint8_t id)
	Build an ack packet.
void	feetech_writer_ping_make (feetech_writer_t *writer, uint8_t id)
	Build a PING packet.
void	feetech_writer_write_make (feetech_writer_t *writer, uint8_t id, uint8_t reg, const uint8_t *buffer, size_t size)
	Build a WRITE packet.
void	feetech_writer_write8_make (feetech_writer_t *writer, uint8_t id, uint8_t reg, uint8_t value)
	Build a WRITE packet (8 bits)
void	feetech_writer_write16_make (feetech_writer_t *writer, uint8_t id, uint8_t reg, uint16_t value)
	Build a WRITE packet (16 bits)
void	feetech_writer_read_make (feetech_writer_t *writer, uint8_t id, uint8_t reg, size_t size)
	Build a READ packet.
void	feetech_writer_sync_write_begin (feetech_writer_t *writer, uint8_t reg, size_t size)
	Begin to build a SYNC_WRITE packet.
void	feetech_writer_sync_write_end (feetech_writer_t *writer)
	End the building of a SYNC_WRITE packet.
void	feetech_writer_sync_write_add (feetech_writer_t *writer, uint8_t id, const uint8_t *buffer, size_t size)
	Add an item to a SYNC_WRITE packet.
void	feetech_writer_sync_write_add_8bits (feetech_writer_t *writer, uint8_t id, uint8_t value)
	Add an item to a SYNC_WRITE packet (8 bits)
void	feetech_writer_sync_write_add_16bits (feetech_writer_t *writer, uint8_t id, uint16_t value)
	Add an item to a SYNC_WRITE packet (16 bits)

Function Documentation

feetech_writer_ack_make()

void feetech_writer_ack_make	(	feetech_writer_t *	writer,
		uint8_t	id
	)

Build an ack packet.

Parameters

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

feetech_writer_get_data()

const uint8_t * feetech_writer_get_data

(

const feetech_writer_t *

writer

)

Get the data buffer to send.

Parameters

[out]

writer

the packet writer

Returns

the beginning address of the buffer

feetech_writer_get_size()

size_t feetech_writer_get_size

(

const feetech_writer_t *

writer

)

Get the data buffer's size to send.

Parameters

[out]

writer

the packet writer

Returns

the buffer's size

feetech_writer_init()

void feetech_writer_init	(	feetech_writer_t *	writer,
		uint8_t *	buffer,
		size_t	buffer_max_size
	)

Initialize the Feetech packet writer.

Parameters

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

feetech_writer_ping_make()

void feetech_writer_ping_make	(	feetech_writer_t *	writer,
		uint8_t	id
	)

Build a PING packet.

Parameters

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

feetech_writer_read_make()

void feetech_writer_read_make	(	feetech_writer_t *	writer,
		uint8_t	id,
		uint8_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

feetech_writer_response_make()

void feetech_writer_response_make	(	feetech_writer_t *	writer,
		uint8_t	id,
		const uint8_t *	buffer,
		size_t	size
	)

Build a response packet.

Parameters

[out]	writer	the packet writer
[in]	id	the responder's id
[in]	buffer	the response data
[in]	size	the response size

feetech_writer_sync_write_add()

void feetech_writer_sync_write_add	(	feetech_writer_t *	writer,
		uint8_t	id,
		const uint8_t *	buffer,
		size_t	size
	)

Add an item to a SYNC_WRITE packet.

Parameters

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

feetech_writer_sync_write_add_16bits()

void feetech_writer_sync_write_add_16bits	(	feetech_writer_t *	writer,
		uint8_t	id,
		uint16_t	value
	)

Add an item to a SYNC_WRITE packet (16 bits)

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id
[in]	value	the value to write

feetech_writer_sync_write_add_8bits()

void feetech_writer_sync_write_add_8bits	(	feetech_writer_t *	writer,
		uint8_t	id,
		uint8_t	value
	)

Add an item to a SYNC_WRITE packet (8 bits)

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id
[in]	value	the value to write

feetech_writer_sync_write_begin()

void feetech_writer_sync_write_begin	(	feetech_writer_t *	writer,
		uint8_t	reg,
		size_t	size
	)

Begin to build a SYNC_WRITE packet.

Parameters

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

feetech_writer_sync_write_end()

void feetech_writer_sync_write_end

(

feetech_writer_t *

writer

)

End the building of a SYNC_WRITE packet.

Parameters

[out]

writer

the packet writer

feetech_writer_write16_make()

void feetech_writer_write16_make	(	feetech_writer_t *	writer,
		uint8_t	id,
		uint8_t	reg,
		uint16_t	value
	)

Build a WRITE packet (16 bits)

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id
[in]	reg	the register to write in
[in]	value	the value to write in the register

feetech_writer_write8_make()

void feetech_writer_write8_make	(	feetech_writer_t *	writer,
		uint8_t	id,
		uint8_t	reg,
		uint8_t	value
	)

Build a WRITE packet (8 bits)

Parameters

[out]	writer	the packet writer
[in]	id	the destination's id
[in]	reg	the register to write in
[in]	value	the value to write in the register

feetech_writer_write_make()

void feetech_writer_write_make	(	feetech_writer_t *	writer,
		uint8_t	id,
		uint8_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