Dynamixel driver

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

Detailed Description

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

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

Files
file	dynamixel_crc.h
	Interface definition for Dynamixel crc.
file	dynamixel_protocol.h
	Dynamixel protocol definitions.
file	dynamixel_reader.h
	Interface definition for Dynamixel packet reader.
file	dynamixel_writer.h
	Interface definition for Dynamixel packet writer.
file	dynamixel.h
	Interface definition for Dynamixel devices driver.

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.

Typedef Documentation

dynamixel_addr_t

typedef uint16_t dynamixel_addr_t

register address type

Definition at line 38 of file dynamixel.h.

dynamixel_id_t

typedef uint8_t dynamixel_id_t

device id type

Definition at line 37 of file dynamixel.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

Possible dynamixel return values.

Enumerator
DYNAMIXEL_OK	Success.
DYNAMIXEL_TIMEOUT	No response from the device.
DYNAMIXEL_BUFFER_TOO_SMALL	Buffer is too small for the message.
DYNAMIXEL_INVALID_MESSAGE	Invalid message received.

Definition at line 51 of file dynamixel.h.

Function Documentation

dynamixel_init()

void dynamixel_init	(	dynamixel_t *	device,
		uart_half_duplex_t *	stream,
		dynamixel_id_t	id
	)

Initialize a Dynamixel device.

Parameters

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

dynamixel_ping()

int dynamixel_ping	(	uart_half_duplex_t *	stream,
		dynamixel_id_t	id
	)

Send a PING message to a device.

Parameters

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

Returns

DYNAMIXEL_OK if a device answered

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

dynamixel_read()

int dynamixel_read	(	const dynamixel_t *	device,
		dynamixel_addr_t	reg,
		uint8_t *	data,
		size_t	length
	)

Read from a device address.

Parameters

[in]	device	the Dynamixel device
[in]	reg	the address to start read
[out]	data	the data buffer to fill
[in]	length	the data length

Returns

DYNAMIXEL_OK on success

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

dynamixel_read16()

int dynamixel_read16	(	const dynamixel_t *	device,
		dynamixel_addr_t	reg,
		uint16_t *	value
	)

Read from a device 16bits register.

Parameters

[in]	device	the Dynamixel device
[in]	reg	the register to read
[out]	value	the value to read

Returns

DYNAMIXEL_OK on success

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

dynamixel_read8()

int dynamixel_read8	(	const dynamixel_t *	device,
		dynamixel_addr_t	reg,
		uint8_t *	value
	)

Read from a device 8bits register.

Parameters

[in]	device	the Dynamixel device
[in]	reg	the register to read
[out]	value	the value to read

Returns

DYNAMIXEL_OK on success

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

dynamixel_write()

int dynamixel_write	(	const dynamixel_t *	device,
		dynamixel_addr_t	reg,
		const uint8_t *	data,
		size_t	length
	)

Write to a device address.

Parameters

[in]	device	the Dynamixel device
[in]	reg	the address to start write
[in]	data	the data to write
[in]	length	the data length

Returns

DYNAMIXEL_OK on success

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

dynamixel_write16()

int dynamixel_write16	(	const dynamixel_t *	device,
		dynamixel_addr_t	reg,
		uint16_t	value
	)

Write to a device 16bits register.

Parameters

[in]	device	the Dynamixel device
[in]	reg	the register to write
[in]	value	the value to write

Returns

DYNAMIXEL_OK on success

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received

dynamixel_write8()

int dynamixel_write8	(	const dynamixel_t *	device,
		dynamixel_addr_t	reg,
		uint8_t	value
	)

Write to a device 8bits register.

Parameters

[in]	device	the Dynamixel device
[in]	reg	the register to write
[in]	value	the value to write

Returns

DYNAMIXEL_OK on success

DYNAMIXEL_TIMEOUT if the device did not answer

DYNAMIXEL_BUFFER_TOO_SMALL if buffer is too small for the message

DYNAMIXEL_INVALID_MESSAGE if an invalid message was received