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Files | Data Structures | Typedefs | Enumerations | Functions
Feetech driver
Drivers » Actuator Device Drivers

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 36 of file feetech.h.

◆ feetech_id_t

typedef uint8_t feetech_id_t

device id type

Definition at line 35 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 49 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]devicethe Feetech device
[in]streamthe stream
[in]idthe 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]streamthe stream
[in]idthe 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]devicethe Feetech device
[in]addrthe address to start read
[out]datathe data buffer to fill
[in]lengththe 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]devicethe Feetech device
[in]addrthe address to read
[out]valuethe 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]devicethe Feetech device
[in]addrthe address to read
[out]valuethe 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]devicethe Feetech device
[in]addrthe address to start write
[in]datathe data to write
[in]lengththe 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]devicethe Feetech device
[in]addrthe address to write
[in]valuethe 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]devicethe Feetech device
[in]addrthe address to write
[in]valuethe 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