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103 lines
2.5 KiB
C
103 lines
2.5 KiB
C
/*
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* Copyright (C) 2017 Inria
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @ingroup drivers_dynamixel
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*
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* @{
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*
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* @file
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* @brief Interface definition for Dynamixel packet writer
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*
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* @author Loïc Dauphin <loic.dauphin@inria.fr>
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*/
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#ifndef DYNAMIXEL_WRITER_H
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#define DYNAMIXEL_WRITER_H
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#include "dynamixel_protocol.h"
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Dynamixel packet writer struct
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*/
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typedef struct {
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uint8_t *buffer; /**< data buffer */
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size_t size; /**< packet's size */
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size_t limit; /**< data buffer's size */
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} dynamixel_writer_t;
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/**
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* @brief Initialize the Dynamixel packet writer
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*
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* @param[out] writer the packet writer
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* @param[in] buffer the buffer used to store data
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* @param[in] limit the size of the buffer (= maximum packet size)
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*/
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void dynamixel_writer_init(dynamixel_writer_t *writer, uint8_t *buffer, size_t limit);
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/**
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* @brief Get the data buffer to send
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*
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* @param[out] writer the packet writer
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*
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* @return the beginning address of the buffer
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*/
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const uint8_t *dynamixel_writer_get_data(const dynamixel_writer_t *writer);
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/**
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* @brief Get the data buffer's size to send
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*
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* @param[out] writer the packet writer
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*
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* @return the buffer's size
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*/
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size_t dynamixel_writer_get_size(const dynamixel_writer_t *writer);
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/**
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* @brief Build a PING packet
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*
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* @param[out] writer the packet writer
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* @param[in] id the destination's id
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*/
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void dynamixel_writer_ping_make(dynamixel_writer_t *writer, uint8_t id);
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/**
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* @brief Build a WRITE packet
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*
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* @param[out] writer the packet writer
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* @param[in] id the destination's id
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* @param[in] reg the register to write in
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* @param[in] buffer the data buffer to write
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* @param[in] size the data buffer's size
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*/
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void dynamixel_writer_write_make(dynamixel_writer_t *writer, uint8_t id, uint16_t reg, const uint8_t *buffer, size_t size);
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/**
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* @brief Build a READ packet
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*
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* @param[out] writer the packet writer
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* @param[in] id the destination's id
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* @param[in] reg the register to read
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* @param[in] size the size to read
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*/
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void dynamixel_writer_read_make(dynamixel_writer_t *writer, uint8_t id, uint16_t reg, size_t size);
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#ifdef __cplusplus
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}
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#endif
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#endif /* DYNAMIXEL_WRITER_H */
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/** @} */
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