dynamixel.h File Reference
Interface definition for Dynamixel devices driver. More...
Detailed Description
Interface definition for Dynamixel devices driver.
Definition in file dynamixel.h.
#include <stdlib.h>#include <stdbool.h>#include "dynamixel_protocol.h"#include "uart_half_duplex.h"
Include dependency graph for dynamixel.h:Go to the source code of this file.
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. More... | |
| void | dynamixel_init (dynamixel_t *device, uart_half_duplex_t *stream, dynamixel_id_t id) |
| Initialize a Dynamixel device. More... | |
| int | dynamixel_write8 (const dynamixel_t *device, dynamixel_addr_t reg, uint8_t value) |
| Write to a device 8bits register. More... | |
| int | dynamixel_write16 (const dynamixel_t *device, dynamixel_addr_t reg, uint16_t value) |
| Write to a device 16bits register. More... | |
| int | dynamixel_write (const dynamixel_t *device, dynamixel_addr_t reg, const uint8_t *data, size_t length) |
| Write to a device address. More... | |
| int | dynamixel_read8 (const dynamixel_t *device, dynamixel_addr_t reg, uint8_t *value) |
| Read from a device 8bits register. More... | |
| int | dynamixel_read16 (const dynamixel_t *device, dynamixel_addr_t reg, uint16_t *value) |
| Read from a device 16bits register. More... | |
| int | dynamixel_read (const dynamixel_t *device, dynamixel_addr_t reg, uint8_t *data, size_t length) |
| Read from a device address. More... | |
