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 elopes
add first test an...
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/*
* Copyright (C) 2017 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @defgroup drivers_feetech Feetech driver
* @ingroup drivers_actuators
* @brief 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.
*
* @{
*
* @file
* @brief Interface definition for Feetech devices driver
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*/
#ifndef FEETECH_H
#define FEETECH_H
#include <stdlib.h>
#include "feetech_protocol.h"
#include "uart_half_duplex.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef uint8_t feetech_id_t; /**< device id type */
typedef uint8_t feetech_addr_t; /**< address type */
/**
* @brief Descriptor struct for a feetech device
*/
typedef struct {
uart_half_duplex_t *stream; /**< the stream used */
feetech_id_t id; /**< the device address */
} feetech_t;
/**
* @brief Possible feetech return values
*/
enum {
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 */
};
/**
* @brief Send a PING message to a device
*
* @param[in] stream the stream
* @param[in] id the device address
*
* @return FEETECH_OK if a device answered
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_ping(uart_half_duplex_t *stream, feetech_id_t id);
/**
* @brief Initialize a Feetech device
*
* @param[out] device the Feetech device
* @param[in] stream the stream
* @param[in] id the device address
*/
void feetech_init(feetech_t *device, uart_half_duplex_t *stream, feetech_id_t id);
/**
* @brief Write to a device 8bits address
*
* @param[in] device the Feetech device
* @param[in] addr the address to write
* @param[in] value the value to write
*
* @return FEETECH_OK on success
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_write8(const feetech_t *device, feetech_addr_t addr, uint8_t value);
/**
* @brief Write to a device 16bits address
*
* @param[in] device the Feetech device
* @param[in] addr the address to write
* @param[in] value the value to write
*
* @return FEETECH_OK on success
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_write16(const feetech_t *device, feetech_addr_t addr, uint16_t value);
/**
* @brief Write to a device address
*
* @param[in] device the Feetech device
* @param[in] addr the address to start write
* @param[in] data the data to write
* @param[in] length the data length
*
* @return FEETECH_OK on success
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_write(const feetech_t *device, feetech_addr_t addr, const uint8_t *data, size_t length);
/**
* @brief Read from a device 8bits address
*
* @param[in] device the Feetech device
* @param[in] addr the address to read
* @param[out] value the value to read
*
* @return FEETECH_OK on success
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_read8(const feetech_t *device, feetech_addr_t addr, uint8_t *value);
/**
* @brief Read from a device 16bits address
*
* @param[in] device the Feetech device
* @param[in] addr the address to read
* @param[out] value the value to read
*
* @return FEETECH_OK on success
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_read16(const feetech_t *device, feetech_addr_t addr, uint16_t *value);
/**
* @brief Read from a device address
*
* @param[in] device the Feetech device
* @param[in] addr the address to start read
* @param[out] data the data buffer to fill
* @param[in] length the data length
*
* @return FEETECH_OK on success
* @return FEETECH_TIMEOUT if the device did not answer
* @return FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message
* @return FEETECH_INVALID_MESSAGE if an invalid message was received
*/
int feetech_read(const feetech_t *device, feetech_addr_t addr, uint8_t *data, size_t length);
#ifdef __cplusplus
}
#endif
#endif /* FEETECH_H */
/** @} */
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