dynamixel_writer.h
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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.
*/
/**
* @ingroup drivers_dynamixel
*
* @{
*
* @file
* @brief Interface definition for Dynamixel packet writer
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*/
#ifndef DYNAMIXEL_WRITER_H
#define DYNAMIXEL_WRITER_H
#include "dynamixel_protocol.h"
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Dynamixel packet writer struct
*/
typedef struct {
uint8_t *buffer; /**< data buffer */
size_t size; /**< packet's size */
size_t limit; /**< data buffer's size */
} dynamixel_writer_t;
/**
* @brief Initialize the Dynamixel packet writer
*
* @param[out] writer the packet writer
* @param[in] buffer the buffer used to store data
* @param[in] limit the size of the buffer (= maximum packet size)
*/
void dynamixel_writer_init(dynamixel_writer_t *writer, uint8_t *buffer, size_t limit);
/**
* @brief Get the data buffer to send
*
* @param[out] writer the packet writer
*
* @return the begining address of the buffer
*/
const uint8_t *dynamixel_writer_get_data(const dynamixel_writer_t *writer);
/**
* @brief Get the data buffer's size to send
*
* @param[out] writer the packet writer
*
* @return the buffer's size
*/
size_t dynamixel_writer_get_size(const dynamixel_writer_t *writer);
/**
* @brief Build a PING packet
*
* @param[out] writer the packet writer
* @param[in] id the destination's id
*/
void dynamixel_writer_ping_make(dynamixel_writer_t *writer, uint8_t id);
/**
* @brief Build a WRITE packet
*
* @param[out] writer the packet writer
* @param[in] id the destination's id
* @param[in] reg the register to write in
* @param[in] buffer the data buffer to write
* @param[in] size the data buffer's size
*/
void dynamixel_writer_write_make(dynamixel_writer_t *writer, uint8_t id, uint16_t reg, const uint8_t *buffer, size_t size);
/**
* @brief Build a READ packet
*
* @param[out] writer the packet writer
* @param[in] id the destination's id
* @param[in] reg the register to read
* @param[in] size the size to read
*/
void dynamixel_writer_read_make(dynamixel_writer_t *writer, uint8_t id, uint16_t reg, size_t size);
#ifdef __cplusplus
}
#endif
#endif /* DYNAMIXEL_WRITER_H */
/** @} */