dynamixel.h

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/*
 * SPDX-FileCopyrightText: 2017 Inria
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#include <stdlib.h>
#include <stdbool.h>
 
#include "dynamixel_protocol.h"
#include "uart_half_duplex.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef uint8_t dynamixel_id_t;    
typedef uint16_t dynamixel_addr_t; 

typedef struct {
    uart_half_duplex_t *stream; 
    dynamixel_id_t id;          
} dynamixel_t;

enum {
    DYNAMIXEL_OK,               
    DYNAMIXEL_TIMEOUT,          
    DYNAMIXEL_BUFFER_TOO_SMALL, 
    DYNAMIXEL_INVALID_MESSAGE,  
};

int dynamixel_ping(uart_half_duplex_t *stream, dynamixel_id_t id);

void dynamixel_init(dynamixel_t *device, uart_half_duplex_t *stream, dynamixel_id_t id);

int dynamixel_write8(const dynamixel_t *device, dynamixel_addr_t reg, uint8_t value);

int dynamixel_write16(const dynamixel_t *device, dynamixel_addr_t reg, uint16_t value);

int dynamixel_write(const dynamixel_t *device, dynamixel_addr_t reg, const uint8_t *data, size_t length);

int dynamixel_read8(const dynamixel_t *device, dynamixel_addr_t reg, uint8_t *value);

int dynamixel_read16(const dynamixel_t *device, dynamixel_addr_t reg, uint16_t *value);

int dynamixel_read(const dynamixel_t *device, dynamixel_addr_t reg, uint8_t *data, size_t length);
 
#ifdef __cplusplus
}
#endif