dynamixel_reader.h¶
Interface definition for Dynamixel packet reader.
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DXL_PING_SIZE
¶ 1
(10)
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DXL_STATUS_SIZE
( len)¶ 1
(11+len)
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DXL_READ_SIZE
¶ 1
(14)
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DXL_WRITE_SIZE
( len)¶ 1
(12+len)
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void
dynamixel_reader_init
(dynamixel_reader_t * reader, const uint8_t * buffer,msp430_types.h::size_t
size)¶ Initialize the Dynamixel packet reader.
Parameters
reader: the packet reader buffer: the buffer used to store data size: the size of the buffer
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bool
dynamixel_reader_is_valid
(const dynamixel_reader_t * reader)¶ Check if the packet is valid.
Parameters
reader: the packet reader Return values
- true if the packet is valid
- false otherwise
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uint8_t
dynamixel_reader_get_id
(const dynamixel_reader_t * reader)¶ Get the packet’s device id.
Parameters
reader: the packet reader Return values
- the packet’s device id
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uint8_t
dynamixel_reader_get_instr
(const dynamixel_reader_t * reader)¶ Get the packet’s instruction code.
Parameters
reader: the packet reader Return values
- the packet’s instruction code
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uint16_t
dynamixel_reader_get_length
(const dynamixel_reader_t * reader)¶ Get the packet’s length field.
Parameters
reader: the packet reader Return values
- the packet’s length field
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uint16_t
dynamixel_reader_get_crc
(const dynamixel_reader_t * reader)¶ Get the packet’s crc.
Parameters
reader: the packet reader Return values
- the packet’s length field
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const uint8_t *
dynamixel_reader_status_get_payload
(const dynamixel_reader_t * reader)¶ Get the packet’s payload (response)
Parameters
reader: the packet reader Return values
- the addess of the begining of the payload
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msp430_types.h::size_t
dynamixel_reader_status_get_payload_size
(const dynamixel_reader_t * reader)¶ Get the packet’s payload size (response)
Parameters
reader: the packet reader Return values
- the size of the payload