dynamixel_writer.h

Interface definition for Dynamixel packet writer.

void dynamixel_writer_init(dynamixel_writer_t * writer, uint8_t * buffer, msp430_types.h::size_t limit)

Initialize the Dynamixel packet writer.

Parameters

writer:the packet writer buffer:the buffer used to store data limit:the size of the buffer (= maximum packet size)

const uint8_t * dynamixel_writer_get_data(const dynamixel_writer_t * writer)

Get the data buffer to send.

Parameters

writer:the packet writer

Return values

• the begining address of the buffer

msp430_types.h::size_t dynamixel_writer_get_size(const dynamixel_writer_t * writer)

Get the data buffer’s size to send.

Parameters

writer:the packet writer

Return values

• the buffer’s size

void dynamixel_writer_ping_make(dynamixel_writer_t * writer, uint8_t id)

Build a PING packet.

Parameters

writer:the packet writer id:the destination’s id

void dynamixel_writer_write_make(dynamixel_writer_t * writer, uint8_t id, uint16_t reg, const uint8_t * buffer, msp430_types.h::size_t size)

Build a WRITE packet.

Parameters

writer:the packet writer id:the destination’s id reg:the register to write in buffer:the data buffer to write size:the data buffer’s size

void dynamixel_writer_read_make(dynamixel_writer_t * writer, uint8_t id, uint16_t reg, msp430_types.h::size_t size)

Build a READ packet.

Parameters

writer:the packet writer id:the destination’s id reg:the register to read size:the size to read

struct dynamixel_writer_t

Dynamixel packet writer struct.

uint8_t * buffer

data buffer

msp430_types.h::size_t size

packet’s size

msp430_types.h::size_t limit

data buffer’s size