Interface definition for Feetech packet reader. More...

Detailed Description

Interface definition for Feetech packet reader.

Author: Loïc Dauphin loic..nosp@m.daup.nosp@m.hin@i.nosp@m.nria.nosp@m..fr

#include "feetech_protocol.h"
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>

Include dependency graph for feetech_reader.h:

Data Structures
struct	feetech_reader_t
	Feetech packet reader struct. More...

#define	FEETECH_ACK_SIZE (6)

#define	FEETECH_RESPONSE_SIZE(len) (6 + len)

static void	feetech_reader_init (feetech_reader_t reader, const uint8_t buffer, size_t size)
	Initialize the Feetech packet reader. More...

uint8_t	feetech_reader_compute_sum (const feetech_reader_t *reader)
	Compute the packet's sum. More...

static bool	feetech_reader_check_minsize (const feetech_reader_t *reader)
	Check if the packet has the minimum required size. More...

static bool	feetech_reader_check_start (const feetech_reader_t *reader)
	Check if the packet begins with 2 FEETECH_START bits. More...

static bool	feetech_reader_check_size (const feetech_reader_t *reader)
	Check if the packet's size is the same as the buffer's size. More...

static bool	feetech_reader_check_sum (const feetech_reader_t *reader)
	Check if the computed sum and the sum of the packet are equal. More...

bool	feetech_reader_is_valid (const feetech_reader_t *reader)
	Check if the packet is valid. More...

static uint8_t	feetech_reader_get_id (const feetech_reader_t *reader)
	Get the packet's device id. More...

static uint8_t	feetech_reader_get_instr (const feetech_reader_t *reader)
	Get the packet's instruction code. More...

static const uint8_t *	feetech_reader_response_get_payload (const feetech_reader_t *reader)
	Get the packet's payload (response) More...

static size_t	feetech_reader_response_get_payload_size (const feetech_reader_t *reader)
	Get the packet's payload size (response) More...

static const uint8_t *	feetech_reader_write_get_payload (const feetech_reader_t *reader)
	Get the packet's payload (WRITE) More...

static size_t	feetech_reader_write_get_payload_size (const feetech_reader_t *reader)
	Get the packet's payload size (WRITE) More...

static uint8_t	feetech_reader_write_get_reg (const feetech_reader_t *reader)
	Get the packet's target register address (WRITE) More...

static size_t	feetech_reader_read_get_size (const feetech_reader_t *reader)
	Get the packet's READ size. More...

static uint8_t	feetech_reader_read_get_reg (const feetech_reader_t *reader)
	Get the packet's target register address (READ) More...

static size_t	feetech_reader_sync_write_get_payload_size (const feetech_reader_t *reader)
	Get the packet items' payload size (SYNC_WRITE) More...

static uint8_t	feetech_reader_sync_write_get_reg (const feetech_reader_t *reader)
	Get the packet's target register address (SYNC_WRITE) More...

size_t	feetech_reader_sync_write_get_items_count (const feetech_reader_t *reader)
	Get the packet items' count (SYNC_WRITE) More...

uint8_t	feetech_reader_sync_write_item_get_id (const feetech_reader_t *reader, uint8_t index)
	Get the packet item's device id (SYNC_WRITE) More...

const uint8_t *	feetech_reader_sync_write_item_get_payload (const feetech_reader_t *reader, uint8_t index)
	Get the packet item's payload (SYNC_WRITE) More...

Function Documentation

◆ feetech_reader_check_minsize()

static bool feetech_reader_check_minsize ( const feetech_reader_t * reader )

inlinestatic

Check if the packet has the minimum required size.

Parameters

[in] reader the packet reader

Returns: true if the packet has the minimum required size; false otherwise

Definition at line 74 of file feetech_reader.h.

◆ feetech_reader_check_size()

static bool feetech_reader_check_size ( const feetech_reader_t * reader )

inlinestatic

Check if the packet's size is the same as the buffer's size.

Parameters

[in] reader the packet reader

Returns: true if the packet's size is the same as the buffer's size; false otherwise

Definition at line 103 of file feetech_reader.h.

◆ feetech_reader_check_start()

static bool feetech_reader_check_start ( const feetech_reader_t * reader )

inlinestatic

Check if the packet begins with 2 FEETECH_START bits.

Parameters

[in] reader the packet reader

Returns: true if the packet begins with 2 FEETECH_START bits; false otherwise

Definition at line 88 of file feetech_reader.h.

◆ feetech_reader_check_sum()

static bool feetech_reader_check_sum ( const feetech_reader_t * reader )

inlinestatic

Check if the computed sum and the sum of the packet are equal.

Parameters

[in] reader the packet reader

Returns: true if the computed sum and the sum of the packet are equal; false otherwise

Definition at line 116 of file feetech_reader.h.

◆ feetech_reader_compute_sum()

uint8_t feetech_reader_compute_sum ( const feetech_reader_t * reader )

Compute the packet's sum.

Parameters

[in] reader the packet reader

Returns: the sum of the packet

◆ feetech_reader_get_id()

static uint8_t feetech_reader_get_id ( const feetech_reader_t * reader )

inlinestatic

Get the packet's device id.

Parameters

[in] reader the packet reader

Returns: the packet's device id

Definition at line 138 of file feetech_reader.h.

◆ feetech_reader_get_instr()

static uint8_t feetech_reader_get_instr ( const feetech_reader_t * reader )

inlinestatic

Get the packet's instruction code.

Parameters

[in] reader the packet reader

Returns: the packet's instruction code

Definition at line 150 of file feetech_reader.h.

◆ feetech_reader_init()

static void feetech_reader_init	(	feetech_reader_t *	reader,
		const uint8_t *	buffer,
		size_t	size
	)

inlinestatic

Initialize the Feetech packet reader.

Parameters

[out]	reader	the packet reader
[in]	buffer	the buffer used to store data
[in]	size	the size of the buffer

Definition at line 51 of file feetech_reader.h.

◆ feetech_reader_is_valid()

bool feetech_reader_is_valid ( const feetech_reader_t * reader )

Check if the packet is valid.

Parameters

[in] reader the packet reader

Returns: true if the packet is valid; false otherwise

◆ feetech_reader_read_get_reg()

static uint8_t feetech_reader_read_get_reg ( const feetech_reader_t * reader )

inlinestatic

Get the packet's target register address (READ)

Parameters

[in] reader the packet reader

Returns: the register address

Definition at line 234 of file feetech_reader.h.

◆ feetech_reader_read_get_size()

static size_t feetech_reader_read_get_size ( const feetech_reader_t * reader )

inlinestatic

Get the packet's READ size.

Parameters

[in] reader the packet reader

Returns: the READ size

Definition at line 222 of file feetech_reader.h.

◆ feetech_reader_response_get_payload()

static const uint8_t* feetech_reader_response_get_payload ( const feetech_reader_t * reader )

inlinestatic

Get the packet's payload (response)

Parameters

[in] reader the packet reader

Returns: the address of the beginning of the payload

Definition at line 162 of file feetech_reader.h.

◆ feetech_reader_response_get_payload_size()

static size_t feetech_reader_response_get_payload_size ( const feetech_reader_t * reader )

inlinestatic

Get the packet's payload size (response)

Parameters

[in] reader the packet reader

Returns: the size of the payload

Definition at line 174 of file feetech_reader.h.

◆ feetech_reader_sync_write_get_items_count()

size_t feetech_reader_sync_write_get_items_count ( const feetech_reader_t * reader )

Get the packet items' count (SYNC_WRITE)

Parameters

[in] reader the packet reader

Returns: the number of items in the packet

◆ feetech_reader_sync_write_get_payload_size()

static size_t feetech_reader_sync_write_get_payload_size ( const feetech_reader_t * reader )

inlinestatic

Get the packet items' payload size (SYNC_WRITE)

Parameters

[in] reader the packet reader

Returns: the size of the items' payload

Definition at line 246 of file feetech_reader.h.

◆ feetech_reader_sync_write_get_reg()

static uint8_t feetech_reader_sync_write_get_reg ( const feetech_reader_t * reader )

inlinestatic

Get the packet's target register address (SYNC_WRITE)

Parameters

[in] reader the packet reader

Returns: the register address

Definition at line 258 of file feetech_reader.h.

◆ feetech_reader_sync_write_item_get_id()

uint8_t feetech_reader_sync_write_item_get_id	(	const feetech_reader_t *	reader,
		uint8_t	index
	)

Get the packet item's device id (SYNC_WRITE)

Parameters

[in]	reader	the packet reader
[in]	index	the item index

Returns: the item's device id

◆ feetech_reader_sync_write_item_get_payload()

const uint8_t* feetech_reader_sync_write_item_get_payload	(	const feetech_reader_t *	reader,
		uint8_t	index
	)

Get the packet item's payload (SYNC_WRITE)

Parameters

[in]	reader	the packet reader
[in]	index	the item index

Returns: the beginning address of the payload

◆ feetech_reader_write_get_payload()

static const uint8_t* feetech_reader_write_get_payload ( const feetech_reader_t * reader )

inlinestatic

Get the packet's payload (WRITE)

Parameters

[in] reader the packet reader

Returns: the beginning address of the payload

Definition at line 186 of file feetech_reader.h.

◆ feetech_reader_write_get_payload_size()

static size_t feetech_reader_write_get_payload_size ( const feetech_reader_t * reader )

inlinestatic

Get the packet's payload size (WRITE)

Parameters

[in] reader the packet reader

Returns: the size of the payload

Definition at line 198 of file feetech_reader.h.

◆ feetech_reader_write_get_reg()

static uint8_t feetech_reader_write_get_reg ( const feetech_reader_t * reader )

inlinestatic

Get the packet's target register address (WRITE)

Parameters

[in] reader the packet reader

Returns: the register address

Definition at line 210 of file feetech_reader.h.

Detailed Description

Data Structures

Function Documentation

◆ feetech_reader_check_minsize()

◆ feetech_reader_check_size()

◆ feetech_reader_check_start()

◆ feetech_reader_check_sum()

◆ feetech_reader_compute_sum()

◆ feetech_reader_get_id()

◆ feetech_reader_get_instr()

◆ feetech_reader_init()

◆ feetech_reader_is_valid()

◆ feetech_reader_read_get_reg()

◆ feetech_reader_read_get_size()

◆ feetech_reader_response_get_payload()

◆ feetech_reader_response_get_payload_size()

◆ feetech_reader_sync_write_get_items_count()

◆ feetech_reader_sync_write_get_payload_size()

◆ feetech_reader_sync_write_get_reg()

◆ feetech_reader_sync_write_item_get_id()

◆ feetech_reader_sync_write_item_get_payload()

◆ feetech_reader_write_get_payload()

◆ feetech_reader_write_get_payload_size()

◆ feetech_reader_write_get_reg()