Drivers for any device using feetech's servomotors communication bus. More...

Detailed Description

Drivers for any device using feetech's servomotors communication bus.

The bus is mainly used for servomotors, but a device can be anything : sensors, other actuators.

Files
file	feetech_protocol.h
	Feetech protocol definitions.

file	feetech_reader.h
	Interface definition for Feetech packet reader.

file	feetech_writer.h
	Interface definition for Feetech packet writer.

file	feetech.h
	Interface definition for Feetech devices driver.

Data Structures
struct	feetech_t
	Descriptor struct for a feetech device. More...

Typedefs
typedef uint8_t	feetech_id_t
	device id type

typedef uint8_t	feetech_addr_t
	address type

Enumerations
enum	{ FEETECH_OK, FEETECH_TIMEOUT, FEETECH_BUFFER_TOO_SMALL, FEETECH_INVALID_MESSAGE }
	Possible feetech return values. More...

Functions
int	feetech_ping (uart_half_duplex_t *stream, feetech_id_t id)
	Send a PING message to a device. More...

void	feetech_init (feetech_t device, uart_half_duplex_t stream, feetech_id_t id)
	Initialize a Feetech device. More...

int	feetech_write8 (const feetech_t *device, feetech_addr_t addr, uint8_t value)
	Write to a device 8bits address. More...

int	feetech_write16 (const feetech_t *device, feetech_addr_t addr, uint16_t value)
	Write to a device 16bits address. More...

int	feetech_write (const feetech_t device, feetech_addr_t addr, const uint8_t data, size_t length)
	Write to a device address. More...

int	feetech_read8 (const feetech_t device, feetech_addr_t addr, uint8_t value)
	Read from a device 8bits address. More...

int	feetech_read16 (const feetech_t device, feetech_addr_t addr, uint16_t value)
	Read from a device 16bits address. More...

int	feetech_read (const feetech_t device, feetech_addr_t addr, uint8_t data, size_t length)
	Read from a device address. More...

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Possible feetech return values.

Enumerator
FEETECH_OK	Success.
FEETECH_TIMEOUT	No response from the device.
FEETECH_BUFFER_TOO_SMALL	Buffer is too small for the message.
FEETECH_INVALID_MESSAGE	Invalid message received.

Definition at line 50 of file feetech.h.

Function Documentation

◆ feetech_init()

void feetech_init	(	feetech_t *	device,
		uart_half_duplex_t *	stream,
		feetech_id_t	id
	)

Initialize a Feetech device.

Parameters

[out]	device	the Feetech device
[in]	stream	the stream
[in]	id	the device address

◆ feetech_ping()

int feetech_ping	(	uart_half_duplex_t *	stream,
		feetech_id_t	id
	)

Send a PING message to a device.

Parameters

[in]	stream	the stream
[in]	id	the device address

Returns: FEETECH_OK if a device answered; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

◆ feetech_read()

int feetech_read	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint8_t *	data,
		size_t	length
	)

Read from a device address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to start read
[out]	data	the data buffer to fill
[in]	length	the data length

Returns: FEETECH_OK on success; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

◆ feetech_read16()

int feetech_read16	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint16_t *	value
	)

Read from a device 16bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to read
[out]	value	the value to read

Returns: FEETECH_OK on success; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

◆ feetech_read8()

int feetech_read8	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint8_t *	value
	)

Read from a device 8bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to read
[out]	value	the value to read

Returns: FEETECH_OK on success; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

◆ feetech_write()

int feetech_write	(	const feetech_t *	device,
		feetech_addr_t	addr,
		const uint8_t *	data,
		size_t	length
	)

Write to a device address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to start write
[in]	data	the data to write
[in]	length	the data length

Returns: FEETECH_OK on success; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

◆ feetech_write16()

int feetech_write16	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint16_t	value
	)

Write to a device 16bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to write
[in]	value	the value to write

Returns: FEETECH_OK on success; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

◆ feetech_write8()

int feetech_write8	(	const feetech_t *	device,
		feetech_addr_t	addr,
		uint8_t	value
	)

Write to a device 8bits address.

Parameters

[in]	device	the Feetech device
[in]	addr	the address to write
[in]	value	the value to write

Returns: FEETECH_OK on success; FEETECH_TIMEOUT if the device did not answer; FEETECH_BUFFER_TOO_SMALL if buffer is too small for the message; FEETECH_INVALID_MESSAGE if an invalid message was received

Detailed Description

Files

Data Structures

Typedefs

Enumerations

Functions

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ feetech_init()

◆ feetech_ping()

◆ feetech_read()

◆ feetech_read16()

◆ feetech_read8()

◆ feetech_write()

◆ feetech_write16()

◆ feetech_write8()