feetech.h

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/*
 * Copyright (C) 2017 Inria
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#pragma once

 
#include <stdlib.h>
 
#include "feetech_protocol.h"
#include "uart_half_duplex.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef uint8_t feetech_id_t;    
typedef uint8_t feetech_addr_t;  

typedef struct {
    uart_half_duplex_t *stream; 
    feetech_id_t id;            
} feetech_t;

enum {
    FEETECH_OK,               
    FEETECH_TIMEOUT,          
    FEETECH_BUFFER_TOO_SMALL, 
    FEETECH_INVALID_MESSAGE,  
};

int feetech_ping(uart_half_duplex_t *stream, feetech_id_t id);

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

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

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

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

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

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

int feetech_read(const feetech_t *device, feetech_addr_t addr, uint8_t *data, size_t length);
 
#ifdef __cplusplus
}
#endif