feetech_writer.h

Go to the documentation of this file.

/*
 * 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 "feetech_protocol.h"
 
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
 
#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    uint8_t *buffer; 
    size_t size;     
    size_t buffer_max_size;    
} feetech_writer_t;

void feetech_writer_init(feetech_writer_t *writer, uint8_t *buffer, size_t buffer_max_size);

const uint8_t *feetech_writer_get_data(const feetech_writer_t *writer);

size_t feetech_writer_get_size(const feetech_writer_t *writer);

void feetech_writer_response_make(feetech_writer_t *writer, uint8_t id, const uint8_t *buffer, size_t size);

void feetech_writer_ack_make(feetech_writer_t *writer, uint8_t id);

void feetech_writer_ping_make(feetech_writer_t *writer, uint8_t id);

void feetech_writer_write_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, const uint8_t *buffer, size_t size);

void feetech_writer_write8_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, uint8_t value);

void feetech_writer_write16_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, uint16_t value);

void feetech_writer_read_make(feetech_writer_t *writer, uint8_t id, uint8_t reg, size_t size);

void feetech_writer_sync_write_begin(feetech_writer_t *writer, uint8_t reg, size_t size);

void feetech_writer_sync_write_end(feetech_writer_t *writer);

void feetech_writer_sync_write_add(feetech_writer_t *writer, uint8_t id, const uint8_t *buffer, size_t size);

void feetech_writer_sync_write_add_8bits(feetech_writer_t *writer, uint8_t id, uint8_t value);

void feetech_writer_sync_write_add_16bits(feetech_writer_t *writer, uint8_t id, uint16_t value);
 
#ifdef __cplusplus
}
#endif