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/*******************************************************************************
* Copyright (c) 2016, ROBOTIS CO., LTD.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither the name of ROBOTIS nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/
/* Author: Leon Ryu Woon Jung */
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/*
* Protocol1PacketHandler.h
*
* Created on: 2016. 5. 4.
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_C_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_C_H_
#include "PacketHandler.h"
WINDECLSPEC void PrintTxRxResult1 (int result);
WINDECLSPEC void PrintRxPacketError1 (UINT8_T error);
WINDECLSPEC int GetLastTxRxResult1 (int port_num);
WINDECLSPEC UINT8_T GetLastRxPacketError1 (int port_num);
WINDECLSPEC void SetDataWrite1 (int port_num, UINT16_T data_length, UINT16_T data_pos, UINT32_T data);
WINDECLSPEC UINT32_T GetDataRead1 (int port_num, UINT16_T data_length, UINT16_T data_pos);
WINDECLSPEC void TxPacket1 (int port_num);
WINDECLSPEC void RxPacket1 (int port_num);
WINDECLSPEC void TxRxPacket1 (int port_num);
WINDECLSPEC void Ping1 (int port_num, UINT8_T id);
WINDECLSPEC UINT16_T PingGetModelNum1 (int port_num, UINT8_T id);
// BroadcastPing
WINDECLSPEC void BroadcastPing1 (int port_num);
WINDECLSPEC bool GetBroadcastPingResult1 (int port_num, int id);
WINDECLSPEC void Action1 (int port_num, UINT8_T id);
WINDECLSPEC void Reboot1 (int port_num, UINT8_T id);
WINDECLSPEC void FactoryReset1 (int port_num, UINT8_T id, UINT8_T option);
WINDECLSPEC void ReadTx1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void ReadRx1 (int port_num, UINT16_T length);
WINDECLSPEC void ReadTxRx1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void Read1ByteTx1 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT8_T Read1ByteRx1 (int port_num);
WINDECLSPEC UINT8_T Read1ByteTxRx1 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC void Read2ByteTx1 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT16_T Read2ByteRx1 (int port_num);
WINDECLSPEC UINT16_T Read2ByteTxRx1 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC void Read4ByteTx1 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT32_T Read4ByteRx1 (int port_num);
WINDECLSPEC UINT32_T Read4ByteTxRx1 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC void WriteTxOnly1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void WriteTxRx1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void Write1ByteTxOnly1 (int port_num, UINT8_T id, UINT16_T address, UINT8_T data);
WINDECLSPEC void Write1ByteTxRx1 (int port_num, UINT8_T id, UINT16_T address, UINT8_T data);
WINDECLSPEC void Write2ByteTxOnly1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T data);
WINDECLSPEC void Write2ByteTxRx1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T data);
WINDECLSPEC void Write4ByteTxOnly1 (int port_num, UINT8_T id, UINT16_T address, UINT32_T data);
WINDECLSPEC void Write4ByteTxRx1 (int port_num, UINT8_T id, UINT16_T address, UINT32_T data);
WINDECLSPEC void RegWriteTxOnly1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void RegWriteTxRx1 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void SyncReadTx1 (int port_num, UINT16_T start_address, UINT16_T data_length, UINT16_T param_length);
// SyncReadRx -> GroupSyncRead class
// SyncReadTxRx -> GroupSyncRead class
// param : ID1 DATA0 DATA1 ... DATAn ID2 DATA0 DATA1 ... DATAn ID3 DATA0 DATA1 ... DATAn
WINDECLSPEC void SyncWriteTxOnly1 (int port_num, UINT16_T start_address, UINT16_T data_length, UINT16_T param_length);
// param : LEN1 ID1 ADDR1 LEN2 ID2 ADDR2 ...
WINDECLSPEC void BulkReadTx1 (int port_num, UINT16_T param_length);
// BulkReadRx -> GroupBulkRead class
// BulkReadTxRx -> GroupBulkRead class
// param : ID1 DATA0 DATA1 ... DATAn ID2 DATA0 DATA1 ... DATAn ID3 DATA0 DATA1 ... DATAn
WINDECLSPEC void BulkWriteTxOnly1 (int port_num, UINT16_T param_length);
#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_C_H_ */