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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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/*
* Protocol2PacketHandler.h
*
* Created on: 2016. 5. 4.
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_C_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_C_H_
#include "PacketHandler.h"
WINDECLSPEC UINT16_T UpdateCRC (UINT16_T crc_accum, UINT8_T *data_blk_ptr, UINT16_T data_blk_size);
WINDECLSPEC void AddStuffing (UINT8_T *packet);
WINDECLSPEC void RemoveStuffing (UINT8_T *packet);
WINDECLSPEC void PrintTxRxResult2 (int result);
WINDECLSPEC void PrintRxPacketError2 (UINT8_T error);
WINDECLSPEC int GetLastTxRxResult2 (int port_num);
WINDECLSPEC UINT8_T GetLastRxPacketError2 (int port_num);
WINDECLSPEC void SetDataWrite2 (int port_num, UINT16_T data_length, UINT16_T data_pos, UINT32_T data);
WINDECLSPEC UINT32_T GetDataRead2 (int port_num, UINT16_T data_length, UINT16_T data_pos);
WINDECLSPEC void TxPacket2 (int port_num);
WINDECLSPEC void RxPacket2 (int port_num);
WINDECLSPEC void TxRxPacket2 (int port_num);
WINDECLSPEC void Ping2 (int port_num, UINT8_T id);
WINDECLSPEC UINT16_T PingGetModelNum2 (int port_num, UINT8_T id);
// BroadcastPing
WINDECLSPEC void BroadcastPing2 (int port_num);
WINDECLSPEC bool GetBroadcastPingResult2 (int port_num, int id);
WINDECLSPEC void Action2 (int port_num, UINT8_T id);
WINDECLSPEC void Reboot2 (int port_num, UINT8_T id);
WINDECLSPEC void FactoryReset2 (int port_num, UINT8_T id, UINT8_T option);
WINDECLSPEC void ReadTx2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void ReadRx2 (int port_num, UINT16_T length);
WINDECLSPEC void ReadTxRx2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void Read1ByteTx2 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT8_T Read1ByteRx2 (int port_num);
WINDECLSPEC UINT8_T Read1ByteTxRx2 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC void Read2ByteTx2 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT16_T Read2ByteRx2 (int port_num);
WINDECLSPEC UINT16_T Read2ByteTxRx2 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC void Read4ByteTx2 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT32_T Read4ByteRx2 (int port_num);
WINDECLSPEC UINT32_T Read4ByteTxRx2 (int port_num, UINT8_T id, UINT16_T address);
WINDECLSPEC void WriteTxOnly2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void WriteTxRx2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void Write1ByteTxOnly2 (int port_num, UINT8_T id, UINT16_T address, UINT8_T data);
WINDECLSPEC void Write1ByteTxRx2 (int port_num, UINT8_T id, UINT16_T address, UINT8_T data);
WINDECLSPEC void Write2ByteTxOnly2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T data);
WINDECLSPEC void Write2ByteTxRx2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T data);
WINDECLSPEC void Write4ByteTxOnly2 (int port_num, UINT8_T id, UINT16_T address, UINT32_T data);
WINDECLSPEC void Write4ByteTxRx2 (int port_num, UINT8_T id, UINT16_T address, UINT32_T data);
WINDECLSPEC void RegWriteTxOnly2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void RegWriteTxRx2 (int port_num, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void SyncReadTx2 (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 SyncWriteTxOnly2 (int port_num, UINT16_T start_address, UINT16_T data_length, UINT16_T param_length);
// param : ID1 ADDR_L1 ADDR_H1 LEN_L1 LEN_H1 ID2 ADDR_L2 ADDR_H2 LEN_L2 LEN_H2 ...
WINDECLSPEC void BulkReadTx2 (int port_num, UINT16_T param_length);
// BulkReadRx -> GroupBulkRead class
// BulkReadTxRx -> GroupBulkRead class
// param : ID1 START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H DATA0 DATA1 ... DATAn ID2 START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H DATA0 DATA1 ... DATAn
WINDECLSPEC void BulkWriteTxOnly2 (int port_num, UINT16_T param_length);
#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_C_H_ */