/*******************************************************************************
* 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 */
/*
* PacketHandler.h
*
* Created on: 2016. 5. 4.
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_C_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_C_H_
#include <stdio.h>
#include "RobotisDef.h"
#include "PortHandler.h"
#define BROADCAST_ID 0xFE // 254
#define MAX_ID 0xFC // 252
/* Macro for Control Table Value */
#define DXL_MAKEWORD(a, b) ((unsigned short)(((unsigned char)(((unsigned long)(a)) & 0xff)) | ((unsigned short)((unsigned char)(((unsigned long)(b)) & 0xff))) << 8))
#define DXL_MAKEDWORD(a, b) ((unsigned int)(((unsigned short)(((unsigned long)(a)) & 0xffff)) | ((unsigned int)((unsigned short)(((unsigned long)(b)) & 0xffff))) << 16))
#define DXL_LOWORD(l) ((unsigned short)(((unsigned long)(l)) & 0xffff))
#define DXL_HIWORD(l) ((unsigned short)((((unsigned long)(l)) >> 16) & 0xffff))
#define DXL_LOBYTE(w) ((unsigned char)(((unsigned long)(w)) & 0xff))
#define DXL_HIBYTE(w) ((unsigned char)((((unsigned long)(w)) >> 8) & 0xff))
/* Instruction for DXL Protocol */
#define INST_PING 1
#define INST_READ 2
#define INST_WRITE 3
#define INST_REG_WRITE 4
#define INST_ACTION 5
#define INST_FACTORY_RESET 6
#define INST_SYNC_WRITE 131 // 0x83
#define INST_BULK_READ 146 // 0x92
// --- Only for 2.0 --- //
#define INST_REBOOT 8
#define INST_STATUS 85 // 0x55
#define INST_SYNC_READ 130 // 0x82
#define INST_BULK_WRITE 147 // 0x93
// Communication Result
#define COMM_SUCCESS 0 // tx or rx packet communication success
#define COMM_PORT_BUSY -1000 // Port is busy (in use)
#define COMM_TX_FAIL -1001 // Failed transmit instruction packet
#define COMM_RX_FAIL -1002 // Failed get status packet
#define COMM_TX_ERROR -2000 // Incorrect instruction packet
#define COMM_RX_WAITING -3000 // Now recieving status packet
#define COMM_RX_TIMEOUT -3001 // There is no status packet
#define COMM_RX_CORRUPT -3002 // Incorrect status packet
#define COMM_NOT_AVAILABLE -9000 //
typedef struct
{
UINT8_T *data_write_;
UINT8_T *data_read_;
UINT8_T *txpacket_;
UINT8_T *rxpacket_;
UINT8_T error_;
int communication_result_;
UINT8_T *broadcastping_id_list;
}PacketData;
PacketData *packetData;
WINDECLSPEC void PacketHandler ();
WINDECLSPEC void PrintTxRxResult (int protocol_version, int result);
WINDECLSPEC void PrintRxPacketError (int protocol_version, UINT8_T error);
WINDECLSPEC int GetLastTxRxResult (int port_num, int protocol_version);
WINDECLSPEC UINT8_T GetLastRxPacketError (int port_num, int protocol_version);
WINDECLSPEC void SetDataWrite (int port_num, int protocol_version, UINT16_T data_length, UINT16_T data_pos, UINT32_T data);
WINDECLSPEC UINT32_T GetDataRead (int port_num, int protocol_version, UINT16_T data_length, UINT16_T data_pos);
WINDECLSPEC void TxPacket (int port_num, int protocol_version);
WINDECLSPEC void RxPacket (int port_num, int protocol_version);
WINDECLSPEC void TxRxPacket (int port_num, int protocol_version);
WINDECLSPEC void Ping (int port_num, int protocol_version, UINT8_T id);
WINDECLSPEC UINT16_T PingGetModelNum (int port_num, int protocol_version, UINT8_T id);
// BroadcastPing
WINDECLSPEC void BroadcastPing (int port_num, int protocol_version);
WINDECLSPEC bool GetBroadcastPingResult (int port_num, int protocol_version, int id);
WINDECLSPEC void Reboot (int port_num, int protocol_version, UINT8_T id);
WINDECLSPEC void FactoryReset (int port_num, int protocol_version, UINT8_T id, UINT8_T option);
WINDECLSPEC void ReadTx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void ReadRx (int port_num, int protocol_version, UINT16_T length);
WINDECLSPEC void ReadTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void Read1ByteTx (int port_num, int protocol_version, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT8_T Read1ByteRx (int port_num, int protocol_version);
WINDECLSPEC UINT8_T Read1ByteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address);
WINDECLSPEC void Read2ByteTx (int port_num, int protocol_version, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT16_T Read2ByteRx (int port_num, int protocol_version);
WINDECLSPEC UINT16_T Read2ByteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address);
WINDECLSPEC void Read4ByteTx (int port_num, int protocol_version, UINT8_T id, UINT16_T address);
WINDECLSPEC UINT32_T Read4ByteRx (int port_num, int protocol_version);
WINDECLSPEC UINT32_T Read4ByteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address);
WINDECLSPEC void WriteTxOnly (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void WriteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void Write1ByteTxOnly (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT8_T data);
WINDECLSPEC void Write1ByteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT8_T data);
WINDECLSPEC void Write2ByteTxOnly (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T data);
WINDECLSPEC void Write2ByteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T data);
WINDECLSPEC void Write4ByteTxOnly (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT32_T data);
WINDECLSPEC void Write4ByteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT32_T data);
WINDECLSPEC void RegWriteTxOnly (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void RegWriteTxRx (int port_num, int protocol_version, UINT8_T id, UINT16_T address, UINT16_T length);
WINDECLSPEC void SyncReadTx (int port_num, int protocol_version, UINT16_T start_address, UINT16_T data_length, UINT16_T param_length);
// SyncReadRx -> GroupSyncRead class
// SyncReadTxRx -> GroupSyncRead class
WINDECLSPEC void SyncWriteTxOnly (int port_num, int protocol_version, UINT16_T start_address, UINT16_T data_length, UINT16_T param_length);
WINDECLSPEC void BulkReadTx (int port_num, int protocol_version, UINT16_T param_length);
// BulkReadRx -> GroupBulkRead class
// BulkReadTxRx -> GroupBulkRead class
WINDECLSPEC void BulkWriteTxOnly (int port_num, int protocol_version, UINT16_T param_length);
#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_C_H_ */