Functions only accessible from within the IO library. More...

Collaboration diagram for Private Functions:

Functions
static void	Dynamixel_BusDirTX (GPIO_TypeDef *port, uint16_t pinNum)
	Set data direction pin high (TX) More...

static void	Dynamixel_BusDirRX (GPIO_TypeDef *port, uint16_t pinNum)
	Set data direction pin low (RX) More...

static uint8_t	Dynamixel_ComputeChecksum (uint8_t *arr, int length)
	Compute the checksum for data passes in, according to a modular checksum algorithm employed by the Dynamixel V1.0 protocol. More...

static bool	Dynamixel_GenericReceive (Dynamixel_HandleTypeDef hdynamixel, uint8_t arr, uint8_t arrSize)
	Generic function for receiving data. Supports all IO modes. More...

static bool	Dynamixel_GenericTransmit (Dynamixel_HandleTypeDef hdynamixel, uint8_t arr, uint8_t arrSize)
	Generic function for transmitting data. Supports all IO modes. More...

Detailed Description

Functions only accessible from within the IO library.

Function Documentation

◆ Dynamixel_BusDirRX()

static void Dynamixel_BusDirRX	(	GPIO_TypeDef *	port,
		uint16_t	pinNum
	)

inlinestatic

Set data direction pin low (RX)

Parameters

port	the port the data direction pin is on
pinNum	the pin number of the data direction pin on the specified port

Returns: None

Definition at line 131 of file DynamixelProtocolV1_IO.c.

◆ Dynamixel_BusDirTX()

static void Dynamixel_BusDirTX	(	GPIO_TypeDef *	port,
		uint16_t	pinNum
	)

inlinestatic

Set data direction pin high (TX)

Parameters

port	the port the data direction pin is on
pinNum	the pin number of the data direction pin on the specified port

Returns: None

Definition at line 121 of file DynamixelProtocolV1_IO.c.

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◆ Dynamixel_ComputeChecksum()

static uint8_t Dynamixel_ComputeChecksum	(	uint8_t *	arr,
		int	length
	)

inlinestatic

Compute the checksum for data passes in, according to a modular checksum algorithm employed by the Dynamixel V1.0 protocol.

Parameters

arr	the array to be ran through the checksum function
length	the total length of the array arr

Returns: The 1-byte number that is the checksum

Definition at line 142 of file DynamixelProtocolV1_IO.c.

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◆ Dynamixel_GenericReceive()

static bool Dynamixel_GenericReceive	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t *	arr,
		uint8_t	arrSize
	)

inlinestatic

Generic function for receiving data. Supports all IO modes.

When using non-blocking IO, this function will cancel the data transfer upon timeout

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
arr	pointer to the receive buffer
arrSize	the number of bytes to be received

Returns: true if no issues, false otherwise

Definition at line 254 of file DynamixelProtocolV1_IO.c.

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◆ Dynamixel_GenericTransmit()

static bool Dynamixel_GenericTransmit	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t *	arr,
		uint8_t	arrSize
	)

inlinestatic

Generic function for transmitting data. Supports all IO modes.

When using non-blocking IO, this function will cancel the data transfer upon timeout

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
arr	pointer to the packet to be transmitted
arrSize	the number of bytes to be transmitted

Returns: true if no issues, false otherwise

Definition at line 313 of file DynamixelProtocolV1_IO.c.

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