Group dxl2_defs¶

Protocol 2.0 IDs, instructions, error codes and byte-order helpers. More...

Public Static Functions¶

Type	Name
uint16_t	dxl2_get_u16 (const uint8_t * data) Read a little-endian 16-bit value.
uint32_t	dxl2_get_u32 (const uint8_t * data) Read a little-endian 32-bit value.
void	dxl2_put_u16 (uint8_t * data, uint16_t value) Write a 16-bit value in little-endian order.
void	dxl2_put_u32 (uint8_t * data, uint32_t value) Write a 32-bit value in little-endian order.

Type	Name
define	DXL2_BROADCAST_ID `0xFEU` Broadcast ID: every device executes the instruction.
define	DXL2_ERR_ACCESS `0x07U`
define	DXL2_ERR_ALERT_BIT `0x80U` Hardware alert flag: the device has a Hardware Error Status set.
define	DXL2_ERR_CRC `0x03U`
define	DXL2_ERR_DATA_LENGTH `0x05U`
define	DXL2_ERR_DATA_LIMIT `0x06U`
define	DXL2_ERR_DATA_RANGE `0x04U`
define	DXL2_ERR_INSTRUCTION `0x02U`
define	DXL2_ERR_NONE `0x00U`
define	DXL2_ERR_RESULT_FAIL `0x01U`
define	DXL2_INST_ACTION `0x05U`
define	DXL2_INST_BACKUP `0x20U`
define	DXL2_INST_BULK_READ `0x92U`
define	DXL2_INST_BULK_WRITE `0x93U`
define	DXL2_INST_CLEAR `0x10U`
define	DXL2_INST_FACTORY_RESET `0x06U`
define	DXL2_INST_FAST_BULK_READ `0x9AU`
define	DXL2_INST_FAST_SYNC_READ `0x8AU`
define	DXL2_INST_PING `0x01U`
define	DXL2_INST_READ `0x02U`
define	DXL2_INST_REBOOT `0x08U`
define	DXL2_INST_REG_WRITE `0x04U`
define	DXL2_INST_STATUS `0x55U` Instruction byte of a Status Packet.
define	DXL2_INST_SYNC_READ `0x82U`
define	DXL2_INST_SYNC_WRITE `0x83U`
define	DXL2_INST_WRITE `0x03U`
define	DXL2_MAX_ID `252U` Highest ID a device may use.

Values come from the ROBOTIS Protocol 2.0 specification (https://docs.robotis.com/docs/dxl/protocol/protocol2/).

Read a little-endian 16-bit value.

static inline uint16_t dxl2_get_u16 (
    const uint8_t * data
)

Read a little-endian 32-bit value.

static inline uint32_t dxl2_get_u32 (
    const uint8_t * data
)

Write a 16-bit value in little-endian order.

static inline void dxl2_put_u16 (
    uint8_t * data,
    uint16_t value
)

Write a 32-bit value in little-endian order.

static inline void dxl2_put_u32 (
    uint8_t * data,
    uint32_t value
)

Broadcast ID: every device executes the instruction.

#define DXL2_BROADCAST_ID `0xFEU`

#define DXL2_ERR_ACCESS `0x07U`

Hardware alert flag: the device has a Hardware Error Status set.

#define DXL2_ERR_ALERT_BIT `0x80U`

#define DXL2_ERR_CRC `0x03U`

#define DXL2_ERR_DATA_LENGTH `0x05U`

#define DXL2_ERR_DATA_LIMIT `0x06U`

#define DXL2_ERR_DATA_RANGE `0x04U`

#define DXL2_ERR_INSTRUCTION `0x02U`

#define DXL2_ERR_NONE `0x00U`

#define DXL2_ERR_RESULT_FAIL `0x01U`

#define DXL2_INST_ACTION `0x05U`

#define DXL2_INST_BACKUP `0x20U`

#define DXL2_INST_BULK_READ `0x92U`

#define DXL2_INST_BULK_WRITE `0x93U`

#define DXL2_INST_CLEAR `0x10U`

#define DXL2_INST_FACTORY_RESET `0x06U`

#define DXL2_INST_FAST_BULK_READ `0x9AU`

#define DXL2_INST_FAST_SYNC_READ `0x8AU`

#define DXL2_INST_PING `0x01U`

#define DXL2_INST_READ `0x02U`

#define DXL2_INST_REBOOT `0x08U`

#define DXL2_INST_REG_WRITE `0x04U`

Instruction byte of a Status Packet.

#define DXL2_INST_STATUS `0x55U`

#define DXL2_INST_SYNC_READ `0x82U`

#define DXL2_INST_SYNC_WRITE `0x83U`

#define DXL2_INST_WRITE `0x03U`

Highest ID a device may use.

#define DXL2_MAX_ID `252U`