joint.h File Reference

joint firmware header More...

#include <Arduino.h>

Go to the source code of this file.

Namespaces
namespace	bioscara_joint_firmware
	Joint firmware.

Macros
#define	ACK   'O'
#define	NACK   'N'
#define	MAX_BUFFER   4
	Maximum size of I2C Payload in bytes.
#define	RFLAGS_SIZE   1
	Size of the return flags in bytes.
#define	DUMP_BUFFER(buffer, size)
	Macro to dump a buffer to the serial console.

Enumerations
enum	bioscara_joint_firmware::stp_reg_t {   bioscara_joint_firmware::PING = 0x0f , bioscara_joint_firmware::SETUP = 0x10 , bioscara_joint_firmware::SETRPM = 0x11 , bioscara_joint_firmware::GETDRIVERRPM = 0x12 ,   bioscara_joint_firmware::MOVESTEPS = 0x13 , bioscara_joint_firmware::MOVEANGLE = 0x14 , bioscara_joint_firmware::MOVETOANGLE = 0x15 , bioscara_joint_firmware::GETMOTORSTATE = 0x16 ,   bioscara_joint_firmware::RUNCOTINOUS = 0x17 , bioscara_joint_firmware::ANGLEMOVED = 0x18 , bioscara_joint_firmware::SETCURRENT = 0x19 , bioscara_joint_firmware::SETHOLDCURRENT = 0x1A ,   bioscara_joint_firmware::SETMAXACCELERATION = 0x1B , bioscara_joint_firmware::SETMAXDECELERATION = 0x1C , bioscara_joint_firmware::SETMAXVELOCITY = 0x1D , bioscara_joint_firmware::ENABLESTALLGUARD = 0x1E ,   bioscara_joint_firmware::DISABLESTALLGUARD = 0x1F , bioscara_joint_firmware::CLEARSTALL = 0x20 , bioscara_joint_firmware::SETBRAKEMODE = 0x22 , bioscara_joint_firmware::ENABLEPID = 0x23 ,   bioscara_joint_firmware::DISABLEPID = 0x24 , bioscara_joint_firmware::ENABLECLOSEDLOOP = 0x25 , bioscara_joint_firmware::DISABLECLOSEDLOOP = 0x26 , bioscara_joint_firmware::SETCONTROLTHRESHOLD = 0x27 ,   bioscara_joint_firmware::MOVETOEND = 0x28 , bioscara_joint_firmware::STOP = 0x29 , bioscara_joint_firmware::GETPIDERROR = 0x2A , bioscara_joint_firmware::CHECKORIENTATION = 0x2B ,   bioscara_joint_firmware::GETENCODERRPM = 0x2C , bioscara_joint_firmware::HOME = 0x2D , bioscara_joint_firmware::HOMEOFFSET = 0x2E }
	register and command definitions More...

Functions
template<typename T >
void	bioscara_joint_firmware::readValue (T &val, uint8_t *rxBuf, size_t rx_length)
	Reads a value from a buffer to a value of the specified type.
template<typename T >
int	bioscara_joint_firmware::writeValue (const T val, uint8_t *txBuf, size_t &tx_length)
	Writes a value of the specified type to a buffer.

Detailed Description

joint firmware header

Author

sbstorz

Version

0.1

Date

2025-05-27

Copyright

Copyright (c) 2025

This file contains definitions and macros for the joint firmware.

Macro Definition Documentation

ACK

#define ACK   'O'

DUMP_BUFFER

#define DUMP_BUFFER	(		buffer,
			size
	)

Value:

  {                                   \
    Serial.print("Buffer dump: ");    \
    for (size_t i = 0; i < size; i++) \
    {                                 \
      Serial.print(buffer[i], HEX);   \
      Serial.print(" ");              \
    }                                 \
    Serial.println();                 \
  }

Macro to dump a buffer to the serial console.

Parameters

buffer	pointer to a buffer to dump to the console
size	number of bytes to dump

MAX_BUFFER

#define MAX_BUFFER   4

Maximum size of I2C Payload in bytes.

4 bytes used to transmit floats and int32_t

NACK

#define NACK   'N'

RFLAGS_SIZE

#define RFLAGS_SIZE   1

Size of the return flags in bytes.

Only one byte used and hence set to 1.