joint.h

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#ifndef JOINT_H
#define JOINT_H
#include <Arduino.h>
 
#define ACK 'O'
#define NACK 'N'
 
#define MAX_BUFFER 4 // Bytes
 
#define RFLAGS_SIZE 1
 
#define DUMP_BUFFER(buffer, size)     \
  {                                   \
    Serial.print("Buffer dump: ");    \
    for (size_t i = 0; i < size; i++) \
    {                                 \
      Serial.print(buffer[i], HEX);   \
      Serial.print(" ");              \
    }                                 \
    Serial.println();                 \
  }
 
namespace bioscara_joint_firmware {
enum stp_reg_t
{
  PING = 0x0f,                
  SETUP = 0x10,               
  SETRPM = 0x11,              
  GETDRIVERRPM = 0x12,        
  MOVESTEPS = 0x13,           
  MOVEANGLE = 0x14,           
  MOVETOANGLE = 0x15,         
  GETMOTORSTATE = 0x16,       
  RUNCOTINOUS = 0x17,         
  ANGLEMOVED = 0x18,          
  SETCURRENT = 0x19,          
  SETHOLDCURRENT = 0x1A,      
  SETMAXACCELERATION = 0x1B,  
  SETMAXDECELERATION = 0x1C,  
  SETMAXVELOCITY = 0x1D,      
  ENABLESTALLGUARD = 0x1E,    
  DISABLESTALLGUARD = 0x1F,   
  CLEARSTALL = 0x20,          
  SETBRAKEMODE = 0x22,        
  ENABLEPID = 0x23,           
  DISABLEPID = 0x24,          
  ENABLECLOSEDLOOP = 0x25,    
  DISABLECLOSEDLOOP = 0x26,   
  SETCONTROLTHRESHOLD = 0x27, 
  MOVETOEND = 0x28,           
  STOP = 0x29,                
  GETPIDERROR = 0x2A,         
  CHECKORIENTATION = 0x2B,    
  GETENCODERRPM = 0x2C,       
  HOME = 0x2D,                
  HOMEOFFSET = 0x2E,          
};
 
template <typename T>
void readValue(T &val, uint8_t *rxBuf, size_t rx_length)
{
  memcpy(&val, rxBuf, rx_length);
}
 
template <typename T>
int writeValue(const T val, uint8_t *txBuf, size_t &tx_length)
{
  tx_length = sizeof(T);
  memcpy(txBuf, &val, tx_length);
  return 0;
}
}
#endif