diff --git a/comm/include/comm.h b/comm/include/comm.h
index c8cc9e439c9931f6208d360ffb9bb96a23918f58..6509ae74248c72b8c108e7efa6b06f407de43989 100644
--- a/comm/include/comm.h
+++ b/comm/include/comm.h
@@ -1,4 +1,4 @@
-/** @file */
+/** @file */
#ifndef _COMM_H
#define _COMM_H
@@ -35,7 +35,7 @@ typedef enum {COMM_SUCCESS=0x00,/*!< The communication module has ended successf
* * Configure the DMA transactions (in case they are enabled).
* * Implement the functions required by this structure to initiate and cancel
* RX and TX transactions using both IRQ and DMA.
- * * Implement the basic IRQ and DMa handler functions.
+ * * Implement the basic IRQ and DMA handler functions.
*
* On the user application side, another set of functions must be also implemented
* and assigned to this structure at initialization time. The user application
@@ -43,9 +43,9 @@ typedef enum {COMM_SUCCESS=0x00,/*!< The communication module has ended successf
* required.
*
* In blocking mode, the IRQ driven transactions are used except when the use of
- * DMA is enbaled, in which case the DMA driven transactions are used.
+ * DMA is enabled, in which case the DMA driven transactions are used.
*
- * The following diagram descrives the transmission operation when using
+ * The following diagram describes the transmission operation when using
* interrupts, and how the user application, the communication module and the
* actual communication device work together:
*
@@ -61,9 +61,9 @@ typedef enum {COMM_SUCCESS=0x00,/*!< The communication module has ended successf
* While the data transfer is in progress the user can call the comm_is_send_done()
* function to check the status of the transmission and the comm_get_error()
* function to check for errors (if any). This functions can be used with any kind
- * of non-blobking transactions (IRQ and DMA).
+ * of non-blocking transactions (IRQ and DMA).
*
- * The following diagram descrives the reception operation when using
+ * The following diagram describes the reception operation when using
* interrupts, and how the user application, the communication module and the
* actual communication device work together:
*
@@ -100,7 +100,7 @@ typedef enum {COMM_SUCCESS=0x00,/*!< The communication module has ended successf
*
* Finally, when the TX interrupt handler is called, the comm_do_irq_send()
* function is called, in the same way it is called in a regular IRQ driven
- * transmission. In this case however, its behaviour is different, because
+ * transmission. In this case however, its behavior is different, because
* the user application callback function pointed by dma_send_cb is called,
* so that the user can perform any required action.
*
@@ -110,7 +110,7 @@ typedef enum {COMM_SUCCESS=0x00,/*!< The communication module has ended successf
*
* 
*
- * The user application starts a DMA driven reception by calling the comm_recive_dma()
+ * The user application starts a DMA driven reception by calling the comm_receive_dma()
* function, which in turn calls the low level communication function pointed by
* the parameter receive_dma. This function should configure the DMA transfer and start
* it.
@@ -118,10 +118,10 @@ typedef enum {COMM_SUCCESS=0x00,/*!< The communication module has ended successf
* When the desired number of bytes have been received, the reception DMA interrupt
* handler is called, which calls the comm_do_dma_receive() function, calls the
* user application function pointed by the dma_receive_cb parameter, so that the
- * user canm perform any required action.
+ * user can perform any required action.
*
* In the case of DMA driven reception, the received data can be accessed by the
- * data pointer provided to the comm_recive_dma() function, once the reception
+ * data pointer provided to the comm_receive_dma() function, once the reception
* has ended.
*/
typedef struct
@@ -136,7 +136,7 @@ typedef struct
/**
* \brief Active transmission using IRQ flag
*
- * This parameter is used to indicate if there is an acive transmission of data
+ * This parameter is used to indicate if there is an active transmission of data
* using interrupts to handle it. This flag is set when a transmission starts and
* it is cleared when it ends.
*/
@@ -144,7 +144,7 @@ typedef struct
/**
* \brief Active transmission using DMA flag
*
- * This parameter is used to indicate if there is an acive transmission of data
+ * This parameter is used to indicate if there is an active transmission of data
* using DMA to handle it. This flag is set when a transmission starts and it is
* cleared when it ends.
*/
@@ -166,7 +166,7 @@ typedef struct
/**
* \brief Active reception using IRQ flag
*
- * This parameter is used to indicate if there is an acive reception of data
+ * This parameter is used to indicate if there is an active reception of data
* using interrupts to handle it. This flag is set when a reception starts and
* it is cleared when it ends.
*/
@@ -174,7 +174,7 @@ typedef struct
/**
* \brief Active reception using DMA flag
*
- * This parameter is used to indicate if there is an acive reception of data
+ * This parameter is used to indicate if there is an active reception of data
* using DMA to handle it. This flag is set when a reception starts and it is
* cleared when it ends.
*/
@@ -182,7 +182,7 @@ typedef struct
/**
* \brief Number of bytes pending to be received
*
- * This parameter holds the number of bytes pending to be recevied in the current
+ * This parameter holds the number of bytes pending to be received in the current
* transaction. This parameter is initialized when the reception starts, and
* is decremented after the reception of each byte.
*/
@@ -226,7 +226,7 @@ typedef struct
void *data;
/* IRQ functions */
/**
- * \defgroup harware_irq_pointers Hardware IRQ related function pointeris
+ * \defgroup hardware_irq_pointers Hardware IRQ related function pointers
*
* This set of functions, that must be implemented by the low level hardware
* communication module (either USART, I2C, SPI or any other communication
@@ -270,7 +270,7 @@ typedef struct
/**@}*/
/* DMA functions */
/**
- * \defgroup harware_dma_pointers Hardware DMA related function pointers
+ * \defgroup hardware_dma_pointers Hardware DMA related function pointers
*
* This set of functions, that must be implemented by the low level hardware
* communication module (either USART, I2C, SPI or any other communication
@@ -285,20 +285,20 @@ typedef struct
* \brief Pointer to a function to start a transmission using DMA
*
* This function should configure and enable the corresponding DMA channel
- * to transfer the desired ammount of data from the internal buffer to the
+ * to transfer the desired amount of data from the internal buffer to the
* communication device. TX DMA interrupts should be enabled so that the
* corresponding IRQ handler is called when the transaction is complete or
- * when an error ocurrs.
+ * when an error occurs.
*/
unsigned char (*send_dma)(unsigned char *data,unsigned short int length);
/**
* \brief Pointer to a function to start a reception using DMA
*
* This function should configure and enable the corresponding DMA channel
- * to transfer the desired ammount of data from the communication device to
+ * to transfer the desired amount of data from the communication device to
* the internal buffer. RX DMA interrupts should be enabled so that the
* corresponding IRQ handler is called when the transaction is complete or
- * when an error ocurrs.
+ * when an error occurs.
*/
unsigned char (*receive_dma)(unsigned char *data,unsigned short int length);
/**
@@ -314,7 +314,7 @@ typedef struct
* \defgroup callback_irq_pointers User IRQ related function pointers
*
* This set of functions, that must be implemented by the user module that
- * uses the coomunication structure, are intended to handle the specific
+ * uses the communication structure, are intended to handle the specific
* requirements of each application using interrupt driven communications.
*
* This function pointers must be assigned by the initialization function
@@ -346,7 +346,7 @@ typedef struct
* \defgroup callback_dma_pointers User DMA related function pointers
*
* This set of functions, that must be implemented by the user module that
- * uses the coomunication structure, are intended to handle the specific
+ * uses the communication structure, are intended to handle the specific
* requirements of each application using DMA driven communications.
*
* This function pointers must be assigned by the initialization function
@@ -380,16 +380,16 @@ typedef struct
*
* This functions allows to enable or disable the use of the DMA. This
* option can not be modified afterwards. The TTime structure, if provided,
- * will allow the comunicatin device to use timeouts during reception.
+ * will allow the communication device to use timeouts during reception.
* Otherwise, the timeout feature will be disabled.
*
* \param dev pointer to a valid TComm structure to be initialized. If
* memory is not pre-allocated before calling this function, its
* behavior is unpredictable.
* \param use_dma flag to enable (0x01) or disable (0x00) the use of
- * the DMA for the communcations structure. Any other value is
+ * the DMA for the communications structure. Any other value is
* interpreted as an enable.
- * \param time a pointer to an initiliazed TTime structure to enable the
+ * \param time a pointer to an initialized TTime structure to enable the
* use of timeouts. If timeouts are not desired or required, this
* parameter must be set to NULL (0x00000000).
*/
@@ -410,11 +410,11 @@ void comm_init(TComm *dev,unsigned char use_dma,TTime *time);
* behavior is unpredictable.
* \param data pointer to a vector where the data to be transmitted is stored.
* Memory for this parameter must be pre-allocated before calling this
- * function to avoid unexpected behaviour.
+ * function to avoid unexpected behavior.
* \param length Number of bytes to be transmitted.
*
* \return the status of the transmission. The possible values are the elements
- * in the comm_error ennumeraiton.
+ * in the comm_error enumeration.
*/
comm_error comm_send(TComm *dev,unsigned char *data,unsigned short int length);
/**
@@ -426,20 +426,20 @@ comm_error comm_send(TComm *dev,unsigned char *data,unsigned short int length);
* reception is used.
*
* This function blocks until all bytes have been received, there has been an
- * error or the ammount of time specified as timeout has elapsed.
+ * error or the amount of time specified as timeout has elapsed.
*
* \param dev pointer to a valid TComm structure to be initialized. If
* memory is not pre-allocated before calling this function, its
* behavior is unpredictable.
* \param data pointer to a vector where the received data is to be stored.
* Memory for this parameter must be pre-allocated before calling this
- * function to avoid unexpected behaviour.
+ * function to avoid unexpected behavior.
* \param length Number of bytes to be received.
- * \param timeout maximum time in micro-seconds to wait for the desired ammount
+ * \param timeout maximum time in micro-seconds to wait for the desired amount
* of bytes. If the TTime structure is not valid this parameter is ignored.
*
* \return the status of the transmission. The possible values are the elements
- * in the comm_error ennumeraiton.
+ * in the comm_error enumeration.
*/
comm_error comm_receive(TComm *dev,unsigned char *data,unsigned short int *length,unsigned long int timeout);
/* IRQ functions */
@@ -447,7 +447,7 @@ comm_error comm_receive(TComm *dev,unsigned char *data,unsigned short int *lengt
* \brief Function to start an interrupt driven transmission
*
* This function is used to start a transmission in IRQ driven mode. This function
- * starts sending the data but returns immediatelly, reporting an error, if any.
+ * starts sending the data but returns immediately, reporting an error, if any.
* The data in the input parameter is copied to the internal buffer before it
* returns.
*
@@ -459,11 +459,11 @@ comm_error comm_receive(TComm *dev,unsigned char *data,unsigned short int *lengt
* behavior is unpredictable.
* \param data pointer to a vector where the data to be transmitted is stored.
* Memory for this parameter must be pre-allocated before calling this
- * function to avoid unexpected behaviour.
+ * function to avoid unexpected behavior.
* \param length Number of bytes to be transmitted.
*
* \return the status of the transmission. The possible values are the elements
- * in the comm_error ennumeraiton.
+ * in the comm_error enumeration.
*/
comm_error comm_send_irq(TComm *dev,unsigned char *data,unsigned short int length);
/**
@@ -474,7 +474,7 @@ comm_error comm_send_irq(TComm *dev,unsigned char *data,unsigned short int lengt
* transfer being sent, it calls the corresponding DMA transmission callback
* function.
*
- * If this function is called as a result of a byte beign sent in an IRQ driven
+ * If this function is called as a result of a byte being sent in an IRQ driven
* transfer, this function calls the corresponding IRQ transmission callback
* function. When the last byte has been sent, this function automatically stops
* the current transmission, and returns a value of 0x00 to report it.
@@ -501,7 +501,7 @@ unsigned char comm_do_irq_send(TComm *dev,unsigned char *byte);
* \brief Function to start an interrupt driven reception
*
* This function is used to start a reception in IRQ driven mode. This function
- * starts the reception process but returns immediatelly, reporting an error, if any.
+ * starts the reception process but returns immediately, reporting an error, if any.
* The received data is stored into the internal buffer, and the comm_get_received_data()
* function should be used to get it.
*
@@ -514,7 +514,7 @@ unsigned char comm_do_irq_send(TComm *dev,unsigned char *byte);
* \param length Number of bytes to be transmitted.
*
* \return the status of the reception. The possible values are the elements
- * in the comm_error ennumeraiton.
+ * in the comm_error enumeration.
*/
comm_error comm_receive_irq(TComm *dev,unsigned short int length);
@@ -523,7 +523,7 @@ comm_error comm_receive_irq(TComm *dev,unsigned short int length);
*
* This function should be called from the interrupt handler each time a byte has
* been received. When this function is called, it first call the user defined
- * function pointed by the irq_receive_cb parameter to check the receoved data
+ * function pointed by the irq_receive_cb parameter to check the received data
* (if necessary).
*
* If the callback function returns 0x00, the received byte is ignored and
@@ -591,7 +591,7 @@ void comm_cancel_irq_receive(TComm *dev);
* behavior is unpredictable.
* \param data pointer to a vector where the data to be transmitted is stored.
* Memory for this parameter must be pre-allocated before calling this
- * function to avoid unexpected behaviour.
+ * function to avoid unexpected behavior.
* \param length Number of bytes to be transmitted.
*
* \return COMM_SUCCESS if the transmission has started successfully or COMM_BUSY
@@ -626,7 +626,7 @@ void comm_do_dma_send(TComm *dev);
* behavior is unpredictable.
* \param data pointer to a vector where the received data will be stored.
* Memory for this parameter must be pre-allocated before calling this
- * function to avoid unexpected behaviour. The contents of this vector
+ * function to avoid unexpected behavior. The contents of this vector
* are not valid until the operation has ended.
* \param length Number of bytes to be received.
*
@@ -664,7 +664,7 @@ void comm_cancel_dma_receive(TComm *dev);
/**
* \brief Function to check whether the current transmission has ended or not
*
- * This funcion is used to check whether there is an active transmission or
+ * This function is used to check whether there is an active transmission or
* not. In the case the transmission has ended, this function indicates if
* there has been an error or not. In case of an error, use the comm_get_error()
* function to get it.
@@ -681,7 +681,7 @@ comm_error comm_is_send_done(TComm *dev);
/**
* \brief Function to check whether the current reception has ended or not
*
- * This funcion is used to check whether there is an active reception or
+ * This function is used to check whether there is an active reception or
* not. In the case the reception has ended, this function indicates if
* there has been an error or not. In case of an error, use the comm_get_error()
* function to get it.
@@ -706,7 +706,7 @@ comm_error comm_is_receive_done(TComm *dev);
* behavior is unpredictable.
*
* \return the error of the last operation or COMM_BUSY if the operation
- * is still in progess.
+ * is still in progress.
*/
inline unsigned char comm_get_error(TComm *dev);
/**
diff --git a/dynamixel_base/include/dynamixel.h b/dynamixel_base/include/dynamixel.h
index 7be750a114b663b580e27b06116e6b6a39990309..ce76479b70e5bc89402ee07379eef854986570aa 100755
--- a/dynamixel_base/include/dynamixel.h
+++ b/dynamixel_base/include/dynamixel.h
@@ -10,10 +10,30 @@
#define DYN_ERROR_OFF 4
#define DYN_DATA_OFF 5
+/**
+ * \brief
+ *
+ */
void dyn_copy_packet(unsigned char *source, unsigned char *destination);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_id(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline TDynInstruction dyn_get_instruction(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_check_checksum(unsigned char *packet);
// instruction packet
@@ -27,32 +47,108 @@ typedef struct{
unsigned char checksum;
}TDynInst;
*/
+/**
+ * \brief
+ *
+ */
unsigned char dyn_convert_v2_inst_packet(unsigned char *source, unsigned char *destination);
/* ping instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_ping_packet(unsigned char *packet,unsigned char id);
/* read instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_read_packet(unsigned char *packet,unsigned char id,unsigned char address,unsigned char length);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_read_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_read_address(unsigned char *packet);
/* write instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_write_packet(unsigned char *packet,unsigned char id,unsigned char address,unsigned char length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_write_address(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_write_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_write_data(unsigned char *packet,unsigned char *data);
/* registered write instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned char address,unsigned char length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_reg_write_address(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_reg_write_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_get_reg_write_data(unsigned char *packet,unsigned char *data);
/* action instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_action_packet(unsigned char *packet);
/* reset instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_reset_packet(unsigned char *packet,unsigned char id);
/* sync write instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_sync_write_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned char address,unsigned char length,unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_sync_write_id_present(unsigned char *packet,unsigned char id,unsigned char *address,unsigned char *length,unsigned char *data);
/* bulk read instruction */
+/**
+ * \brief
+ *
+ */
void dyn_init_bulk_read_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned char *address,unsigned char *length);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_bulk_read_id_present(unsigned char *packet,unsigned char id,unsigned char *address,unsigned char *length);
// status packet
@@ -67,11 +163,31 @@ typedef struct{
}TDynStatus;
*/
+/**
+ * \brief
+ *
+ */
unsigned char dyn_convert_v2_status_packet(unsigned char *source, unsigned char *destination);
+/**
+ * \brief
+ *
+ */
void dyn_init_status_packet(unsigned char *packet,unsigned char id,TDynError error,unsigned char length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline TDynError dyn_get_status_error(unsigned char *packet);
/* read instruction status packet */
+/**
+ * \brief
+ *
+ */
unsigned char dyn_get_read_status_data(unsigned char *packet,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_get_read_status_id(unsigned char *packet);
#endif
diff --git a/dynamixel_base/include/dynamixel2.h b/dynamixel_base/include/dynamixel2.h
index 94b3fd79cd4bdaa279bbb02dc92dabf702dc2857..a84821557ccf3a079fed9793e9b3c7ca3ab96133 100644
--- a/dynamixel_base/include/dynamixel2.h
+++ b/dynamixel_base/include/dynamixel2.h
@@ -11,10 +11,30 @@
#define DYN2_ERROR_OFF 8
#define DYN2_DATA_OFF 8
+/**
+ * \brief
+ *
+ */
void dyn2_copy_packet(unsigned char *source, unsigned char *destination);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn2_get_id(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline TDynInstruction dyn2_get_instruction(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_check_checksum(unsigned char *packet);
// instruction packet
@@ -28,38 +48,130 @@ typedef struct{
unsigned char checksum;
}TDynInst;
*/
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_convert_v1_inst_packet(unsigned char *source, unsigned char *destination);
/* ping instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_ping_packet(unsigned char *packet,unsigned char id);
/* read instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_read_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_read_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_read_address(unsigned char *packet);
/* write instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_write_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_write_address(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_write_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_write_data(unsigned char *packet,unsigned char *data);
/* registered write instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_reg_write_address(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
inline unsigned short int dyn2_get_reg_write_length(unsigned char *packet);
+/**
+ * \brief
+ *
+ */
unsigned short int dyn2_get_reg_write_data(unsigned char *packet,unsigned char *data);
/* action instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_action_packet(unsigned char *packet);
/* reset instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_reset_packet(unsigned char *packet,unsigned char id,unsigned char mode);
/* sync write instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_sync_write_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int address,unsigned short int length,unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_sync_write_id_present(unsigned char *packet,unsigned char id,unsigned short int *address,unsigned short int *length,unsigned char *data);
/* sync read instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_sync_read_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int address,unsigned short int length);
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_sync_read_id_present(unsigned char *packet,unsigned char id,unsigned short int *address,unsigned short int *length);
/* bulk read instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_bulk_read_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int *address,unsigned short int *length);
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_bulk_read_id_present(unsigned char *packet,unsigned char id,unsigned short int *address,unsigned short int *length);
/* bulk write instruction */
+/**
+ * \brief
+ *
+ */
void dyn2_init_bulk_write_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int *address,unsigned short int *length,unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_bulk_write_id_present(unsigned char *packet,unsigned char id,unsigned short int *address,unsigned short int *length,unsigned char *data);
// status packet
@@ -74,11 +186,31 @@ typedef struct{
}TDynStatus;
*/
+/**
+ * \brief
+ *
+ */
unsigned char dyn2_convert_v1_status_packet(TDynInstruction inst,unsigned char *source, unsigned char *destination);
+/**
+ * \brief
+ *
+ */
void dyn2_init_status_packet(unsigned char *packet,unsigned char id,TDynError error,unsigned short int length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline TDynError dyn2_get_status_error(unsigned char *packet);
/* read instruction status packet */
+/**
+ * \brief
+ *
+ */
unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char *data);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn2_get_read_status_id(unsigned char *packet);
#endif
diff --git a/dynamixel_base/include/dynamixel_common.h b/dynamixel_base/include/dynamixel_common.h
index 97f44b15e91d70caa343715c0a756f1b08614857..1ec207d610aea42fa96b6d26c8d52ed46fe8df2b 100644
--- a/dynamixel_base/include/dynamixel_common.h
+++ b/dynamixel_base/include/dynamixel_common.h
@@ -1,3 +1,5 @@
+/** @file */
+
#ifndef _DYNAMIXEL_COMMON_H
#define _DYNAMIXEL_COMMON_H
@@ -13,34 +15,55 @@
#define DYN_COMM_ERROR 4
#define DYN_BUSY 5
-typedef enum{no_return=0x00,
- return_only_read=0x01,
- return_all=0x02} return_level_t;
+/**
+ * \brief Possible return levels
+ *
+ */
+typedef enum{no_return=0x00,/*!< Only the PING command will return an aswer */
+ return_only_read=0x01,/*!< Only the read commands will return an answer */
+ return_all=0x02/*!< All commands will return an aswer. This is the default value */
+ } return_level_t;
// possible packet types
-typedef enum{DYN_PING=0x01,
- DYN_READ=0x02,
- DYN_WRITE=0x03,
- DYN_REG_WRITE=0x04,
- DYN_ACTION=0x05,
- DYN_RESET=0x06,
- DYN_SYNC_READ=0x82,
- DYN_SYNC_WRITE=0x83,
- DYN_BULK_READ=0x92,
- DYN_BULK_WRITE=0x93} TDynInstruction;
+/**
+ * \brief Possible instructions
+ *
+ */
+typedef enum{DYN_PING=0x01,/*!< Ping. Instruction to detect the presence of dynamixel devices */
+ DYN_READ=0x02,/*!< Read. Instruction to read a consecutive number of registers starting from a given address from a single device */
+ DYN_WRITE=0x03,/*!< Write. Instruction to write a consecutive number of registers starting at a given address to a given device*/
+ DYN_REG_WRITE=0x04,/*!< Registerd write. Instruction to execute a delayed write operation */
+ DYN_ACTION=0x05,/*!< Action. Instruction to actually load the data of a previous registeres write instruction*/
+ DYN_RESET=0x06,/*!< Reset. Instruction to reset the device to a default state */
+ DYN_SYNC_READ=0x82,/*!< Synchronous read. Instruction to read a consecutive number of registers starting from a given address from multiples devices */
+ DYN_SYNC_WRITE=0x83,/*!< Synchronous write. Instruction to write a consecutive number of registers starting at a given address to multiple devices */
+ DYN_BULK_READ=0x92,/*!< Bulk read. Instruction to read a set of consecutive registers from multiples devices, starting at a different address for each device */
+ DYN_BULK_WRITE=0x93/*!< Bulk write. Instruction to write a set of consecutive registers to multiples devices, starting at a different address for each device */
+ } TDynInstruction;
// boradcast ID
-#define DYN_BROADCAST_ID 0xFE
+#define DYN_BROADCAST_ID 0xFE/*!< Broadcast ID */
// status packet
-typedef enum{DYN_NO_ERROR=0x00,
- DYN_INST_ERROR=0x40,
- DYN_OVERLOAD_ERROR=0x20,
- DYN_CHECKSUM_ERROR=0x10,
- DYN_RANGE_ERROR=0x08,
- DYN_OVERTEMP_ERROR=0x04,
- DYN_ANGLE_ERROR=0x02,
- DYN_VOLTAGE_ERROR=0x01} TDynError;
-
-typedef enum{DYN_VER1=0x01,DYN_VER2=0x02} TDynVersion;
+/**
+ * \brief Possible errors
+ *
+ */
+typedef enum{DYN_NO_ERROR=0x00,/*!< No error */
+ DYN_INST_ERROR=0x40,/*!< Invalid Instruction identifier */
+ DYN_OVERLOAD_ERROR=0x20,/*!< Servo exceeded the maximum torque value */
+ DYN_CHECKSUM_ERROR=0x10,/*!< Invalid checksum on the instruction packet */
+ DYN_RANGE_ERROR=0x08,/*!< Register value out of the allowed range */
+ DYN_OVERTEMP_ERROR=0x04,/*!< Temperature exceeded the maximum value */
+ DYN_ANGLE_ERROR=0x02,/*!< Target position out of range */
+ DYN_VOLTAGE_ERROR=0x01/*!< Power supply voltage out of range */
+ } TDynError;
+
+/**
+ * \brief Dynamixel versions
+ *
+ */
+typedef enum{DYN_VER1=0x01,/*!< Dynamixel version 1.0 */
+ DYN_VER2=0x02/*!< Dynamixel version 2.0 */
+ } TDynVersion;
#endif
diff --git a/dynamixel_base/include/dynamixel_master.h b/dynamixel_base/include/dynamixel_master.h
index cdadf096faf39dc2fd2cd60943f9aa7e5eb98072..47af3de41b3ca73dfbef33300363ade0ec8a53e0 100644
--- a/dynamixel_base/include/dynamixel_master.h
+++ b/dynamixel_base/include/dynamixel_master.h
@@ -14,42 +14,174 @@
#define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
#endif
+/**
+ * \brief
+ *
+ */
typedef struct
{
+ /**
+ * \brief
+ *
+ */
TComm *comm_dev;
+ /**
+ * \brief
+ *
+ */
TDynVersion version;
+ /**
+ * \brief
+ *
+ */
unsigned short int op_length;
+ /**
+ * \brief
+ *
+ */
unsigned char tx_buffer[MAX_DYN_MASTER_TX_BUFFER_LEN];
+ /**
+ * \brief
+ *
+ */
unsigned char rx_buffer[MAX_DYN_MASTER_RX_BUFFER_LEN];
+ /**
+ * \brief
+ *
+ */
return_level_t return_level;
+ /**
+ * \brief
+ *
+ */
unsigned char packet_ready;
+ /**
+ * \brief
+ *
+ */
unsigned char received_bytes;
+ /**
+ * \brief
+ *
+ */
void (*set_tx_mode)(void);
+ /**
+ * \brief
+ *
+ */
void (*set_rx_mode)(void);
+ /**
+ * \brief
+ *
+ */
unsigned short int rx_timeout_ms;
+ /**
+ * \brief
+ *
+ */
unsigned char rx_no_answer;
+ /**
+ * \brief
+ *
+ */
unsigned char rx_num_packets;
}TDynamixelMaster;
/* public functions */
+/**
+ * \brief
+ *
+ */
void dyn_master_init(TDynamixelMaster *master,TComm *dev,TDynVersion version);
+/**
+ * \brief
+ *
+ */
inline void dyn_master_set_rx_timeout(TDynamixelMaster *master,unsigned short int timeout_ms);
+/**
+ * \brief
+ *
+ */
inline void dyn_master_set_return_level(TDynamixelMaster *master,return_level_t level);
+/**
+ * \brief
+ *
+ */
inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master);
+/**
+ * \brief
+ *
+ */
void dyn_master_scan(TDynamixelMaster *master,unsigned char *num,unsigned char *ids);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_ping(TDynamixelMaster *master,unsigned char id);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_read_byte(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned char *data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_read_word(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned short int *data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_read_table(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_write_byte(TDynamixelMaster *master,unsigned char id, unsigned short int address, unsigned char data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_write_word(TDynamixelMaster *master,unsigned char id, unsigned short int address, unsigned short int data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_write_table(TDynamixelMaster *master,unsigned char id, unsigned short int address, unsigned short int length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_reg_write(TDynamixelMaster *master,unsigned char id, unsigned short int address, unsigned short int length,unsigned char *data);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_action(TDynamixelMaster *master);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_sync_write(TDynamixelMaster *master,unsigned char num,unsigned char *ids,unsigned short int address, unsigned short int length, unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_sync_read(TDynamixelMaster *master,unsigned char num,unsigned char *ids,unsigned short int address, unsigned short int length, unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_bulk_read(TDynamixelMaster *master,unsigned char num,unsigned char *ids,unsigned short int *address, unsigned short int *length, unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_bulk_write(TDynamixelMaster *master,unsigned char num,unsigned char *ids,unsigned short int *address, unsigned short int *length, unsigned char * const data[]);
+/**
+ * \brief
+ *
+ */
unsigned char dyn_master_relay(TDynamixelMaster *master,unsigned char *inst_pkt,unsigned char *status_pkt);
#endif
diff --git a/dynamixel_base/include/dynamixel_slave.h b/dynamixel_base/include/dynamixel_slave.h
index 0d1e51492bad1096687da25e2eee01632110b805..dc6f65e82e22c3239413301a36f7aaa9bbaf19a9 100644
--- a/dynamixel_base/include/dynamixel_slave.h
+++ b/dynamixel_base/include/dynamixel_slave.h
@@ -17,46 +17,194 @@
#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
#endif
+/**
+ * \brief
+ *
+ */
typedef struct
{
+ /**
+ * \brief
+ *
+ */
TComm *comm_dev;
+ /**
+ * \brief
+ *
+ */
TDynVersion version;
+ /**
+ * \brief
+ *
+ */
unsigned char address;
+ /**
+ * \brief
+ *
+ */
unsigned char return_delay;
+ /**
+ * \brief
+ *
+ */
return_level_t return_level;
+ /**
+ * \brief
+ *
+ */
unsigned char packet_ready;
+ /**
+ * \brief
+ *
+ */
unsigned char received_bytes;
+ /**
+ * \brief
+ *
+ */
unsigned short int rx_timeout_ms;
+ /**
+ * \brief
+ *
+ */
unsigned short int op_length;
+ /**
+ * \brief
+ *
+ */
unsigned char tx_buffer[MAX_DYN_SLAVE_TX_BUFFER_LEN];
+ /**
+ * \brief
+ *
+ */
unsigned char rx_buffer[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+ /**
+ * \brief
+ *
+ */
unsigned short int reg_address;
+ /**
+ * \brief
+ *
+ */
unsigned short int reg_length;
+ /**
+ * \brief
+ *
+ */
unsigned char reg_buffer[MAX_DYN_SLAVE_REG_BUFFER_LEN];
+ /**
+ * \brief
+ *
+ */
unsigned short int sync_bulk_address;
+ /**
+ * \brief
+ *
+ */
unsigned short int sync_bulk_length;
+ /**
+ * \brief
+ *
+ */
unsigned char sync_bulk_prev_id;
+ /**
+ * \brief
+ *
+ */
unsigned char sync_read_pending;
+ /**
+ * \brief
+ *
+ */
unsigned char bulk_read_pending;
+ /**
+ * \brief
+ *
+ */
void (*set_tx_mode)(void);
+ /**
+ * \brief
+ *
+ */
void (*set_rx_mode)(void);
+ /**
+ * \brief
+ *
+ */
void (*on_ping)(void);
+ /**
+ * \brief
+ *
+ */
unsigned char (*on_read)(unsigned short int address,unsigned short int length,unsigned char *data);
+ /**
+ * \brief
+ *
+ */
unsigned char (*on_write)(unsigned short int address,unsigned short int length,unsigned char *data);
+ /**
+ * \brief
+ *
+ */
unsigned char (*on_reset)(void);
+ /**
+ * \brief
+ *
+ */
unsigned char (*on_relay)(TDynVersion version,unsigned char *inst_pkt,unsigned char *status_pkt);
}TDynamixelSlave;
/* public functions */
+/**
+ * \brief
+ *
+ */
void dyn_slave_init(TDynamixelSlave *slave,TComm *dev,unsigned char address,TDynVersion version);
+/**
+ * \brief
+ *
+ */
inline void dyn_slave_set_rx_timeout(TDynamixelSlave *slave,unsigned short int timeout_ms);
+/**
+ * \brief
+ *
+ */
inline void dyn_slave_set_address(TDynamixelSlave *slave,unsigned char address);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_slave_get_address(TDynamixelSlave *slave);
+/**
+ * \brief
+ *
+ */
inline void dyn_slave_set_return_delay(TDynamixelSlave *slave,unsigned char delay);
+/**
+ * \brief
+ *
+ */
inline unsigned char dyn_slave_get_return_delay(TDynamixelSlave *slave);
+/**
+ * \brief
+ *
+ */
inline void dyn_slave_set_return_level(TDynamixelSlave *slave,return_level_t level);
+/**
+ * \brief
+ *
+ */
inline return_level_t dyn_slave_get_return_level(TDynamixelSlave *slave);
+/**
+ * \brief
+ *
+ */
inline TDynVersion dyn_slave_get_version(TDynamixelSlave *slave);
+/**
+ * \brief
+ *
+ */
void dyn_slave_loop(TDynamixelSlave *slave);
diff --git a/utils/include/buffer.h b/utils/include/buffer.h
index 794c92c04d209e91deb1a11504ab52814e4ec8ec..18382d2460faab2935d1830ffcd8102c0dc603c4 100644
--- a/utils/include/buffer.h
+++ b/utils/include/buffer.h
@@ -1,4 +1,4 @@
-/** @file */
+/** @file */
#ifndef _BUFFER_H
#define _BUFFER_H
@@ -151,7 +151,7 @@ unsigned char buffer_write_byte(TBuffer *buffer,unsigned char data);
* behavior is unpredictable.
* \param data pointer to a byte variable to store the buffer data. Memory for
* this parameter must be pre-allocated before calling this function
- * to avoid unexpected behaviour.
+ * to avoid unexpected behavior.
*
* \return This function returns 1 on success and 0 otherwise.
*/
@@ -172,11 +172,11 @@ unsigned char buffer_read_byte(TBuffer *buffer,unsigned char *data);
* behavior is unpredictable.
* \param data pointer to a byte vector variable with the data to be written to
* the buffer. Memory for this parameter must be pre-allocated before calling
- * this function to avoid unexpected behaviour.
+ * this function to avoid unexpected behavior.
* \param length number of bytes to be written into the buffer.
*
* \return number of bytes actually written into the buffer. This value can be used
- * to check wether the function was successfull or not.
+ * to check whether the function was successful or not.
*/
unsigned short int buffer_write(TBuffer *buffer,unsigned char *data,unsigned short int length);
/**
@@ -194,11 +194,11 @@ unsigned short int buffer_write(TBuffer *buffer,unsigned char *data,unsigned sho
* behavior is unpredictable.
* \param data pointer to a byte vector variable to store the buffer data. Memory for
* this parameter must be pre-allocated before calling this function to avoid
- * unexpected behaviour.
+ * unexpected behavior.
* \param length number of bytes to be read from the buffer.
*
* \return number of bytes actually read from the buffer. This value can be used
- * to check wether the function was successfull or not.
+ * to check whether the function was successful or not.
*/
unsigned short int buffer_read(TBuffer *buffer,unsigned char *data,unsigned short int length);
diff --git a/utils/include/stm32_time.h b/utils/include/stm32_time.h
index 2eed9f5908db54df8e8366294fe629d51a884477..22d7f45268c7274bda8d58ab8f1d41dfcbe700f5 100644
--- a/utils/include/stm32_time.h
+++ b/utils/include/stm32_time.h
@@ -1,4 +1,4 @@
-/** @file */
+/** @file */
#ifndef _STM32_TIME_H
#define _STM32_TIME_H
@@ -17,7 +17,7 @@
*
* A time structure is first initialized by calling the time_init() function.
* Using this structure, it is possible to implement delays in
- * seconds (time_delay_s()), milli-seconds (time_delay_ms()) and micro-seconds
+ * seconds (time_delay_s()), Milli-seconds (time_delay_ms()) and micro-seconds
* (time_delay_us()), and also start (time_set_timeout()) and cancel
* (time_cancel_timeout()) timeout, as well as checks its status (time_is_timeout()).
*
@@ -55,7 +55,7 @@ typedef struct
* and returns the accumulated number of timer counts since the last reset as an
* unsigned long long variable (8 bytes in most architectures).
*
- * This pointer must be provided at initilaization time when the time_init() function
+ * This pointer must be provided at initialization time when the time_init() function
* is called, and should not be modified afterwards.
*
*/
@@ -83,7 +83,7 @@ void time_init(TTime *time,int counts_per_us,unsigned long long int(*get_time)(v
* \brief Function to set the desired timeout in micro-seconds
*
* This functions sets the desired time to generate a timeout event if it is not
- * canceller by the time_cancel_timeout() function. After calling this function,
+ * canceled by the time_cancel_timeout() function. After calling this function,
* the time_is_timeout() function will return true if the current time is past
* the time when this function was called plus the desired timeout value.
*
@@ -129,9 +129,9 @@ void time_cancel_timeout(TTime *time);
/**
* \brief Function to wait a given time in micro-seconds
*
- * This function blocks until the specifierd time in micro-seconds has elapsed.
+ * This function blocks until the specified time in micro-seconds has elapsed.
* If this function is called when there is an active timeout, the timeout is
- * automatically cancelled.
+ * automatically canceled.
*
* \param time pointer to a valid TTime structure to be initialized. If
* memory is not pre-allocated before calling this function, its
@@ -140,24 +140,24 @@ void time_cancel_timeout(TTime *time);
*/
void time_delay_us(TTime *time,int delay_us);
/**
- * \brief Function to wait a given time in milli-seconds
+ * \brief Function to wait a given time in Milli-seconds
*
- * This function blocks until the specifierd time in milli-seconds has elapsed.
+ * This function blocks until the specified time in Milli-seconds has elapsed.
* If this function is called when there is an active timeout, the timeout is
- * automatically cancelled.
+ * automatically canceled.
*
* \param time pointer to a valid TTime structure to be initialized. If
* memory is not pre-allocated before calling this function, its
* behavior is unpredictable.
- * \param delay_ms value of the desired delay in milli-seconds
+ * \param delay_ms value of the desired delay in Milli-seconds
*/
void time_delay_ms(TTime *time,int delay_ms);
/**
* \brief Function to wait a given time in seconds
*
- * This function blocks until the specifierd time in seconds has elapsed.
+ * This function blocks until the specified time in seconds has elapsed.
* If this function is called when there is an active timeout, the timeout is
- * automatically cancelled.
+ * automatically canceled.
*
* \param time pointer to a valid TTime structure to be initialized. If
* memory is not pre-allocated before calling this function, its