├── doc └── controltable.ods ├── src ├── Dynamixel.cpp ├── DynamixelConsole.h ├── DynamixelInterface.cpp ├── DynamixelInterface.h ├── DynamixelMotor.h ├── DynamixelInterfaceArduinoImpl.h ├── DynamixelMotor.cpp ├── Dynamixel.h ├── DynamixelInterfaceArduinoImpl.cpp └── DynamixelConsole.cpp ├── library.properties ├── examples ├── wheel_mode │ └── wheel_mode.ino ├── change_baudrate │ └── change_baudrate.ino ├── joint_mode │ └── joint_mode.ino ├── console │ └── console.ino └── blink_led │ └── blink_led.ino ├── LICENSE ├── README.md ├── tests └── test_mega_hardware_serial │ └── test_mega_hardware_serial.ino └── Doxyfile /doc/controltable.ods: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/descampsa/ardyno/HEAD/doc/controltable.ods -------------------------------------------------------------------------------- /src/Dynamixel.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * \file Dynamixel.cpp 3 | */ 4 | 5 | #include "Dynamixel.h" 6 | 7 | uint8_t DynamixelPacket::checkSum() 8 | { 9 | uint8_t result=mID+mLength+mInstruction; 10 | int n=0; 11 | if(mAddress!=255) 12 | { 13 | result+=mAddress; 14 | ++n; 15 | } 16 | if(mDataLength!=255) 17 | { 18 | result+=mDataLength; 19 | ++n; 20 | } 21 | for(int i=0; i<(mLength-2-n-mIDListSize); ++i) 22 | { 23 | result+=mData[i]; 24 | } 25 | for(int i=0; i 4 | maintainer=Adrien Descamps 5 | sentence=A library to control dynamixel motors 6 | paragraph=This library allows you to control the Robotis servo motors that use a custom half-duplex serial protocol (only protocol 1.0 is supported). You can control TTL models directly from Arduino, without any additional hardware, using hardware or software UART. Communication speed up to 1 MBd is supported with hardware serial. The most useful functions (speed, position, wheel/joint mode) are provided via a very simple high level interface (see test_motor example), but other operations can be done using the generic read/write functions (see test_led example). 7 | category=Device Control 8 | url=https://github.com/descampsa/ardyno 9 | architectures=avr 10 | -------------------------------------------------------------------------------- /examples/wheel_mode/wheel_mode.ino: -------------------------------------------------------------------------------- 1 | // Test motor wheel mode 2 | 3 | #include "DynamixelMotor.h" 4 | 5 | // id of the motor 6 | const uint8_t id=1; 7 | // speed, between -1023 and 1023 8 | int16_t speed=512; 9 | // communication baudrate 10 | const long unsigned int baudrate = 1000000; 11 | 12 | // hardware serial without tristate buffer 13 | // see blink_led example, and adapt to your configuration 14 | HardwareDynamixelInterface interface(Serial); 15 | 16 | DynamixelMotor motor(interface, id); 17 | 18 | void setup() 19 | { 20 | interface.begin(baudrate); 21 | delay(100); 22 | 23 | // check if we can communicate with the motor 24 | // if not, we turn the led on and stop here 25 | uint8_t status=motor.init(); 26 | if(status!=DYN_STATUS_OK) 27 | { 28 | pinMode(LED_BUILTIN, OUTPUT); 29 | digitalWrite(LED_BUILTIN, HIGH); 30 | while(1); 31 | } 32 | 33 | motor.enableTorque(); 34 | motor.wheelMode(); 35 | } 36 | 37 | //change motion direction every 5 seconds 38 | void loop() 39 | { 40 | motor.speed(speed); 41 | speed=-speed; 42 | delay(5000); 43 | } 44 | 45 | -------------------------------------------------------------------------------- /examples/change_baudrate/change_baudrate.ino: -------------------------------------------------------------------------------- 1 | // Demonstrate how to change the communication baudrate of a motor 2 | // This can be usefull if you want to reduce baudrate, in order to 3 | // use a software serial, or if you need 2Mbaud for high speed communication 4 | 5 | #include "DynamixelMotor.h" 6 | 7 | // motor id 8 | const uint8_t id=1; 9 | 10 | const unsigned long baudrate_before=1000000; 11 | const unsigned long baudrate_after=57600; 12 | 13 | // hardware serial without tristate buffer 14 | // see blink_led example, and adapt to your configuration 15 | HardwareDynamixelInterface interface(Serial); 16 | 17 | DynamixelMotor motor(interface, id); 18 | 19 | // the led should blink twice 20 | void setup() 21 | { 22 | // start communication at old baudrate 23 | interface.begin(baudrate_before); 24 | delay(100); 25 | 26 | // make the motor led blink once 27 | motor.init(); 28 | motor.led(HIGH); 29 | delay(1000); 30 | motor.led(LOW); 31 | delay(1000); 32 | 33 | // set motor baudrate to new baudrate 34 | motor.communicationSpeed(baudrate_after); 35 | 36 | // set arduino baudrate at new baudrate 37 | delay(100); 38 | interface.begin(baudrate_after); 39 | 40 | // make the motor led blink once 41 | motor.led(HIGH); 42 | delay(1000); 43 | motor.led(LOW); 44 | delay(1000); 45 | 46 | } 47 | 48 | void loop(){} 49 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2014, Adrien Descamps 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | 7 | * Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | * Redistributions in binary form must reproduce the above copyright notice, 11 | this list of conditions and the following disclaimer in the documentation 12 | and/or other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 15 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 16 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 18 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 19 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 20 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 21 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 22 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 23 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 24 | -------------------------------------------------------------------------------- /src/DynamixelConsole.h: -------------------------------------------------------------------------------- 1 | #ifndef DYNAMIXEL_CONSOLE_H 2 | #define DYNAMIXEL_CONSOLE_H 3 | 4 | #include "DynamixelInterface.h" 5 | 6 | class DynamixelConsole; 7 | 8 | struct DynamixelCommand 9 | { 10 | typedef DynamixelStatus (DynamixelConsole::*FunPtr)(int, char **); 11 | const char *mName; 12 | //const char *mDescription; 13 | FunPtr mCallback; 14 | }; 15 | 16 | class Stream; 17 | class DynamixelConsole 18 | { 19 | public: 20 | 21 | DynamixelConsole(DynamixelInterface &aInterface, Stream &aConsole); 22 | 23 | void loop(); 24 | 25 | private: 26 | 27 | void run(); 28 | int parseCmd(char **argv); 29 | void printStatus(DynamixelStatus aStatus); 30 | void printData(const uint8_t *data, uint8_t length); 31 | void printHelp(); 32 | 33 | DynamixelStatus ping(int argc, char **argv); 34 | DynamixelStatus read(int argc, char **argv); 35 | DynamixelStatus write(int argc, char **argv); 36 | DynamixelStatus reset(int argc, char **argv); 37 | DynamixelStatus reg_write(int argc, char **argv); 38 | DynamixelStatus action(int argc, char **argv); 39 | DynamixelStatus sync_write(int argc, char **argv); 40 | DynamixelStatus baudrate(int argc, char **argv); 41 | 42 | const static size_t sLineBufferSize=255; 43 | char mLineBuffer[sLineBufferSize+1]; 44 | char *mLinePtr; 45 | DynamixelInterface &mInterface; 46 | Stream &mConsole; 47 | 48 | const static DynamixelCommand sCommand[]; 49 | }; 50 | 51 | #endif 52 | -------------------------------------------------------------------------------- /examples/joint_mode/joint_mode.ino: -------------------------------------------------------------------------------- 1 | // Test motor joint mode 2 | 3 | #include "DynamixelMotor.h" 4 | 5 | // id of the motor 6 | const uint8_t id=1; 7 | // speed, between 0 and 1023 8 | int16_t speed=512; 9 | // communication baudrate 10 | const long unsigned int baudrate = 1000000; 11 | 12 | // hardware serial without tristate buffer 13 | // see blink_led example, and adapt to your configuration 14 | HardwareDynamixelInterface interface(Serial); 15 | 16 | DynamixelMotor motor(interface, id); 17 | 18 | void setup() 19 | { 20 | interface.begin(baudrate); 21 | delay(100); 22 | 23 | // check if we can communicate with the motor 24 | // if not, we turn the led on and stop here 25 | uint8_t status=motor.init(); 26 | if(status!=DYN_STATUS_OK) 27 | { 28 | pinMode(LED_BUILTIN, OUTPUT); 29 | digitalWrite(LED_BUILTIN, HIGH); 30 | while(1); 31 | } 32 | 33 | motor.enableTorque(); 34 | 35 | // set to joint mode, with a 180° angle range 36 | // see robotis doc to compute angle values 37 | motor.jointMode(204, 820); 38 | motor.speed(speed); 39 | } 40 | 41 | void loop() 42 | { 43 | // go to middle position 44 | motor.goalPosition(512); 45 | delay(500); 46 | 47 | // move 45° CCW 48 | motor.goalPosition(666); 49 | delay(500); 50 | 51 | // go to middle position 52 | motor.goalPosition(512); 53 | delay(500); 54 | 55 | // move 45° CW 56 | motor.goalPosition(358); 57 | delay(500); 58 | } 59 | 60 | -------------------------------------------------------------------------------- /examples/console/console.ino: -------------------------------------------------------------------------------- 1 | #include "SoftwareSerial.h" 2 | #include "DynamixelConsole.h" 3 | 4 | // This is a basic console that allow you to experiment easily with your servos, 5 | // from the arduino serial terminal (or any other serial terminal) 6 | // One limitation for arduino models with only one hardware UART, like Uno, is that 7 | // you have to use a software serial to communicate with the servos, and thus it 8 | // works only at low baudrate. See change_baudrate example to see how to change the baud 9 | // rate of your servos. 10 | // If you have an arduino model with more than one UART, you won't have this problem, 11 | // just adapt the interface to your need (see blink_led example). 12 | // 13 | // For now, only a few low level functions are implemented. 14 | // Call "help" to get a list of the commands. 15 | // You can find the register description table in the doc directory usefull 16 | // Note that all values, including adresses must be passed in decimal format 17 | 18 | #define SOFT_RX_PIN 3 19 | #define SOFT_TX_PIN 4 20 | 21 | const unsigned long dynamixel_baudrate=57600; 22 | const unsigned long serial_baudrate=57600; 23 | 24 | // software serial interface for Uno, see above 25 | SoftwareDynamixelInterface interface(SOFT_RX_PIN, SOFT_TX_PIN); 26 | 27 | DynamixelConsole console(interface, Serial); 28 | 29 | void setup() { 30 | interface.begin(dynamixel_baudrate); 31 | Serial.begin(serial_baudrate); 32 | } 33 | 34 | void loop() { 35 | console.loop(); 36 | } 37 | -------------------------------------------------------------------------------- /examples/blink_led/blink_led.ino: -------------------------------------------------------------------------------- 1 | // This is a simple example to test communication with the motors 2 | // It should make all motor led blink once per second 3 | // Make sure to select the correct type of interface (hardware or serial, with or without tristate buffer) 4 | // and baudrate depending of your configuration. 5 | // Default baudrate is 1000000 (only hardware serial is capable of that speed) 6 | 7 | #include 8 | 9 | // direction pin, if you use tristate buffer 10 | #define DIR_PIN 2 11 | 12 | // software serial pins, if you use software serial 13 | #define SOFT_RX_PIN 3 14 | #define SOFT_TX_PIN 4 15 | 16 | // Use this for hardware serial without tristate buffer 17 | HardwareDynamixelInterface interface(Serial); 18 | 19 | // Use this for hardware serial with tristate buffer 20 | //HardwareDynamixelInterface interface(Serial, DIR_PIN); 21 | 22 | // Use this for software serial without tristate buffer 23 | //SoftwareDynamixelInterface interface(SOFT_RX_PIN, SOFT_TX_PIN); 24 | 25 | // Use this for software serial with tristate buffer 26 | //SoftwareDynamixelInterface interface(SOFT_RX_PIN, SOFT_TX_PIN, DIR_PIN); 27 | 28 | const long unsigned int baudrate = 1000000; 29 | 30 | // Use broadcast address to affect all connected motors 31 | DynamixelDevice broadcast_device(interface, BROADCAST_ID); 32 | 33 | uint8_t led_state=true; 34 | 35 | void setup() { 36 | interface.begin(1000000); 37 | delay(100); 38 | } 39 | 40 | void loop() { 41 | broadcast_device.write(DYN_ADDRESS_LED, led_state); 42 | led_state=!led_state; 43 | delay(1000); 44 | } 45 | 46 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # ardyno 2 | 3 | Arduino library for dynamixel servos. Only Dynamixel 1.0 protocol is supported for now. 4 | 5 | This library allows you to control the Robotis servo motors that use a custom half-duplex serial protocol. 6 | You can control TTL models directly from Arduino, without any additional hardware, using hardware or software UART. 7 | Communication speed up to 1 MBd is supported with hardware serial. 8 | The most useful functions (speed, position, wheel/joint mode, ...) are provided via a very simple high level interface (see test_motor example), but other operations can be done using the generic read/write functions (see test_led example). 9 | 10 | ## Installation 11 | 12 | Ardyno is available in the Arduino Library Manager, or you can get it directly from github repository if you want last version (may be unstable) 13 | 14 | ## Usage 15 | 16 | To control TTL motors, without any additionnal hardware: 17 | You can use a 9V or 12V power supply to power the arduino and motors. 18 | Connect GND and VIN pins of the arduino to the GND and VCC pins of your dynamixel device, and tx and rx pins of the arduino to the data pin of your dynamixel device (see image [here](doc/dynamixel_connect.svg)). However, be carrefull that the current you can draw from arduino VIN pin is limited by the protection diode (specified at 1 amp max, for Arduino Uno), so if you use several motors, or put them under a significant load, it is better to connect the power supply separately to the motors. Also note that this is only valid for 5V boards. 3.3V boards may work in practice if they are 5V tolerant, but it is not recommended. 19 | 20 | To control TTL/RS485 motors, with an additionnal hardware buffer: 21 | See [Robotis documentation](http://support.robotis.com/en/) 22 | 23 | ## Troubleshooting 24 | 25 | - If the servo is configured to answer immediatly to commands, the response packet may come back too fast and be missed by the arduino, and communication may become unstable or even impossible. To fix this, you have to write the value of the "Return Delay Time" register back to its orginal value (register 0x05, value 250). 26 | -------------------------------------------------------------------------------- /src/DynamixelInterface.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include "DynamixelInterface.h" 3 | 4 | void DynamixelInterface::transaction(bool aExpectStatus, uint8_t answerSize) 5 | { 6 | sendPacket(mPacket); 7 | if(aExpectStatus) 8 | { 9 | receivePacket(mPacket, answerSize); 10 | } 11 | else 12 | { 13 | mPacket.mStatus=DYN_STATUS_OK; 14 | } 15 | } 16 | 17 | DynamixelStatus DynamixelInterface::read(uint8_t aID, uint8_t aAddress, uint8_t aSize, uint8_t *aPtr, uint8_t aStatusReturnLevel) 18 | { 19 | mPacket=DynamixelPacket(aID, DYN_READ, 4, aPtr, aAddress, aSize); 20 | transaction(aStatusReturnLevel>0 && aID!=BROADCAST_ID, aSize); 21 | return mPacket.mStatus; 22 | } 23 | 24 | DynamixelStatus DynamixelInterface::write(uint8_t aID, uint8_t aAddress, uint8_t aSize, const uint8_t *aPtr, uint8_t aStatusReturnLevel) 25 | { 26 | mPacket=DynamixelPacket(aID, DYN_WRITE, aSize+3, aPtr, aAddress); 27 | transaction(aStatusReturnLevel>1 && aID!=BROADCAST_ID); 28 | return mPacket.mStatus; 29 | } 30 | 31 | DynamixelStatus DynamixelInterface::regWrite(uint8_t aID, uint8_t aAddress, uint8_t aSize, const uint8_t *aPtr, uint8_t aStatusReturnLevel) 32 | { 33 | mPacket=DynamixelPacket(aID, DYN_REG_WRITE, aSize+3, aPtr, aAddress); 34 | transaction(aStatusReturnLevel>1 && aID!=BROADCAST_ID); 35 | return mPacket.mStatus; 36 | } 37 | 38 | DynamixelStatus DynamixelInterface::syncWrite(uint8_t nID, const uint8_t *aID, uint8_t aAddress, uint8_t aSize, const uint8_t *aPtr, uint8_t aStatusReturnLevel) 39 | { 40 | mPacket=DynamixelPacket(BROADCAST_ID, DYN_SYNC_WRITE, (aSize+1)*nID+4, aPtr, aAddress, aSize, nID, aID); 41 | transaction(false); 42 | return mPacket.mStatus; 43 | } 44 | 45 | DynamixelStatus DynamixelInterface::ping(uint8_t aID) 46 | { 47 | mPacket=DynamixelPacket(aID, DYN_PING, 2, NULL); 48 | transaction(true); 49 | return mPacket.mStatus; 50 | } 51 | 52 | DynamixelStatus DynamixelInterface::action(uint8_t aID, uint8_t aStatusReturnLevel) 53 | { 54 | mPacket=DynamixelPacket(aID, DYN_ACTION, 2, NULL); 55 | transaction(aStatusReturnLevel>1 && aID!=BROADCAST_ID); 56 | return mPacket.mStatus; 57 | } 58 | 59 | DynamixelStatus DynamixelInterface::reset(uint8_t aID, uint8_t aStatusReturnLevel) 60 | { 61 | mPacket=DynamixelPacket(aID, DYN_RESET, 2, NULL); 62 | transaction(aStatusReturnLevel>1 && aID!=BROADCAST_ID); 63 | return mPacket.mStatus; 64 | } 65 | 66 | 67 | -------------------------------------------------------------------------------- /src/DynamixelInterface.h: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef DYNAMIXEL_INTERFACE_H 4 | #define DYNAMIXEL_INTERFACE_H 5 | 6 | #include "Dynamixel.h" 7 | 8 | /** 9 | * \class DynamixelInterface 10 | * \brief Represent a dynamixel bus 11 | */ 12 | class DynamixelInterface 13 | { 14 | public: 15 | virtual void begin(unsigned long aBaud)=0; 16 | virtual void sendPacket(const DynamixelPacket &aPacket)=0; 17 | virtual void receivePacket(DynamixelPacket &aPacket, uint8_t answerSize = 0)=0; 18 | virtual void end()=0; 19 | 20 | void transaction(bool aExpectStatus, uint8_t answerSize = 0); 21 | 22 | //sizeof(T) must be lower than DYN_INTERNAL_BUFFER_SIZE, and in any case lower than 256 23 | template 24 | inline DynamixelStatus read(uint8_t aID, uint8_t aAddress, T& aData, uint8_t aStatusReturnLevel=2); 25 | template 26 | inline DynamixelStatus write(uint8_t aID, uint8_t aAddress, const T& aData, uint8_t aStatusReturnLevel=2); 27 | template 28 | inline DynamixelStatus regWrite(uint8_t aID, uint8_t aAddress, const T& aData, uint8_t aStatusReturnLevel=2); 29 | 30 | DynamixelStatus read(uint8_t aID, uint8_t aAddress, uint8_t aSize, uint8_t *aPtr, uint8_t aStatusReturnLevel=2); 31 | DynamixelStatus write(uint8_t aID, uint8_t aAddress, uint8_t aSize, const uint8_t *aPtr, uint8_t aStatusReturnLevel=2); 32 | DynamixelStatus regWrite(uint8_t aID, uint8_t aAddress, uint8_t aSize, const uint8_t *aPtr, uint8_t aStatusReturnLevel=2); 33 | DynamixelStatus syncWrite(uint8_t nID, const uint8_t *aID, uint8_t aAddress, uint8_t aSize, const uint8_t *aPtr, uint8_t aStatusReturnLevel=2); 34 | 35 | DynamixelStatus ping(uint8_t aID); 36 | DynamixelStatus action(uint8_t aID=BROADCAST_ID, uint8_t aStatusReturnLevel=2); 37 | DynamixelStatus reset(uint8_t aID, uint8_t aStatusReturnLevel=2); 38 | 39 | private: 40 | 41 | DynamixelPacket mPacket; 42 | }; 43 | 44 | template 45 | DynamixelStatus DynamixelInterface::read(uint8_t aID, uint8_t aAddress, T& aData, uint8_t aStatusReturnLevel) 46 | { 47 | return read(aID, aAddress, uint8_t(sizeof(T)), (uint8_t*)&aData, aStatusReturnLevel); 48 | } 49 | template 50 | DynamixelStatus DynamixelInterface::write(uint8_t aID, uint8_t aAddress, const T& aData, uint8_t aStatusReturnLevel) 51 | { 52 | return write(aID, aAddress, uint8_t(sizeof(T)), (const uint8_t*)&aData, aStatusReturnLevel); 53 | } 54 | template 55 | DynamixelStatus DynamixelInterface::regWrite(uint8_t aID, uint8_t aAddress, const T& aData, uint8_t aStatusReturnLevel) 56 | { 57 | return regWrite(aID, aAddress, uint8_t(sizeof(T)), (const uint8_t*)aData, aStatusReturnLevel); 58 | } 59 | 60 | 61 | #if defined(ARDUINO) 62 | #include "DynamixelInterfaceArduinoImpl.h" 63 | #else 64 | #error "Your platform is not supported" 65 | #endif 66 | 67 | #endif 68 | -------------------------------------------------------------------------------- /src/DynamixelMotor.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file DynamixelMotor.h 3 | * \brief Define classe for dynamixel motor 4 | */ 5 | 6 | #ifndef DYNAMIXEL_MOTOR_H 7 | #define DYNAMIXEL_MOTOR_H 8 | 9 | #include "DynamixelInterface.h" 10 | 11 | class DynamixelDevice 12 | { 13 | public: 14 | 15 | DynamixelDevice(DynamixelInterface &aInterface, DynamixelID aId); 16 | 17 | DynamixelStatus init(); 18 | 19 | DynamixelStatus status() 20 | { 21 | return mStatus; 22 | } 23 | 24 | DynamixelID id() 25 | { 26 | return mID; 27 | } 28 | 29 | DynamixelStatus changeId(uint8_t id); 30 | 31 | uint8_t statusReturnLevel(); 32 | void statusReturnLevel(uint8_t aSRL); 33 | 34 | uint16_t model(); 35 | uint8_t firmware(); 36 | 37 | void communicationSpeed(uint32_t aSpeed); 38 | 39 | 40 | template 41 | inline DynamixelStatus read(uint8_t aAddress, T& aData) 42 | { 43 | return mStatus=mInterface.read(mID, aAddress, aData, mStatusReturnLevel); 44 | } 45 | 46 | template 47 | inline DynamixelStatus write(uint8_t aAddress, const T& aData) 48 | { 49 | return mStatus=mInterface.write(mID, aAddress, aData, mStatusReturnLevel); 50 | } 51 | 52 | template 53 | inline DynamixelStatus regWrite(uint8_t aAddress, const T& aData) 54 | { 55 | return mStatus=mInterface.regWrite(mID, aAddress, aData, mStatusReturnLevel); 56 | } 57 | 58 | DynamixelStatus ping() 59 | { 60 | return mStatus=mInterface.ping(mID); 61 | } 62 | 63 | DynamixelStatus action() 64 | { 65 | return mStatus=mInterface.action(mID, mStatusReturnLevel); 66 | } 67 | 68 | DynamixelStatus reset() 69 | { 70 | return mStatus=mInterface.reset(mID, mStatusReturnLevel); 71 | } 72 | 73 | private: 74 | 75 | DynamixelInterface &mInterface; 76 | DynamixelID mID; 77 | uint8_t mStatusReturnLevel; 78 | DynamixelStatus mStatus; 79 | }; 80 | 81 | 82 | class DynamixelMotor:public DynamixelDevice 83 | { 84 | public: 85 | 86 | DynamixelMotor(DynamixelInterface &aInterface, DynamixelID aId); 87 | 88 | void wheelMode(); 89 | void jointMode(uint16_t aCWLimit=0, uint16_t aCCWLimit=0x3FF); 90 | 91 | void enableTorque(bool aTorque=true); 92 | void speed(int16_t aSpeed); 93 | void goalPosition(uint16_t aPosition); 94 | 95 | void led(uint8_t aState); 96 | 97 | uint16_t currentPosition(); 98 | 99 | DynamixelStatus getCurrentPosition(uint16_t &pos); 100 | DynamixelStatus setComplianceMargins(uint8_t cw_margin, uint8_t ccw_margin, uint8_t cw_slope, uint8_t ccw_slope); 101 | DynamixelStatus getComplianceMargins(uint8_t &cw_margin, uint8_t &ccw_margin, uint8_t &cw_slope, uint8_t &ccw_slope); 102 | 103 | DynamixelStatus isMoving(uint8_t &moving); 104 | }; 105 | 106 | #endif 107 | -------------------------------------------------------------------------------- /src/DynamixelInterfaceArduinoImpl.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DYNAMIXEL_INTERFACE_IMPL_H 3 | #define DYNAMIXEL_INTERFACE_IMPL_H 4 | 5 | #include "DynamixelInterface.h" 6 | #include 7 | #include 8 | 9 | template 10 | class DynamixelInterfaceImpl:public DynamixelInterface 11 | { 12 | private: 13 | /** \brief Switch stream to read (receive)) mode */ 14 | void readMode(); 15 | 16 | /** \brief Switch stream to write (send) mode */ 17 | void writeMode(); 18 | 19 | public: 20 | 21 | /** 22 | * \brief Constructor 23 | * \param[in] aStreamController : stream controller that abstract real stream 24 | * \param[in] aTxPin : pin number of the tx pin 25 | * \param[in] aDirectionPin : direction pin, use NO_DIR_PORT if you do not use one (default) 26 | */ 27 | DynamixelInterfaceImpl(T &aStream, uint8_t aTxPin, uint8_t aDirectionPin); 28 | 29 | /** 30 | * \brief Destructor 31 | * Delete stream if it is owned by the instance 32 | */ 33 | ~DynamixelInterfaceImpl(); 34 | 35 | /** 36 | * \brief Start interface 37 | * \param[in] aBaud : Baudrate 38 | * 39 | * Start the interface with desired baudrate, call once before using the interface 40 | */ 41 | void begin(unsigned long aBaud); 42 | 43 | /** 44 | * \brief Send a packet on bus 45 | * \param[in] aPacket : Packet to send 46 | * 47 | * The function wait for the packet to be completly sent (using Stream.flush) 48 | */ 49 | void sendPacket(const DynamixelPacket &aPacket); 50 | 51 | /** 52 | * \brief Receive a packet on bus 53 | * \param[out] aPacket : Received packet. mData field must be previously allocated 54 | * \param[in] answerSize : the size of the memory allocated to the mData field 55 | * 56 | * The function wait for a new packet on the bus. Timeout depends of timeout of the underlying stream. 57 | * Return error code in case of communication error (timeout, checksum error, ...) 58 | */ 59 | void receivePacket(DynamixelPacket &aPacket, uint8_t answerSize = 0); 60 | 61 | /** 62 | * \brief Stop interface 63 | */ 64 | void end(); 65 | 66 | static const uint8_t NO_DIR_PORT=255; 67 | 68 | private: 69 | 70 | T &mStream; 71 | const uint8_t mDirectionPin; 72 | 73 | protected: 74 | const uint8_t mTxPin; 75 | }; 76 | 77 | class HardwareDynamixelInterface:public DynamixelInterfaceImpl 78 | { 79 | public: 80 | HardwareDynamixelInterface(HardwareSerial &aSerial, uint8_t aDirectionPin=NO_DIR_PORT); 81 | ~HardwareDynamixelInterface(); 82 | }; 83 | 84 | class SoftwareDynamixelInterface:public DynamixelInterfaceImpl 85 | { 86 | public: 87 | SoftwareDynamixelInterface(uint8_t aRxPin, uint8_t aTxPin, uint8_t aDirectionPin=NO_DIR_PORT); 88 | ~SoftwareDynamixelInterface(); 89 | private: 90 | SoftwareSerial mSoftSerial; 91 | }; 92 | 93 | 94 | #endif 95 | -------------------------------------------------------------------------------- /src/DynamixelMotor.cpp: -------------------------------------------------------------------------------- 1 | #include "DynamixelMotor.h" 2 | 3 | DynamixelDevice::DynamixelDevice(DynamixelInterface &aInterface, DynamixelID aID): 4 | mInterface(aInterface), mID(aID), mStatusReturnLevel(255) 5 | { 6 | mStatus=DYN_STATUS_OK; 7 | if(mID==BROADCAST_ID) 8 | { 9 | mStatusReturnLevel=0; 10 | } 11 | } 12 | 13 | DynamixelStatus DynamixelDevice::changeId(uint8_t id) 14 | { 15 | DynamixelStatus result; 16 | result=write(DYN_ADDRESS_ID, id); 17 | if(result==DYN_STATUS_OK) 18 | { 19 | mID=id; 20 | } 21 | return result; 22 | } 23 | 24 | uint8_t DynamixelDevice::statusReturnLevel() 25 | { 26 | if(mStatusReturnLevel==255) 27 | { 28 | init(); 29 | } 30 | return mStatusReturnLevel; 31 | } 32 | 33 | void DynamixelDevice::statusReturnLevel(uint8_t aSRL) 34 | { 35 | write(DYN_ADDRESS_SRL, aSRL); 36 | if(status()==DYN_STATUS_OK) 37 | { 38 | mStatusReturnLevel=aSRL; 39 | } 40 | } 41 | 42 | uint16_t DynamixelDevice::model() 43 | { 44 | uint16_t result; 45 | read(DYN_ADDRESS_ID, result); 46 | return result; 47 | } 48 | 49 | uint8_t DynamixelDevice::firmware() 50 | { 51 | uint8_t result; 52 | read(DYN_ADDRESS_FIRMWARE, result); 53 | return result; 54 | } 55 | 56 | void DynamixelDevice::communicationSpeed(uint32_t aSpeed) 57 | { 58 | uint8_t value=2000000/aSpeed-1; 59 | if(value!=0) // forbid 2MBd rate, because it is out of spec, and can be difficult to undo 60 | { 61 | write(DYN_ADDRESS_BAUDRATE, value); 62 | } 63 | } 64 | 65 | DynamixelStatus DynamixelDevice::init() 66 | { 67 | mStatusReturnLevel=2; 68 | DynamixelStatus status=ping(); 69 | if(status!=DYN_STATUS_OK) 70 | { 71 | return status; 72 | } 73 | status=read(DYN_ADDRESS_SRL, mStatusReturnLevel); 74 | if(status&DYN_STATUS_TIMEOUT) 75 | { 76 | mStatusReturnLevel=0; 77 | } 78 | return DYN_STATUS_OK; 79 | } 80 | 81 | 82 | 83 | DynamixelMotor::DynamixelMotor(DynamixelInterface &aInterface, DynamixelID aId): 84 | DynamixelDevice(aInterface, aId) 85 | {} 86 | 87 | 88 | void DynamixelMotor::wheelMode() 89 | { 90 | jointMode(0,0); 91 | } 92 | 93 | void DynamixelMotor::jointMode(uint16_t aCWLimit, uint16_t aCCWLimit) 94 | { 95 | uint32_t data= (aCWLimit | (uint32_t(aCCWLimit)<<16)); 96 | write(DYN_ADDRESS_CW_LIMIT, data); 97 | } 98 | 99 | void DynamixelMotor::enableTorque(bool aTorque) 100 | { 101 | write(DYN_ADDRESS_ENABLE_TORQUE, uint8_t(aTorque?1:0)); 102 | } 103 | 104 | void DynamixelMotor::speed(int16_t aSpeed) 105 | { 106 | if(aSpeed<0) 107 | { 108 | aSpeed=-aSpeed | 1024; 109 | } 110 | write(DYN_ADDRESS_GOAL_SPEED, aSpeed); 111 | } 112 | 113 | void DynamixelMotor::goalPosition(uint16_t aPosition) 114 | { 115 | write(DYN_ADDRESS_GOAL_POSITION, aPosition); 116 | } 117 | 118 | void DynamixelMotor::led(uint8_t aState) 119 | { 120 | write(DYN_ADDRESS_LED, aState); 121 | } 122 | 123 | uint16_t DynamixelMotor::currentPosition() 124 | { 125 | uint16_t currentPosition; 126 | read(DYN_ADDRESS_CURRENT_POSITION, currentPosition); 127 | return currentPosition; 128 | } 129 | 130 | DynamixelStatus DynamixelMotor::getCurrentPosition(uint16_t &pos) 131 | { 132 | return read(DYN_ADDRESS_CURRENT_POSITION, pos); 133 | } 134 | 135 | DynamixelStatus DynamixelMotor::setComplianceMargins(uint8_t cw_margin, uint8_t ccw_margin, uint8_t cw_slope, uint8_t ccw_slope) 136 | { 137 | DynamixelStatus status; 138 | 139 | status = write(DYN_ADDRESS_CW_COMP_MARGIN, cw_margin); 140 | if (DYN_STATUS_OK != status) { return status; } 141 | 142 | status = write(DYN_ADDRESS_CCW_COMP_MARGIN, ccw_margin); 143 | if (DYN_STATUS_OK != status) { return status; } 144 | 145 | status = write(DYN_ADDRESS_CW_COMP_SLOPE, cw_slope); 146 | if (DYN_STATUS_OK != status) { return status; } 147 | 148 | return write(DYN_ADDRESS_CCW_COMP_SLOPE, ccw_slope); 149 | } 150 | 151 | DynamixelStatus DynamixelMotor::getComplianceMargins(uint8_t &cw_margin, uint8_t &ccw_margin, uint8_t &cw_slope, uint8_t &ccw_slope) 152 | { 153 | DynamixelStatus status; 154 | 155 | status = read(DYN_ADDRESS_CW_COMP_MARGIN, cw_margin); 156 | if (DYN_STATUS_OK != status) { return status; } 157 | 158 | status = read(DYN_ADDRESS_CCW_COMP_MARGIN, ccw_margin); 159 | if (DYN_STATUS_OK != status) { return status; } 160 | 161 | status = read(DYN_ADDRESS_CW_COMP_SLOPE, cw_slope); 162 | if (DYN_STATUS_OK != status) { return status; } 163 | 164 | return read(DYN_ADDRESS_CCW_COMP_SLOPE, ccw_slope); 165 | } 166 | 167 | DynamixelStatus DynamixelMotor::isMoving(uint8_t &moving) 168 | { 169 | return read(DYN_ADDRESS_MOVING, moving); 170 | } 171 | -------------------------------------------------------------------------------- /tests/test_mega_hardware_serial/test_mega_hardware_serial.ino: -------------------------------------------------------------------------------- 1 | // This test suite is built for Arduino MEGA versions only; 2 | // it tests with servos attached to one serial port 3 | // (Serial1 is the hard-coded default) and will report 4 | // test results on Serial. 5 | 6 | // Hardware Requirements: 7 | // - Arduino MEGA, MEGA ADK 8 | // - AX-12 connected directly to Serial1 port, 9 | // without tristate buffer 10 | 11 | // - By C. Matlack 2017-05-08 12 | 13 | 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | 20 | const unsigned int id = 2; 21 | const long unsigned int baudrate = 1000000; 22 | 23 | HardwareDynamixelInterface interface(Serial1); 24 | DynamixelMotor motor(interface, id); 25 | 26 | 27 | void setup() { 28 | Serial.begin(115200); 29 | } 30 | 31 | //------------ Custom Assertions ---------------------------- 32 | // Custom Assertion for memory leak in function 33 | void assertNoLeak(void (*callback)()) 34 | { 35 | int start = freeMemory(); 36 | (*callback)(); 37 | int end = freeMemory(); 38 | assertEqual(0, (start - end)); 39 | } 40 | 41 | // Custom Assertion for comparing byte arrays 42 | void assertBytesEqual(const uint8_t* expected, const uint8_t* actual, int size) { 43 | for (int i = 0; i < size; i++) { 44 | // Serial.print("> ");Serial.print(expected[i]);Serial.print(" ");Serial.println(actual[i]); 45 | if (expected[i] != actual[i]) { 46 | Serial.print("\nassertBytesEqual() failing at index "); 47 | Serial.println(i); 48 | } 49 | assertEqual(expected[i], actual[i]); 50 | } 51 | } 52 | 53 | // Custom assertion for empty receive buffer 54 | bool BufferIsClear() { 55 | Serial1.flush(); 56 | uint8_t count = 0; 57 | while (Serial1.available()) { 58 | Serial.print(Serial1.read()); 59 | count++; 60 | } 61 | if (count != 0) { 62 | Serial.print("\n chars left in Serial1 buffer: "); 63 | Serial.println(count); 64 | } 65 | Serial.flush(); 66 | return (count == 0); 67 | } 68 | 69 | 70 | //--------------- Custom Setup --------------------------------- 71 | void test_setup() { 72 | interface.begin(baudrate); 73 | assertTrue(BufferIsClear()); 74 | } 75 | 76 | //--------------- Test Definitions ------------------------------ 77 | 78 | // Just make sure the test apparatus works. 79 | test(0_dummy) { 80 | test_setup(); 81 | assertTrue(true); 82 | } 83 | 84 | test(1_communication_test) { 85 | test_setup(); 86 | assertEqual(motor.init(), DYN_STATUS_OK); 87 | uint8_t led_state = 1; 88 | assertEqual(motor.write(DYN_ADDRESS_LED, led_state), DYN_STATUS_OK); 89 | assertEqual(motor.read(DYN_ADDRESS_LED, led_state), DYN_STATUS_OK); 90 | assertEqual(led_state, 1); 91 | led_state = 0; 92 | assertEqual(motor.write(DYN_ADDRESS_LED, led_state), DYN_STATUS_OK); 93 | assertEqual(motor.read(DYN_ADDRESS_LED, led_state), DYN_STATUS_OK); 94 | assertEqual(led_state, 0); 95 | } 96 | 97 | test(2_junk_in_buffer) { 98 | test_setup(); 99 | motor.init(); 100 | motor.enableTorque(); 101 | motor.jointMode(); 102 | motor.speed(256); 103 | 104 | for (uint16_t pos = 400; pos < 600; pos+=10) { 105 | motor.goalPosition(pos); 106 | delay(15); 107 | assertTrue(BufferIsClear()); 108 | uint16_t actual = motor.currentPosition(); 109 | Serial.print(pos); 110 | Serial.print(" target/actual "); 111 | Serial.println(actual); 112 | assertTrue(actual != 0); 113 | assertTrue(BufferIsClear()); // This loop will be fine 114 | } 115 | 116 | Serial.println("\nRepeating with increased delay\n"); 117 | 118 | for (uint16_t pos = 400; pos < 600; pos+=10) { 119 | motor.goalPosition(pos); 120 | delay(150); // Note time delay difference 121 | assertTrue(BufferIsClear()); 122 | Serial.print(pos); 123 | Serial.print(" target/actual "); 124 | Serial.println(motor.currentPosition()); 125 | assertTrue(BufferIsClear()); // This fails, but not on first iteration 126 | } 127 | 128 | } 129 | 130 | test(3_compliance_margins) { 131 | test_setup(); 132 | motor.init(); 133 | 134 | // Intentional minor deviations from factory default for AX-12 135 | uint8_t cw_margin = 0x05; 136 | uint8_t ccw_margin = 0x03; 137 | uint8_t cw_slope = 0x44; 138 | uint8_t ccw_slope = 0x3A; 139 | 140 | uint8_t orig[4] = {0x0}; 141 | uint8_t read[4] = {0x0}; 142 | 143 | assertEqual(DYN_STATUS_OK, motor.getComplianceMargins(orig[0], orig[1], orig[2], orig[3])); 144 | 145 | assertEqual(DYN_STATUS_OK, motor.setComplianceMargins(cw_margin, ccw_margin, cw_slope, ccw_slope)); 146 | assertEqual(DYN_STATUS_OK, motor.getComplianceMargins(read[0], read[1], read[2], read[3])); 147 | Serial.print("cw_margin set = "); 148 | Serial.print(cw_margin, 16); 149 | Serial.print(" got "); 150 | Serial.println(read[0], 16); 151 | assertTrue(read[0] == cw_margin); 152 | assertTrue(read[1] == ccw_margin); 153 | assertTrue(read[2] == cw_slope); 154 | assertTrue(read[3] == ccw_slope); 155 | 156 | // restore state 157 | assertEqual(DYN_STATUS_OK, motor.setComplianceMargins(orig[0], orig[1], orig[2], orig[3])); 158 | } 159 | 160 | 161 | void loop() { 162 | Test::run(); 163 | } 164 | -------------------------------------------------------------------------------- /src/Dynamixel.h: -------------------------------------------------------------------------------- 1 | /** 2 | * \file Dynamixel.h 3 | * \brief Define classes for dynamixel protocol 4 | */ 5 | 6 | #ifndef DYNAMIXEL_H 7 | #define DYNAMIXEL_H 8 | 9 | #include 10 | #include 11 | 12 | /** \brief Type of dynamixel device ID */ 13 | typedef uint8_t DynamixelID; 14 | /** \brief Type of dynamixel status code */ 15 | typedef uint8_t DynamixelStatus; 16 | /** \brief Type of dynamixel instructions */ 17 | typedef uint8_t DynamixelInstruction; 18 | 19 | /** \brief ID for broadcast */ 20 | #define BROADCAST_ID 0xFE 21 | 22 | 23 | /** 24 | * \brief Dynamixel intruction values 25 | */ 26 | enum DynInstruction 27 | { 28 | DYN_PING = 0x01, 29 | DYN_READ = 0x02, 30 | DYN_WRITE = 0x03, 31 | DYN_REG_WRITE = 0x04, 32 | DYN_ACTION = 0x05, 33 | DYN_RESET = 0x06, 34 | DYN_SYNC_WRITE = 0x83 35 | }; 36 | 37 | /** 38 | * \brief Dynamixel status values 39 | * 40 | * How to interpret status value : 41 | * 42 | * If (status&DYN_STATUS_COM_ERROR)==0 , the value is the 43 | * the status returned by the motor, describing its internal 44 | * error. 45 | * If (status&DYN_STATUS_COM_ERROR)==1, there was an error during 46 | * communication, and the value describe that error. 47 | * 48 | * DYN_STATUS_CHECKSUM_ERROR may appear in both cases, in the first 49 | * case, it means there was an error in the checksum of the 50 | * instruction packet, in second case in the response packet. 51 | * 52 | * 53 | */ 54 | enum DynStatus 55 | { 56 | DYN_STATUS_OK = 0, 57 | 58 | DYN_STATUS_INPUT_VOLTAGE_ERROR = 1, 59 | DYN_STATUS_ANGLE_LIMIT_ERROR = 2, 60 | DYN_STATUS_OVERHEATING_ERROR = 4, 61 | DYN_STATUS_RANGE_ERROR = 8, 62 | DYN_STATUS_CHECKSUM_ERROR = 16, 63 | DYN_STATUS_OVERLOAD_ERROR = 32, 64 | DYN_STATUS_INSTRUCTION_ERROR = 64, 65 | 66 | DYN_STATUS_TIMEOUT =1, 67 | 68 | DYN_STATUS_COM_ERROR = 128, 69 | DYN_STATUS_INTERNAL_ERROR = 255 70 | }; 71 | 72 | 73 | /** 74 | * \struct DynamixelPacket 75 | * \brief Struct of a dynamixel packet (instruction or status) 76 | */ 77 | struct DynamixelPacket 78 | { 79 | DynamixelPacket(){} 80 | //note : allow to constuct from const data, but const_cast it (constness should be respected if code is correct) 81 | DynamixelPacket(uint8_t aID, uint8_t aInstruction, uint8_t aLength, const uint8_t *aData, uint8_t aAddress=255, uint8_t aDataLength=255, uint8_t aIDListSize=0, const uint8_t *aIDList=NULL): 82 | mID(aID), mIDListSize(aIDListSize), mIDList(const_cast(aIDList)), mLength(aLength), mInstruction(aInstruction), mAddress(aAddress), mDataLength(aDataLength), mData(const_cast(aData)) 83 | { 84 | mCheckSum=checkSum(); 85 | } 86 | 87 | /** \brief Packet ID */ 88 | DynamixelID mID; 89 | /** \brief ID list, used for sync write, set to 0 if not used */ 90 | uint8_t mIDListSize; 91 | DynamixelID *mIDList; 92 | /** \brief Packet length (full length)*/ 93 | uint8_t mLength; 94 | /** \brief Packet instruction or status */ 95 | union{ 96 | DynamixelInstruction mInstruction; 97 | DynamixelStatus mStatus; 98 | }; 99 | /** \brief Address to read/write, set to 255 if not used */ 100 | uint8_t mAddress; 101 | /** \brief Length of data to read/write, only needed for read and sync write, set to 255 if not used */ 102 | uint8_t mDataLength; 103 | /** \brief Pointer to packet parameter (or NULL if no parameter) */ 104 | uint8_t *mData; 105 | /** \brief Packet checksum */ 106 | uint8_t mCheckSum; 107 | 108 | /** 109 | * \brief Compute checksum of the packet 110 | * \return Checksum value 111 | */ 112 | uint8_t checkSum(); 113 | }; 114 | 115 | 116 | 117 | /** 118 | * \brief Dynamixel control table addresses (only addresses used by all models) 119 | */ 120 | enum DynCommonAddress 121 | { 122 | /** \brief Model number, uint16_t , read only */ 123 | DYN_ADDRESS_MODEL =0x00, 124 | /** \brief Firmware version, uint8_t, read only */ 125 | DYN_ADDRESS_FIRMWARE =0x02, 126 | /** \brief Device ID, uint8_t, writable */ 127 | DYN_ADDRESS_ID =0x03, 128 | /** \brief Communication baudrate, uint8_t, writable */ 129 | DYN_ADDRESS_BAUDRATE =0x04, 130 | /** \brief Return Delay Time , uint8_t, writable */ 131 | DYN_ADDRESS_RDT =0x05, 132 | /** \brief Status Return Level , uint8_t, writable 133 | * 134 | * Define when the device will send back a status packet : 135 | * 0 : Ping only 136 | * 1 : Read and ping 137 | * 2 : All instructions 138 | */ 139 | DYN_ADDRESS_SRL =0x10 140 | }; 141 | 142 | /** 143 | * \brief Dynamixel motor control table addresses (only addresses used by all motor models) 144 | */ 145 | enum DynMotorAddress 146 | { 147 | /** \brief Clockwise angle limit, uint16_t , writable */ 148 | DYN_ADDRESS_CW_LIMIT =0x06, 149 | /** \brief Counnter clockwise angle limit, uint16_t , writable */ 150 | DYN_ADDRESS_CCW_LIMIT =0x08, 151 | /** \brief Maximum torque, uint16_t , writable */ 152 | DYN_ADDRESS_MAX_TORQUE =0x0E, 153 | /** \brief Enable torque, uint8_t , writable */ 154 | DYN_ADDRESS_ENABLE_TORQUE =0x18, 155 | /** \brief LED state, uint8_t , writable */ 156 | DYN_ADDRESS_LED =0x19, 157 | /** \brief CW compliance margin, uint8_t , writable */ 158 | DYN_ADDRESS_CW_COMP_MARGIN =0x1A, 159 | /** \brief CCW compliance margin, uint8_t , writable */ 160 | DYN_ADDRESS_CCW_COMP_MARGIN =0x1B, 161 | /** \brief CW compliance slope, uint8_t , writable */ 162 | DYN_ADDRESS_CW_COMP_SLOPE =0x1C, 163 | /** \brief CCW compliance slope, uint8_t , writable */ 164 | DYN_ADDRESS_CCW_COMP_SLOPE =0x1D, 165 | /** \brief Goal position, uint16_t , writable */ 166 | DYN_ADDRESS_GOAL_POSITION =0x1E, 167 | /** \brief Goal speed, uint16_t , writable */ 168 | DYN_ADDRESS_GOAL_SPEED =0x20, 169 | 170 | DYN_ADDRESS_TORQUE_LIMIT =0x22, 171 | /** \brief Current position, uint16_t , readable */ 172 | DYN_ADDRESS_CURRENT_POSITION =0x24, 173 | /** \brief Nonzero if any movement, uint8_t, readable */ 174 | DYN_ADDRESS_MOVING =0x2E 175 | }; 176 | 177 | /** 178 | * \brief Dynamixel model number values 179 | */ 180 | enum DynModel 181 | { 182 | DYN_MODEL_AX12A =0x0C, 183 | DYN_MODEL_AX12W =0x2C, 184 | DYN_MODEL_AX18A =0x12, 185 | 186 | DYN_MODEL_DX113 =0x71, 187 | DYN_MODEL_DX114 =0x74, 188 | DYN_MODEL_DX117 =0x75, 189 | 190 | DYN_MODEL_RX10 =0x0A, 191 | DYN_MODEL_RX24F =0x18, 192 | DYN_MODEL_RX28 =0x1C, 193 | DYN_MODEL_RX64 =0x40, 194 | 195 | DYN_MODEL_EX106 =0x6B, 196 | 197 | DYN_MODEL_MX12W =0x68, 198 | DYN_MODEL_MX28T =0x1D, 199 | DYN_MODEL_MX28R =0x1D, 200 | DYN_MODEL_MX64T =0x36, 201 | DYN_MODEL_MX64R =0x36, 202 | DYN_MODEL_MX106T=0x40, 203 | DYN_MODEL_MX106R=0x40, 204 | 205 | DYN_MODEL_AXS1 =0x0D 206 | }; 207 | 208 | 209 | #endif 210 | 211 | -------------------------------------------------------------------------------- /src/DynamixelInterfaceArduinoImpl.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include "DynamixelInterfaceArduinoImpl.h" 3 | 4 | #if __AVR__ 5 | // define TXEN, RXEN and RXCIE 6 | #if !defined(TXEN) 7 | #if defined(TXEN0) 8 | #define TXEN TXEN0 9 | #define RXEN RXEN0 10 | #define RXCIE RXCIE0 11 | #elif defined(TXEN1) // Some devices have uart1 but no uart0 (leonardo) 12 | #define TXEN TXEN1 13 | #define RXEN RXEN1 14 | #define RXCIE RXCIE1 15 | #endif 16 | #endif 17 | #endif //__AVR__ 18 | 19 | template 20 | void DynamixelInterfaceImpl::readMode() 21 | { 22 | if(mDirectionPin!=NO_DIR_PORT) 23 | { 24 | digitalWrite(mDirectionPin, LOW); 25 | } 26 | else 27 | { 28 | setReadMode(mStream, mTxPin); 29 | } 30 | } 31 | 32 | template 33 | void DynamixelInterfaceImpl::writeMode() 34 | { 35 | if(mDirectionPin!=NO_DIR_PORT) 36 | { 37 | digitalWrite(mDirectionPin, HIGH); 38 | } 39 | else 40 | { 41 | setWriteMode(mStream, mTxPin); 42 | } 43 | } 44 | 45 | template 46 | DynamixelInterfaceImpl::DynamixelInterfaceImpl(T &aStream, uint8_t aTxPin, uint8_t aDirectionPin=NO_DIR_PORT): 47 | mStream(aStream), mDirectionPin(aDirectionPin), mTxPin(aTxPin) 48 | { 49 | if(mDirectionPin!=NO_DIR_PORT) 50 | { 51 | digitalWrite(mDirectionPin, LOW); 52 | pinMode(mDirectionPin, OUTPUT); 53 | } 54 | } 55 | 56 | template 57 | DynamixelInterfaceImpl::~DynamixelInterfaceImpl() 58 | { 59 | } 60 | 61 | template 62 | void DynamixelInterfaceImpl::begin(unsigned long aBaud) 63 | { 64 | mStream.begin(aBaud); 65 | mStream.setTimeout(50); //warning : response delay seems much higher than expected for some operation (eg writing eeprom) 66 | readMode(); 67 | } 68 | 69 | template 70 | void DynamixelInterfaceImpl::sendPacket(const DynamixelPacket &aPacket) 71 | { 72 | writeMode(); 73 | // empty receive buffer, in case of a error in previous transaction 74 | while(mStream.available()) 75 | mStream.read(); 76 | 77 | mStream.write(0xFF); 78 | mStream.write(0xFF); 79 | mStream.write(aPacket.mID); 80 | mStream.write(aPacket.mLength); 81 | mStream.write(aPacket.mInstruction); 82 | uint8_t n=0; 83 | if(aPacket.mAddress!=255) 84 | { 85 | mStream.write(aPacket.mAddress); 86 | ++n; 87 | } 88 | if(aPacket.mDataLength!=255) 89 | { 90 | mStream.write(aPacket.mDataLength); 91 | ++n; 92 | } 93 | if(aPacket.mLength>(2+n)) 94 | { 95 | if(aPacket.mIDListSize==0) 96 | { 97 | mStream.write(aPacket.mData, aPacket.mLength-2-n); 98 | } 99 | else 100 | { 101 | uint8_t *ptr=aPacket.mData; 102 | for(uint8_t i=0; i 116 | void DynamixelInterfaceImpl::receivePacket(DynamixelPacket &aPacket, uint8_t answerSize) 117 | { 118 | static uint8_t buffer[3]; 119 | aPacket.mIDListSize = 0; 120 | aPacket.mAddress = 255; 121 | aPacket.mDataLength = 255; 122 | if (mStream.readBytes(buffer, 2)<2) 123 | { 124 | aPacket.mStatus = DYN_STATUS_COM_ERROR | DYN_STATUS_TIMEOUT; 125 | return; 126 | } 127 | if (buffer[0] != 255 || buffer[1] != 255) 128 | { 129 | aPacket.mStatus = DYN_STATUS_COM_ERROR; 130 | return; 131 | } 132 | if (mStream.readBytes(buffer, 3)<3) 133 | { 134 | aPacket.mStatus = DYN_STATUS_COM_ERROR | DYN_STATUS_TIMEOUT; 135 | return; 136 | } 137 | if (aPacket.mID != buffer[0]) 138 | { 139 | aPacket.mStatus = DYN_STATUS_COM_ERROR; 140 | return; 141 | } 142 | aPacket.mLength = buffer[1]; 143 | if ((aPacket.mLength - 2) != answerSize) 144 | { 145 | aPacket.mStatus = DYN_STATUS_COM_ERROR; 146 | return; 147 | } 148 | aPacket.mStatus = buffer[2]; 149 | if (aPacket.mLength>2 && (int)mStream.readBytes(reinterpret_cast(aPacket.mData), aPacket.mLength - 2)<(aPacket.mLength - 2)) 150 | { 151 | aPacket.mStatus = DYN_STATUS_COM_ERROR | DYN_STATUS_TIMEOUT; 152 | return; 153 | } 154 | if (mStream.readBytes(reinterpret_cast(&(aPacket.mCheckSum)), 1)<1) 155 | { 156 | aPacket.mStatus = DYN_STATUS_COM_ERROR | DYN_STATUS_TIMEOUT; 157 | return; 158 | } 159 | if (aPacket.checkSum() != aPacket.mCheckSum) 160 | { 161 | aPacket.mStatus = DYN_STATUS_COM_ERROR | DYN_STATUS_CHECKSUM_ERROR; 162 | } 163 | } 164 | 165 | template 166 | void DynamixelInterfaceImpl::end() 167 | { 168 | mStream.end(); 169 | } 170 | 171 | template class DynamixelInterfaceImpl; 172 | template class DynamixelInterfaceImpl; 173 | 174 | //determine txpin number from hardware serial interface 175 | uint8_t TxPinFromHardwareSerial(const HardwareSerial &aSerial) 176 | { 177 | #if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_DUEMILANOVE || defined ARDUINO_AVR_NANO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_MEGA || defined ARDUINO_AVR_ADK || defined ARDUINO_AVR_MINI || defined ARDUINO_AVR_ETHERNET || defined ARDUINO_AVR_BT || defined ARDUINO_AVR_PRO 178 | if((&aSerial)==(&Serial)) 179 | return 1; 180 | #endif 181 | #if defined ARDUINO_AVR_LEONARDO || defined ARDUINO_AVR_MICRO || defined ARDUINO_AVR_ROBOT_CONTROL || defined ARDUINO_ARC32_TOOLS 182 | if((&aSerial)==(&Serial1)) 183 | return 1; 184 | #endif 185 | #if defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_MEGA || defined ARDUINO_AVR_ADK 186 | if((&aSerial)==(&Serial1)) 187 | return 18; 188 | if((&aSerial)==(&Serial2)) 189 | return 16; 190 | if((&aSerial)==(&Serial3)) 191 | return 14; 192 | #endif 193 | return -1; 194 | } 195 | 196 | 197 | HardwareDynamixelInterface::HardwareDynamixelInterface(HardwareSerial &aSerial, uint8_t aDirectionPin): 198 | DynamixelInterfaceImpl(aSerial, TxPinFromHardwareSerial(aSerial), aDirectionPin) 199 | {} 200 | 201 | HardwareDynamixelInterface::~HardwareDynamixelInterface() 202 | {} 203 | 204 | 205 | SoftwareDynamixelInterface::SoftwareDynamixelInterface(uint8_t aRxPin, uint8_t aTxPin, uint8_t aDirectionPin): 206 | DynamixelInterfaceImpl(mSoftSerial, aTxPin, aDirectionPin), 207 | mSoftSerial(aRxPin, aTxPin) 208 | {} 209 | 210 | SoftwareDynamixelInterface::~SoftwareDynamixelInterface() 211 | {} 212 | 213 | 214 | template 215 | void setReadMode(T &aStream, uint8_t aTxPin); 216 | template 217 | void setWriteMode(T &aStream, uint8_t aTxPin); 218 | 219 | #if __AVR__ 220 | namespace { 221 | //dirty trick to access protected member 222 | class HardwareSerialAccess:public HardwareSerial 223 | { 224 | public: 225 | volatile uint8_t * const ucsrb(){return _ucsrb;} 226 | }; 227 | } 228 | 229 | template<> 230 | void setReadMode(HardwareSerial &aStream, uint8_t aTxPin) 231 | { 232 | HardwareSerialAccess &stream=reinterpret_cast(aStream); 233 | *(stream.ucsrb()) &= ~_BV(TXEN); 234 | *(stream.ucsrb()) |= _BV(RXEN); 235 | *(stream.ucsrb()) |= _BV(RXCIE); 236 | pinMode(aTxPin, INPUT_PULLUP); 237 | } 238 | 239 | template<> 240 | void setWriteMode(HardwareSerial &aStream, uint8_t mTxPin) 241 | { 242 | HardwareSerialAccess &stream=reinterpret_cast(aStream); 243 | *(stream.ucsrb()) &= ~_BV(RXEN); 244 | *(stream.ucsrb()) &= ~_BV(RXCIE); 245 | *(stream.ucsrb()) |= _BV(TXEN); 246 | } 247 | 248 | #elif __arc__ 249 | 250 | //Arduino 101 specific code 251 | 252 | template<> 253 | void setReadMode(HardwareSerial &aStream, uint8_t mTxPin) 254 | { 255 | //enable pull up to avoid noise on the line 256 | pinMode(1, INPUT); 257 | digitalWrite(1, HIGH); 258 | // disconnect UART TX and connect UART RX 259 | SET_PIN_MODE(16, GPIO_MUX_MODE); 260 | SET_PIN_MODE(17, UART_MUX_MODE); 261 | pinMode(aTxPin, INPUT_PULLUP); 262 | } 263 | 264 | template<> 265 | void setWriteMode(HardwareSerial &aStream, uint8_t mTxPin) 266 | { 267 | // disconnect UART RX and connect UART TX 268 | SET_PIN_MODE(17, GPIO_MUX_MODE); 269 | SET_PIN_MODE(16, UART_MUX_MODE); 270 | } 271 | 272 | #endif 273 | 274 | template<> 275 | void setReadMode(SoftwareSerial &aStream, uint8_t mTxPin) 276 | { 277 | pinMode(mTxPin, INPUT_PULLUP); 278 | aStream.listen(); 279 | } 280 | 281 | template<> 282 | void setWriteMode(SoftwareSerial &aStream, uint8_t mTxPin) 283 | { 284 | aStream.stopListening(); 285 | pinMode(mTxPin, OUTPUT); 286 | } 287 | 288 | -------------------------------------------------------------------------------- /src/DynamixelConsole.cpp: -------------------------------------------------------------------------------- 1 | #include "DynamixelConsole.h" 2 | #include 3 | 4 | const DynamixelCommand DynamixelConsole::sCommand[] = 5 | {{"ping", &DynamixelConsole::ping}, 6 | {"read", &DynamixelConsole::read}, 7 | {"write", &DynamixelConsole::write}, 8 | {"reset", &DynamixelConsole::reset}, 9 | {"reg_write", &DynamixelConsole::write}, 10 | {"action", &DynamixelConsole::action}, 11 | {"sync_write", &DynamixelConsole::sync_write}, 12 | {"baud", &DynamixelConsole::baudrate}, 13 | }; 14 | 15 | DynamixelConsole::DynamixelConsole(DynamixelInterface &aInterface, Stream &aConsole): 16 | mInterface(aInterface), mConsole(aConsole) 17 | { 18 | mLinePtr=&(mLineBuffer[0]); 19 | mLineBuffer[sLineBufferSize]=0; 20 | } 21 | 22 | void DynamixelConsole::loop() 23 | { 24 | //empty input buffer 25 | while(mConsole.available()) 26 | mConsole.read(); 27 | 28 | //write new command prompt 29 | mConsole.write(">"); 30 | 31 | // read one command line 32 | char c; 33 | while((c=mConsole.read())!='\n' && c!='\r') 34 | { 35 | if(c>=32 && c<=126 && (mLinePtr-&(mLineBuffer[0]))(&(mLineBuffer[0]))) 42 | { 43 | mConsole.write(c); 44 | --mLinePtr; 45 | } 46 | } 47 | //new line 48 | mConsole.write("\n\r"); 49 | // run command 50 | run(); 51 | // reset buffer 52 | mLinePtr=&(mLineBuffer[0]); 53 | } 54 | 55 | void DynamixelConsole::run() 56 | { 57 | char *argv[16]; 58 | int argc=parseCmd(argv); 59 | 60 | if(strcmp(argv[0], "help")==0) 61 | { 62 | printHelp(); 63 | } 64 | else 65 | { 66 | const int commandNumber=sizeof(sCommand)/sizeof(DynamixelCommand); 67 | for(int i=0; i*(sCommand[i].mCallback))(argc, argv); 72 | printStatus(status); 73 | break; 74 | } 75 | } 76 | } 77 | } 78 | 79 | int DynamixelConsole::parseCmd(char **argv) 80 | { 81 | int argc=0; 82 | char *ptr=&mLineBuffer[0]; 83 | while(argc<15) 84 | { 85 | while(*ptr==' ' && ptr=mLinePtr) 90 | { 91 | break; 92 | } 93 | argv[argc]=ptr; 94 | while(*ptr!=' ' && ptr\n\r"); 195 | return DYN_STATUS_INTERNAL_ERROR; 196 | } 197 | id=atoi(argv[1]); 198 | if(id>254) 199 | { 200 | return DYN_STATUS_INTERNAL_ERROR; 201 | } 202 | return mInterface.ping(id); 203 | } 204 | 205 | DynamixelStatus DynamixelConsole::read(int argc, char **argv) 206 | { 207 | int id=0, addr=0, length=1; 208 | if(argc<3) 209 | { 210 | mConsole.print("Usage : read
\n\r"); 211 | return DYN_STATUS_INTERNAL_ERROR; 212 | } 213 | id=atoi(argv[1]); 214 | if(id>254) 215 | { 216 | return DYN_STATUS_INTERNAL_ERROR; 217 | } 218 | addr=atoi(argv[2]); 219 | if(argc>3) 220 | { 221 | length=atoi(argv[3]); 222 | } 223 | if(length>255) 224 | { 225 | return DYN_STATUS_INTERNAL_ERROR; 226 | } 227 | uint8_t *ptr=new uint8_t[length]; 228 | DynamixelStatus result=mInterface.read(id, addr, length, ptr); 229 | printData(ptr,length); 230 | delete ptr; 231 | return result; 232 | } 233 | 234 | DynamixelStatus DynamixelConsole::write(int argc, char **argv) 235 | { 236 | int id=0, addr=0, length=0; 237 | if(argc<4) 238 | { 239 | mConsole.print("Usage : write
... \n\r"); 240 | return DYN_STATUS_INTERNAL_ERROR; 241 | } 242 | id=atoi(argv[1]); 243 | if(id>254) 244 | { 245 | return DYN_STATUS_INTERNAL_ERROR; 246 | } 247 | addr=atoi(argv[2]); 248 | length=argc-3; 249 | if(length>255) 250 | { 251 | return DYN_STATUS_INTERNAL_ERROR; 252 | } 253 | 254 | uint8_t *ptr=new uint8_t[length]; 255 | for(uint8_t i=0; i\n\r"); 278 | return DYN_STATUS_INTERNAL_ERROR; 279 | } 280 | id=atoi(argv[1]); 281 | if(id>254) 282 | { 283 | return DYN_STATUS_INTERNAL_ERROR; 284 | } 285 | DynamixelStatus result=mInterface.reset(id); 286 | return result; 287 | } 288 | 289 | DynamixelStatus DynamixelConsole::action(int argc, char **argv) 290 | { 291 | int id=0; 292 | if(argc<2) 293 | { 294 | mConsole.print("Usage : action \n\r"); 295 | return DYN_STATUS_INTERNAL_ERROR; 296 | } 297 | id=atoi(argv[1]); 298 | if(id>254) 299 | { 300 | return DYN_STATUS_INTERNAL_ERROR; 301 | } 302 | DynamixelStatus result=mInterface.action(id); 303 | return result; 304 | } 305 | 306 | DynamixelStatus DynamixelConsole::sync_write(int argc, char **argv) 307 | { 308 | int id_number=0, addr=0, length=0; 309 | 310 | if(argc>3) 311 | { 312 | id_number=atoi(argv[1]); 313 | addr=atoi(argv[2]); 314 | length=(argc-3)/id_number-1; 315 | } 316 | if(length<=0) 317 | { 318 | mConsole.print("Usage : sync_write
... ... ... \n\r"); 319 | return DYN_STATUS_INTERNAL_ERROR; 320 | } 321 | 322 | uint8_t *id_ptr=new uint8_t[id_number]; 323 | uint8_t *data_ptr=new uint8_t[id_number*length]; 324 | int index=3; 325 | for(uint8_t i=0; i\n\r"); 348 | return DYN_STATUS_INTERNAL_ERROR; 349 | } 350 | baud=atoi(argv[1]); 351 | if(baud<=0 && baud>2000000) 352 | { 353 | return DYN_STATUS_INTERNAL_ERROR; 354 | } 355 | mInterface.end(); 356 | mInterface.begin(baud); 357 | return DYN_STATUS_OK; 358 | } 359 | 360 | 361 | -------------------------------------------------------------------------------- /Doxyfile: -------------------------------------------------------------------------------- 1 | # Doxyfile 1.8.9.1 2 | 3 | # This file describes the settings to be used by the documentation system 4 | # doxygen (www.doxygen.org) for a project. 5 | # 6 | # All text after a double hash (##) is considered a comment and is placed in 7 | # front of the TAG it is preceding. 8 | # 9 | # All text after a single hash (#) is considered a comment and will be ignored. 10 | # The format is: 11 | # TAG = value [value, ...] 12 | # For lists, items can also be appended using: 13 | # TAG += value [value, ...] 14 | # Values that contain spaces should be placed between quotes (\" \"). 15 | 16 | #--------------------------------------------------------------------------- 17 | # Project related configuration options 18 | #--------------------------------------------------------------------------- 19 | 20 | # This tag specifies the encoding used for all characters in the config file 21 | # that follow. 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If set 370 | # to NO, structs, classes, and unions are shown on a separate page (for HTML and 371 | # Man pages) or section (for LaTeX and RTF). 372 | # The default value is: NO. 373 | 374 | INLINE_SIMPLE_STRUCTS = NO 375 | 376 | # When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or 377 | # enum is documented as struct, union, or enum with the name of the typedef. So 378 | # typedef struct TypeS {} TypeT, will appear in the documentation as a struct 379 | # with name TypeT. When disabled the typedef will appear as a member of a file, 380 | # namespace, or class. And the struct will be named TypeS. This can typically be 381 | # useful for C code in case the coding convention dictates that all compound 382 | # types are typedef'ed and only the typedef is referenced, never the tag name. 383 | # The default value is: NO. 384 | 385 | TYPEDEF_HIDES_STRUCT = NO 386 | 387 | # The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This 388 | # cache is used to resolve symbols given their name and scope. Since this can be 389 | # an expensive process and often the same symbol appears multiple times in the 390 | # code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small 391 | # doxygen will become slower. If the cache is too large, memory is wasted. The 392 | # cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range 393 | # is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 394 | # symbols. At the end of a run doxygen will report the cache usage and suggest 395 | # the optimal cache size from a speed point of view. 396 | # Minimum value: 0, maximum value: 9, default value: 0. 397 | 398 | LOOKUP_CACHE_SIZE = 0 399 | 400 | #--------------------------------------------------------------------------- 401 | # Build related configuration options 402 | #--------------------------------------------------------------------------- 403 | 404 | # If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in 405 | # documentation are documented, even if no documentation was available. Private 406 | # class members and static file members will be hidden unless the 407 | # EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. 408 | # Note: This will also disable the warnings about undocumented members that are 409 | # normally produced when WARNINGS is set to YES. 410 | # The default value is: NO. 411 | 412 | EXTRACT_ALL = YES 413 | 414 | # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will 415 | # be included in the documentation. 416 | # The default value is: NO. 417 | 418 | EXTRACT_PRIVATE = NO 419 | 420 | # If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal 421 | # scope will be included in the documentation. 422 | # The default value is: NO. 423 | 424 | EXTRACT_PACKAGE = NO 425 | 426 | # If the EXTRACT_STATIC tag is set to YES, all static members of a file will be 427 | # included in the documentation. 428 | # The default value is: NO. 429 | 430 | EXTRACT_STATIC = NO 431 | 432 | # If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined 433 | # locally in source files will be included in the documentation. If set to NO, 434 | # only classes defined in header files are included. Does not have any effect 435 | # for Java sources. 436 | # The default value is: YES. 437 | 438 | EXTRACT_LOCAL_CLASSES = NO 439 | 440 | # This flag is only useful for Objective-C code. If set to YES, local methods, 441 | # which are defined in the implementation section but not in the interface are 442 | # included in the documentation. If set to NO, only methods in the interface are 443 | # included. 444 | # The default value is: NO. 445 | 446 | EXTRACT_LOCAL_METHODS = NO 447 | 448 | # If this flag is set to YES, the members of anonymous namespaces will be 449 | # extracted and appear in the documentation as a namespace called 450 | # 'anonymous_namespace{file}', where file will be replaced with the base name of 451 | # the file that contains the anonymous namespace. By default anonymous namespace 452 | # are hidden. 453 | # The default value is: NO. 454 | 455 | EXTRACT_ANON_NSPACES = NO 456 | 457 | # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all 458 | # undocumented members inside documented classes or files. If set to NO these 459 | # members will be included in the various overviews, but no documentation 460 | # section is generated. This option has no effect if EXTRACT_ALL is enabled. 461 | # The default value is: NO. 462 | 463 | HIDE_UNDOC_MEMBERS = NO 464 | 465 | # If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all 466 | # undocumented classes that are normally visible in the class hierarchy. If set 467 | # to NO, these classes will be included in the various overviews. This option 468 | # has no effect if EXTRACT_ALL is enabled. 469 | # The default value is: NO. 470 | 471 | HIDE_UNDOC_CLASSES = NO 472 | 473 | # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend 474 | # (class|struct|union) declarations. If set to NO, these declarations will be 475 | # included in the documentation. 476 | # The default value is: NO. 477 | 478 | HIDE_FRIEND_COMPOUNDS = NO 479 | 480 | # If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any 481 | # documentation blocks found inside the body of a function. If set to NO, these 482 | # blocks will be appended to the function's detailed documentation block. 483 | # The default value is: NO. 484 | 485 | HIDE_IN_BODY_DOCS = NO 486 | 487 | # The INTERNAL_DOCS tag determines if documentation that is typed after a 488 | # \internal command is included. If the tag is set to NO then the documentation 489 | # will be excluded. Set it to YES to include the internal documentation. 490 | # The default value is: NO. 491 | 492 | INTERNAL_DOCS = NO 493 | 494 | # If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file 495 | # names in lower-case letters. If set to YES, upper-case letters are also 496 | # allowed. This is useful if you have classes or files whose names only differ 497 | # in case and if your file system supports case sensitive file names. Windows 498 | # and Mac users are advised to set this option to NO. 499 | # The default value is: system dependent. 500 | 501 | CASE_SENSE_NAMES = YES 502 | 503 | # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with 504 | # their full class and namespace scopes in the documentation. If set to YES, the 505 | # scope will be hidden. 506 | # The default value is: NO. 507 | 508 | HIDE_SCOPE_NAMES = NO 509 | 510 | # If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will 511 | # append additional text to a page's title, such as Class Reference. If set to 512 | # YES the compound reference will be hidden. 513 | # The default value is: NO. 514 | 515 | HIDE_COMPOUND_REFERENCE= NO 516 | 517 | # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of 518 | # the files that are included by a file in the documentation of that file. 519 | # The default value is: YES. 520 | 521 | SHOW_INCLUDE_FILES = YES 522 | 523 | # If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each 524 | # grouped member an include statement to the documentation, telling the reader 525 | # which file to include in order to use the member. 526 | # The default value is: NO. 527 | 528 | SHOW_GROUPED_MEMB_INC = NO 529 | 530 | # If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include 531 | # files with double quotes in the documentation rather than with sharp brackets. 532 | # The default value is: NO. 533 | 534 | FORCE_LOCAL_INCLUDES = NO 535 | 536 | # If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the 537 | # documentation for inline members. 538 | # The default value is: YES. 539 | 540 | INLINE_INFO = YES 541 | 542 | # If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the 543 | # (detailed) documentation of file and class members alphabetically by member 544 | # name. If set to NO, the members will appear in declaration order. 545 | # The default value is: YES. 546 | 547 | SORT_MEMBER_DOCS = YES 548 | 549 | # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief 550 | # descriptions of file, namespace and class members alphabetically by member 551 | # name. If set to NO, the members will appear in declaration order. Note that 552 | # this will also influence the order of the classes in the class list. 553 | # The default value is: NO. 554 | 555 | SORT_BRIEF_DOCS = NO 556 | 557 | # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the 558 | # (brief and detailed) documentation of class members so that constructors and 559 | # destructors are listed first. If set to NO the constructors will appear in the 560 | # respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. 561 | # Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief 562 | # member documentation. 563 | # Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting 564 | # detailed member documentation. 565 | # The default value is: NO. 566 | 567 | SORT_MEMBERS_CTORS_1ST = NO 568 | 569 | # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy 570 | # of group names into alphabetical order. If set to NO the group names will 571 | # appear in their defined order. 572 | # The default value is: NO. 573 | 574 | SORT_GROUP_NAMES = NO 575 | 576 | # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by 577 | # fully-qualified names, including namespaces. If set to NO, the class list will 578 | # be sorted only by class name, not including the namespace part. 579 | # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. 580 | # Note: This option applies only to the class list, not to the alphabetical 581 | # list. 582 | # The default value is: NO. 583 | 584 | SORT_BY_SCOPE_NAME = NO 585 | 586 | # If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper 587 | # type resolution of all parameters of a function it will reject a match between 588 | # the prototype and the implementation of a member function even if there is 589 | # only one candidate or it is obvious which candidate to choose by doing a 590 | # simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still 591 | # accept a match between prototype and implementation in such cases. 592 | # The default value is: NO. 593 | 594 | STRICT_PROTO_MATCHING = NO 595 | 596 | # The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo 597 | # list. This list is created by putting \todo commands in the documentation. 598 | # The default value is: YES. 599 | 600 | GENERATE_TODOLIST = YES 601 | 602 | # The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test 603 | # list. This list is created by putting \test commands in the documentation. 604 | # The default value is: YES. 605 | 606 | GENERATE_TESTLIST = YES 607 | 608 | # The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug 609 | # list. This list is created by putting \bug commands in the documentation. 610 | # The default value is: YES. 611 | 612 | GENERATE_BUGLIST = YES 613 | 614 | # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) 615 | # the deprecated list. This list is created by putting \deprecated commands in 616 | # the documentation. 617 | # The default value is: YES. 618 | 619 | GENERATE_DEPRECATEDLIST= YES 620 | 621 | # The ENABLED_SECTIONS tag can be used to enable conditional documentation 622 | # sections, marked by \if ... \endif and \cond 623 | # ... \endcond blocks. 624 | 625 | ENABLED_SECTIONS = 626 | 627 | # The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the 628 | # initial value of a variable or macro / define can have for it to appear in the 629 | # documentation. If the initializer consists of more lines than specified here 630 | # it will be hidden. Use a value of 0 to hide initializers completely. The 631 | # appearance of the value of individual variables and macros / defines can be 632 | # controlled using \showinitializer or \hideinitializer command in the 633 | # documentation regardless of this setting. 634 | # Minimum value: 0, maximum value: 10000, default value: 30. 635 | 636 | MAX_INITIALIZER_LINES = 30 637 | 638 | # Set the SHOW_USED_FILES tag to NO to disable the list of files generated at 639 | # the bottom of the documentation of classes and structs. If set to YES, the 640 | # list will mention the files that were used to generate the documentation. 641 | # The default value is: YES. 642 | 643 | SHOW_USED_FILES = YES 644 | 645 | # Set the SHOW_FILES tag to NO to disable the generation of the Files page. This 646 | # will remove the Files entry from the Quick Index and from the Folder Tree View 647 | # (if specified). 648 | # The default value is: YES. 649 | 650 | SHOW_FILES = YES 651 | 652 | # Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces 653 | # page. This will remove the Namespaces entry from the Quick Index and from the 654 | # Folder Tree View (if specified). 655 | # The default value is: YES. 656 | 657 | SHOW_NAMESPACES = YES 658 | 659 | # The FILE_VERSION_FILTER tag can be used to specify a program or script that 660 | # doxygen should invoke to get the current version for each file (typically from 661 | # the version control system). Doxygen will invoke the program by executing (via 662 | # popen()) the command command input-file, where command is the value of the 663 | # FILE_VERSION_FILTER tag, and input-file is the name of an input file provided 664 | # by doxygen. Whatever the program writes to standard output is used as the file 665 | # version. For an example see the documentation. 666 | 667 | FILE_VERSION_FILTER = 668 | 669 | # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed 670 | # by doxygen. The layout file controls the global structure of the generated 671 | # output files in an output format independent way. To create the layout file 672 | # that represents doxygen's defaults, run doxygen with the -l option. You can 673 | # optionally specify a file name after the option, if omitted DoxygenLayout.xml 674 | # will be used as the name of the layout file. 675 | # 676 | # Note that if you run doxygen from a directory containing a file called 677 | # DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE 678 | # tag is left empty. 679 | 680 | LAYOUT_FILE = 681 | 682 | # The CITE_BIB_FILES tag can be used to specify one or more bib files containing 683 | # the reference definitions. This must be a list of .bib files. The .bib 684 | # extension is automatically appended if omitted. This requires the bibtex tool 685 | # to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. 686 | # For LaTeX the style of the bibliography can be controlled using 687 | # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the 688 | # search path. See also \cite for info how to create references. 689 | 690 | CITE_BIB_FILES = 691 | 692 | #--------------------------------------------------------------------------- 693 | # Configuration options related to warning and progress messages 694 | #--------------------------------------------------------------------------- 695 | 696 | # The QUIET tag can be used to turn on/off the messages that are generated to 697 | # standard output by doxygen. If QUIET is set to YES this implies that the 698 | # messages are off. 699 | # The default value is: NO. 700 | 701 | QUIET = NO 702 | 703 | # The WARNINGS tag can be used to turn on/off the warning messages that are 704 | # generated to standard error (stderr) by doxygen. If WARNINGS is set to YES 705 | # this implies that the warnings are on. 706 | # 707 | # Tip: Turn warnings on while writing the documentation. 708 | # The default value is: YES. 709 | 710 | WARNINGS = YES 711 | 712 | # If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate 713 | # warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag 714 | # will automatically be disabled. 715 | # The default value is: YES. 716 | 717 | WARN_IF_UNDOCUMENTED = YES 718 | 719 | # If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for 720 | # potential errors in the documentation, such as not documenting some parameters 721 | # in a documented function, or documenting parameters that don't exist or using 722 | # markup commands wrongly. 723 | # The default value is: YES. 724 | 725 | WARN_IF_DOC_ERROR = YES 726 | 727 | # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that 728 | # are documented, but have no documentation for their parameters or return 729 | # value. If set to NO, doxygen will only warn about wrong or incomplete 730 | # parameter documentation, but not about the absence of documentation. 731 | # The default value is: NO. 732 | 733 | WARN_NO_PARAMDOC = NO 734 | 735 | # The WARN_FORMAT tag determines the format of the warning messages that doxygen 736 | # can produce. The string should contain the $file, $line, and $text tags, which 737 | # will be replaced by the file and line number from which the warning originated 738 | # and the warning text. Optionally the format may contain $version, which will 739 | # be replaced by the version of the file (if it could be obtained via 740 | # FILE_VERSION_FILTER) 741 | # The default value is: $file:$line: $text. 742 | 743 | WARN_FORMAT = "$file:$line: $text" 744 | 745 | # The WARN_LOGFILE tag can be used to specify a file to which warning and error 746 | # messages should be written. If left blank the output is written to standard 747 | # error (stderr). 748 | 749 | WARN_LOGFILE = 750 | 751 | #--------------------------------------------------------------------------- 752 | # Configuration options related to the input files 753 | #--------------------------------------------------------------------------- 754 | 755 | # The INPUT tag is used to specify the files and/or directories that contain 756 | # documented source files. You may enter file names like myfile.cpp or 757 | # directories like /usr/src/myproject. Separate the files or directories with 758 | # spaces. 759 | # Note: If this tag is empty the current directory is searched. 760 | 761 | INPUT = src 762 | 763 | # This tag can be used to specify the character encoding of the source files 764 | # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses 765 | # libiconv (or the iconv built into libc) for the transcoding. See the libiconv 766 | # documentation (see: http://www.gnu.org/software/libiconv) for the list of 767 | # possible encodings. 768 | # The default value is: UTF-8. 769 | 770 | INPUT_ENCODING = UTF-8 771 | 772 | # If the value of the INPUT tag contains directories, you can use the 773 | # FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and 774 | # *.h) to filter out the source-files in the directories. If left blank the 775 | # following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, 776 | # *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, 777 | # *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, 778 | # *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, 779 | # *.qsf, *.as and *.js. 780 | 781 | FILE_PATTERNS = *.cpp \ 782 | *.h 783 | 784 | # The RECURSIVE tag can be used to specify whether or not subdirectories should 785 | # be searched for input files as well. 786 | # The default value is: NO. 787 | 788 | RECURSIVE = NO 789 | 790 | # The EXCLUDE tag can be used to specify files and/or directories that should be 791 | # excluded from the INPUT source files. This way you can easily exclude a 792 | # subdirectory from a directory tree whose root is specified with the INPUT tag. 793 | # 794 | # Note that relative paths are relative to the directory from which doxygen is 795 | # run. 796 | 797 | EXCLUDE = 798 | 799 | # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or 800 | # directories that are symbolic links (a Unix file system feature) are excluded 801 | # from the input. 802 | # The default value is: NO. 803 | 804 | EXCLUDE_SYMLINKS = NO 805 | 806 | # If the value of the INPUT tag contains directories, you can use the 807 | # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 808 | # certain files from those directories. 809 | # 810 | # Note that the wildcards are matched against the file with absolute path, so to 811 | # exclude all test directories for example use the pattern */test/* 812 | 813 | EXCLUDE_PATTERNS = 814 | 815 | # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names 816 | # (namespaces, classes, functions, etc.) that should be excluded from the 817 | # output. The symbol name can be a fully qualified name, a word, or if the 818 | # wildcard * is used, a substring. Examples: ANamespace, AClass, 819 | # AClass::ANamespace, ANamespace::*Test 820 | # 821 | # Note that the wildcards are matched against the file with absolute path, so to 822 | # exclude all test directories use the pattern */test/* 823 | 824 | EXCLUDE_SYMBOLS = 825 | 826 | # The EXAMPLE_PATH tag can be used to specify one or more files or directories 827 | # that contain example code fragments that are included (see the \include 828 | # command). 829 | 830 | EXAMPLE_PATH = 831 | 832 | # If the value of the EXAMPLE_PATH tag contains directories, you can use the 833 | # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and 834 | # *.h) to filter out the source-files in the directories. If left blank all 835 | # files are included. 836 | 837 | EXAMPLE_PATTERNS = 838 | 839 | # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be 840 | # searched for input files to be used with the \include or \dontinclude commands 841 | # irrespective of the value of the RECURSIVE tag. 842 | # The default value is: NO. 843 | 844 | EXAMPLE_RECURSIVE = NO 845 | 846 | # The IMAGE_PATH tag can be used to specify one or more files or directories 847 | # that contain images that are to be included in the documentation (see the 848 | # \image command). 849 | 850 | IMAGE_PATH = 851 | 852 | # The INPUT_FILTER tag can be used to specify a program that doxygen should 853 | # invoke to filter for each input file. Doxygen will invoke the filter program 854 | # by executing (via popen()) the command: 855 | # 856 | # 857 | # 858 | # where is the value of the INPUT_FILTER tag, and is the 859 | # name of an input file. Doxygen will then use the output that the filter 860 | # program writes to standard output. If FILTER_PATTERNS is specified, this tag 861 | # will be ignored. 862 | # 863 | # Note that the filter must not add or remove lines; it is applied before the 864 | # code is scanned, but not when the output code is generated. If lines are added 865 | # or removed, the anchors will not be placed correctly. 866 | 867 | INPUT_FILTER = 868 | 869 | # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern 870 | # basis. Doxygen will compare the file name with each pattern and apply the 871 | # filter if there is a match. The filters are a list of the form: pattern=filter 872 | # (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how 873 | # filters are used. If the FILTER_PATTERNS tag is empty or if none of the 874 | # patterns match the file name, INPUT_FILTER is applied. 875 | 876 | FILTER_PATTERNS = 877 | 878 | # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 879 | # INPUT_FILTER) will also be used to filter the input files that are used for 880 | # producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). 881 | # The default value is: NO. 882 | 883 | FILTER_SOURCE_FILES = NO 884 | 885 | # The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file 886 | # pattern. A pattern will override the setting for FILTER_PATTERN (if any) and 887 | # it is also possible to disable source filtering for a specific pattern using 888 | # *.ext= (so without naming a filter). 889 | # This tag requires that the tag FILTER_SOURCE_FILES is set to YES. 890 | 891 | FILTER_SOURCE_PATTERNS = 892 | 893 | # If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that 894 | # is part of the input, its contents will be placed on the main page 895 | # (index.html). This can be useful if you have a project on for instance GitHub 896 | # and want to reuse the introduction page also for the doxygen output. 897 | 898 | USE_MDFILE_AS_MAINPAGE = 899 | 900 | #--------------------------------------------------------------------------- 901 | # Configuration options related to source browsing 902 | #--------------------------------------------------------------------------- 903 | 904 | # If the SOURCE_BROWSER tag is set to YES then a list of source files will be 905 | # generated. Documented entities will be cross-referenced with these sources. 906 | # 907 | # Note: To get rid of all source code in the generated output, make sure that 908 | # also VERBATIM_HEADERS is set to NO. 909 | # The default value is: NO. 910 | 911 | SOURCE_BROWSER = NO 912 | 913 | # Setting the INLINE_SOURCES tag to YES will include the body of functions, 914 | # classes and enums directly into the documentation. 915 | # The default value is: NO. 916 | 917 | INLINE_SOURCES = NO 918 | 919 | # Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any 920 | # special comment blocks from generated source code fragments. Normal C, C++ and 921 | # Fortran comments will always remain visible. 922 | # The default value is: YES. 923 | 924 | STRIP_CODE_COMMENTS = YES 925 | 926 | # If the REFERENCED_BY_RELATION tag is set to YES then for each documented 927 | # function all documented functions referencing it will be listed. 928 | # The default value is: NO. 929 | 930 | REFERENCED_BY_RELATION = NO 931 | 932 | # If the REFERENCES_RELATION tag is set to YES then for each documented function 933 | # all documented entities called/used by that function will be listed. 934 | # The default value is: NO. 935 | 936 | REFERENCES_RELATION = NO 937 | 938 | # If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set 939 | # to YES then the hyperlinks from functions in REFERENCES_RELATION and 940 | # REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will 941 | # link to the documentation. 942 | # The default value is: YES. 943 | 944 | REFERENCES_LINK_SOURCE = YES 945 | 946 | # If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the 947 | # source code will show a tooltip with additional information such as prototype, 948 | # brief description and links to the definition and documentation. Since this 949 | # will make the HTML file larger and loading of large files a bit slower, you 950 | # can opt to disable this feature. 951 | # The default value is: YES. 952 | # This tag requires that the tag SOURCE_BROWSER is set to YES. 953 | 954 | SOURCE_TOOLTIPS = YES 955 | 956 | # If the USE_HTAGS tag is set to YES then the references to source code will 957 | # point to the HTML generated by the htags(1) tool instead of doxygen built-in 958 | # source browser. The htags tool is part of GNU's global source tagging system 959 | # (see http://www.gnu.org/software/global/global.html). You will need version 960 | # 4.8.6 or higher. 961 | # 962 | # To use it do the following: 963 | # - Install the latest version of global 964 | # - Enable SOURCE_BROWSER and USE_HTAGS in the config file 965 | # - Make sure the INPUT points to the root of the source tree 966 | # - Run doxygen as normal 967 | # 968 | # Doxygen will invoke htags (and that will in turn invoke gtags), so these 969 | # tools must be available from the command line (i.e. in the search path). 970 | # 971 | # The result: instead of the source browser generated by doxygen, the links to 972 | # source code will now point to the output of htags. 973 | # The default value is: NO. 974 | # This tag requires that the tag SOURCE_BROWSER is set to YES. 975 | 976 | USE_HTAGS = NO 977 | 978 | # If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a 979 | # verbatim copy of the header file for each class for which an include is 980 | # specified. Set to NO to disable this. 981 | # See also: Section \class. 982 | # The default value is: YES. 983 | 984 | VERBATIM_HEADERS = YES 985 | 986 | # If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the 987 | # clang parser (see: http://clang.llvm.org/) for more accurate parsing at the 988 | # cost of reduced performance. This can be particularly helpful with template 989 | # rich C++ code for which doxygen's built-in parser lacks the necessary type 990 | # information. 991 | # Note: The availability of this option depends on whether or not doxygen was 992 | # compiled with the --with-libclang option. 993 | # The default value is: NO. 994 | 995 | CLANG_ASSISTED_PARSING = NO 996 | 997 | # If clang assisted parsing is enabled you can provide the compiler with command 998 | # line options that you would normally use when invoking the compiler. Note that 999 | # the include paths will already be set by doxygen for the files and directories 1000 | # specified with INPUT and INCLUDE_PATH. 1001 | # This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. 1002 | 1003 | CLANG_OPTIONS = 1004 | 1005 | #--------------------------------------------------------------------------- 1006 | # Configuration options related to the alphabetical class index 1007 | #--------------------------------------------------------------------------- 1008 | 1009 | # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all 1010 | # compounds will be generated. Enable this if the project contains a lot of 1011 | # classes, structs, unions or interfaces. 1012 | # The default value is: YES. 1013 | 1014 | ALPHABETICAL_INDEX = YES 1015 | 1016 | # The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in 1017 | # which the alphabetical index list will be split. 1018 | # Minimum value: 1, maximum value: 20, default value: 5. 1019 | # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. 1020 | 1021 | COLS_IN_ALPHA_INDEX = 5 1022 | 1023 | # In case all classes in a project start with a common prefix, all classes will 1024 | # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag 1025 | # can be used to specify a prefix (or a list of prefixes) that should be ignored 1026 | # while generating the index headers. 1027 | # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. 1028 | 1029 | IGNORE_PREFIX = 1030 | 1031 | #--------------------------------------------------------------------------- 1032 | # Configuration options related to the HTML output 1033 | #--------------------------------------------------------------------------- 1034 | 1035 | # If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output 1036 | # The default value is: YES. 1037 | 1038 | GENERATE_HTML = YES 1039 | 1040 | # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a 1041 | # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of 1042 | # it. 1043 | # The default directory is: html. 1044 | # This tag requires that the tag GENERATE_HTML is set to YES. 1045 | 1046 | HTML_OUTPUT = html 1047 | 1048 | # The HTML_FILE_EXTENSION tag can be used to specify the file extension for each 1049 | # generated HTML page (for example: .htm, .php, .asp). 1050 | # The default value is: .html. 1051 | # This tag requires that the tag GENERATE_HTML is set to YES. 1052 | 1053 | HTML_FILE_EXTENSION = .html 1054 | 1055 | # The HTML_HEADER tag can be used to specify a user-defined HTML header file for 1056 | # each generated HTML page. If the tag is left blank doxygen will generate a 1057 | # standard header. 1058 | # 1059 | # To get valid HTML the header file that includes any scripts and style sheets 1060 | # that doxygen needs, which is dependent on the configuration options used (e.g. 1061 | # the setting GENERATE_TREEVIEW). It is highly recommended to start with a 1062 | # default header using 1063 | # doxygen -w html new_header.html new_footer.html new_stylesheet.css 1064 | # YourConfigFile 1065 | # and then modify the file new_header.html. See also section "Doxygen usage" 1066 | # for information on how to generate the default header that doxygen normally 1067 | # uses. 1068 | # Note: The header is subject to change so you typically have to regenerate the 1069 | # default header when upgrading to a newer version of doxygen. For a description 1070 | # of the possible markers and block names see the documentation. 1071 | # This tag requires that the tag GENERATE_HTML is set to YES. 1072 | 1073 | HTML_HEADER = 1074 | 1075 | # The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each 1076 | # generated HTML page. If the tag is left blank doxygen will generate a standard 1077 | # footer. See HTML_HEADER for more information on how to generate a default 1078 | # footer and what special commands can be used inside the footer. See also 1079 | # section "Doxygen usage" for information on how to generate the default footer 1080 | # that doxygen normally uses. 1081 | # This tag requires that the tag GENERATE_HTML is set to YES. 1082 | 1083 | HTML_FOOTER = 1084 | 1085 | # The HTML_STYLESHEET tag can be used to specify a user-defined cascading style 1086 | # sheet that is used by each HTML page. It can be used to fine-tune the look of 1087 | # the HTML output. If left blank doxygen will generate a default style sheet. 1088 | # See also section "Doxygen usage" for information on how to generate the style 1089 | # sheet that doxygen normally uses. 1090 | # Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as 1091 | # it is more robust and this tag (HTML_STYLESHEET) will in the future become 1092 | # obsolete. 1093 | # This tag requires that the tag GENERATE_HTML is set to YES. 1094 | 1095 | HTML_STYLESHEET = 1096 | 1097 | # The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined 1098 | # cascading style sheets that are included after the standard style sheets 1099 | # created by doxygen. Using this option one can overrule certain style aspects. 1100 | # This is preferred over using HTML_STYLESHEET since it does not replace the 1101 | # standard style sheet and is therefore more robust against future updates. 1102 | # Doxygen will copy the style sheet files to the output directory. 1103 | # Note: The order of the extra style sheet files is of importance (e.g. the last 1104 | # style sheet in the list overrules the setting of the previous ones in the 1105 | # list). For an example see the documentation. 1106 | # This tag requires that the tag GENERATE_HTML is set to YES. 1107 | 1108 | HTML_EXTRA_STYLESHEET = 1109 | 1110 | # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or 1111 | # other source files which should be copied to the HTML output directory. Note 1112 | # that these files will be copied to the base HTML output directory. Use the 1113 | # $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these 1114 | # files. In the HTML_STYLESHEET file, use the file name only. Also note that the 1115 | # files will be copied as-is; there are no commands or markers available. 1116 | # This tag requires that the tag GENERATE_HTML is set to YES. 1117 | 1118 | HTML_EXTRA_FILES = 1119 | 1120 | # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen 1121 | # will adjust the colors in the style sheet and background images according to 1122 | # this color. Hue is specified as an angle on a colorwheel, see 1123 | # http://en.wikipedia.org/wiki/Hue for more information. For instance the value 1124 | # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 1125 | # purple, and 360 is red again. 1126 | # Minimum value: 0, maximum value: 359, default value: 220. 1127 | # This tag requires that the tag GENERATE_HTML is set to YES. 1128 | 1129 | HTML_COLORSTYLE_HUE = 220 1130 | 1131 | # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors 1132 | # in the HTML output. For a value of 0 the output will use grayscales only. A 1133 | # value of 255 will produce the most vivid colors. 1134 | # Minimum value: 0, maximum value: 255, default value: 100. 1135 | # This tag requires that the tag GENERATE_HTML is set to YES. 1136 | 1137 | HTML_COLORSTYLE_SAT = 100 1138 | 1139 | # The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the 1140 | # luminance component of the colors in the HTML output. Values below 100 1141 | # gradually make the output lighter, whereas values above 100 make the output 1142 | # darker. The value divided by 100 is the actual gamma applied, so 80 represents 1143 | # a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not 1144 | # change the gamma. 1145 | # Minimum value: 40, maximum value: 240, default value: 80. 1146 | # This tag requires that the tag GENERATE_HTML is set to YES. 1147 | 1148 | HTML_COLORSTYLE_GAMMA = 80 1149 | 1150 | # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML 1151 | # page will contain the date and time when the page was generated. Setting this 1152 | # to YES can help to show when doxygen was last run and thus if the 1153 | # documentation is up to date. 1154 | # The default value is: NO. 1155 | # This tag requires that the tag GENERATE_HTML is set to YES. 1156 | 1157 | HTML_TIMESTAMP = YES 1158 | 1159 | # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML 1160 | # documentation will contain sections that can be hidden and shown after the 1161 | # page has loaded. 1162 | # The default value is: NO. 1163 | # This tag requires that the tag GENERATE_HTML is set to YES. 1164 | 1165 | HTML_DYNAMIC_SECTIONS = NO 1166 | 1167 | # With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries 1168 | # shown in the various tree structured indices initially; the user can expand 1169 | # and collapse entries dynamically later on. Doxygen will expand the tree to 1170 | # such a level that at most the specified number of entries are visible (unless 1171 | # a fully collapsed tree already exceeds this amount). So setting the number of 1172 | # entries 1 will produce a full collapsed tree by default. 0 is a special value 1173 | # representing an infinite number of entries and will result in a full expanded 1174 | # tree by default. 1175 | # Minimum value: 0, maximum value: 9999, default value: 100. 1176 | # This tag requires that the tag GENERATE_HTML is set to YES. 1177 | 1178 | HTML_INDEX_NUM_ENTRIES = 100 1179 | 1180 | # If the GENERATE_DOCSET tag is set to YES, additional index files will be 1181 | # generated that can be used as input for Apple's Xcode 3 integrated development 1182 | # environment (see: http://developer.apple.com/tools/xcode/), introduced with 1183 | # OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a 1184 | # Makefile in the HTML output directory. Running make will produce the docset in 1185 | # that directory and running make install will install the docset in 1186 | # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at 1187 | # startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html 1188 | # for more information. 1189 | # The default value is: NO. 1190 | # This tag requires that the tag GENERATE_HTML is set to YES. 1191 | 1192 | GENERATE_DOCSET = NO 1193 | 1194 | # This tag determines the name of the docset feed. A documentation feed provides 1195 | # an umbrella under which multiple documentation sets from a single provider 1196 | # (such as a company or product suite) can be grouped. 1197 | # The default value is: Doxygen generated docs. 1198 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1199 | 1200 | DOCSET_FEEDNAME = "Doxygen generated docs" 1201 | 1202 | # This tag specifies a string that should uniquely identify the documentation 1203 | # set bundle. This should be a reverse domain-name style string, e.g. 1204 | # com.mycompany.MyDocSet. Doxygen will append .docset to the name. 1205 | # The default value is: org.doxygen.Project. 1206 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1207 | 1208 | DOCSET_BUNDLE_ID = org.doxygen.Project 1209 | 1210 | # The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify 1211 | # the documentation publisher. This should be a reverse domain-name style 1212 | # string, e.g. com.mycompany.MyDocSet.documentation. 1213 | # The default value is: org.doxygen.Publisher. 1214 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1215 | 1216 | DOCSET_PUBLISHER_ID = org.doxygen.Publisher 1217 | 1218 | # The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. 1219 | # The default value is: Publisher. 1220 | # This tag requires that the tag GENERATE_DOCSET is set to YES. 1221 | 1222 | DOCSET_PUBLISHER_NAME = Publisher 1223 | 1224 | # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three 1225 | # additional HTML index files: index.hhp, index.hhc, and index.hhk. The 1226 | # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop 1227 | # (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on 1228 | # Windows. 1229 | # 1230 | # The HTML Help Workshop contains a compiler that can convert all HTML output 1231 | # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML 1232 | # files are now used as the Windows 98 help format, and will replace the old 1233 | # Windows help format (.hlp) on all Windows platforms in the future. Compressed 1234 | # HTML files also contain an index, a table of contents, and you can search for 1235 | # words in the documentation. The HTML workshop also contains a viewer for 1236 | # compressed HTML files. 1237 | # The default value is: NO. 1238 | # This tag requires that the tag GENERATE_HTML is set to YES. 1239 | 1240 | GENERATE_HTMLHELP = NO 1241 | 1242 | # The CHM_FILE tag can be used to specify the file name of the resulting .chm 1243 | # file. You can add a path in front of the file if the result should not be 1244 | # written to the html output directory. 1245 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1246 | 1247 | CHM_FILE = 1248 | 1249 | # The HHC_LOCATION tag can be used to specify the location (absolute path 1250 | # including file name) of the HTML help compiler (hhc.exe). If non-empty, 1251 | # doxygen will try to run the HTML help compiler on the generated index.hhp. 1252 | # The file has to be specified with full path. 1253 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1254 | 1255 | HHC_LOCATION = 1256 | 1257 | # The GENERATE_CHI flag controls if a separate .chi index file is generated 1258 | # (YES) or that it should be included in the master .chm file (NO). 1259 | # The default value is: NO. 1260 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1261 | 1262 | GENERATE_CHI = NO 1263 | 1264 | # The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) 1265 | # and project file content. 1266 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1267 | 1268 | CHM_INDEX_ENCODING = 1269 | 1270 | # The BINARY_TOC flag controls whether a binary table of contents is generated 1271 | # (YES) or a normal table of contents (NO) in the .chm file. Furthermore it 1272 | # enables the Previous and Next buttons. 1273 | # The default value is: NO. 1274 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1275 | 1276 | BINARY_TOC = NO 1277 | 1278 | # The TOC_EXPAND flag can be set to YES to add extra items for group members to 1279 | # the table of contents of the HTML help documentation and to the tree view. 1280 | # The default value is: NO. 1281 | # This tag requires that the tag GENERATE_HTMLHELP is set to YES. 1282 | 1283 | TOC_EXPAND = NO 1284 | 1285 | # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and 1286 | # QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that 1287 | # can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help 1288 | # (.qch) of the generated HTML documentation. 1289 | # The default value is: NO. 1290 | # This tag requires that the tag GENERATE_HTML is set to YES. 1291 | 1292 | GENERATE_QHP = NO 1293 | 1294 | # If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify 1295 | # the file name of the resulting .qch file. The path specified is relative to 1296 | # the HTML output folder. 1297 | # This tag requires that the tag GENERATE_QHP is set to YES. 1298 | 1299 | QCH_FILE = 1300 | 1301 | # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help 1302 | # Project output. For more information please see Qt Help Project / Namespace 1303 | # (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). 1304 | # The default value is: org.doxygen.Project. 1305 | # This tag requires that the tag GENERATE_QHP is set to YES. 1306 | 1307 | QHP_NAMESPACE = org.doxygen.Project 1308 | 1309 | # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt 1310 | # Help Project output. For more information please see Qt Help Project / Virtual 1311 | # Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- 1312 | # folders). 1313 | # The default value is: doc. 1314 | # This tag requires that the tag GENERATE_QHP is set to YES. 1315 | 1316 | QHP_VIRTUAL_FOLDER = doc 1317 | 1318 | # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom 1319 | # filter to add. For more information please see Qt Help Project / Custom 1320 | # Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- 1321 | # filters). 1322 | # This tag requires that the tag GENERATE_QHP is set to YES. 1323 | 1324 | QHP_CUST_FILTER_NAME = 1325 | 1326 | # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the 1327 | # custom filter to add. For more information please see Qt Help Project / Custom 1328 | # Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- 1329 | # filters). 1330 | # This tag requires that the tag GENERATE_QHP is set to YES. 1331 | 1332 | QHP_CUST_FILTER_ATTRS = 1333 | 1334 | # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this 1335 | # project's filter section matches. Qt Help Project / Filter Attributes (see: 1336 | # http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). 1337 | # This tag requires that the tag GENERATE_QHP is set to YES. 1338 | 1339 | QHP_SECT_FILTER_ATTRS = 1340 | 1341 | # The QHG_LOCATION tag can be used to specify the location of Qt's 1342 | # qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the 1343 | # generated .qhp file. 1344 | # This tag requires that the tag GENERATE_QHP is set to YES. 1345 | 1346 | QHG_LOCATION = 1347 | 1348 | # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be 1349 | # generated, together with the HTML files, they form an Eclipse help plugin. To 1350 | # install this plugin and make it available under the help contents menu in 1351 | # Eclipse, the contents of the directory containing the HTML and XML files needs 1352 | # to be copied into the plugins directory of eclipse. The name of the directory 1353 | # within the plugins directory should be the same as the ECLIPSE_DOC_ID value. 1354 | # After copying Eclipse needs to be restarted before the help appears. 1355 | # The default value is: NO. 1356 | # This tag requires that the tag GENERATE_HTML is set to YES. 1357 | 1358 | GENERATE_ECLIPSEHELP = NO 1359 | 1360 | # A unique identifier for the Eclipse help plugin. When installing the plugin 1361 | # the directory name containing the HTML and XML files should also have this 1362 | # name. Each documentation set should have its own identifier. 1363 | # The default value is: org.doxygen.Project. 1364 | # This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. 1365 | 1366 | ECLIPSE_DOC_ID = org.doxygen.Project 1367 | 1368 | # If you want full control over the layout of the generated HTML pages it might 1369 | # be necessary to disable the index and replace it with your own. The 1370 | # DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top 1371 | # of each HTML page. A value of NO enables the index and the value YES disables 1372 | # it. Since the tabs in the index contain the same information as the navigation 1373 | # tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. 1374 | # The default value is: NO. 1375 | # This tag requires that the tag GENERATE_HTML is set to YES. 1376 | 1377 | DISABLE_INDEX = NO 1378 | 1379 | # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index 1380 | # structure should be generated to display hierarchical information. If the tag 1381 | # value is set to YES, a side panel will be generated containing a tree-like 1382 | # index structure (just like the one that is generated for HTML Help). For this 1383 | # to work a browser that supports JavaScript, DHTML, CSS and frames is required 1384 | # (i.e. any modern browser). Windows users are probably better off using the 1385 | # HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can 1386 | # further fine-tune the look of the index. As an example, the default style 1387 | # sheet generated by doxygen has an example that shows how to put an image at 1388 | # the root of the tree instead of the PROJECT_NAME. Since the tree basically has 1389 | # the same information as the tab index, you could consider setting 1390 | # DISABLE_INDEX to YES when enabling this option. 1391 | # The default value is: NO. 1392 | # This tag requires that the tag GENERATE_HTML is set to YES. 1393 | 1394 | GENERATE_TREEVIEW = NO 1395 | 1396 | # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that 1397 | # doxygen will group on one line in the generated HTML documentation. 1398 | # 1399 | # Note that a value of 0 will completely suppress the enum values from appearing 1400 | # in the overview section. 1401 | # Minimum value: 0, maximum value: 20, default value: 4. 1402 | # This tag requires that the tag GENERATE_HTML is set to YES. 1403 | 1404 | ENUM_VALUES_PER_LINE = 4 1405 | 1406 | # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used 1407 | # to set the initial width (in pixels) of the frame in which the tree is shown. 1408 | # Minimum value: 0, maximum value: 1500, default value: 250. 1409 | # This tag requires that the tag GENERATE_HTML is set to YES. 1410 | 1411 | TREEVIEW_WIDTH = 250 1412 | 1413 | # If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to 1414 | # external symbols imported via tag files in a separate window. 1415 | # The default value is: NO. 1416 | # This tag requires that the tag GENERATE_HTML is set to YES. 1417 | 1418 | EXT_LINKS_IN_WINDOW = NO 1419 | 1420 | # Use this tag to change the font size of LaTeX formulas included as images in 1421 | # the HTML documentation. When you change the font size after a successful 1422 | # doxygen run you need to manually remove any form_*.png images from the HTML 1423 | # output directory to force them to be regenerated. 1424 | # Minimum value: 8, maximum value: 50, default value: 10. 1425 | # This tag requires that the tag GENERATE_HTML is set to YES. 1426 | 1427 | FORMULA_FONTSIZE = 10 1428 | 1429 | # Use the FORMULA_TRANPARENT tag to determine whether or not the images 1430 | # generated for formulas are transparent PNGs. Transparent PNGs are not 1431 | # supported properly for IE 6.0, but are supported on all modern browsers. 1432 | # 1433 | # Note that when changing this option you need to delete any form_*.png files in 1434 | # the HTML output directory before the changes have effect. 1435 | # The default value is: YES. 1436 | # This tag requires that the tag GENERATE_HTML is set to YES. 1437 | 1438 | FORMULA_TRANSPARENT = YES 1439 | 1440 | # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see 1441 | # http://www.mathjax.org) which uses client side Javascript for the rendering 1442 | # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX 1443 | # installed or if you want to formulas look prettier in the HTML output. When 1444 | # enabled you may also need to install MathJax separately and configure the path 1445 | # to it using the MATHJAX_RELPATH option. 1446 | # The default value is: NO. 1447 | # This tag requires that the tag GENERATE_HTML is set to YES. 1448 | 1449 | USE_MATHJAX = NO 1450 | 1451 | # When MathJax is enabled you can set the default output format to be used for 1452 | # the MathJax output. See the MathJax site (see: 1453 | # http://docs.mathjax.org/en/latest/output.html) for more details. 1454 | # Possible values are: HTML-CSS (which is slower, but has the best 1455 | # compatibility), NativeMML (i.e. MathML) and SVG. 1456 | # The default value is: HTML-CSS. 1457 | # This tag requires that the tag USE_MATHJAX is set to YES. 1458 | 1459 | MATHJAX_FORMAT = HTML-CSS 1460 | 1461 | # When MathJax is enabled you need to specify the location relative to the HTML 1462 | # output directory using the MATHJAX_RELPATH option. The destination directory 1463 | # should contain the MathJax.js script. For instance, if the mathjax directory 1464 | # is located at the same level as the HTML output directory, then 1465 | # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax 1466 | # Content Delivery Network so you can quickly see the result without installing 1467 | # MathJax. However, it is strongly recommended to install a local copy of 1468 | # MathJax from http://www.mathjax.org before deployment. 1469 | # The default value is: http://cdn.mathjax.org/mathjax/latest. 1470 | # This tag requires that the tag USE_MATHJAX is set to YES. 1471 | 1472 | MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest 1473 | 1474 | # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax 1475 | # extension names that should be enabled during MathJax rendering. For example 1476 | # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols 1477 | # This tag requires that the tag USE_MATHJAX is set to YES. 1478 | 1479 | MATHJAX_EXTENSIONS = 1480 | 1481 | # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces 1482 | # of code that will be used on startup of the MathJax code. See the MathJax site 1483 | # (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an 1484 | # example see the documentation. 1485 | # This tag requires that the tag USE_MATHJAX is set to YES. 1486 | 1487 | MATHJAX_CODEFILE = 1488 | 1489 | # When the SEARCHENGINE tag is enabled doxygen will generate a search box for 1490 | # the HTML output. The underlying search engine uses javascript and DHTML and 1491 | # should work on any modern browser. Note that when using HTML help 1492 | # (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) 1493 | # there is already a search function so this one should typically be disabled. 1494 | # For large projects the javascript based search engine can be slow, then 1495 | # enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to 1496 | # search using the keyboard; to jump to the search box use + S 1497 | # (what the is depends on the OS and browser, but it is typically 1498 | # , /