C API Snippets

This directory contains C API documentation snippets for the Stark SDK, organized by functionality.

File Organization

Core Device Management

• auto_detect.h - Auto-detection functions for Revo1/Revo2 devices
• device_handler.h - Device handler creation and management
• device_info.h - Device information, voltage, baudrate settings
• device_helpers.h - Helper functions (serial number parsing)
• device_settings.h - Device settings (slave ID, LED, buzzer, vibration, calibration, reset)

Connection Protocols

• modbus_revo1.h - Modbus connection for Revo1
• modbus_revo2.h - Modbus connection for Revo2
• canfd.h - CANFD initialization
• ethercat.h - EtherCAT master control
• modbus/device.h - Modbus device operations with auto-detect
• modbus/finger_status.h - Motor status via Modbus

Finger Control

• finger_position.h - Basic finger position and speed control (Revo1)
• finger_position_revo2.h - Advanced finger control for Revo2 (position, speed, current, PWM)
• motor_status.h - Motor status reading (positions, speeds, currents, states)
• force_level.h - Force level control (deprecated, Revo1 basic only)

Action Sequences

• action_sequence.h - Built-in gestures and custom action sequences

Touch Sensors

• touch.h - Touch sensor enable, calibrate, reset, and data reading
  • Raw channel data
  • Single finger status
  • All fingers status

Device Features

• led.h - LED color and mode control
• button.h - Button press event reading
• turbo_mode.h - Turbo mode (continuous squeezing)

System Configuration

• setup.h - SDK initialization (protocol type, log level)

Firmware Update

• ota.h - DFU (Device Firmware Update) operations

Advanced Features

• callbacks.h - Callback functions for Modbus and CAN operations

API Coverage

All APIs from stark-sdk.h are documented in these snippet files:

Initialization & Configuration

• ✅ init_cfg() - Initialize SDK
• ✅ list_available_ports() - List serial ports

Auto-Detection

• ✅ auto_detect_device() - Auto-detect any device
• ✅ auto_detect_modbus_revo1() - Auto-detect Revo1
• ✅ auto_detect_modbus_revo2() - Auto-detect Revo2

Connection Management

• ✅ modbus_open() - Open Modbus connection
• ✅ modbus_close() - Close Modbus connection
• ✅ canfd_init() - Initialize CANFD
• ✅ ethercat_open_master() - Open EtherCAT master
• ✅ ethercat_close() - Close EtherCAT master
• ✅ ethercat_setup_sdo() - Setup EtherCAT SDO
• ✅ ethercat_reserve_master() - Reserve EtherCAT master
• ✅ ethercat_start_loop() - Start EtherCAT loop
• ✅ ethercat_stop_loop() - Stop EtherCAT loop
• ✅ ethercat_start_dfu() - EtherCAT firmware update

Device Information

• ✅ stark_get_device_info() - Get device info
• ✅ is_touch_hand_by_sn() - Check if touch hand
• ✅ is_revo2_hand_by_sn() - Check if Revo2
• ✅ stark_get_voltage() - Get battery voltage
• ✅ stark_get_rs485_baudrate() - Get RS485 baudrate
• ✅ stark_set_rs485_baudrate() - Set RS485 baudrate
• ✅ stark_get_canfd_baudrate() - Get CANFD baudrate
• ✅ stark_set_canfd_baudrate() - Set CANFD baudrate

Device Settings

• ✅ stark_set_slave_id() - Set slave ID
• ✅ get_led_enabled() / set_led_enabled() - LED enable/disable
• ✅ get_buzzer_enabled() / set_buzzer_enabled() - Buzzer enable/disable
• ✅ get_vibration_enabled() / set_vibration_enabled() - Vibration enable/disable
• ✅ stark_get_auto_calibration() / stark_set_auto_calibration() - Auto-calibration
• ✅ stark_send_calibrate_position() - Manual calibration
• ✅ stark_reset_default_gesture() - Reset gestures
• ✅ stark_reset_default_settings() - Reset all settings

Finger Control (Unified Range: 0-1000)

• ✅ stark_set_finger_position() - Single finger position
• ✅ stark_set_finger_positions() - All fingers positions
• ✅ stark_set_finger_speed() - Single finger speed
• ✅ stark_set_finger_speeds() - All fingers speeds
• ✅ stark_set_finger_current() - Single finger current
• ✅ stark_set_finger_currents() - All fingers currents
• ✅ stark_set_finger_pwm() - Single finger PWM (Revo2)
• ✅ stark_set_finger_pwms() - All fingers PWM (Revo2)
• ✅ stark_set_finger_position_with_millis() - Position + duration (Revo2)
• ✅ stark_set_finger_positions_and_durations() - Positions + durations (Revo2)
• ✅ stark_set_finger_position_with_speed() - Position + speed (Revo2)
• ✅ stark_set_finger_positions_and_speeds() - Positions + speeds (Revo2)

Finger Configuration (Revo2)

• ✅ stark_set_finger_unit_mode() / stark_get_finger_unit_mode() - Unit mode
• ✅ stark_set_finger_max_position() / stark_get_finger_max_position() - Max position
• ✅ stark_set_finger_min_position() / stark_get_finger_min_position() - Min position
• ✅ stark_set_finger_max_speed() / stark_get_finger_max_speed() - Max speed
• ✅ stark_set_finger_max_current() / stark_get_finger_max_current() - Max current
• ✅ stark_set_finger_protected_current() / stark_get_finger_protected_current() - Protection current
• ✅ stark_set_thumb_aux_lock_current() / stark_get_thumb_aux_lock_current() - Thumb AUX lock

Motor Status

• ✅ stark_get_motor_status() - Get motor status (positions, speeds, currents, states)

Action Sequences

• ✅ stark_run_action_sequence() - Run action sequence
• ✅ stark_set_action_sequence() - Set custom action sequence

Touch Sensors

• ✅ stark_enable_touch_sensor() - Enable sensors
• ✅ stark_get_touch_raw_data() - Get raw channel data
• ✅ stark_get_single_touch_status() - Get single finger status
• ✅ stark_get_touch_status() - Get all fingers status
• ✅ stark_reset_touch_sensor() - Reset sensors
• ✅ stark_calibrate_touch_sensor() - Calibrate sensors

LED & Button

• ✅ stark_get_led_info() - Get LED info
• ✅ stark_get_button_event() - Get button event

Turbo Mode

• ✅ stark_get_turbo_mode_enabled() / stark_set_turbo_mode_enabled() - Turbo mode
• ✅ stark_get_turbo_config() - Get turbo config

Force Level (Deprecated)

• ✅ stark_set_force_level() / stark_get_force_level() - Force level (Revo1 basic only)

Firmware Update

• ✅ start_dfu() - Start DFU
• ✅ stop_dfu() - Stop DFU
• ✅ set_dfu_state_callback() - DFU state callback
• ✅ set_dfu_progress_callback() - DFU progress callback

Callbacks

• ✅ set_modbus_operation_callback() - Modbus async callback
• ✅ set_modbus_read_input_callback() - Modbus read input callback
• ✅ set_modbus_read_holding_callback() - Modbus read holding callback
• ✅ set_modbus_write_callback() - Modbus write callback
• ✅ set_can_rx_callback() - CAN RX callback
• ✅ set_can_tx_callback() - CAN TX callback

Memory Management

• ✅ free_device_config() - Free device config
• ✅ free_device_info() - Free device info
• ✅ free_device_handler() - Free device handler
• ✅ free_motor_status_data() - Free motor status
• ✅ free_touch_raw_data() - Free touch raw data
• ✅ free_touch_finger_data() - Free touch finger data
• ✅ free_touch_finger_item() - Free touch finger item
• ✅ free_turbo_config() - Free turbo config
• ✅ free_led_info() - Free LED info
• ✅ free_button_event() - Free button event
• ✅ free_string() - Free string

Key Features

Unified Range

All position, speed, and current values use unified ranges across all devices and protocols:

• Position: 0-1000 (0=fully open, 1000=fully closed)
• Speed: -1000 to +1000 (negative=open, positive=close)
• Current: -1000 to +1000 (negative=open, positive=close)

The SDK handles internal conversion automatically.

English Documentation

All comments and documentation are in English for international developers.

Complete API Coverage

Every function from stark-sdk.h is documented with:

• Parameter descriptions
• Return value documentation
• Usage examples
• Notes and warnings
• Cross-references

Usage

Include the relevant header files in your documentation or code:

#include "auto_detect.h"
#include "device_info.h"
#include "finger_position_revo2.h"
#include "motor_status.h"
#include "touch.h"
// ... etc

These snippets are designed to be used in documentation generation tools or as reference for developers.