\section{aversive\_\-10-03-12/modules/devices/servo/ax12/ax12.c File Reference}
\label{ax12_8c}\index{aversive\_\-10-03-12/modules/devices/servo/ax12/ax12.c@{aversive\_\-10-03-12/modules/devices/servo/ax12/ax12.c}}
{\tt \#include $<$stdio.h$>$}\par
{\tt \#include $<$string.h$>$}\par
{\tt \#include \char`\"{}ax12.h\char`\"{}}\par
\subsection*{Functions}
\begin{CompactItemize}
\item 
void {\bf AX12\_\-init} ({\bf AX12} $\ast${\bf s})
\item 
void {\bf AX12\_\-set\_\-hardware\_\-send} ({\bf AX12} $\ast${\bf s}, int8\_\-t($\ast$pf)(uint8\_\-t))
\begin{CompactList}\small\item\em Set the function called when writing a character. \item\end{CompactList}\item 
void {\bf AX12\_\-set\_\-hardware\_\-recv} ({\bf AX12} $\ast${\bf s}, int16\_\-t($\ast$pf)(void))
\begin{CompactList}\small\item\em Set the function called when reading a character. \item\end{CompactList}\item 
void {\bf AX12\_\-set\_\-hardware\_\-switch} ({\bf AX12} $\ast${\bf s}, void($\ast$pf)(uint8\_\-t))
\begin{CompactList}\small\item\em Set the function called when switching line direction. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-checksum} ({\bf AX12\_\-Packet} $\ast$packet)
\begin{CompactList}\small\item\em Compute \doxyref{AX12}{p.}{structAX12} packet checksum. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-send} ({\bf AX12} $\ast${\bf s}, {\bf AX12\_\-Packet} $\ast$packet)
\begin{CompactList}\small\item\em Send a formated \doxyref{AX12}{p.}{structAX12} instruction packet. Return 0 on on success. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-recv} ({\bf AX12} $\ast${\bf s}, {\bf AX12\_\-Packet} $\ast$packet)
\item 
uint8\_\-t {\bf AX12\_\-write\_\-byte} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, {\bf AX12\_\-ADDRESS} address, uint8\_\-t data)
\begin{CompactList}\small\item\em Write byte in AX-12 memory. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-write\_\-int} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, {\bf AX12\_\-ADDRESS} address, uint16\_\-t data)
\begin{CompactList}\small\item\em Write integer (2 bytes) in AX-12 memory. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-read\_\-byte} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, {\bf AX12\_\-ADDRESS} address, uint8\_\-t $\ast$val)
\begin{CompactList}\small\item\em Read byte from AX-12 memory. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-read\_\-int} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, {\bf AX12\_\-ADDRESS} address, uint16\_\-t $\ast$val)
\begin{CompactList}\small\item\em Write integer (2 bytes) from AX-12 memory. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-set\_\-position} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, uint16\_\-t position)
\begin{CompactList}\small\item\em Set \doxyref{AX12}{p.}{structAX12} position. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-set\_\-position2} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, uint16\_\-t position, uint16\_\-t speed)
\begin{CompactList}\small\item\em Set \doxyref{AX12}{p.}{structAX12} position and moving speed. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-set\_\-position3} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, uint16\_\-t position, uint16\_\-t speed, uint16\_\-t torque)
\begin{CompactList}\small\item\em Set \doxyref{AX12}{p.}{structAX12} position, moving speed and torque. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-get\_\-position} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, uint16\_\-t $\ast$pos)
\begin{CompactList}\small\item\em Read \doxyref{AX12}{p.}{structAX12} position. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-get\_\-speed} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, uint16\_\-t $\ast$speed)
\begin{CompactList}\small\item\em Read \doxyref{AX12}{p.}{structAX12} speed. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-get\_\-load} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id, uint16\_\-t $\ast$load)
\begin{CompactList}\small\item\em Read \doxyref{AX12}{p.}{structAX12} load. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-ping} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id)
\begin{CompactList}\small\item\em Ping an \doxyref{AX12}{p.}{structAX12} and return \doxyref{error}{p.}{structerror} register. \item\end{CompactList}\item 
uint8\_\-t {\bf AX12\_\-reset} ({\bf AX12} $\ast${\bf s}, uint8\_\-t id)
\begin{CompactList}\small\item\em Reset \doxyref{AX12}{p.}{structAX12} back to factory settings. \item\end{CompactList}\end{CompactItemize}


\subsection{Function Documentation}
\index{ax12.c@{ax12.c}!AX12\_\-checksum@{AX12\_\-checksum}}
\index{AX12\_\-checksum@{AX12\_\-checksum}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-checksum]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-checksum ({\bf AX12\_\-Packet} $\ast$ {\em packet})}\label{ax12_8c_cd8899fe4f225f2a67160c485c6ccbc2}


Compute \doxyref{AX12}{p.}{structAX12} packet checksum. 



Definition at line 62 of file ax12.c.

References i, AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, and AX12\_\-Packet::params.

Referenced by AX12\_\-recv(), and AX12\_\-send().\index{ax12.c@{ax12.c}!AX12\_\-get\_\-load@{AX12\_\-get\_\-load}}
\index{AX12\_\-get\_\-load@{AX12\_\-get\_\-load}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-get\_\-load]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-get\_\-load ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id}, \/  uint16\_\-t $\ast$ {\em load})}\label{ax12_8c_96c45d14658dcf2ed809c0f1bd5513f2}


Read \doxyref{AX12}{p.}{structAX12} load. 



Definition at line 447 of file ax12.c.

References AA\_\-PRESENT\_\-LOAD\_\-L, and AX12\_\-read\_\-int().\index{ax12.c@{ax12.c}!AX12\_\-get\_\-position@{AX12\_\-get\_\-position}}
\index{AX12\_\-get\_\-position@{AX12\_\-get\_\-position}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-get\_\-position]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-get\_\-position ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id}, \/  uint16\_\-t $\ast$ {\em pos})}\label{ax12_8c_43aec6447c98ec2a94ac3507e74832bd}


Read \doxyref{AX12}{p.}{structAX12} position. 



Definition at line 437 of file ax12.c.

References AA\_\-PRESENT\_\-POSITION\_\-L, and AX12\_\-read\_\-int().\index{ax12.c@{ax12.c}!AX12\_\-get\_\-speed@{AX12\_\-get\_\-speed}}
\index{AX12\_\-get\_\-speed@{AX12\_\-get\_\-speed}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-get\_\-speed]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-get\_\-speed ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id}, \/  uint16\_\-t $\ast$ {\em speed})}\label{ax12_8c_6c3ef4d4ed9a1686e18f66a3ddfeb87d}


Read \doxyref{AX12}{p.}{structAX12} speed. 



Definition at line 442 of file ax12.c.

References AA\_\-PRESENT\_\-SPEED\_\-L, and AX12\_\-read\_\-int().\index{ax12.c@{ax12.c}!AX12\_\-init@{AX12\_\-init}}
\index{AX12\_\-init@{AX12\_\-init}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-init]{\setlength{\rightskip}{0pt plus 5cm}void AX12\_\-init ({\bf AX12} $\ast$ {\em s})}\label{ax12_8c_0015f12a2c41bce5207730fe43bb029b}




Definition at line 33 of file ax12.c.

References AX12::hardware\_\-recv, AX12::hardware\_\-send, and AX12::hardware\_\-switch.\index{ax12.c@{ax12.c}!AX12\_\-ping@{AX12\_\-ping}}
\index{AX12\_\-ping@{AX12\_\-ping}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-ping]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-ping ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id})}\label{ax12_8c_bd059fd1071fe13d088f40200c6f5559}


Ping an \doxyref{AX12}{p.}{structAX12} and return \doxyref{error}{p.}{structerror} register. 



Definition at line 452 of file ax12.c.

References AX12\_\-BROADCAST\_\-ID, AX12\_\-PING, AX12\_\-recv(), AX12\_\-send(), AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, and gen\_\-regs::p.\index{ax12.c@{ax12.c}!AX12\_\-read\_\-byte@{AX12\_\-read\_\-byte}}
\index{AX12\_\-read\_\-byte@{AX12\_\-read\_\-byte}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-read\_\-byte]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-read\_\-byte ({\bf AX12} $\ast$, \/  uint8\_\-t {\em id}, \/  {\bf AX12\_\-ADDRESS} {\em address}, \/  uint8\_\-t $\ast$ {\em val})}\label{ax12_8c_aa0bd964c04bab2740f0baec2fee50ef}


Read byte from AX-12 memory. 

\begin{Desc}
\item[Returns:]Error code from AX-12 (0 means okay) \end{Desc}


Definition at line 298 of file ax12.c.

References AX12\_\-READ, AX12\_\-recv(), AX12\_\-send(), AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, gen\_\-regs::p, and AX12\_\-Packet::params.\index{ax12.c@{ax12.c}!AX12\_\-read\_\-int@{AX12\_\-read\_\-int}}
\index{AX12\_\-read\_\-int@{AX12\_\-read\_\-int}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-read\_\-int]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-read\_\-int ({\bf AX12} $\ast$, \/  uint8\_\-t {\em id}, \/  {\bf AX12\_\-ADDRESS} {\em address}, \/  uint16\_\-t $\ast$ {\em val})}\label{ax12_8c_27a6645c63c4079f164ae674d0604fa7}


Write integer (2 bytes) from AX-12 memory. 

\begin{Desc}
\item[Returns:]Error code from AX-12 (0 means okay) \end{Desc}


Definition at line 330 of file ax12.c.

References AX12\_\-READ, AX12\_\-recv(), AX12\_\-send(), AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, gen\_\-regs::p, and AX12\_\-Packet::params.

Referenced by AX12\_\-get\_\-load(), AX12\_\-get\_\-position(), and AX12\_\-get\_\-speed().\index{ax12.c@{ax12.c}!AX12\_\-recv@{AX12\_\-recv}}
\index{AX12\_\-recv@{AX12\_\-recv}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-recv]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-recv ({\bf AX12} $\ast$ {\em s}, \/  {\bf AX12\_\-Packet} $\ast$ {\em packet})}\label{ax12_8c_05770e68e664fa73c83ef44bb82e53d6}




Definition at line 167 of file ax12.c.

References AX12\_\-checksum(), AX12\_\-ERROR\_\-TYPE\_\-BAD\_\-CKSUM, AX12\_\-ERROR\_\-TYPE\_\-INVALID\_\-PACKET, AX12\_\-ERROR\_\-TYPE\_\-NO\_\-ANSWER, AX12\_\-ERROR\_\-TYPE\_\-TIMEOUT, AX12\_\-STATE\_\-READ, AX12\_\-Packet::error, AX12::hardware\_\-recv, AX12::hardware\_\-switch, i, AX12\_\-Packet::id, AX12\_\-Packet::nparams, and AX12\_\-Packet::params.

Referenced by AX12\_\-ping(), AX12\_\-read\_\-byte(), AX12\_\-read\_\-int(), AX12\_\-reset(), AX12\_\-set\_\-position2(), AX12\_\-set\_\-position3(), AX12\_\-write\_\-byte(), and AX12\_\-write\_\-int().\index{ax12.c@{ax12.c}!AX12\_\-reset@{AX12\_\-reset}}
\index{AX12\_\-reset@{AX12\_\-reset}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-reset]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-reset ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id})}\label{ax12_8c_4e953daa5780d0202e1dfb777f343147}


Reset \doxyref{AX12}{p.}{structAX12} back to factory settings. 



Definition at line 474 of file ax12.c.

References AX12\_\-BROADCAST\_\-ID, AX12\_\-recv(), AX12\_\-RESET, AX12\_\-send(), AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, and gen\_\-regs::p.\index{ax12.c@{ax12.c}!AX12\_\-send@{AX12\_\-send}}
\index{AX12\_\-send@{AX12\_\-send}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-send]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-send ({\bf AX12} $\ast$ {\em s}, \/  {\bf AX12\_\-Packet} $\ast$ {\em packet})}\label{ax12_8c_6acb4af9ff973227582e1ba7b3cae53e}


Send a formated \doxyref{AX12}{p.}{structAX12} instruction packet. Return 0 on on success. 



Definition at line 80 of file ax12.c.

References AX12\_\-checksum(), AX12\_\-ERROR\_\-TYPE\_\-INVALID\_\-PACKET, AX12\_\-ERROR\_\-TYPE\_\-XMIT\_\-FAILED, AX12\_\-STATE\_\-READ, AX12\_\-STATE\_\-WRITE, AX12::hardware\_\-send, AX12::hardware\_\-switch, i, AX12\_\-Packet::id, AX12\_\-Packet::instruction, IRQ\_\-LOCK, IRQ\_\-UNLOCK, AX12\_\-Packet::nparams, AX12\_\-Packet::params, scheduler\_\-disable\_\-save(), and scheduler\_\-enable\_\-restore().

Referenced by AX12\_\-ping(), AX12\_\-read\_\-byte(), AX12\_\-read\_\-int(), AX12\_\-reset(), AX12\_\-set\_\-position2(), AX12\_\-set\_\-position3(), AX12\_\-write\_\-byte(), and AX12\_\-write\_\-int().\index{ax12.c@{ax12.c}!AX12\_\-set\_\-hardware\_\-recv@{AX12\_\-set\_\-hardware\_\-recv}}
\index{AX12\_\-set\_\-hardware\_\-recv@{AX12\_\-set\_\-hardware\_\-recv}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-set\_\-hardware\_\-recv]{\setlength{\rightskip}{0pt plus 5cm}void AX12\_\-set\_\-hardware\_\-recv ({\bf AX12} $\ast$ {\em s}, \/  int16\_\-t($\ast$)(void) {\em pf})}\label{ax12_8c_3dce9351a1dbf14c696265ec62e52f60}


Set the function called when reading a character. 



Definition at line 48 of file ax12.c.

References AX12::hardware\_\-recv.\index{ax12.c@{ax12.c}!AX12\_\-set\_\-hardware\_\-send@{AX12\_\-set\_\-hardware\_\-send}}
\index{AX12\_\-set\_\-hardware\_\-send@{AX12\_\-set\_\-hardware\_\-send}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-set\_\-hardware\_\-send]{\setlength{\rightskip}{0pt plus 5cm}void AX12\_\-set\_\-hardware\_\-send ({\bf AX12} $\ast$ {\em s}, \/  int8\_\-t($\ast$)(uint8\_\-t) {\em pf})}\label{ax12_8c_72579d31cf7dab7a54330831c68dce15}


Set the function called when writing a character. 



Definition at line 43 of file ax12.c.

References AX12::hardware\_\-send.\index{ax12.c@{ax12.c}!AX12\_\-set\_\-hardware\_\-switch@{AX12\_\-set\_\-hardware\_\-switch}}
\index{AX12\_\-set\_\-hardware\_\-switch@{AX12\_\-set\_\-hardware\_\-switch}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-set\_\-hardware\_\-switch]{\setlength{\rightskip}{0pt plus 5cm}void AX12\_\-set\_\-hardware\_\-switch ({\bf AX12} $\ast$ {\em s}, \/  void($\ast$)(uint8\_\-t) {\em pf})}\label{ax12_8c_980e7319b801033751574fcd5ab90950}


Set the function called when switching line direction. 



Definition at line 53 of file ax12.c.

References AX12::hardware\_\-switch.\index{ax12.c@{ax12.c}!AX12\_\-set\_\-position@{AX12\_\-set\_\-position}}
\index{AX12\_\-set\_\-position@{AX12\_\-set\_\-position}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-set\_\-position]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-set\_\-position ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id}, \/  uint16\_\-t {\em position})}\label{ax12_8c_70e20e30d3e88791b01b278d82d59d14}


Set \doxyref{AX12}{p.}{structAX12} position. 



Definition at line 365 of file ax12.c.

References AA\_\-GOAL\_\-POSITION\_\-L, and AX12\_\-write\_\-int().\index{ax12.c@{ax12.c}!AX12\_\-set\_\-position2@{AX12\_\-set\_\-position2}}
\index{AX12\_\-set\_\-position2@{AX12\_\-set\_\-position2}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-set\_\-position2]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-set\_\-position2 ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id}, \/  uint16\_\-t {\em position}, \/  uint16\_\-t {\em speed})}\label{ax12_8c_92cf40542940dd7d4d62d02cd21efeca}


Set \doxyref{AX12}{p.}{structAX12} position and moving speed. 



Definition at line 370 of file ax12.c.

References AA\_\-GOAL\_\-POSITION\_\-L, AX12\_\-BROADCAST\_\-ID, AX12\_\-recv(), AX12\_\-send(), AX12\_\-WRITE, AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, gen\_\-regs::p, and AX12\_\-Packet::params.\index{ax12.c@{ax12.c}!AX12\_\-set\_\-position3@{AX12\_\-set\_\-position3}}
\index{AX12\_\-set\_\-position3@{AX12\_\-set\_\-position3}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-set\_\-position3]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-set\_\-position3 ({\bf AX12} $\ast$ {\em s}, \/  uint8\_\-t {\em id}, \/  uint16\_\-t {\em position}, \/  uint16\_\-t {\em speed}, \/  uint16\_\-t {\em torque})}\label{ax12_8c_449dcdb63c72fec111abb9572a531d47}


Set \doxyref{AX12}{p.}{structAX12} position, moving speed and torque. 



Definition at line 402 of file ax12.c.

References AA\_\-GOAL\_\-POSITION\_\-L, AX12\_\-BROADCAST\_\-ID, AX12\_\-recv(), AX12\_\-send(), AX12\_\-WRITE, AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, gen\_\-regs::p, and AX12\_\-Packet::params.\index{ax12.c@{ax12.c}!AX12\_\-write\_\-byte@{AX12\_\-write\_\-byte}}
\index{AX12\_\-write\_\-byte@{AX12\_\-write\_\-byte}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-write\_\-byte]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-write\_\-byte ({\bf AX12} $\ast$, \/  uint8\_\-t {\em id}, \/  {\bf AX12\_\-ADDRESS} {\em address}, \/  uint8\_\-t {\em data})}\label{ax12_8c_a85fb68b8c9310e41f31afd5bf5d7525}


Write byte in AX-12 memory. 

\begin{Desc}
\item[Returns:]Error code from AX-12 (0 means okay) \end{Desc}


Definition at line 228 of file ax12.c.

References AX12\_\-BROADCAST\_\-ID, AX12\_\-recv(), AX12\_\-send(), AX12\_\-WRITE, AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, gen\_\-regs::p, and AX12\_\-Packet::params.\index{ax12.c@{ax12.c}!AX12\_\-write\_\-int@{AX12\_\-write\_\-int}}
\index{AX12\_\-write\_\-int@{AX12\_\-write\_\-int}!ax12.c@{ax12.c}}
\subsubsection[AX12\_\-write\_\-int]{\setlength{\rightskip}{0pt plus 5cm}uint8\_\-t AX12\_\-write\_\-int ({\bf AX12} $\ast$, \/  uint8\_\-t {\em id}, \/  {\bf AX12\_\-ADDRESS} {\em address}, \/  uint16\_\-t {\em data})}\label{ax12_8c_6e02815802d2a1eaf9227491b2feb03f}


Write integer (2 bytes) in AX-12 memory. 

\begin{Desc}
\item[Returns:]Error code from AX-12 (0 means okay)\end{Desc}
address : data low address+1 : data high 

Definition at line 261 of file ax12.c.

References AX12\_\-BROADCAST\_\-ID, AX12\_\-recv(), AX12\_\-send(), AX12\_\-WRITE, AX12\_\-Packet::id, AX12\_\-Packet::instruction, AX12\_\-Packet::nparams, gen\_\-regs::p, and AX12\_\-Packet::params.

Referenced by AX12\_\-set\_\-position().