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API Function Reference

Parent: API Reference Overview · Documentation Index

A per-header collection of pages documenting the exact function signatures, parameters, return values, and types declared by each header under XM_FW/XM_API/. For "why to use this API / how it fits your algorithm," check the concept guides (01–10) first. These pages are for looking up the precise calling contract while you write code.

Umbrella Entry Point

Header One-line purpose Reference Related concept doc Representative example
xm_api.h Includes every SDK API header in one shot + XM_GetTick() xm-api.en.md API Reference Overview 00_Quick_Start — included by virtually every example

Control · Data

Header One-line purpose Reference Related concept doc Representative example
xm_api_data.h Read KIT H10 sensor data (XM.status) + issue torque/position commands (P/I/F-Vector) — 23 functions · 3 macros · 13 types xm-api-data.en.md 02. KIT H10 Control & Data 12_Active_Assist_Mode

State Machine

Header One-line purpose Reference Related concept doc Representative example
xm_api_tsm.h Task State Machine that separates control logic per state — 4 functions · 6 types xm-api-tsm.en.md 01. Task State Machine (TSM) 03_Button_LED_FSM

IO

Header One-line purpose Reference Related concept doc Representative example
xm_api_led_btn.h Onboard LED effect/state control + button event reads — 6 functions · 7 types xm-api-led-btn.en.md 03. LED & Button 01_Button_LED_Basic
xm_api_external_io.h Expansion port digital GPIO I/O + ADC analog reads — 21 symbols (14 functions and more) xm-api-external-io.en.md 04. External IO 04_Ext_IO_Basic

USB · Logging

Header One-line purpose Reference Related concept doc Representative example
xm_api_usb.h USB serial (CDC) real-time streaming xm-api-usb.en.md 05. USB Serial 09_CDC_Stream
xm_api_logging.h Struct logging — send a struct to the PC with field names, units and types (also covers xm_api_logging_raw.h) — 🟢 Rev 2.0 only xm-api-logging.en.md 10. Struct Logging 44_CDC_Struct_Logging
xm_api_usb_msc.h USB memory logging — save one struct to a USB memory stick at a fixed rate — 🟢 Rev 2.0 only, 14 functions xm-api-usb-msc.en.md 06. USB Memory Logging 10_USB_Memory_Log · 34_USB_Memory_Gait_Log

Memory · RTC

Header One-line purpose Reference Related concept doc Representative example
xm_api_memory.h Workspace/PSRAM/DTCM fast memory + non-volatile (Flash) storage access — 🟢 Rev 2.0 only, 11 functions xm-api-memory.en.md 07. Memory Regions 36_OnDevice_Kinesthetic_Learning
xm_api_rtc.h RTC date/time set & read — ⚠️ stub on Rev1.1 (no hardware), 3 functions xm-api-rtc.en.md 08. Real-Time Clock —

RTOS

Header One-line purpose Reference Related concept doc Representative example
xm_api_freertos.h Auxiliary task creation (one-shot/periodic) + Mutex — student-friendly FreeRTOS wrapper, 17 functions (15 active + 2 deprecated) xm-api-freertos.en.md 09. Auxiliary Tasks & Data Sharing 38_Periodic_Background_Task

User Data

Header One-line purpose Reference Related concept doc Representative example
xm_api_user_custom.h 28-byte user custom slot inside the Total Data Packet (0x20) — 7 functions · 4 macros · 1 type xm-api-user-custom.en.md 05. USB Serial Communication No direct-usage example yet (new in v2.3.0) — see 09_CDC_Stream for the same packet

See Also