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Commit 7f2eb60d authored by Sergi Hernandez's avatar Sergi Hernandez
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Adapted the firmware to the newest version of the dynamixel interface library.

parent f05c7637
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...@@ -83,8 +83,7 @@ int main(void) ...@@ -83,8 +83,7 @@ int main(void)
// comm_start(); // comm_start();
while(1)/* main function does not return */ while(1)/* main function does not return */
{ {
HAL_Delay(1000); dyn_slave_loop(&darwin_dyn_slave);
gpio_toggle_led(LED_4);
} }
} }
...@@ -82,7 +82,7 @@ void darwin_dyn_master_init(void) ...@@ -82,7 +82,7 @@ void darwin_dyn_master_init(void)
priorities.dma_tx_subpriority=2; priorities.dma_tx_subpriority=2;
usart1_init(&darwin_dyn_master_comm,&Init,&priorities); usart1_init(&darwin_dyn_master_comm,&Init,&priorities);
dyn_master_init(&darwin_dyn_master,&darwin_dyn_master_comm); dyn_master_init(&darwin_dyn_master,&darwin_dyn_master_comm,DYN_VER1);
darwin_dyn_master.set_rx_mode=darwin_dyn_master_set_rx_mode; darwin_dyn_master.set_rx_mode=darwin_dyn_master_set_rx_mode;
darwin_dyn_master.set_tx_mode=darwin_dyn_master_set_tx_mode; darwin_dyn_master.set_tx_mode=darwin_dyn_master_set_tx_mode;
} }
......
...@@ -45,7 +45,7 @@ void darwin_dyn_slave_init(void) ...@@ -45,7 +45,7 @@ void darwin_dyn_slave_init(void)
priorities.dma_tx_subpriority=0; priorities.dma_tx_subpriority=0;
usart3_init(&darwin_dyn_slave_comm,&Init,&priorities); usart3_init(&darwin_dyn_slave_comm,&Init,&priorities);
dyn_slave_init(&darwin_dyn_slave,&darwin_dyn_slave_comm,0x01); dyn_slave_init(&darwin_dyn_slave,&darwin_dyn_slave_comm,0x01,DYN_VER1);
darwin_dyn_slave.on_read=darwin_on_read; darwin_dyn_slave.on_read=darwin_on_read;
darwin_dyn_slave.on_write=darwin_on_write; darwin_dyn_slave.on_write=darwin_on_write;
//dyn_slave_set_return_delay(&battery_dyn_slave,ram_data[BATTERY_RETURN_DELAY_TIME]); //dyn_slave_set_return_delay(&battery_dyn_slave,ram_data[BATTERY_RETURN_DELAY_TIME]);
......
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