From 7f2eb60d04051d220ebea2529f5a5b3fd9dd52f9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Sun, 24 Jan 2016 10:38:42 +0000
Subject: [PATCH] Adapted the firmware to the newest version of the dynamixel
interface library.
---
src/cm730_fw.c | 3 +--
src/darwin_dyn_master.c | 2 +-
src/darwin_dyn_slave.c | 2 +-
3 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/src/cm730_fw.c b/src/cm730_fw.c
index d3f081c..db059f1 100755
--- a/src/cm730_fw.c
+++ b/src/cm730_fw.c
@@ -83,8 +83,7 @@ int main(void)
// comm_start();
while(1)/* main function does not return */
{
- HAL_Delay(1000);
- gpio_toggle_led(LED_4);
+ dyn_slave_loop(&darwin_dyn_slave);
}
}
diff --git a/src/darwin_dyn_master.c b/src/darwin_dyn_master.c
index b434ad7..13ef778 100755
--- a/src/darwin_dyn_master.c
+++ b/src/darwin_dyn_master.c
@@ -82,7 +82,7 @@ void darwin_dyn_master_init(void)
priorities.dma_tx_subpriority=2;
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_tx_mode=darwin_dyn_master_set_tx_mode;
}
diff --git a/src/darwin_dyn_slave.c b/src/darwin_dyn_slave.c
index 00b60f1..c68b5ec 100755
--- a/src/darwin_dyn_slave.c
+++ b/src/darwin_dyn_slave.c
@@ -45,7 +45,7 @@ void darwin_dyn_slave_init(void)
priorities.dma_tx_subpriority=0;
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_write=darwin_on_write;
//dyn_slave_set_return_delay(&battery_dyn_slave,ram_data[BATTERY_RETURN_DELAY_TIME]);
--
GitLab