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humanoides
tools
stm32_libraries
Commits
0fe60d7f
Commit
0fe60d7f
authored
Apr 15, 2020
by
Sergi Hernandez
Browse files
Solved a bug in the main motion manager loop: The post_process functions were never called.
parent
0a1289f4
Changes
1
Hide whitespace changes
Inline
Side-by-side
dynamixel_manager/src/dyn_manager.c
View file @
0fe60d7f
...
...
@@ -361,12 +361,12 @@ void dyn_manager_start(TDynManager *manager)
{
scheduler_enable_channel
(
manager
->
scheduler
,
manager
->
sch_loop_ch
);
manager
->
running
=
0x01
;
manager
->
stop_flag
=
0x00
;
manager
->
memory
->
data
[
manager
->
ram_base_address
+
DYN_MANAGER_CONTROL_OFFSET
]
|=
DYN_MANAGER_RUNNING
;
}
void
dyn_manager_stop
(
TDynManager
*
manager
)
{
scheduler_disable_channel
(
manager
->
scheduler
,
manager
->
sch_loop_ch
);
manager
->
stop_flag
=
0x01
;
}
...
...
@@ -1101,7 +1101,7 @@ void dyn_manager_loop(TDynManager *manager)
// initialize the remaining operations
dyn_manager_lock
(
manager
);
for
(
i
=
0
;
i
<
manager
->
num_masters
;
i
++
)
for
(
i
=
0
;
i
<
DYN_MANAGER_MAX_NUM_MASTERS
;
i
++
)
{
states
[
i
]
=
start_single_ops
;
current_single_op
[
i
]
=
0
;
...
...
@@ -1119,7 +1119,6 @@ void dyn_manager_loop(TDynManager *manager)
{
if
(
manager
->
modules
[
i
]
->
pre_process
!=
0x00000000
)
manager
->
modules
[
i
]
->
pre_process
(
manager
->
modules
[
i
]
->
data
);
manager
->
modules_period_count
[
i
]
=
0
;
}
}
}
...
...
@@ -1275,5 +1274,6 @@ void dyn_manager_loop(TDynManager *manager)
manager
->
running
=
0x00
;
manager
->
memory
->
data
[
manager
->
ram_base_address
+
DYN_MANAGER_CONTROL_OFFSET
]
&=
(
~
DYN_MANAGER_RUNNING
);
manager
->
stop_flag
=
0x00
;
scheduler_disable_channel
(
manager
->
scheduler
,
manager
->
sch_loop_ch
);
}
}
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