From 15a8cfe9bceafeb7ff1342700f2f826f416db0f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 5 Oct 2015 16:57:49 +0000
Subject: [PATCH] Solved some minor bugs in the master and slave interfaces.
---
dynamixel_base/src/dynamixel_master.c | 2 +-
dynamixel_base/src/dynamixel_slave.c | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/dynamixel_base/src/dynamixel_master.c b/dynamixel_base/src/dynamixel_master.c
index c7c200f..0225101 100644
--- a/dynamixel_base/src/dynamixel_master.c
+++ b/dynamixel_base/src/dynamixel_master.c
@@ -184,7 +184,7 @@ unsigned char dyn_master_wait_reception(TDynamixelMaster *master)
}
else
{
- if(dyn2_check_checksum(master->rx_buffer)==0xFF)
+ if(dyn2_check_checksum(master->rx_buffer)==0x01)
return dyn2_get_status_error(master->rx_buffer);
else
return DYN_CHECKSUM_ERROR;
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 0dc791c..69fb613 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -265,7 +265,7 @@ void dyn_v1_slave_loop(TDynamixelSlave *slave)
}
else// the packet is addressed to another device, so relay it
{
- if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer))
+ if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer)==DYN_SUCCESS)
{
// set the tx mode, if necessary
slave->set_tx_mode();
@@ -414,12 +414,12 @@ void dyn_v2_slave_loop(TDynamixelSlave *slave)
}
else// the packet is addressed to another device, so relay it
{
- if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer))
+ if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer)==DYN_SUCCESS)
{
// set the tx mode, if necessary
slave->set_tx_mode();
// start transmission by DMA
- comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn_get_length(slave->tx_buffer)+8);
+ comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn2_get_length(slave->tx_buffer)+8);
}
}
}
--
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