Commit 188e1f8b authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Improved and tested the relay feature.

parent 6840c109
...@@ -169,13 +169,19 @@ void dyn_slave_loop(TDynamixelSlave *slave) ...@@ -169,13 +169,19 @@ void dyn_slave_loop(TDynamixelSlave *slave)
if(send_status==0x01) if(send_status==0x01)
dyn_slave_send_status_packet(slave,slave->slave_devices[i]->address,error,length,data,slave->slave_devices[i]->return_delay); dyn_slave_send_status_packet(slave,slave->slave_devices[i]->address,error,length,data,slave->slave_devices[i]->return_delay);
} }
if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer)==DYN_SUCCESS) if(send_status==0xFF)// packet has not been processed
{ {
// set the tx mode, if necessary if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer)==DYN_SUCCESS)
slave->set_tx_mode(); {
// start transmission by DMA // set the tx mode, if necessary
comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn_get_length(slave->tx_buffer)+4); slave->set_tx_mode();
} // start transmission by DMA
if(slave->version==DYN_VER1)
comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn_get_length(slave->tx_buffer)+4);
else
comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn2_get_length(slave->tx_buffer)+7);
}
}
} }
else else
{ {
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment