Added a mutex for the operations data structure.

Moved the scan function to a different timer channel.
Solved a bug in the operations delete function.

dynamixel_manager/include/dyn_manager.h

@@ -119,16 +119,17 @@ typedef struct{
   unsigned char num_ops;
   unsigned char period_ms;
   TScheduler *scheduler;
-  sched_channel_t sch_channel;
+  sched_channel_t sch_loop_ch;
+  sched_channel_t sch_scan_ch;
   TMemory *memory;
   TMemModule mem_module;
   unsigned char running;
-  unsigned char do_scan;
   unsigned int present_devices;
+  volatile unsigned char lock;
 }TDynManager;
 
 // public functions
-unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *scheduler,sched_channel_t sch_channel,unsigned short int eeprom_base_address,unsigned short int ram_base_address);
+unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,TScheduler *scheduler,sched_channel_t loop_ch,sched_channel_t scan_ch,unsigned short int eeprom_base_address,unsigned short int ram_base_address);
 void dyn_manager_set_period(TDynManager *manager,unsigned char period_ms);
 static inline unsigned char dyn_manager_get_period(TDynManager *manager)
 {