From 6840c1091628c4e8967ff203aaecf05a1e674865 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 2 Sep 2020 13:01:06 +0200
Subject: [PATCH] The loop functions return 0xFF to indicate the packet has to
be relayed (not processed or broadcast ID)
---
dynamixel_base/src/dynamixel_slave_device.c | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/dynamixel_base/src/dynamixel_slave_device.c b/dynamixel_base/src/dynamixel_slave_device.c
index 3d792dc..68c1222 100644
--- a/dynamixel_base/src/dynamixel_slave_device.c
+++ b/dynamixel_base/src/dynamixel_slave_device.c
@@ -98,6 +98,8 @@ unsigned char dyn_v1_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
(*error)=DYN_INST_ERROR;
}
}
+ else if(id==DYN_BROADCAST_ID)
+ send_status=0xFF;
break;
case DYN_WRITE: (*length)=dyn_get_write_data(rx_buffer,data);
(*error)=device->on_write(dyn_get_write_address(rx_buffer),*length,data);
@@ -108,6 +110,8 @@ unsigned char dyn_v1_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
if((*error)!=DYN_NO_ERROR)
(*error)=DYN_INST_ERROR;
}
+ else if(id==DYN_BROADCAST_ID)
+ send_status=0xFF;
break;
case DYN_REG_WRITE: device->reg_length=dyn_get_reg_write_data(rx_buffer,device->reg_buffer);
device->reg_address=dyn_get_reg_write_address(rx_buffer);
@@ -199,6 +203,8 @@ unsigned char dyn_v1_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
}
}
}
+ else
+ send_status=0xFF;
}
}
@@ -242,6 +248,8 @@ unsigned char dyn_v2_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
(*error)=DYN_INST_ERROR;
}
}
+ else if(id==DYN_BROADCAST_ID)
+ send_status=0xFF;
break;
case DYN_WRITE: (*length)=dyn2_get_write_data(rx_buffer,data);
(*error)=device->on_write(dyn2_get_write_address(rx_buffer),*length,data);
@@ -252,6 +260,8 @@ unsigned char dyn_v2_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
if((*error)!=DYN_NO_ERROR)
(*error)=DYN_INST_ERROR;
}
+ else if(id==DYN_BROADCAST_ID)
+ send_status=0xFF;
break;
case DYN_REG_WRITE: device->reg_length=dyn2_get_reg_write_data(rx_buffer,device->reg_buffer);
device->reg_address=dyn2_get_reg_write_address(rx_buffer);
@@ -376,6 +386,8 @@ unsigned char dyn_v2_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
}
}
}
+ else
+ send_status=0xFF;
}
}
--
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