From 8084655d97555389a6d05678af6e649c4953743f Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 2 Apr 2020 22:44:57 +0200
Subject: [PATCH] Added two function pointers to enable and disable power on
the master interface. Added a dummy implementation of these functions.
---
dynamixel_base/include/dynamixel_master.h | 10 ++++++++++
dynamixel_base/src/dynamixel_master.c | 12 ++++++++++++
2 files changed, 22 insertions(+)
diff --git a/dynamixel_base/include/dynamixel_master.h b/dynamixel_base/include/dynamixel_master.h
index 6c8c28e..70fd70d 100644
--- a/dynamixel_base/include/dynamixel_master.h
+++ b/dynamixel_base/include/dynamixel_master.h
@@ -73,6 +73,16 @@ typedef struct
*
*/
void (*set_rx_mode)(void);
+ /**
+ * \brief
+ *
+ */
+ void (*enable_power)(void);
+ /**
+ * \brief
+ *
+ */
+ void (*disable_power)(void);
/**
* \brief
*
diff --git a/dynamixel_base/src/dynamixel_master.c b/dynamixel_base/src/dynamixel_master.c
index 2b3e163..da913fb 100644
--- a/dynamixel_base/src/dynamixel_master.c
+++ b/dynamixel_base/src/dynamixel_master.c
@@ -141,6 +141,16 @@ void dummy_dyn_master_set_rx_mode(void)
}
+void dummy_dyn_master_enable_power(void)
+{
+
+}
+
+void dummy_dyn_master_disable_power(void)
+{
+
+}
+
unsigned char dyn_master_wait_transmission(TDynamixelMaster *master)
{
unsigned char error;
@@ -731,6 +741,8 @@ void dyn_master_init(TDynamixelMaster *master,TComm *dev,TDynVersion version)
/* initialize the internal callbacks */
master->set_tx_mode=dummy_dyn_master_set_tx_mode;
master->set_rx_mode=dummy_dyn_master_set_rx_mode;
+ master->enable_power=dummy_dyn_master_enable_power;
+ master->disable_power=dummy_dyn_master_disable_power;
/* initialize internal variables */
master->packet_ready=0x00;
master->received_bytes=0x00;
--
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