From 8ea315f76a9536690b9f5f9dc56079a7d2e3cf10 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 8 Jul 2024 10:55:40 +0200
Subject: [PATCH] Moved the new packet buffer to the slave data structure to
avoid errors when the packet is not fully received in a cycle.
---
dynamixel_base/include/dynamixel_slave.h | 5 +++++
dynamixel_base/src/dynamixel_slave.c | 8 ++++----
2 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/dynamixel_base/include/dynamixel_slave.h b/dynamixel_base/include/dynamixel_slave.h
index 9254389..d608c9d 100644
--- a/dynamixel_base/include/dynamixel_slave.h
+++ b/dynamixel_base/include/dynamixel_slave.h
@@ -65,6 +65,11 @@ typedef struct TDynamixelSlave
*
*/
unsigned char rx_buffer[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+ /**
+ * \brief
+ *
+ */
+ unsigned char current_packet[MAX_DYN_SLAVE_RX_BUFFER_LEN];
/**
* \brief
*
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 54937ed..881d1b8 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -224,20 +224,20 @@ unsigned char dyn_slave_get_next_packet(TDynamixelSlave *slave,unsigned char *pa
void dyn_slave_loop(TDynamixelSlave *slave)
{
- unsigned char send_status=0xFF,error,data_in[MAX_DYN_SLAVE_RX_BUFFER_LEN],data_out[MAX_DYN_SLAVE_RX_BUFFER_LEN];
+ unsigned char send_status=0xFF,error,data_out[MAX_DYN_SLAVE_RX_BUFFER_LEN]={0};
unsigned short int length,i;
if(slave!=0x00000000)
{
- while(dyn_slave_get_next_packet(slave,data_in))
+ while(dyn_slave_get_next_packet(slave,slave->current_packet))
{
// check address
for(i=0;i<slave->num_slave_devices;i++)
{
if(slave->version==DYN_VER1)
- send_status=dyn_v1_slave_loop(slave->slave_devices[i],data_in,&error,(unsigned char *)&length,data_out);
+ send_status=dyn_v1_slave_loop(slave->slave_devices[i],slave->current_packet,&error,(unsigned char *)&length,data_out);
else
- send_status=dyn_v2_slave_loop(slave->slave_devices[i],data_in,&error,&length,data_out);
+ send_status=dyn_v2_slave_loop(slave->slave_devices[i],slave->current_packet,&error,&length,data_out);
if(send_status==0x01)
dyn_slave_send_status_packet(slave,slave->slave_devices[i]->address,error,length,data_out,slave->slave_devices[i]->return_delay);
}
--
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