diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
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+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
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+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
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+
+ b) under the GNU GPL, with none of the additional permissions of
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+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
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+ Library is used in it and that the Library and its use are
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+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
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+the following:
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+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
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+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
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+ Combined Work produced by recombining or relinking the
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+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
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+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
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+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
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+published by the Free Software Foundation. If the Library as you
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+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
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+Library.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..b347596884ac92225f5e60628ee944f3cf68f34a
--- /dev/null
+++ b/README.md
@@ -0,0 +1,50 @@
+# Description
+This repository contains several libraries intended for the STM32 micro-
+processors.
+
+This repository also includes implementations of several communication
+peripherals compatible with the Comm library for several families of the STM32
+micro-processors.
+
+This libraries include:
+
+## Utils
+An implementation of a simple circular buffer and a placeholder to handle time
+functions using a hardware timer.
+
+## Memory
+A set of data structures that simplifies the managment of the memory space of a
+Dynamixel slave. It allows to allocate a specific ammount of memory either in
+RAM or EPPOM, and also at a pre-defined position or anywhere in the available
+memory space.
+
+It also provides user defined read and write callback functions to further
+simplify read and write operations started from the bus master.
+
+## Comm
+A generic communication device which allows working either in blocking mode, in
+interrupt mode or DMA mode with almost any communcation peripheral in the STM32.
+
+It provides a set of user defined callback functions, both on the low level
+peripheral side and also in the high level application side, which simplifies
+handling the communciation channel.
+
+## Dynamixel base
+This library implements the whole Dynamixel protocol, both version 1 and 2, and
+also as a master and as a slave. This implementation is idependant of the
+communication channel because it uses the comm library.
+
+All the operations of both supported versions are available.
+
+## Dynamixel manager
+An experimental library designed to simplify the bus access to the shared
+Dynamixel bus by several heterogeneous modules. This library allows to configure
+the necessary transactions (READ, WRITE, SYNC_READ, SYNC_WRITE, BULK_READ or
+BULK_WRITE) on several dynamixel buses.
+
+Additionally, each transaction can be configured as periodic or one shot.
+
+
+# Dependencies
+
+
diff --git a/dynamixel_base/include/dynamixel_master.h b/dynamixel_base/include/dynamixel_master.h
index 497678494b2f133b149cda4692506c4af707be48..7da7c90be7873723a8b9b27c5db894b792ad787e 100644
--- a/dynamixel_base/include/dynamixel_master.h
+++ b/dynamixel_base/include/dynamixel_master.h
@@ -6,11 +6,11 @@
#include "dynamixel2.h"
#ifndef MAX_DYN_MASTER_TX_BUFFER_LEN
- #define MAX_DYN_MASTER_TX_BUFFER_LEN 1024
+ #define MAX_DYN_MASTER_TX_BUFFER_LEN 256
#endif
#ifndef MAX_DYN_MASTER_RX_BUFFER_LEN
- #define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
+ #define MAX_DYN_MASTER_RX_BUFFER_LEN 256
#endif
/**
diff --git a/dynamixel_base/include/dynamixel_slave.h b/dynamixel_base/include/dynamixel_slave.h
index 08600215793138be01b2bc230fcb2a2f22b8b4d5..37902b616fd26d24244cd6cfbba0adf54164e5d6 100644
--- a/dynamixel_base/include/dynamixel_slave.h
+++ b/dynamixel_base/include/dynamixel_slave.h
@@ -8,15 +8,15 @@
#include "ram.h"
#ifndef MAX_DYN_SLAVE_TX_BUFFER_LEN
- #define MAX_DYN_SLAVE_TX_BUFFER_LEN 1024
+ #define MAX_DYN_SLAVE_TX_BUFFER_LEN 256
#endif
#ifndef MAX_DYN_SLAVE_RX_BUFFER_LEN
- #define MAX_DYN_SLAVE_RX_BUFFER_LEN 1024
+ #define MAX_DYN_SLAVE_RX_BUFFER_LEN 256
#endif
#ifndef MAX_DYN_SLAVE_REG_BUFFER_LEN
- #define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
+ #define MAX_DYN_SLAVE_REG_BUFFER_LEN 256
#endif
/**
diff --git a/dynamixel_base/src/dynamixel2.c b/dynamixel_base/src/dynamixel2.c
index bc3bd0fbeea617889221a1c1fb8005e2995da977..e645c1de97f8b22b5f2616528571bbc0c343a6bb 100644
--- a/dynamixel_base/src/dynamixel2.c
+++ b/dynamixel_base/src/dynamixel2.c
@@ -41,27 +41,29 @@ void dyn2_set_checksum(unsigned char *packet)
{
unsigned short int crc_accum=0x0000,i,j,length;
- length=*((unsigned short int *)&packet[DYN2_LENGTH_OFF])+5;
+ length=dyn2_get_length(packet)+5;
for(j=0;j<length;j++)
{
i=((unsigned short)(crc_accum>>8)^packet[j])&0xFF;
crc_accum=(crc_accum<<8)^crc_table[i];
}
-
- *((unsigned short int *)&packet[length])=crc_accum;
+
+ packet[length]=crc_accum%256;
+ packet[length+1]=crc_accum/256;
}
unsigned char dyn2_check_checksum(unsigned char *packet)
{
unsigned short int crc_accum=0x0000,i,j,length;
- length=*((unsigned short int *)&packet[DYN2_LENGTH_OFF])+5;
+ length=dyn2_get_length(packet)+5;
for(j=0;j<length;j++)
{
i=((unsigned short)(crc_accum>>8)^packet[j])&0xFF;
crc_accum=(crc_accum<<8)^crc_table[i];
}
- if(*((unsigned short int *)&packet[length])==crc_accum)
+ crc_accum-=(packet[length]+packet[length+1]*256);
+ if(crc_accum==0)
return 0x01;
else
return 0x00;
@@ -72,7 +74,7 @@ void dyn2_copy_packet(unsigned char *source, unsigned char *destination)
{
unsigned short int i,length;
- length=*((unsigned short int *)&source[DYN2_LENGTH_OFF])+7;
+ length=dyn2_get_length(source)+7;
for(i=0;i<length;i++)
destination[i]=source[i];
}
@@ -84,7 +86,7 @@ unsigned char dyn2_get_id(unsigned char *packet)
unsigned short int dyn2_get_length(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_LENGTH_OFF]);
+ return (packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256);
}
TDynInstruction dyn2_get_instruction(unsigned char *packet)
@@ -136,19 +138,21 @@ void dyn2_init_read_packet(unsigned char *packet,unsigned char id,unsigned short
packet[DYN2_LENGTH_OFF]=0x07;
packet[DYN2_LENGTH_OFF+1]=0x00;
packet[DYN2_INST_OFF]=DYN_READ;
- *((unsigned short int *)&packet[DYN2_DATA_OFF])=address;
- *((unsigned short int *)&packet[DYN2_DATA_OFF+2])=length;
+ packet[DYN2_DATA_OFF]=address%256;
+ packet[DYN2_DATA_OFF+1]=address/256;
+ packet[DYN2_DATA_OFF+2]=length%256;
+ packet[DYN2_DATA_OFF+3]=length/256;
dyn2_set_checksum(packet);
}
unsigned short int dyn2_get_read_length(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_DATA_OFF+2]);
+ return (packet[DYN2_DATA_OFF+2]+packet[DYN2_DATA_OFF+3]*256);
}
unsigned short int dyn2_get_read_address(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_DATA_OFF]);
+ return (packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256);
}
/* write instruction */
@@ -161,9 +165,11 @@ void dyn2_init_write_packet(unsigned char *packet,unsigned char id,unsigned shor
packet[DYN2_HEADER_OFF+2]=0xFD;
packet[DYN2_RESERVED]=0x00;
packet[DYN2_ID_OFF]=id;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=5+length;
+ packet[DYN2_LENGTH_OFF]=(length+5)%256;
+ packet[DYN2_LENGTH_OFF+1]=(length+5)/256;
packet[DYN2_INST_OFF]=DYN_WRITE;
- *((unsigned short int *)&packet[DYN2_DATA_OFF])=address;
+ packet[DYN2_DATA_OFF]=address%256;
+ packet[DYN2_DATA_OFF+1]=address/256;
for(i=0;i<length;i++)
packet[DYN2_DATA_OFF+i+2]=data[i];
dyn2_set_checksum(packet);
@@ -171,12 +177,12 @@ void dyn2_init_write_packet(unsigned char *packet,unsigned char id,unsigned shor
unsigned short int dyn2_get_write_address(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_DATA_OFF]);
+ return (packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256);
}
unsigned short int dyn2_get_write_length(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_LENGTH_OFF])-5;
+ return (packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256)-5;
}
unsigned short int dyn2_get_write_data(unsigned char *packet,unsigned char *data)
@@ -200,9 +206,11 @@ void dyn2_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned
packet[DYN2_HEADER_OFF+2]=0xFD;
packet[DYN2_RESERVED]=0x00;
packet[DYN2_ID_OFF]=id;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=5+length;
+ packet[DYN2_LENGTH_OFF]=(length+5)%256;
+ packet[DYN2_LENGTH_OFF+1]=(length+5)/256;
packet[DYN2_INST_OFF]=DYN_REG_WRITE;
- *((unsigned short int *)&packet[DYN2_DATA_OFF])=address;
+ packet[DYN2_DATA_OFF]=address%256;
+ packet[DYN2_DATA_OFF+1]=address/256;
for(i=0;i<length;i++)
packet[DYN2_DATA_OFF+i+2]=data[i];
dyn2_set_checksum(packet);
@@ -210,12 +218,12 @@ void dyn2_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned
unsigned short int dyn2_get_reg_write_address(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_DATA_OFF]);
+ return (packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256);
}
unsigned short int dyn2_get_reg_write_length(unsigned char *packet)
{
- return *((unsigned short int *)&packet[DYN2_LENGTH_OFF])-5;
+ return (packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256)-5;
}
unsigned short int dyn2_get_reg_write_data(unsigned char *packet,unsigned char *data)
@@ -262,17 +270,21 @@ void dyn2_init_reset_packet(unsigned char *packet,unsigned char id,unsigned char
void dyn2_init_sync_write_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int address,unsigned short int length,unsigned char * const data[])
{
unsigned char i;
- unsigned short int j;
+ unsigned short int j,len;
packet[DYN2_HEADER_OFF]=0xFF;
packet[DYN2_HEADER_OFF+1]=0xFF;
packet[DYN2_HEADER_OFF+2]=0xFD;
packet[DYN2_RESERVED]=0x00;
packet[DYN2_ID_OFF]=0xFE;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=7+(length+1)*num_servos;
+ len=7+(length+1)*num_servos;
+ packet[DYN2_LENGTH_OFF]=len%256;
+ packet[DYN2_LENGTH_OFF+1]=len/256;
packet[DYN2_INST_OFF]=DYN_SYNC_WRITE;
- *((unsigned short int *)&packet[DYN2_DATA_OFF])=address;
- *((unsigned short int *)&packet[DYN2_DATA_OFF+2])=length;
+ packet[DYN2_DATA_OFF]=address%256;
+ packet[DYN2_DATA_OFF+1]=address/256;
+ packet[DYN2_DATA_OFF+2]=length%256;
+ packet[DYN2_DATA_OFF+3]=length/256;
for(i=0;i<num_servos;i++)
{
packet[DYN2_DATA_OFF+4+(length+1)*i]=servo_ids[i];
@@ -287,13 +299,13 @@ unsigned char dyn2_sync_write_id_present(unsigned char *packet,unsigned char id,
unsigned char num_servos,i;
unsigned short int j,len;
- len=*((unsigned short int *)&packet[DYN2_DATA_OFF+2]);
- num_servos=(*((unsigned short int *)&packet[DYN2_LENGTH_OFF])-7)/(len+1);
+ len=packet[DYN2_DATA_OFF+2]+packet[DYN2_DATA_OFF+3]*256;
+ num_servos=((packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256)-7)/(len+1);
for(i=0;i<num_servos;i++)
if(packet[DYN2_DATA_OFF+4+(len+1)*i]==id)
{
- (*address)=*((unsigned short int *)&packet[DYN2_DATA_OFF]);
- (*length)=*((unsigned short int *)&packet[DYN2_DATA_OFF+2]);
+ (*address)=packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256;
+ (*length)=packet[DYN2_DATA_OFF+2]+packet[DYN2_DATA_OFF+3]*256;
for(j=0;j<(*length);j++)
data[j]=packet[DYN2_DATA_OFF+4+(len+1)*i+j+1];
return 0x01;
@@ -311,10 +323,13 @@ void dyn2_init_sync_read_packet(unsigned char *packet,unsigned char num_servos,u
packet[DYN2_HEADER_OFF+2]=0xFD;
packet[DYN2_RESERVED]=0x00;
packet[DYN2_ID_OFF]=0xFE;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=7+num_servos;
+ packet[DYN2_LENGTH_OFF]=(7+num_servos)%256;
+ packet[DYN2_LENGTH_OFF+1]=(7+num_servos)/256;
packet[DYN2_INST_OFF]=DYN_SYNC_READ;
- *((unsigned short int *)&packet[DYN2_DATA_OFF])=address;
- *((unsigned short int *)&packet[DYN2_DATA_OFF+2])=length;
+ packet[DYN2_DATA_OFF]=address%256;
+ packet[DYN2_DATA_OFF+1]=address/256;
+ packet[DYN2_DATA_OFF+2]=length%256;
+ packet[DYN2_DATA_OFF+3]=length/256;
for(i=0;i<num_servos;i++)
packet[DYN2_DATA_OFF+4+i]=servo_ids[i];
dyn2_set_checksum(packet);
@@ -324,12 +339,12 @@ unsigned char dyn2_sync_read_id_present(unsigned char *packet,unsigned char id,u
{
unsigned char num_servos,i;
- num_servos=(*((unsigned short int *)&packet[DYN2_LENGTH_OFF])-7);
+ num_servos=(packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256)-7;
for(i=0;i<num_servos;i++)
if(packet[DYN2_DATA_OFF+4+i]==id)
{
- (*address)=*((unsigned short int *)&packet[DYN2_DATA_OFF]);
- (*length)=*((unsigned short int *)&packet[DYN2_DATA_OFF+2]);
+ (*address)=packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256;
+ (*length)=packet[DYN2_DATA_OFF+2]+packet[DYN2_DATA_OFF+3]*256;
if(i==0)
return 0x00;
else
@@ -342,19 +357,24 @@ unsigned char dyn2_sync_read_id_present(unsigned char *packet,unsigned char id,u
void dyn2_init_bulk_read_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int *address,unsigned short int *length)
{
unsigned char i;
+ unsigned short int len;
packet[DYN2_HEADER_OFF]=0xFF;
packet[DYN2_HEADER_OFF+1]=0xFF;
packet[DYN2_HEADER_OFF+2]=0xFD;
packet[DYN2_RESERVED]=0x00;
packet[DYN2_ID_OFF]=0xFE;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=3+5*num_servos;
+ len=3+5*num_servos;
+ packet[DYN2_LENGTH_OFF]=len%256;
+ packet[DYN2_LENGTH_OFF+1]=len/256;
packet[DYN2_INST_OFF]=DYN_BULK_READ;
for(i=0;i<num_servos;i++)
{
packet[DYN2_DATA_OFF+i*5]=servo_ids[i];
- *((unsigned short int *)&packet[DYN2_DATA_OFF+i*5+1])=address[i];
- *((unsigned short int *)&packet[DYN2_DATA_OFF+i*5+3])=length[i];
+ packet[DYN2_DATA_OFF+i*5+1]=address[i]%256;
+ packet[DYN2_DATA_OFF+i*5+2]=address[i]/256;
+ packet[DYN2_DATA_OFF+i*5+3]=length[i]%256;
+ packet[DYN2_DATA_OFF+i*5+4]=length[i]/256;
}
dyn2_set_checksum(packet);
}
@@ -363,12 +383,12 @@ unsigned char dyn2_bulk_read_id_present(unsigned char *packet,unsigned char id,u
{
unsigned char num_servos,i,prev_id=0xFF;
- num_servos=(*((unsigned short int *)&packet[DYN2_LENGTH_OFF])-3)/5;
+ num_servos=(packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256-3)/5;
for(i=0;i<num_servos;i++)
if(packet[DYN2_DATA_OFF+i*5]==id)
{
- (*address)=*((unsigned short int *)&packet[DYN2_DATA_OFF+i*5+1]);
- (*length)=*((unsigned short int *)&packet[DYN2_DATA_OFF+i*5+3]);
+ (*address)=packet[DYN2_DATA_OFF+i*5+1]+packet[DYN2_DATA_OFF+i*5+2]*256;
+ (*length)=packet[DYN2_DATA_OFF+i*5+3]+packet[DYN2_DATA_OFF+i*5+4]*256;
if(i==0)
return 0x00;
else
@@ -392,15 +412,17 @@ void dyn2_init_bulk_write_packet(unsigned char *packet,unsigned char num_servos,
packet[DYN2_ID_OFF]=0xFE;
for(i=0;i<num_servos;i++)
total_length+=length[i]+5;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=3+total_length;
+ packet[DYN2_LENGTH_OFF]=(3+total_length)%256;
+ packet[DYN2_LENGTH_OFF+1]=(3+total_length)/256;
packet[DYN2_INST_OFF]=DYN_BULK_WRITE;
total_length=0;
for(i=0;i<num_servos;i++)
{
packet[DYN2_DATA_OFF+total_length]=servo_ids[i];
- *((unsigned short int *)&packet[DYN2_DATA_OFF+total_length+1])=address[i];
- *((unsigned short int *)&packet[DYN2_DATA_OFF+total_length+3])=length[i];
- packet[DYN2_DATA_OFF+total_length+4]=(length[i]>>8)&0x00FF;
+ packet[DYN2_DATA_OFF+total_length+1]=address[i]%256;
+ packet[DYN2_DATA_OFF+total_length+2]=address[i]/256;
+ packet[DYN2_DATA_OFF+total_length+3]=length[i]%256;
+ packet[DYN2_DATA_OFF+total_length+4]=length[i]/256;
for(j=0;j<length[i];j++)
packet[DYN2_DATA_OFF+total_length+5+j]=data[i][j];
total_length+=length[i]+5;
@@ -412,19 +434,19 @@ unsigned char dyn2_bulk_write_id_present(unsigned char *packet,unsigned char id,
{
unsigned short int len,offset=0,i;
- len=*((unsigned short int *)&packet[DYN2_LENGTH_OFF])-3;
+ len=packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256-3;
while(offset<len)
{
if(packet[DYN2_DATA_OFF+offset]==id)
{
- (*address)=*((unsigned short int *)&packet[DYN2_DATA_OFF+offset+1]);
- (*length)=*((unsigned short int *)&packet[DYN2_DATA_OFF+offset+3]);
- for(i=0;i<*((unsigned short int *)&packet[DYN2_DATA_OFF+offset+3]);i++)
+ (*address)=packet[DYN2_DATA_OFF+offset+1]+packet[DYN2_DATA_OFF+offset+2]*256;
+ (*length)=packet[DYN2_DATA_OFF+offset+3]+packet[DYN2_DATA_OFF+offset+4]*256;
+ for(i=0;i<(*length);i++)
data[i]=packet[DYN2_DATA_OFF+offset+5+i];
return 0x01;
}
else
- offset+=*((unsigned short int *)&packet[DYN2_DATA_OFF+offset+3])+5;
+ offset+=packet[DYN2_DATA_OFF+offset+3]+packet[DYN2_DATA_OFF+offset+4]*256+5;
}
return 0x00;
@@ -460,7 +482,8 @@ void dyn2_init_status_packet(unsigned char *packet,unsigned char id,TDynError er
packet[DYN2_HEADER_OFF+2]=0xFD;
packet[DYN2_RESERVED]=0x00;
packet[DYN2_ID_OFF]=id;
- *((unsigned short int *)&packet[DYN2_LENGTH_OFF])=4+length;
+ packet[DYN2_LENGTH_OFF]=(4+length)%256;
+ packet[DYN2_LENGTH_OFF+1]=(4+length)/256;
packet[DYN2_INST_OFF]=0x55;
packet[DYN2_DATA_OFF]=error;
for(i=0;i<length;i++)
@@ -478,7 +501,7 @@ unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char
{
unsigned short int i,length;
- length=*((unsigned short int *)&packet[DYN2_LENGTH_OFF])-4;
+ length=packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256-4;
for(i=0;i<length;i++)
data[i]=packet[DYN2_DATA_OFF+1+i];
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 69a43fa2f67af55c9b46b811b6044b5cadd67fe5..e1818981fa23d44bc06a1f2ae9d8159010b2acab 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -177,7 +177,6 @@ unsigned char dummy_dyn_slave_on_relay(TDynVersion version,unsigned char *inst_p
return DYN_NO_DEVICE;
}
-
void dyn_slave_send_status_packet(TDynamixelSlave *slave,unsigned char error,unsigned short int length, unsigned char *data)
{
if(slave!=0x00000000)
diff --git a/f1/usart/src/usart1.c b/f1/usart/src/usart1.c
index 1be5b4adaa7d61dd333d5095cdb12396a049dfef..7a087719a9ac2e54cb0fee8e483b14636d1c4476 100644
--- a/f1/usart/src/usart1.c
+++ b/f1/usart/src/usart1.c
@@ -1,5 +1,4 @@
#include "usart1.h"
-#include "gpio.h"
#define USART USART1
#define USART_ENABLE_CLK __HAL_RCC_USART1_CLK_ENABLE()
diff --git a/utils/include/buffer.h b/utils/include/buffer.h
index 18382d2460faab2935d1830ffcd8102c0dc603c4..69a3274385fbd520334684dbfea4e0fe9df39d91 100644
--- a/utils/include/buffer.h
+++ b/utils/include/buffer.h
@@ -8,7 +8,7 @@
* \brief Size of the buffer in bytes
*
*/
- #define MAX_BUFFER_LENGTH 512
+ #define MAX_BUFFER_LENGTH 256
#endif
/**