Solved a bug in the master reception.

dynamixel_base/src/dynamixel_master.c

@@ -14,14 +14,23 @@ void dyn_master_receive_cb(TDynamixelMaster *master)
       if(master->rx_num_packets==0x00)
       {
         time_cancel_timeout(&master->time);
+        master->sync_bulk_address=0x0000;
         master->packet_ready=0x01;
       }
       else
       {
         if(master->version==DYN_VER1)
+        {
+          if(master->rx_num_packets==0x01)
+            master->sync_bulk_address=0x0000;
           master->rx_irq(master->hal_dev,&master->rx_buffer[master->sync_bulk_address],4);
+        }
         else
+        {
+          if(master->rx_num_packets==0x01)
+            master->sync_bulk_address=0x0000;
           master->rx_irq(master->hal_dev,&master->rx_buffer[master->sync_bulk_address],7);
+        }
       }
     }
     else
@@ -35,6 +44,7 @@ void dyn_master_receive_cb(TDynamixelMaster *master)
         {
           length=master->rx_buffer[master->sync_bulk_address+3];
           master->rx_dma(master->hal_dev,&master->rx_buffer[master->sync_bulk_address+4],length);
+          master->sync_bulk_address+=length+4;
         }
       }   
       else
@@ -46,9 +56,9 @@ void dyn_master_receive_cb(TDynamixelMaster *master)
         {
           length=master->rx_buffer[master->sync_bulk_address+5]+(master->rx_buffer[master->sync_bulk_address+6]<<8);
           master->rx_dma(master->hal_dev,&master->rx_buffer[master->sync_bulk_address+7],length);
+          master->sync_bulk_address+=length+7;
         }
       }
-      master->sync_bulk_address+=length;
     }
   }
 }
@@ -57,7 +67,6 @@ void dyn_master_send_cb(TDynamixelMaster *master)
 {
   if(master!=0x00000000)
   {
-    master->tx_done=0x01;
     master->set_rx_mode();
     if(master->rx_no_answer)
       master->rx_no_answer=0x00;
@@ -66,8 +75,11 @@ void dyn_master_send_cb(TDynamixelMaster *master)
       if(master->version==DYN_VER1)
         master->rx_irq(master->hal_dev,master->rx_buffer,4);
       else
+      {
         master->rx_irq(master->hal_dev,master->rx_buffer,7);
+      }
     }
+    master->tx_done=0x01;
   }
 }
 
@@ -164,6 +176,7 @@ unsigned char dyn_master_send(TDynamixelMaster *master)
     if((error=dyn_master_wait_transmission(master))!=DYN_SUCCESS)
       return error;
     // set the DMA transfer
+    master->tx_done=0x00;
     if(master->version==DYN_VER1)
     {
       master->tx_dma(master->hal_dev,master->tx_buffer,dyn_get_length(master->tx_buffer)+4);
@@ -456,7 +469,6 @@ unsigned char dyn_master_start_sync_read(TDynamixelMaster *master,unsigned char
         master->rx_no_answer=0x00;
       // enable transmission
       master->set_tx_mode();
-      master->sync_bulk_address=0x0000;
       // send the data
       if((error=dyn_master_send(master))!=DYN_SUCCESS)
         master->set_rx_mode();
@@ -594,7 +606,6 @@ unsigned char dyn_master_start_bulk_read(TDynamixelMaster *master,unsigned char
       master->rx_no_answer=0x00;
     // enable transmission
     master->set_tx_mode();
-    master->sync_bulk_address=0x0000;
     // send the data
     if((error=dyn_master_send(master))!=DYN_SUCCESS)
       master->set_rx_mode();
@@ -700,7 +711,7 @@ void dyn_master_init(TDynamixelMaster *master,void *hal_dev,TDynVersion version)
   master->rx_no_answer=0x00;
   master->rx_num_packets=0x00;
   master->return_level=return_all;
-  master->sync_bulk_address;
+  master->sync_bulk_address=0x0000;
 
   master->set_rx_mode();
 }
@@ -1073,7 +1084,6 @@ unsigned char dyn_master_sync_read(TDynamixelMaster *master,unsigned char num,un
         master->rx_no_answer=0x00;
       // enable transmission
       master->set_tx_mode();
-      master->sync_bulk_address=0x0000;
       // send the data
       if((error=dyn_master_send(master))!=DYN_SUCCESS)
       {
@@ -1140,7 +1150,6 @@ unsigned char dyn_master_bulk_read(TDynamixelMaster *master,unsigned char num,un
       master->rx_no_answer=0x00;
     // enable transmission
     master->set_tx_mode();
-    master->sync_bulk_address=0x0000;
     // send the data
     if((error=dyn_master_send(master))!=DYN_SUCCESS)
     {