From bc418697b10e6b9c7c8d80e339e05c0fb432a93e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 25 Jul 2019 08:30:32 +0200
Subject: [PATCH] Added a function to get the internal slave device memory
module.
---
dynamixel_base/include/dynamixel_slave_device.h | 6 +++++-
dynamixel_base/src/dynamixel_slave_device.c | 5 +++++
2 files changed, 10 insertions(+), 1 deletion(-)
diff --git a/dynamixel_base/include/dynamixel_slave_device.h b/dynamixel_base/include/dynamixel_slave_device.h
index b7b9c40..ef592d9 100644
--- a/dynamixel_base/include/dynamixel_slave_device.h
+++ b/dynamixel_base/include/dynamixel_slave_device.h
@@ -154,6 +154,10 @@ unsigned char dyn_v1_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
*
*/
unsigned char dyn_v2_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_buffer,unsigned char *error,unsigned short int *length, unsigned char *data);
-
+/**
+ * \brief
+ *
+ */
+inline TMemory *dyn_slave_device_get_memory(TDynamixelSlaveDevice *device);
#endif
diff --git a/dynamixel_base/src/dynamixel_slave_device.c b/dynamixel_base/src/dynamixel_slave_device.c
index 19d8339..dba26c2 100644
--- a/dynamixel_base/src/dynamixel_slave_device.c
+++ b/dynamixel_base/src/dynamixel_slave_device.c
@@ -448,3 +448,8 @@ return_level_t dyn_slave_device_get_return_level(TDynamixelSlaveDevice *device)
else
return return_all;
}
+
+TMemory *dyn_slave_device_get_memory(TDynamixelSlaveDevice *device)
+{
+ return &device->memory;
+}
--
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