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Commit c8aca0ac authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the dynamixel manager example.

parent 91582380
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......@@ -7,10 +7,13 @@ TARGET_FILES+=$(wildcard ../src/modules/*.c)
TARGET_FILES+=$(wildcard ../src/*.c)
TARGET_FILES+=$(wildcard ../../utils/src/*.c)
TARGET_FILES+=$(wildcard ../../comm/src/*.c)
TARGET_FILES+=$(wildcard ../../memory/src/*.c)
BUILD_PATH=build
BIN_PATH=bin
INCLUDE_DIRS = -I../include -I../include/modules -I../../utils/include -I../../comm/include -I../../dynamixel_base/include
INCLUDE_DIRS = -I../include -I../include/modules -I../../utils/include -I../../comm/include -I ../../memory/include -I../../dynamixel_base/include
MACROS = -DMAX_DYN_MASTER_TX_BUFFER_LEN=256 -DMAX_DYN_MASTER_RX_BUFFER_LEN=256 -DDYN_MANAGER_MAX_NUM_MASTERS=4 -DDYN_MANAGER_MAX_NUM_MODULES=8 -DDYN_MANAGER_MAX_NUM_DEVICES=32 -DDYN_MANAGER_MAX_NUM_SINGLE_OP=16 -DDYN_MANAGER_MAX_NUM_SYNC_OP=4 -DDYN_MANAGER_MAX_NUM_BULK_OP=4 -DMODULE_MAX_NUM_MODELS=32 -DMM_MAX_NUM_MOTION_MODULES=8 -DEEPROM_SIZE=64 -DRAM_SIZE=1024
CC = gcc
......@@ -26,19 +29,22 @@ make_dirs:
mkdir -p $(BIN_PATH)
$(BUILD_PATH)/%.o: %.c
$(CC) -c -g $(INCLUDE_DIRS) -o $@ $<
$(CC) -c -g $(INCLUDE_DIRS) $(MACROS) -o $@ $<
$(BUILD_PATH)/%.o: ../src/%.c
$(CC) -c -g $(INCLUDE_DIRS) -o $@ $<
$(CC) -c -g $(INCLUDE_DIRS) $(MACROS) -o $@ $<
$(BUILD_PATH)/%.o: ../src/modules/%.c
$(CC) -c -g $(INCLUDE_DIRS) -o $@ $<
$(CC) -c -g $(INCLUDE_DIRS) $(MACROS) -o $@ $<
$(BUILD_PATH)/%.o: ../../utils/src/%.c
$(CC) -c -g $(INCLUDE_DIRS) -o $@ $<
$(CC) -c -g $(INCLUDE_DIRS) $(MACROS) -o $@ $<
$(BUILD_PATH)/%.o: ../../comm/src/%.c
$(CC) -c -g $(INCLUDE_DIRS) -o $@ $<
$(CC) -c -g $(INCLUDE_DIRS) $(MACROS) -o $@ $<
$(BUILD_PATH)/%.o: ../../memory/src/%.c
$(CC) -c -g $(INCLUDE_DIRS) $(MACROS) -o $@ $<
$(OUT_FILE): make_dirs $(TEST_OBJS)
$(CC) -g $(TEST_OBJS) -lpthread --output $@
......
......@@ -10,6 +10,7 @@
TDynamixelMaster dyn_master1;
TDynamixelMaster dyn_master2;
TDynManager manager;
TMemory memory;
// timer functions
unsigned long long int time_get_counts(void)
......@@ -276,7 +277,7 @@ int main(void)
TComm dyn_master2_comm;
// init modules
mmanager_init(&mmanager);
mmanager_init(&mmanager,&memory,16,128);
action_init();
mmanager_add_module(&mmanager,action_get_module());
dyn_module_set_period(mmanager_get_dyn_module(&mmanager),1);
......@@ -290,7 +291,7 @@ int main(void)
comm_init(&dyn_master2_comm,0x01,&dyn_master2_timer);
dyn_master_init(&dyn_master2,&dyn_master2_comm,DYN_VER2);
dyn_manager_init(&manager);
dyn_manager_init(&manager,&memory,0x0000,0x0064);
dyn_manager_add_master(&manager,&dyn_master1);
dyn_manager_add_master(&manager,&dyn_master2);
dyn_manager_add_module(&manager,mmanager_get_dyn_module(&mmanager));
......
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