Updated the dynamixel manager example.

dynamixel_manager/test/Makefile

@@ -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 $@

dynamixel_manager/test/dyn_man_test.c

@@ -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));