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Commit da01cee2 authored by Sergi Hernandez's avatar Sergi Hernandez
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Changed some 8 bit control variables to 16 bit variables in the version 2 protocol.

parent 817eaecb
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......@@ -94,7 +94,7 @@ inline TDynInstruction dyn2_get_instruction(unsigned char *packet)
unsigned char dyn2_convert_v1_inst_packet(unsigned char *source, unsigned char *destination)
{
unsigned char i;
unsigned short int i;
destination[DYN2_HEADER_OFF]=0xFF;
destination[DYN2_HEADER_OFF+1]=0xFF;
......@@ -193,7 +193,7 @@ unsigned short int dyn2_get_write_data(unsigned char *packet,unsigned char *data
/* registered write instruction */
void dyn2_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data)
{
unsigned short int i;
unsigned short int i;
packet[DYN2_HEADER_OFF]=0xFF;
packet[DYN2_HEADER_OFF+1]=0xFF;
......@@ -220,7 +220,7 @@ inline unsigned short int dyn2_get_reg_write_length(unsigned char *packet)
unsigned short int dyn2_get_reg_write_data(unsigned char *packet,unsigned char *data)
{
unsigned char i,length;
unsigned short int i,length;
length=dyn2_get_reg_write_length(packet);
for(i=0;i<length;i++)
......@@ -261,7 +261,8 @@ void dyn2_init_reset_packet(unsigned char *packet,unsigned char id,unsigned char
/* sync write instruction */
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,TWriteData *data)
{
unsigned char i,j;
unsigned char i;
unsigned short int j;
packet[DYN2_HEADER_OFF]=0xFF;
packet[DYN2_HEADER_OFF+1]=0xFF;
......@@ -381,8 +382,8 @@ unsigned char dyn2_bulk_read_id_present(unsigned char *packet,unsigned char id,u
/* bulk write instruction */
void dyn2_init_bulk_write_packet(unsigned char *packet,unsigned char num_servos,unsigned char *servo_ids,unsigned short int *address,unsigned short int *length,TWriteData *data)
{
unsigned char i,j;
unsigned short int total_length=0;
unsigned char i;
unsigned short int total_length=0,j;
packet[DYN2_HEADER_OFF]=0xFF;
packet[DYN2_HEADER_OFF+1]=0xFF;
......@@ -432,7 +433,7 @@ unsigned char dyn2_bulk_write_id_present(unsigned char *packet,unsigned char id,
/* status packet */
unsigned char dyn2_convert_v1_status_packet(TDynInstruction inst,unsigned char *source, unsigned char *destination)
{
unsigned char i;
unsigned short int i;
destination[DYN2_HEADER_OFF]=0xFF;
destination[DYN2_HEADER_OFF+1]=0xFF;
......@@ -452,7 +453,7 @@ unsigned char dyn2_convert_v1_status_packet(TDynInstruction inst,unsigned char *
void dyn2_init_status_packet(unsigned char *packet,unsigned char id,TDynError error,unsigned short int length,unsigned char *data)
{
unsigned char i;
unsigned short int i;
packet[DYN2_HEADER_OFF]=0xFF;
packet[DYN2_HEADER_OFF+1]=0xFF;
......@@ -475,7 +476,7 @@ inline TDynError dyn2_get_status_error(unsigned char *packet)
/* read instruction status packet */
unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char *data)
{
unsigned char i,length;
unsigned short int i,length;
length=*((unsigned short int *)&packet[DYN2_LENGTH_OFF])-4;
for(i=0;i<length;i++)
......@@ -483,8 +484,3 @@ unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char
return length;
}
inline unsigned char dyn2_get_read_status_id(unsigned char *packet)
{
return packet[DYN2_ID_OFF];
}
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