From f6c9528eef09c2f51320809a03cc9d484e78fda0 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 15 May 2017 19:24:50 +0200
Subject: [PATCH] Reduced the default size of all buffers.
---
dynamixel_base/include/dynamixel_master.h | 4 ++--
dynamixel_base/src/dynamixel_slave.c | 1 -
utils/include/buffer.h | 2 +-
3 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/dynamixel_base/include/dynamixel_master.h b/dynamixel_base/include/dynamixel_master.h
index 44bd923..3b3b4e0 100644
--- a/dynamixel_base/include/dynamixel_master.h
+++ b/dynamixel_base/include/dynamixel_master.h
@@ -7,11 +7,11 @@
#ifndef MAX_DYN_MASTER_TX_BUFFER_LEN
- #define MAX_DYN_MASTER_TX_BUFFER_LEN 1024
+ #define MAX_DYN_MASTER_TX_BUFFER_LEN 256
#endif
#ifndef MAX_DYN_MASTER_RX_BUFFER_LEN
- #define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
+ #define MAX_DYN_MASTER_RX_BUFFER_LEN 256
#endif
typedef struct
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 3824869..dc89a35 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -131,7 +131,6 @@ unsigned char dummy_dyn_slave_on_relay(TDynVersion version,unsigned char *inst_p
return DYN_NO_DEVICE;
}
-
void dyn_slave_send_status_packet(TDynamixelSlave *slave,unsigned char error,unsigned short int length, unsigned char *data)
{
// wait until the previous transmission has ended (if any)
diff --git a/utils/include/buffer.h b/utils/include/buffer.h
index 794c92c..a2a5abd 100644
--- a/utils/include/buffer.h
+++ b/utils/include/buffer.h
@@ -8,7 +8,7 @@
* \brief Size of the buffer in bytes
*
*/
- #define MAX_BUFFER_LENGTH 512
+ #define MAX_BUFFER_LENGTH 256
#endif
/**
--
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