Merge pull request #54 from ROBOTIS-GIT/develop

Develop
ROBOTIS-GIT · Oct 29, 2020 · ee03828 · ee03828
2 parents 981c322 + 8defd3e
commit ee03828
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Showing 6 changed files with 71 additions and 6 deletions.
diff --git a/install.sh b/install.sh
@@ -10,7 +10,7 @@ fi
 # this will be eval'd in the functions below because arrays can't be exported
 # For creating a new main platform, please refer to https://arduino.github.io/arduino-cli/latest/platform-specification/#hardware-folders-structure
 # and https://arduino.github.io/arduino-cli/latest/platform-specification/#boardstxt
-export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [portenta]="arduino-beta:mbed:envie_m7")'
+export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [portenta]="arduino:mbed:envie_m7")'
 
 # make display available for arduino CLI
 /sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_1.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :1 -ac -screen 0 1280x1024x16
@@ -55,7 +55,7 @@ DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:samd 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 echo -n "INSTALL Portenta H7: "
-DEPENDENCY_OUTPUT=$(arduino --install-boards arduino-beta:mbed 2>&1)
+DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:mbed 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 echo -n "INSTALL OpenCR: "

diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
@@ -31,6 +31,8 @@ const uint16_t model_number_table[] PROGMEM = {
     MX28_2, MX64_2, MX106_2,
 
     XL320,
+    XL330_M288,
+    XL330_M077,
     XL430_W250,
     XXL430_W250,
     XC430_W150,  XC430_W240,
@@ -297,6 +299,36 @@ bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
       }    
       break;
 
+    case XL330_M288:
+    case XL330_M077:
+      switch(baudrate)
+      {
+        case 9600:
+          baud_idx = 0;
+          break;
+        case 57600:
+          baud_idx = 1;
+          break;
+        case 115200:
+          baud_idx = 2;
+          break;
+        case 1000000:
+          baud_idx = 3;
+          break;
+        case 2000000:
+          baud_idx = 4;
+          break;
+        case 3000000:
+          baud_idx = 5;
+          break;
+        case 4000000:
+          baud_idx = 6;
+          break;
+        default:
+          return false;                    
+      }    
+      break;
+
     case MX28_2:
     case MX64_2:
     case MX106_2:
@@ -618,6 +650,8 @@ bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
 
     case MX64_2:
     case MX106_2:
+    case XL330_M288:
+    case XL330_M077:
     case XM430_W210:
     case XM430_W350:
     case XH430_V210:
@@ -1053,6 +1087,7 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGM
 #if (ENABLE_ACTUATOR_MX28_PROTOCOL2 \
   || ENABLE_ACTUATOR_MX64_PROTOCOL2 \
   || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
+  || ENABLE_ACTUATOR_XL330 \
   || ENABLE_ACTUATOR_XC430 \
   || ENABLE_ACTUATOR_XL430 \
   || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
@@ -1085,6 +1120,17 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_mx106_2[] PROGMEM = {
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
 
+const ModelDependencyFuncItemAndRangeInfo_t dependency_xl330_M288_M077[] PROGMEM = {
+#if (ENABLE_ACTUATOR_XL330)
+  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1150, 1150, 1},
+  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1150, 1150, 1},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+#endif
+  {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
+};
+
 const ModelDependencyFuncItemAndRangeInfo_t dependency_xm430_w210_w350[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XM430)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
@@ -1374,6 +1420,12 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
       p_dep_ctable = dependency_mx106_2;
       break;     
 
+    case XL330_M288:
+    case XL330_M077:
+      p_common_ctable = dependency_ctable_2_0_common;
+      p_dep_ctable = dependency_xl330_M288_M077;
+      break;
+
     case XM430_W210:
     case XM430_W350:
       p_common_ctable = dependency_ctable_2_0_common;

diff --git a/src/actuator.cpp b/src/actuator.cpp
@@ -168,6 +168,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
 #if (ENABLE_ACTUATOR_MX28_PROTOCOL2 \
  || ENABLE_ACTUATOR_MX64_PROTOCOL2 \
  || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
+ || ENABLE_ACTUATOR_XL330 \
  || ENABLE_ACTUATOR_XL430 \
  || ENABLE_ACTUATOR_XC430 \
  || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
@@ -253,8 +254,9 @@ const ModelControlTableInfo_t xc430_xl430_control_table[] PROGMEM = {
   {ControlTableItem::LAST_DUMMY_ITEM,          0, 0}
 };
 
-const ModelControlTableInfo_t xmh430_control_table[] PROGMEM = {
-#if (ENABLE_ACTUATOR_XM430 \
+const ModelControlTableInfo_t xmh430_xl330_control_table[] PROGMEM = {
+#if (ENABLE_ACTUATOR_XL330 \
+ || ENABLE_ACTUATOR_XM430 \
  || ENABLE_ACTUATOR_XH430)
   {ControlTableItem::CURRENT_LIMIT,           38, 2},
   {ControlTableItem::GOAL_CURRENT,           102, 2},
@@ -475,18 +477,21 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
     case XC430_W240:
     case XL430_W250:
     case XXL430_W250:
+    case XXC430_W250:
       p_common_ctable = control_table_2_0;
       p_dep_ctable = xc430_xl430_control_table;
       break;
 
+    case XL330_M288:
+    case XL330_M077:
     case XM430_W210:
     case XM430_W350:
     case XH430_V210:
     case XH430_V350:
     case XH430_W210:
     case XH430_W350:
       p_common_ctable = control_table_2_0;    
-      p_dep_ctable = xmh430_control_table;
+      p_dep_ctable = xmh430_xl330_control_table;
       break;
 
     case XM540_W150:

diff --git a/src/actuator.h b/src/actuator.h
@@ -72,6 +72,13 @@
 #define XL320               (uint16_t)350
 #endif
 
+#ifndef XL330_M077
+#define XL330_M077          (uint16_t)1190
+#endif
+#ifndef XL330_M288
+#define XL330_M288          (uint16_t)1200
+#endif
+
 #ifndef XC430_W150
 #define XC430_W150          (uint16_t)1070
 #endif

diff --git a/src/utility/config.h b/src/utility/config.h
@@ -16,6 +16,7 @@
 #define ENABLE_ACTUATOR_MX106_PROTOCOL2 1
 
 #define ENABLE_ACTUATOR_XL320           1
+#define ENABLE_ACTUATOR_XL330           1
 #define ENABLE_ACTUATOR_XL430           1   //Includes 2XL430
 #define ENABLE_ACTUATOR_XC430           1   //Includes 2XC430
 #define ENABLE_ACTUATOR_XM430           1

diff --git a/src/utility/slave.cpp b/src/utility/slave.cpp
@@ -55,7 +55,7 @@ Slave::Slave(const uint16_t model_num, float protocol_ver)
 bool 
 Slave::setPacketBuffer(uint8_t* p_buf, uint16_t buf_capacity)
 {
-  if(p_packet_buf_ == nullptr){
+  if(p_buf == nullptr){
     last_lib_err_ = DXL_LIB_ERROR_NULLPTR;
     return false;
   }