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ROBOTIS-GIT / Dynamixel2Arduino

DYNAMIXEL protocol library for Arduino
Apache License 2.0
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Dual Core usage of D2A Library on Portenta H7 #112

Open Roboteer1000 opened 2 years ago

Roboteer1000 commented 2 years ago

Hello there,

I am using Dynamixel2Arduino (D2A) Library V. 0.6.1 and Arduino Core 3.4.1 for Portenta H7, and I am encountering an interesting issue:

  1. I can use D2A Library fine on EITHER Core M7 OR Core M4 by themselves.
  2. However, I cannot use D2A on both cores AT THE SAME TIME. The codes on both cores would compile OK, would run OK, except that ONLY M7 code would work correctly with D2A Method Calls. While M4 code would yield a COMMUNICATION error whenever M4 tried to WRITE/READ into the Dynamixel Network.

Is an issue with Mbed-OS? Or is it due to the way D2A Library had been written, i.e., for the case of a Single-Core Controller only?

Update 11/12/2022 After more tests, I am 100% sure that simple Read Present Position commands do not work when called from M4 Core (no error messages) but Write Goal Position/Velocity commands worked fine. Is this something that the user can fix?