XIAO RP2040 gives incorrect CRC with Dynamixel Library

LegacyMecha · February 24, 2022, 11:12pm

Made a simple ping sketch using Dynamixel2Arduino (https://github.com/ROBOTIS-GIT/Dynamixel2Arduino) and work well with the original XIAO, but with XIAO RP2040 the CRC calculation in packet is wrong. Can anybody help figure this out?

Seeeduino XIAO correct output = FF FF FD 0 1 3 0 1 19 4E
Seeeduino XIAO RP2040 incorrect CRC = FF FF FD 0 1 3 0 1 2D 1

Code where CRC is calculated:

github.com

ROBOTIS-GIT/Dynamixel2Arduino/blob/73c4d67819844c44622f04dc4dc00903c0d04556/src/dxl_c/protocol.c

#include "protocol.h"

#if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED_PORTENTA) && !defined(ARDUINO_ARCH_SAMD)
  #include <avr/pgmspace.h>
#endif

#if !defined(PROGMEM)
  #define PROGMEM
#endif

#if !defined(pgm_read_word_near)
  #define pgm_read_word_near(x) (*(uint16_t*)(x))
#endif


// 2.0 Protocol
#define DXL2_0_PACKET_IDX_HEADER_1        0
#define DXL2_0_PACKET_IDX_HEADER_2        1
#define DXL2_0_PACKET_IDX_HEADER_3        2
#define DXL2_0_PACKET_IDX_RESERVED        3

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