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Fixes for fastSyncRead() timeout and erronous packets that cause firmware to crash #136

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  • Changed info_rx_packet_.parse_state to DXL2_0_PACKET_PARSING_STATE_IDLE after a timeout to ensure it is reset correctly.
  • Ensure that on every new packet, xel_index and buf_index are reset to zero. Right now, these are only reset to zero when a packet of a certain length is detected.

…set correctly on subsequent fastRxStatusPacket calls
…m idle state. This fixes a case where if p_parse_packet->packet_len >= 4 and p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_INST, these values are reset correctly.
@jeevan-vexev jeevan-vexev changed the title Fixes for timeout and erronous packets that cause firmware to crash Fixes for fastSyncRead() timeout and erronous packets that cause firmware to crash Jul 17, 2024
- Ensure fast_param_state is always set to DXL_FAST_PARAM_ID
- Ensure INST always is 0x55 prior to proceeding through the state machine as all DXL status packets respond with 0x55.
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