Robotis Dynamixel Shield code does not compile

KurtE · July 23, 2023, 5:43pm

I am curious to see if the DynamixelShield code works or not on these boards.
Not sure how best to "Choose the appropriate Category" when it fails to build on both boards, but throw a dice

I have the current released versions of the DynamixelShield as well as the Dynamixel2Arduino libraries by Robotis installed from the library manager

I simply loaded the example: scan_dynamixel from the DynamixelShield library.

Build fails:

FQBN: arduino:renesas_uno:minima
Using board 'minima' from platform in folder: C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2
Using core 'arduino' from platform in folder: C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2

Detecting libraries used...
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\sketch\\scan_dynamixel.ino.cpp" -o nul
Alternatives for DynamixelShield.h: [DynamixelShield@0.2.6]
ResolveLibrary(DynamixelShield.h)
  -> candidates: [DynamixelShield@0.2.6]
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\sketch\\scan_dynamixel.ino.cpp" -o nul
Alternatives for Dynamixel2Arduino.h: [Dynamixel2Arduino@0.6.3]
ResolveLibrary(Dynamixel2Arduino.h)
  -> candidates: [Dynamixel2Arduino@0.6.3]
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\sketch\\scan_dynamixel.ino.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src\\DynamixelShield.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src\\util\\RobotisRemoteController.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src\\Dynamixel2Arduino.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src\\actuator.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src\\dxl_c\\protocol.c" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src\\utility\\master.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src\\utility\\port_handler.cpp" -o nul
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "c:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src\\utility\\slave.cpp" -o nul
Generating function prototypes...
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -w -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -w -x c++ -E -CC -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\sketch\\scan_dynamixel.ino.cpp" -o "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\preproc\\sketch_merged.cpp"
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\builtin\\tools\\ctags\\5.8-arduino11/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\preproc\\sketch_merged.cpp"
Compiling sketch...
"C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\tools\\arm-none-eabi-gcc\\7-2017q4/bin/arm-none-eabi-g++" -c -Wall -Wextra -Os -g3 -fno-use-cxa-atexit -fno-rtti -fno-exceptions -MMD -nostdlib -DF_CPU=48000000 -DARDUINO_UNOR4_MINIMA -MMD -std=gnu++17 -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsigned-char -ffunction-sections -fdata-sections -fmessage-length=0 -fno-builtin -DARDUINO=10607 "-DPROJECT_NAME=\"C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014/scan_dynamixel.ino\"" -DARDUINO_MINIMA -DARDUINO_ARCH_RENESAS_UNO -DARDUINO_ARCH_RENESAS -DARDUINO_FSP -D_XOPEN_SOURCE -mthumb "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/defines.txt" -DCFG_TUSB_MCU=OPT_MCU_RAXXX "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2/cores/arduino/tinyusb" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino/api/deprecated-avr-comp" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\cores\\arduino" "-IC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\DynamixelShield\\src" "-Ic:\\Users\\kurte\\Documents\\Arduino\\libraries\\Dynamixel2Arduino\\src" "-iprefixC:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2" "@C:\\Users\\kurte\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\renesas_uno\\1.0.2\\variants\\MINIMA/includes.txt" "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\sketch\\scan_dynamixel.ino.cpp" -o "C:\\Users\\kurte\\AppData\\Local\\Temp\\arduino\\sketches\\FD507D8329F1DFE2A4230DE8826AA014\\sketch\\scan_dynamixel.ino.cpp.o"
In file included from C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2/variants/MINIMA/includes/ra_gen/common_data.h:13:0,
                 from C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2\cores\arduino/Arduino.h:10,
                 from C:\Users\kurte\AppData\Local\Temp\arduino\sketches\FD507D8329F1DFE2A4230DE8826AA014\sketch\scan_dynamixel.ino.cpp:1:
C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2/variants/MINIMA/includes/ra_cfg/fsp_cfg/bsp/bsp_pin_cfg.h:12:17: error: expected identifier before '(' token
 #define LED_RED (BSP_IO_PORT_00_PIN_11)
                 ^
c:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino\src/actuator.h:295:5: note: in expansion of macro 'LED_RED'
     LED_RED,
     ^~~~~~~
C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2/variants/MINIMA/includes/ra_cfg/fsp_cfg/bsp/bsp_pin_cfg.h:12:17: error: expected '}' before '(' token
 #define LED_RED (BSP_IO_PORT_00_PIN_11)
                 ^
c:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino\src/actuator.h:295:5: note: in expansion of macro 'LED_RED'
     LED_RED,
     ^~~~~~~
In file included from c:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino\src/Dynamixel2Arduino.h:23:0,
                 from c:\Users\kurte\Documents\Arduino\libraries\DynamixelShield\src/DynamixelShield.h:21,
                 from C:\Users\kurte\AppData\Local\Temp\.arduinoIDE-unsaved2023623-14092-pk1fvc.t6vfa\scan_dynamixel\scan_dynamixel.ino:17:
c:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino\src/actuator.h:350:23: error: invalid conversion from 'int' to 'ControlTableItem::ControlTableItemIndex' [-fpermissive]
     LAST_DUMMY_ITEM = 0xFF
                       ^~~~
c:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino\src/actuator.h:351:3: error: expected ',' or ';' before '}' token
   };
   ^
c:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino\src/actuator.h:352:1: error: expected declaration before '}' token
 }
 ^

Using library DynamixelShield at version 0.2.6 in folder: C:\Users\kurte\Documents\Arduino\libraries\DynamixelShield 
Using library Dynamixel2Arduino at version 0.6.3 in folder: C:\Users\kurte\Documents\Arduino\libraries\Dynamixel2Arduino 
exit status 1

Compilation error: exit status 1

Note: I verified the same example compiles for the board types: Arduino UNO and Teensy Micromod.

Investigating....

KurtE · July 23, 2023, 6:18pm

I believe that the problem is that Dynamixel uses LED_RED as well.
But they actually define and use it as part of a Namespace.

namespace ControlTableItem{
  enum ControlTableItemIndex{
    MODEL_NUMBER = 0,
    MODEL_INFORMATION,
    FIRMWARE_VERSION,
    PROTOCOL_VERSION,
    ID,
    SECONDARY_ID,
    BAUD_RATE,
    DRIVE_MODE,
...
    TORQUE_ENABLE,
    LED,
    LED_RED,
    LED_GREEN,
    LED_BLUE,
    REGISTERED_INSTRUCTION,
...

Not sure yet best way to fix this. As the only places I see it used or defined in the IDE is:

C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2\variants\MINIMA\includes\ra_cfg\fsp_cfg\bsp\bsp_pin_cfg.h:
   10  #define A1 (BSP_IO_PORT_00_PIN_01)
   11  #define A2 (BSP_IO_PORT_00_PIN_02)
   12: #define LED_RED (BSP_IO_PORT_00_PIN_11)
   13  #define TX_LED (BSP_IO_PORT_00_PIN_12)
   14  #define LED_BLUE (BSP_IO_PORT_00_PIN_13)

C:\Users\kurte\AppData\Local\Arduino15\packages\arduino\hardware\renesas_uno\1.0.2\variants\UNOWIFIR4\includes\ra_cfg\fsp_cfg\bsp\bsp_pin_cfg.h:
   10  #define A1 (BSP_IO_PORT_00_PIN_01)
   11  #define A2 (BSP_IO_PORT_00_PIN_02)
   12: #define LED_RED (BSP_IO_PORT_00_PIN_11)
   13  #define TX_LED (BSP_IO_PORT_00_PIN_12)
   14  #define LED_BLUE (BSP_IO_PORT_00_PIN_13)

2 matches across 2 files

commenting out LED_RED and LED_BLUE in those files and it builds.

KurtE · July 24, 2023, 12:49am

I created an issue for this:
Robotis Libraries DynamixelShield and Dynamixel2Arduino examples do not build (or work) · Issue #64 · arduino/ArduinoCore-renesas (github.com)

My test setup:

And yes you need the dog under the table

There are 18 servos, I have the Dynamixel Servo shield on the MINIMA and ran the sketch
The servos were configured to run at 1MBS

I hacked the scanner to only run at 1MBS and the results:

SCAN PROTOCOL 1

SCAN BAUDRATE 1000000
SCAN PROTOCOL 2
SCAN BAUDRATE 1000000
ID : 3, Model Number: 65535
ID : 4, Model Number: 1060
ID : 8, Model Number: 65535
ID : 15, Model Number: 65535
ID : 17, Model Number: 65535
Total 5 DYNAMIXEL(s) found!

So it is only seeing 5 out of 18 servos. There could be some wires lose, but there is another issue.

I captured the run using a Saleae logic analyzer. And for example for one of the servos that worked we have a Ping and a response.

Note: the 3 channels shown are Pin 0 which is RX, pin 1 TX, and pin 2 direction.
The Dynamixel protocol, is over a half duplex (one wire) and the shield takes care of the switching from TX to RX by using the direction signal.

Quick FYI - the labels showing Ping and response are from an High Level Analyzer that I did awhile ago.

Now the problem (or at least one):

You can see that the direction signal goes low too soon. This is due to the bugs in the Serial Uart code. The library code first does a flush on the Serial port, which should not return until the transfer has fully completed.

Hopefully some of this is fixed in my Draft Pull request:
WIP - SerialX(UART) tx speedup and fixes by KurtE · Pull Request #59 · arduino/ArduinoCore-renesas (github.com)

There are fixes in place that hopefully fix this. But the PR needs some major reviews.
Will test again in the morning using that setup in the sketch directory that has my WIP.

KurtE · July 24, 2023, 12:52pm

Update:

Was closed out as won't fix... Or more specifically:

I suggest you open an issue with the Dynamixel library, we are likely going to keep those defines.

Which I personally believe is the wrong answer, but as requested:

UNO R4 - Library(libraries) - will not build on new Arduino boards... And may not work at all. · Issue #127 · ROBOTIS-GIT/Dynamixel2Arduino (github.com)

KurtE · July 24, 2023, 3:44pm

Sorry, I am mostly talking to myself

Good news/Bad news...

Like previous Logic Analyzer image I showed earlier, but I added another scan line at the bottom from the actual Dynamixel IO signal line.

The good news, is that the outputs are properly formed and the pin 2 is going at the right time.

The bad news is there is a hang. Probably some timing hole or the like...
Now to debug.

Merlin513 · July 24, 2023, 5:24pm

Getting closer though - had thoughts of using the wifi board with the hexapod

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