Protocol2PacketHandler.c

    packetData[port_num].txpacket_[PKT_PARAMETER0 + 2] = DXL_LOBYTE(data_length);
    packetData[port_num].txpacket_[PKT_PARAMETER0 + 3] = DXL_HIBYTE(data_length);

    for (_s = 0; _s < param_length; _s++)
        packetData[port_num].txpacket_[PKT_PARAMETER0 + 4 + _s] = packetData[port_num].data_write_[_s];

    TxRxPacket2(port_num);
}

void BulkReadTx2(int port_num, UINT16_T param_length)
{
    UINT8_T _s;
    int _i;

    packetData[port_num].communication_result_ = COMM_TX_FAIL;

    packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, param_length + 10);
    // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H

    packetData[port_num].txpacket_[PKT_ID] = BROADCAST_ID;
    packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
    packetData[port_num].txpacket_[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
    packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_BULK_READ;

    for (_s = 0; _s < param_length; _s++)
        packetData[port_num].txpacket_[PKT_PARAMETER0 + _s] = packetData[port_num].data_write_[_s];

    TxPacket2(port_num);
    if (packetData[port_num].communication_result_ == COMM_SUCCESS)
    {
        int _wait_length = 0;
        for (_i = 0; _i < param_length; _i += 5)
            _wait_length += DXL_MAKEWORD(packetData[port_num].data_write_[_i + 3], packetData[port_num].data_write_[_i + 4]) + 10;
        SetPacketTimeout(port_num, (UINT16_T)_wait_length);
    }
}

void BulkWriteTxOnly2(int port_num, UINT16_T param_length)
{
    UINT8_T _s;

    packetData[port_num].communication_result_ = COMM_TX_FAIL;

    packetData[port_num].txpacket_ = (UINT8_T *)realloc(packetData[port_num].txpacket_, param_length + 10);
    // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H

    packetData[port_num].txpacket_[PKT_ID] = BROADCAST_ID;
    packetData[port_num].txpacket_[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
    packetData[port_num].txpacket_[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H
    packetData[port_num].txpacket_[PKT_INSTRUCTION] = INST_BULK_WRITE;

    for (_s = 0; _s < param_length; _s++)
        packetData[port_num].txpacket_[PKT_PARAMETER0 + _s] = packetData[port_num].data_write_[_s];

    TxRxPacket2(port_num);
}