Added the motion pages modules.

Modified the linker script to account for the motion pages section (128k)

include/motion_pages.h

+#ifndef _MOTION_PAGES_H
+#define _MOTION_PAGES_H
+
+#include "stm32f4xx.h"
+
+#define MAX_PAGES                     128 
+#define PAGE_MAX_NUM_SERVOS           31
+#define POSE_NUMBER_OF_POSES_PER_PAGE 7
+
+typedef struct // Header Structure (total 64unsigned char)
+{
+  uint8_t name[13];         // Name             0~13
+  uint8_t reserved1;        // Reserved1        14
+  uint8_t repeat;           // Repeat count     15
+  uint8_t schedule;         // schedule         16
+  uint8_t reserved2[3];     // reserved2        17~19
+  uint8_t stepnum;          // Number of step   20
+  uint8_t reserved3;        // reserved3        21
+  uint8_t speed;            // Speed            22
+  uint8_t reserved4;        // reserved4        23
+  uint8_t accel;            // Acceleration time 24
+  uint8_t next;             // Link to next     25
+  uint8_t exit;             // Link to exit     26
+  uint8_t reserved5[4];     // reserved5        27~30
+  uint8_t checksum;         // checksum         31
+  uint8_t slope[PAGE_MAX_NUM_SERVOS];        // CW/CCW compliance slope  32~62
+  uint8_t reserved6;        // reserved6        63
+} TPageHeader;
+
+typedef struct // Step Structure (total 64unsigned char)
+{
+  uint16_t position[PAGE_MAX_NUM_SERVOS];    // Joint position   0~61
+  uint8_t pause;            // Pause time       62
+  uint8_t time;             // Time             63
+} TStep;
+
+typedef struct // Page Structure (total 512unsigned char)
+{
+  TPageHeader header;       // Page header  0~64
+  TStep steps[POSE_NUMBER_OF_POSES_PER_PAGE];           // Page step    65~511
+} TPage;
+
+extern TPage motion_pages[MAX_PAGES];
+
+#endif

linker_script/STM32F4_1024FLASH_192RAM.ld

@@ -42,7 +42,8 @@ MEMORY
 {
 FLASH1 (rx)      : ORIGIN = 0x08000000, LENGTH = 16K
 EEPROM (rw)      : ORIGIN = 0x08004000, LENGTH = 32K
-FLASH2 (rx)      : ORIGIN = 0x0800C000, LENGTH = 976K
+FLASH2 (rx)      : ORIGIN = 0x0800C000, LENGTH = 848K
+PAGES (rx)       : ORIGIN = 0x080E0000, LENGTH = 128K
 RAM (xrw)        : ORIGIN = 0x20000000, LENGTH = 128K
 CCMRAM (rw)      : ORIGIN = 0x10000000, LENGTH = 64K
 }
@@ -153,6 +154,12 @@ SECTIONS
     _eccmram = .;       /* create a global symbol at ccmram end */
   } >CCMRAM AT> FLASH2
 
+  .pages :
+  {
+    . = ALIGN(4);
+    *(.pages)
+    . = ALIGN(4);
+  } >PAGES
   
   /* Uninitialized data section */
   . = ALIGN(4);

src/motion_pages.c

+#include "motion_pages.h"
+
+TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")));