Added an interrupt to notify when the action has finished.

  It can be enabled or disabled.
  It simplifies the wait for the termination of the action.

include/action.h

@@ -19,8 +19,12 @@ uint8_t action_load_page(uint8_t page_id);
 void action_start_page(void);
 void action_stop_page(void);
 uint8_t action_is_running(void);
+void action_enable_int(void);
+void action_disable_int(void);
+uint8_t action_is_int_enabled(void);
 // operation functions
 uint8_t action_in_range(unsigned short int address, unsigned short int length);
+void action_process_read_cmd(unsigned short int address,unsigned short int length,unsigned char *data);
 void action_process_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data);
 // motion manager interface
 void action_process(void);

src/action.c

@@ -2,6 +2,7 @@
 #include "motion_pages.h"
 #include "motion_manager.h"
 #include "ram.h"
+#include "bioloid_dyn_slave.h"
 
 #define SPEED_BASE_SCHEDULE 0x00
 #define TIME_BASE_SCHEDULE  0x0A
@@ -213,6 +214,22 @@ void action_load_next_step(void)
   }
 }
 
+void action_finish(void)
+{
+  // set the internal state machine to the idle state
+  action_load_next_step();
+  action_end=0x00;
+  // clear the status falg for the action module
+  ram_data[BIOLOID_ACTION_CNTRL]&=(~ACTION_STATUS);
+  // set the interrupt falg for the action module
+  ram_data[BIOLOID_ACTION_CNTRL]|=ACTION_INT_FLAG;
+  // generate the interrupt in case it is enabled
+  if(ram_data[BIOLOID_ACTION_CNTRL]&ACTION_INT_EN)
+    bioloid_dyn_slave_set_int();    
+  // change the internal state 
+  action_running=0x00;
+}
+
 // public functions
 void action_init(uint16_t period)
 {
@@ -287,6 +304,8 @@ void action_start_page(void)
   action_section_time=0; 
   action_current_step_index=-1;
   ram_data[BIOLOID_ACTION_CNTRL]|=ACTION_STATUS;
+  /* clear the interrupt flag */
+  ram_data[BIOLOID_ACTION_CNTRL]&=(~ACTION_INT_FLAG);
   action_running=0x01;
 }
 
@@ -300,6 +319,24 @@ uint8_t action_is_running(void)
   return action_running;
 }
 
+void action_enable_int(void)
+{
+  ram_data[BIOLOID_ACTION_CNTRL]|=ACTION_INT_EN;
+}
+
+void action_disable_int(void)
+{
+  ram_data[BIOLOID_ACTION_CNTRL]&=(~ACTION_INT_EN);
+}
+
+uint8_t action_is_int_enabled(void)
+{
+  if(ram_data[BIOLOID_ACTION_CNTRL]&ACTION_INT_EN)
+    return 0x01;
+  else
+    return 0x00;
+}
+
 // motion manager interface
 void action_process(void)
 {
@@ -438,11 +475,8 @@ void action_process(void)
                           {
                             if(action_end)
                             {
-                              action_load_next_step();
                               state=ACTION_PAUSE;
-                              action_end=0x00;
-                              ram_data[BIOLOID_ACTION_CNTRL]&=(~ACTION_STATUS);
-                              action_running=0x00;
+                              action_finish();
                             }
                             else
                             {
@@ -496,12 +530,8 @@ void action_process(void)
                          {
                            if(action_end)
                            {
-                             // find next page to execute
-                             action_load_next_step();
                              state=ACTION_PAUSE;
-                             action_end=0x00;
-                             ram_data[BIOLOID_ACTION_CNTRL]&=(~ACTION_STATUS);
-                             action_running=0x00;
+                             action_finish();
                            }
                            else
                            {
@@ -534,6 +564,17 @@ uint8_t action_in_range(unsigned short int address, unsigned short int length)
   return ram_in_window(ACTION_BASE_ADDRESS,ACTION_MEM_LENGTH,address,length);
 }
 
+void action_process_read_cmd(unsigned short int address,unsigned short int length,unsigned char *data)
+{
+  if(ram_in_range(BIOLOID_ACTION_CNTRL,address,length))
+    if(ram_data[BIOLOID_ACTION_CNTRL]&ACTION_INT_FLAG)
+    {
+      ram_data[BIOLOID_ACTION_CNTRL]&=(~ACTION_INT_FLAG);
+      if(ram_data[BIOLOID_ACTION_CNTRL]&ACTION_INT_EN)
+        bioloid_dyn_slave_clear_int();
+    }
+}
+
 void action_process_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data)
 {
   if(ram_in_range(BIOLOID_ACTION_CNTRL,address,length))
@@ -542,6 +583,10 @@ void action_process_write_cmd(unsigned short int address,unsigned short int leng
       action_start_page();
     if(data[BIOLOID_ACTION_CNTRL-address]&ACTION_STOP)
       action_stop_page();
+    if(data[BIOLOID_ACTION_CNTRL-address]&ACTION_INT_EN)
+      action_enable_int();
+    else
+      action_disable_int();
   }
   if(ram_in_range(BIOLOID_ACTION_PAGE,address,length))// load the page identifier 
     action_load_page(data[BIOLOID_ACTION_PAGE-address]);

src/bioloid_dyn_slave.c

@@ -37,6 +37,9 @@ unsigned char bioloid_on_read(unsigned short int address,unsigned short int leng
   // GPIO commands
   if(ram_in_window(GPIO_BASE_ADDRESS,GPIO_MEM_LENGTH,address,length))
     gpio_process_read_cmd(address,length,data);
+  // action commands
+  if(ram_in_window(ACTION_BASE_ADDRESS,ACTION_MEM_LENGTH,address,length))
+    action_process_read_cmd(address,length,data);
 
   return error;
 }

src/motion_manager.c

@@ -127,7 +127,7 @@ void MANAGER_TIMER_IRQHandler(void)
       // balance the robot
       // manager_balance();
       // send the motion commands to the servos
-      manager_send_motion_command();
+      // manager_send_motion_command();
       // get the disabled servos position
       // manager_get_current_position();
     }