From 2e0e536ad8c651e596a4444aab55cd0d7b153bed Mon Sep 17 00:00:00 2001
From: Sergi Hernandez <shernand@iri103.users.iri.prv>
Date: Fri, 15 Apr 2016 17:09:12 +0200
Subject: [PATCH] Added path variables for both the STM32_hal and
STM32_libraries repositories. Solved a bug in the bioloid_dyn_master_servos.c
which used a Darwin robot register identifier.
---
Makefile | 12 +++++++-----
src/bioloid_dyn_master_servos.c | 6 ++++--
2 files changed, 11 insertions(+), 7 deletions(-)
diff --git a/Makefile b/Makefile
index 03acfec..61a0373 100755
--- a/Makefile
+++ b/Makefile
@@ -1,20 +1,22 @@
# setup
# modified by zerom for WinARM 8/2010
+STM32_HAL_PATH=/home/shernand/humanoids/stm32_hal
+STM32_LIBRARIES_PATH=/home/shernand/humanoids/stm32_libraries
PROJECT_NAME=bioloid_firmware
TARGET_FILES=$(wildcard src/*.c)
TARGET_PROCESSOR=STM32F407VG
-HAL_PATH=../../STM32_processor/hal/f4
+HAL_PATH=$(STM32_HAL_PATH)/f4
include $(HAL_PATH)/select_processor.mk
STM32_STARTUP_FILES_PATH = $(HAL_PATH)/startup_code/
STM32_LINKER_SCRIPTS_PATH = ./linker_script
-UTILS_PATH=../../STM32_processor/libraries/utils
-COMM_PATH=../../STM32_processor/libraries/comm
-USART_PATH=../../STM32_processor/libraries/f4/usart
-DYNAMIXEL_PATH=../../STM32_processor/libraries/dynamixel_base
+UTILS_PATH=$(STM32_LIBRARIES_PATH)/utils
+COMM_PATH=$(STM32_LIBRARIES_PATH)/comm
+USART_PATH=$(STM32_LIBRARIES_PATH)/f4/usart
+DYNAMIXEL_PATH=$(STM32_LIBRARIES_PATH)/dynamixel_base
BUILD_PATH=build
COMPILE_OPTS = -mlittle-endian -mcpu=cortex-m4 -mthumb -mthumb-interwork
diff --git a/src/bioloid_dyn_master_servos.c b/src/bioloid_dyn_master_servos.c
index 244a69f..d2ccb34 100755
--- a/src/bioloid_dyn_master_servos.c
+++ b/src/bioloid_dyn_master_servos.c
@@ -1,6 +1,8 @@
#include "bioloid_dyn_master_servos.h"
#include "bioloid_time.h"
#include "usart1.h"
+#include "ram.h"
+#include "bioloid_registers.h"
#define ENABLE_RX_EN_GPIO_CLK __GPIOA_CLK_ENABLE()
#define RX_EN_PIN GPIO_PIN_8
@@ -94,12 +96,12 @@ void bioloid_dyn_master_servos_init(void)
inline void bioloid_dyn_master_servos_enable_power(void)
{
HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_SET);
- ram_data[DARWIN_MM_CNTRL]|=MANAGER_EN_PWR;
+ ram_data[BIOLOID_MM_CNTRL]|=MANAGER_EN_PWR;
}
inline void bioloid_dyn_master_servos_disable_power(void)
{
HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_RESET);
- ram_data[DARWIN_MM_CNTRL]&=(~MANAGER_EN_PWR);
+ ram_data[BIOLOID_MM_CNTRL]&=(~MANAGER_EN_PWR);
}
--
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