Added support for the eeprom emmulation.

Makefile

@@ -7,6 +7,7 @@ TARGET_FILES=src/bioloid_stm32.c
 TARGET_FILES+=src/system_stm32f4xx.c
 TARGET_FILES+=src/stm32f4xx_hal_msp.c
 TARGET_FILES+=src/gpio.c
+TARGET_FILES+=src/eeprom.c
 TARGET_FILES+=src/bioloid_time.c
 TARGET_FILES+=src/bioloid_dyn_slave.c
 TARGET_PROCESSOR=STM32F407VG
@@ -16,7 +17,7 @@ HAL_PATH=../../STM32_processor/hal/f4
 include $(HAL_PATH)/select_processor.mk
 
 STM32_STARTUP_FILES_PATH = $(HAL_PATH)/startup_code/
-STM32_LINKER_SCRIPTS_PATH = $(HAL_PATH)/linker_scripts
+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
@@ -40,7 +41,7 @@ AS = $(TCHAIN_PREFIX)gcc
 ASFLAGS = $(COMPILE_OPTS) -c 
 
 LD = $(TCHAIN_PREFIX)gcc
-LDFLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -Wl,-Map=$@.map,-cref $(INCLUDE_DIRS) -T $(STM32_LINKER_SCRIPTS_PATH)/$(LINKER_SCRIPT_FILE) --specs=nosys.specs
+LDFLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -Wl,-Map=$@.map,-cref $(INCLUDE_DIRS) -T $(STM32_LINKER_SCRIPTS_PATH)/bioloid.ld --specs=nosys.specs
 EXT_LIB = $(COMM_PATH)/lib/comm_m4_fpu.a $(UTILS_PATH)/lib/utils_m4_fpu.a $(DYNAMIXEL_PATH)/lib/dynamixel_m4_fpu.a
 
 OBJCP = $(TCHAIN_PREFIX)objcopy

include/eeprom.h

@@ -2,21 +2,37 @@
   ******************************************************************************
   * @file    EEPROM_Emulation/inc/eeprom.h 
   * @author  MCD Application Team
-   * @version V1.0.0
-  * @date    10-October-2011
+  * @version V1.0.0
+  * @date    17-December-2014
   * @brief   This file contains all the functions prototypes for the EEPROM 
   *          emulation firmware library.
   ******************************************************************************
   * @attention
   *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
   ******************************************************************************
   */ 
 
@@ -24,34 +40,24 @@
 #ifndef __EEPROM_H
 #define __EEPROM_H
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 /* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx.h"
+#include "stm32f4xx_hal.h"
 
 /* Exported constants --------------------------------------------------------*/
 /* Define the size of the sectors to be used */
-#define PAGE_SIZE               (uint32_t)0x4000  /* Page size = 16KByte */
-
-/* Device voltage range supposed to be [2.7V to 3.6V], the operation will 
-   be done by word  */
-#define VOLTAGE_RANGE           (uint8_t)VoltageRange_3
+#define PAGE_SIZE               (uint32_t)0x4000 /* Page size */
 
 /* EEPROM start address in Flash */
-#define EEPROM_START_ADDRESS  ((uint32_t)0x08004000) /* EEPROM emulation start address:
-                                                  from sector2 : after 16KByte of used 
-                                                  Flash memory */
+#define EEPROM_START_ADDRESS  ((uint32_t)0x08004000) /* EEPROM emulation start address */
 
 /* Pages 0 and 1 base and end addresses */
 #define PAGE0_BASE_ADDRESS    ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
 #define PAGE0_END_ADDRESS     ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
-#define PAGE0_ID               FLASH_Sector_1
+#define PAGE0_ID              FLASH_SECTOR_1
 
 #define PAGE1_BASE_ADDRESS    ((uint32_t)(EEPROM_START_ADDRESS + 0x4000))
-#define PAGE1_END_ADDRESS     ((uint32_t)(EEPROM_START_ADDRESS + (2 * PAGE_SIZE - 1)))
-#define PAGE1_ID               FLASH_Sector_2
+#define PAGE1_END_ADDRESS     ((uint32_t)(EEPROM_START_ADDRESS + 2*PAGE_SIZE - 1))
+#define PAGE1_ID              FLASH_SECTOR_2
 
 /* Used Flash pages for EEPROM emulation */
 #define PAGE0                 ((uint16_t)0x0000)
@@ -83,6 +89,9 @@ extern "C" {
 
 #define LAST_EEPROM_OFFSET       ((uint16_t)0x0017)
 
+/* Variables' number */
+#define NB_OF_VAR             ((uint8_t)0x03)
+
 /* Exported types ------------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */
@@ -90,10 +99,6 @@ uint16_t EE_Init(void);
 uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
 uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
 
-#ifdef __cplusplus
-}
-#endif
-
 #endif /* __EEPROM_H */
 
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

src/bioloid_stm32.c

 #include "stm32f4xx_hal.h"
 #include "bioloid_dyn_slave.h"
 #include "gpio.h"
+#include "eeprom.h"
 #include "bioloid_time.h"
 #include "stm32_time.h"
 
@@ -9,6 +10,8 @@ int32_t main(void)
   HAL_Init();
   /* initialize the gpio */
   gpio_init();
+  /* initialize the eeprom emmulation */
+//  EE_Init();
   /* initialize the time module */
   bioloid_time_init();
   /* initialize the dynamixel slave interface */