Added the gyro module (initial version).

Added a file wit the motion pages ID's.

include/action_id.h

+#ifndef _ACTION_ID_H
+#define _ACTION_ID_H
+
+#define     BOW               1
+#define     BRAVO             2
+#define     RAP_CHEST         5
+#define     SCRATCH_HEAD      8
+#define     HAND_STANDING     11
+#define     R_BLOCKING        14
+#define     L_BLOCKING        16
+#define     L_KICK            18
+#define     R_KICK            19
+#define     R_ATTACK          20
+#define     L_ATTACK          21
+#define     F_ATTACK          22
+#define     DEFENCE           23
+#define     SIT_DOWN          25
+#define     STANF_UP          26
+#define     F_GET_UP          27
+#define     B_GET_UP          28
+#define     CLAP_READY        29
+#define     CLAPPING          30
+#define     WALK_READY        31
+/* forward step */
+#define     F_S_L             32
+#define     F_S_R             34
+#define     F_M_L             36
+#define     F_M_R             38
+#define     F_E_L             40
+#define     F_E_R             42
+/* backward step */
+#define     B_S_L             44
+#define     B_S_R             46
+#define     B_M_L             48
+#define     B_M_R             50
+#define     B_E_L             52
+#define     B_E_R             54
+/* left turn step */
+#define     LT_S_L            56
+#define     LT_S_R            58
+#define     LT_M_L            60
+#define     LT_M_R            62
+#define     LT_E_L            64
+#define     LT_E_R            66
+/* right turn step */
+#define     RT_S_L            68
+#define     RT_S_R            70
+#define     RT_M_L            72
+#define     RT_M_R            74
+#define     RT_E_L            76
+#define     RT_E_R            78
+/* left step */
+#define     L_S_L             80
+#define     L_S_R             82
+#define     L_M_L             84
+#define     L_M_R             86
+#define     L_E_L             88
+#define     L_E_R             90
+/* right step */
+#define     R_S_L             92
+#define     R_S_R             94
+#define     R_M_L             96
+#define     R_M_R             98
+#define     R_E_L             100
+#define     R_E_R             102
+/* forward left turn step */
+#define     FLT_S_L           104
+#define     FLT_S_R           106
+#define     FLT_M_L           108
+#define     FLT_M_R           110
+#define     FLT_E_L           112
+#define     FLT_E_R           114
+/* forward right turn step */
+#define     FRT_S_L           116
+#define     FRT_S_R           118
+#define     FRT_M_L           120
+#define     FRT_M_R           122
+#define     FRT_E_L           124
+#define     FRT_E_R           126
+/* backward left turn step */
+#define     BLT_S_L           128
+#define     BLT_S_R           130
+#define     BLT_M_L           132
+#define     BLT_M_R           134
+#define     BLT_E_L           136
+#define     BLT_E_R           138
+/* backward right turn step */
+#define     BRT_S_L           140
+#define     BRT_S_R           142
+#define     BRT_M_L           144
+#define     BRT_M_R           146
+#define     BRT_E_L           148
+#define     BRT_E_R           150
+/* left turn A??? step */
+#define     LTA_S_L           152
+#define     LTA_S_R           154
+#define     LTA_M_L           156
+#define     LTA_M_R           158
+#define     LTA_E_L           160
+#define     LTA_E_R           162
+/* right turn A?? step */
+#define     RTA_S_L           164
+#define     RTA_S_R           166
+#define     RTA_M_L           168
+#define     RTA_M_R           170
+#define     RTA_E_L           172
+#define     RTA_E_R           174
+/* forward left step */
+#define     FL_S_L            176
+#define     FL_S_R            178
+#define     FL_M_L            180
+#define     FL_M_R            182
+#define     FL_E_L            184
+#define     FL_E_R            186
+/* forward right step */
+#define     FR_S_L            188
+#define     FR_S_R            190
+#define     FR_M_L            192
+#define     FR_M_R            194
+#define     FR_E_L            196
+#define     FR_E_R            198
+/* backward left step */
+#define     BL_S_L            200
+#define     BL_S_R            202
+#define     BL_M_L            204
+#define     BL_M_R            206
+#define     BL_E_L            208
+#define     BL_E_R            210
+/* backward right step */
+#define     BR_S_L            212
+#define     BR_S_R            214
+#define     BR_M_L            216
+#define     BR_M_R            218
+#define     BR_E_L            220
+#define     BR_E_R            222
+
+#define     BALANCE           224
+#define     CLAP_END          225
+
+
+#endif 
+
+
+#endif 

include/adc_dma.h

@@ -7,10 +7,15 @@ extern "C" {
 
 #include "stm32f4xx_hal.h"
 
+typedef enum {ADC_CH1,ADC_CH2,ADC_CH3,ADC_CH4,ADC_CH6,ADC_CH8} adc_ch_t;
+
 // public functions
 void adc_init(void);
 void adc_start(void);
 void adc_set_period(uint8_t period_ms);
+unsigned short adc_get_channel(adc_ch_t channel);
+unsigned short adc_get_channel_raw(adc_ch_t channel);
+unsigned short adc_get_temperature(void);
 void adc_stop(void);
 // operation functions
 uint8_t adc_in_range(unsigned short int address,unsigned short int length);

include/bioloid_gyro.h

+#ifndef BIOLOID_GYRO_H
+#define BIOLOID_GYRO_H
+
+/* public functions */
+void gyro_init(void);
+
+
+#endif

include/bioloid_registers.h

@@ -11,6 +11,8 @@ extern "C" {
 #define BAUDRATE_OFFSET          ((unsigned short int)0x0004)
 #define RETURN_DELAY_OFFSET      ((unsigned short int)0x0005)
 #define MM_PERIOD_OFFSET         ((unsigned short int)0x0006)
+#define GYRO_FB_ADC_CH_OFFSET    ((unsigned short int)0x0007)
+#define GYRO_LR_ADC_CH_OFFSET    ((unsigned short int)0x0008)
 #define RETURN_LEVEL_OFFSET      ((unsigned short int)0x0010)
 
 #define LAST_EEPROM_OFFSET       ((unsigned short int)0x0020)
@@ -24,6 +26,8 @@ typedef enum {
   BIOLOID_RETURN_DELAY_TIME       = RETURN_DELAY_OFFSET,
   BIOLOID_MM_PERIOD_L             = MM_PERIOD_OFFSET,
   BIOLOID_MM_PERIOD_H             = MM_PERIOD_OFFSET+1,
+  BIOLIOD_GYRO_FB_ADC_CH          = GYRO_FB_ADC_CH_OFFSET,
+  BIOLIOD_GYRO_LR_ADC_CH          = GYRO_LR_ADC_CH_OFFSET,
   BIOLOID_RETURN_LEVEL            = RETURN_LEVEL_OFFSET,
   BIOLOID_USER1_LED_CNTRL         = 0x20, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2  | bit 1 |      bit 0
                                           //       |       |       |       | blink | toggle | value | internally used
@@ -179,8 +183,16 @@ typedef enum {
   BIOLOID_MM_SERVO31_CUR_POS_L    = 0x98,
   BIOLOID_MM_SERVO31_CUR_POS_H    = 0x99,
   BIOLOID_ACTION_PAGE             = 0x9A,
-  BIOLOID_ACTION_CNTRL            = 0x9B  // bit 7 | bit 6 | bit 5 |     bit 4    |     bit 3      |       bit 2      |   bit 1   |   bit 0
+  BIOLOID_ACTION_CNTRL            = 0x9B, // bit 7 | bit 6 | bit 5 |     bit 4    |     bit 3      |       bit 2      |   bit 1   |   bit 0
                                           //       |       |       | page running | interrupt flag | enable interrupt | stop page | start page
+  BIOLOID_GYRO_CNTRL              = 0x9C, // bit 7 | bit 6 | bit 5 |     bit 4    |     bit 3      |       bit 2      |   bit 1   |   bit 0
+                                          // 
+  BIOLOID_GYRO_STATUS             = 0x9D, // bit 7 | bit 6 | bit 5 |     bit 4    |     bit 3      |       bit 2      |   bit 1   |   bit 0
+                                          // 
+  BIOLOID_GYRO_FWD_FALL_THD       = 0x9E,
+  BIOLOID_GYRO_BWD_FALL_THD       = 0x9F,
+  BIOLOID_GYRO_LEFT_FALL_THD      = 0xA0,
+  BOILOID_GYRO_RIGHT_FALL_THD     = 0xA1
 } bioloid_registers;
 
 #define      GPIO_BASE_ADDRESS    0x20

src/adc_dma.c

@@ -362,6 +362,57 @@ void adc_set_period(uint8_t period_ms)
   adc_period_ms=period_ms*84;
 }
 
+uint16_t adc_get_channel(adc_ch_t channel)
+{
+  uint16_t value;
+
+  switch(channel)
+  {
+    case ADC_CH1: ram_data[BIOLOID_ADC_CH1_L]+ram_data[BIOLOID_ADC_CH1_H]*256;
+                  break;
+    case ADC_CH2: ram_data[BIOLOID_ADC_CH2_L]+ram_data[BIOLOID_ADC_CH2_H]*256;
+                  break;
+    case ADC_CH3: ram_data[BIOLOID_ADC_CH3_L]+ram_data[BIOLOID_ADC_CH3_H]*256;
+                  break;
+    case ADC_CH4: ram_data[BIOLOID_ADC_CH4_L]+ram_data[BIOLOID_ADC_CH4_H]*256;
+                  break;
+    case ADC_CH6: ram_data[BIOLOID_ADC_CH6_L]+ram_data[BIOLOID_ADC_CH6_H]*256;
+                  break;
+    case ADC_CH8: ram_data[BIOLOID_ADC_CH8_L]+ram_data[BIOLOID_ADC_CH8_H]*256;
+                  break;
+  }
+
+  return value;
+}
+
+uint16_t adc_get_channel_raw(adc_ch_t channel)
+{
+  uint16_t value;
+
+  switch(channel)
+  {
+    case ADC_CH1: value=adc_data[0]&0x0000FFFF;
+                  break;
+    case ADC_CH2: value=(adc_data[0]&0xFFFF0000)>>16;
+                  break;
+    case ADC_CH3: value=adc_data[1]&0x0000FFFF;
+                  break;
+    case ADC_CH4: value=(adc_data[1]&0xFFFF0000)>>16;
+                  break;
+    case ADC_CH6: value=(adc_data[2]&0xFFFF0000)>>16;
+                  break;
+    case ADC_CH8: value=(adc_data[3]&0xFFFF0000)>>16;
+                  break;
+  }
+  
+  return value;
+}
+
+uint16_t adc_get_temperature(void)
+{
+  return ram_data[BIOLOID_ADC_TEMP_L]+ram_data[BIOLOID_ADC_TEMP_H]*256;
+}
+
 void adc_stop(void)
 {
   ram_data[BIOLOID_ADC_CNTRL]&=0xFE;

src/bioloid_gyro.h

+#include "bioloid_gyro.h"
+#include "adc_dma.h"
+
+/* private functions */
+
+/* public functions */
+void gyro_init(void)
+{
+
+}