diff --git a/include/action_id.h b/include/action_id.h
new file mode 100644
index 0000000000000000000000000000000000000000..1628d2f280a83ec9cbd6ad7654b7ea9bc9e08ba2
--- /dev/null
+++ b/include/action_id.h
@@ -0,0 +1,144 @@
+#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
diff --git a/include/adc_dma.h b/include/adc_dma.h
index a9359ae138bbc01d81b06fc9bd6dfb3ee10d3093..eb6393b1f6daf4b07f7efa7dabe2c0a4daf29e26 100644
--- a/include/adc_dma.h
+++ b/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);
diff --git a/include/bioloid_gyro.h b/include/bioloid_gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..f9bca06e99a21e48ed3098d183f0bc9b4346087f
--- /dev/null
+++ b/include/bioloid_gyro.h
@@ -0,0 +1,8 @@
+#ifndef BIOLOID_GYRO_H
+#define BIOLOID_GYRO_H
+
+/* public functions */
+void gyro_init(void);
+
+
+#endif
diff --git a/include/bioloid_registers.h b/include/bioloid_registers.h
index 5376e83a14e6c7d35db5f116586402a157ad432f..f466735464b284bb320a626a98029390509f29b1 100644
--- a/include/bioloid_registers.h
+++ b/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
diff --git a/src/adc_dma.c b/src/adc_dma.c
index 074643bcbfa444b91f7e84bd07c73e5ae3df24f0..c3bb736db3c5706baeb3d0df2eccc5865591631d 100644
--- a/src/adc_dma.c
+++ b/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;
diff --git a/src/bioloid_gyro.h b/src/bioloid_gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..b56982a1b87d4727471769d3ddee304da3827f5f
--- /dev/null
+++ b/src/bioloid_gyro.h
@@ -0,0 +1,10 @@
+#include "bioloid_gyro.h"
+#include "adc_dma.h"
+
+/* private functions */
+
+/* public functions */
+void gyro_init(void)
+{
+
+}