diff --git a/include/action.h b/include/action.h
index f474c09192e6e4515c8a45ae7ae6443396a569db..27d57d2a05c2391e0d566de5febf8fd4eb36cff4 100644
--- a/include/action.h
+++ b/include/action.h
@@ -2,6 +2,9 @@
 #define _ACTION_H
 
 #include "stm32f4xx.h"
+#include "motion_pages.h"
+
+extern int64_t action_current_angles[PAGE_MAX_NUM_SERVOS];
 
 // public functions
 void action_init(uint16_t period);
diff --git a/include/dynamixel_master_uart_dma.h b/include/dynamixel_master_uart_dma.h
index c96f7b1c97dd0661f0a9da1ae5cbcb33b0e138d8..41b651422fdfe979e25c933fb628e97b3c2e65e5 100755
--- a/include/dynamixel_master_uart_dma.h
+++ b/include/dynamixel_master_uart_dma.h
@@ -9,6 +9,9 @@ void dyn_master_init(void);
 void dyn_master_flush(void);
 void dyn_master_set_timeout(uint16_t timeout_ms);
 void dyn_master_scan(uint8_t *num,uint8_t *ids);
+inline void dyn_master_enable_power(void);
+inline void dyn_master_disable_power(void);
+uint8_t dyn_master_is_power_enabled(void);
 uint8_t dyn_master_ping(uint8_t id);
 uint8_t dyn_master_read_byte(uint8_t id,uint8_t address,uint8_t *data);
 uint8_t dyn_master_read_word(uint8_t id,uint8_t address,uint16_t *data);
diff --git a/include/motion_manager.h b/include/motion_manager.h
index 17afdbbb9a40267040c204fa250fd15cc8d54dc4..47aee894a3e1de6b9a839ecac8c569070498e458 100644
--- a/include/motion_manager.h
+++ b/include/motion_manager.h
@@ -37,6 +37,7 @@ inline void manager_set_module(uint8_t servo_id,TModules module);
 inline TModules manager_get_module(uint8_t servo_id);
 inline void manager_enable_servo(uint8_t servo_id);
 inline void manager_disable_servo(uint8_t servo_id);
+void manager_disable_servos(void);
 inline uint8_t manager_is_servo_enabled(uint8_t servo_id);
 
 #endif
diff --git a/include/motion_pages.h b/include/motion_pages.h
index c7b91ed919fc40fd239a87454a6689f54e355ced..f9acc7b439e51a09a38f15839563ba3f1ffa0e49 100644
--- a/include/motion_pages.h
+++ b/include/motion_pages.h
@@ -29,7 +29,7 @@ typedef struct // Header Structure (total 64unsigned char)
 
 typedef struct // Step Structure (total 64unsigned char)
 {
-  uint16_t position[PAGE_MAX_NUM_SERVOS];    // Joint position   0~61
+  int16_t position[PAGE_MAX_NUM_SERVOS];    // Joint position   0~61
   uint8_t pause;            // Pause time       62
   uint8_t time;             // Time             63
 } TStep;
diff --git a/src/action.c b/src/action.c
index 452c2a9635c08878f658f9b605e10b612efa470b..a9f0064b73cfc2a566a8e4848753a7c64033c573 100644
--- a/src/action.c
+++ b/src/action.c
@@ -1,6 +1,5 @@
 #include "action.h"
 #include "ram.h"
-#include "motion_pages.h"
 
 #define SPEED_BASE_SCHEDULE 0x00
 #define TIME_BASE_SCHEDULE  0x0A
@@ -9,9 +8,11 @@
 typedef enum {ACTION_PRE,ACTION_MAIN,ACTION_POST,ACTION_PAUSE} action_states;
 
 TPage action_next_page;
+TPage action_current_page;
 // angle variables
 int64_t action_moving_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
-int64_t action_current_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+int64_t action_current_angles[PAGE_MAX_NUM_SERVOS];
+int64_t action_start_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
 // speed variables
 int64_t action_start_speed[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
 int64_t action_main_speed[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
@@ -34,10 +35,9 @@ int64_t action_period;
 void action_load_next_step(void)
 {
   // page and step information
-  static TPage current_page;
   static uint8_t current_index=0;
   static uint8_t current_step_index=0;
-  static uint8_t num_repetitions=0;
+  static int8_t num_repetitions=0;
   // angle variables
   int16_t next_angle;// information from the flash memory (fixed point 9|7 format)
   int64_t max_angle;// fixed point format 48|16 format
@@ -57,25 +57,25 @@ void action_load_next_step(void)
   uint8_t i=0;
 
   current_step_index++;
-  if(current_step_index>=current_page.header.stepnum)// the last step has been executed
+  if(current_step_index>=action_current_page.header.stepnum)// the last step has been executed
   {
-    pages_copy_page(&action_next_page,&current_page);// make the next page active
+    pages_copy_page(&action_next_page,&action_current_page);// make the next page active
     if(current_index!=action_next_index)
-      num_repetitions=current_page.header.repeat;
+      num_repetitions=action_current_page.header.repeat;
     current_step_index=0;
     current_index=action_next_index;
   }
-  else if(current_step_index==current_page.header.stepnum-1)// it is the last step
+  else if(current_step_index==action_current_page.header.stepnum-1)// it is the last step
   {
     if(action_stop)
-      action_next_index=current_page.header.exit;
+      action_next_index=action_current_page.header.exit;
     else
     {
       num_repetitions--;
       if(num_repetitions>0)
         action_next_index=current_index;
       else
-        action_next_index=current_page.header.next;
+        action_next_index=action_current_page.header.next;
     }
     if(action_next_index==0)
       action_end=0x01;
@@ -92,14 +92,14 @@ void action_load_next_step(void)
     }
   }
   // compute trajectory
-  action_pause_time=((current_page.steps[current_step_index].pause<<14)/current_page.header.speed);
-  action_step_time=current_page.steps[current_step_index].time*current_page.header.speed<<4;
+  action_pause_time=((action_current_page.steps[current_step_index].pause<<14)/action_current_page.header.speed);
+  action_step_time=((action_current_page.steps[current_step_index].time<<14)/action_current_page.header.speed);
   if(action_step_time<action_period)
     action_step_time=action_period;// 0.078 in 16|16 format
   max_angle=0;
   for(i=0;i<PAGE_MAX_NUM_SERVOS;i++)
   {
-    angle=current_page.steps[current_step_index].position[i];
+    angle=action_current_page.steps[current_step_index].position[i];
     if(angle==0x5A00)// bigger than 180
       target_angles=action_current_angles[i];
     else
@@ -109,10 +109,10 @@ void action_load_next_step(void)
       next_angles=target_angles;
     else
     {
-      if(current_step_index==current_page.header.stepnum-1)
+      if(current_step_index==action_current_page.header.stepnum-1)
         next_angle=action_next_page.steps[0].position[i];
       else
-        next_angle=current_page.steps[current_step_index+1].position[i];
+        next_angle=action_current_page.steps[current_step_index+1].position[i];
       if(next_angle==0x5A00)
         next_angles=target_angles;
       else
@@ -120,7 +120,7 @@ void action_load_next_step(void)
     }
     // check changes in direction
     if(((action_current_angles[i] < target_angles) && (target_angles < next_angles)) ||
-        ((action_current_angles[i] > target_angles) && (target_angles > next_angles)))
+       ((action_current_angles[i] > target_angles) && (target_angles > next_angles)))
       dir_change=0x00;
     else
       dir_change=0x01;
@@ -130,7 +130,7 @@ void action_load_next_step(void)
     else
       action_zero_speed_finish[i]=0x00;
     // find the maximum angle of motion in speed base schedule
-    if(current_page.header.schedule==SPEED_BASE_SCHEDULE)// speed base schedule
+    if(action_current_page.header.schedule==SPEED_BASE_SCHEDULE)// speed base schedule
     {
       // fer el valor absolut
       if(action_moving_angles[i]<0)
@@ -141,9 +141,9 @@ void action_load_next_step(void)
         max_angle=tmp_angle;
     }
   }
-  if(current_page.header.schedule==SPEED_BASE_SCHEDULE)
-    action_step_time=(max_angle*256)/(current_page.steps[current_step_index].time*720);
-  accel_time_num=current_page.header.accel;
+  if(action_current_page.header.schedule==SPEED_BASE_SCHEDULE)
+    action_step_time=(max_angle*256)/(action_current_page.steps[current_step_index].time*720);
+  accel_time_num=action_current_page.header.accel;
   accel_time_num=accel_time_num<<9;
   if(action_step_time<=(accel_time_num<<1))
   {
@@ -186,24 +186,25 @@ void action_init(uint16_t period)
   unsigned char i;
 
   // init current_angles with the current position of the servos
-  for(i=0;i<32;i++)
+  for(i=0;i<PAGE_MAX_NUM_SERVOS;i++)
   {
     // angle variables
     action_moving_angles[i]=0;// fixed point 48|16 format
-    //action_current_angles[i]=0;// middle of range
+    action_start_angles[i]=action_current_angles[i];
     // speed variables
     action_start_speed[i]=0;// fixed point 48|16 format
     action_main_speed[i]=0;// fixed point 48|16 format
     // control variables
     action_zero_speed_finish[i]=0x00;
   }
-  action_running=0;
   // clear the contents of the next page
   pages_clear_page(&action_next_page);
+  pages_clear_page(&action_current_page);
   // control variables
   action_end=0x00;
   action_stop=0x00;
   action_running=0x00;
+  action_next_index=0;
   // time variables (in time units (7.8 ms each time unit))
   action_total_time=0;// fixed point 48|16 format
   action_pre_time=0;// fixed point 48|16 format
@@ -232,6 +233,7 @@ uint8_t action_load_page(uint8_t page_id)
   if(action_next_index<0 || action_next_index>255)
     return 0x00;
   pages_get_page(action_next_index,&action_next_page);
+  pages_clear_page(&action_current_page);
   if(!pages_check_checksum(&action_next_page))
     return 0x00;
 
@@ -240,10 +242,15 @@ uint8_t action_load_page(uint8_t page_id)
 
 void action_start_page(void)
 {
-  action_running=0x01;
+  uint8_t i;
+
+  for(i=0;i<PAGE_MAX_NUM_SERVOS;i++)
+    action_start_angles[i]=action_current_angles[i];
   action_stop=0x00;
   action_current_time=0;
-  action_section_time=0;
+  action_section_time=0; 
+  ram_set_bit(BIOLOID_ACTION_SATUTUS,0);
+  action_running=0x01;
 }
 
 void action_stop_page(void)
@@ -262,7 +269,6 @@ void action_process(void)
   uint8_t i;
   // angle variables 
   static int64_t accel_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
-  static int64_t start_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
   static int64_t main_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
   // speed variables (in controller units)
   static int64_t current_speed[PAGE_MAX_NUM_SERVOS]={0};// fixed point 48|16 format
@@ -270,7 +276,7 @@ void action_process(void)
   // control variables 
   static action_states state=ACTION_PAUSE;
 
-  if(action_running)
+  if(action_running==0x01)
   {
     action_current_time+=action_period;
     switch(state)
@@ -283,7 +289,7 @@ void action_process(void)
                            delta_speed=(action_main_speed[i]-action_start_speed[i]);
                            current_speed[i]=action_start_speed[i]+delta_speed;
                            accel_angles[i]=(action_start_speed[i]*action_section_time+((delta_speed*action_section_time)>>1))>>16;
-                           action_current_angles[i]=start_angles[i]+accel_angles[i];
+                           action_current_angles[i]=action_start_angles[i]+accel_angles[i];
                            /* update of the state */
                            if(!action_zero_speed_finish[i])
                            {
@@ -291,15 +297,15 @@ void action_process(void)
                                main_angles[i]=0;
                              else
                                main_angles[i]=((action_moving_angles[i]-accel_angles[i])*(action_step_time-(action_pre_time<<1)))/(action_step_time-action_pre_time);
-                             start_angles[i]=action_current_angles[i];
+                             action_start_angles[i]=action_current_angles[i];
                            }
                            else
                            {
                              main_angles[i]=action_moving_angles[i]-accel_angles[i]-(((action_main_speed[i]*action_pre_time)>>1)>>16);
-                             start_angles[i]=action_current_angles[i];
+                             action_start_angles[i]=action_current_angles[i];
                            }
                            /* the first step of the main section */
-                           action_current_angles[i]=start_angles[i]+(main_angles[i]*(action_current_time-action_section_time))/(action_step_time-(action_pre_time<<1));
+                           action_current_angles[i]=action_start_angles[i]+(main_angles[i]*(action_current_time-action_section_time))/(action_step_time-(action_pre_time<<1));
                            current_speed[i]=action_main_speed[i];
                          }
                          action_current_time=action_current_time-action_section_time;
@@ -313,7 +319,7 @@ void action_process(void)
                            delta_speed=((action_main_speed[i]-action_start_speed[i])*action_current_time)/action_section_time;
                            current_speed[i]=action_start_speed[i]+delta_speed;
                            accel_angles[i]=((action_start_speed[i]*action_current_time)+((delta_speed*action_current_time)>>1))>>16;
-                           action_current_angles[i]=start_angles[i]+accel_angles[i];
+                           action_current_angles[i]=action_start_angles[i]+accel_angles[i];
                          }
                          state=ACTION_PRE;
                        }
@@ -323,21 +329,21 @@ void action_process(void)
                           for(i=0;i<PAGE_MAX_NUM_SERVOS;i++)
                           {
                             /* last segment of the main section */
-                            action_current_angles[i]=start_angles[i]+main_angles[i];
+                            action_current_angles[i]=action_start_angles[i]+main_angles[i];
                             current_speed[i]=action_main_speed[i];
                             /* update state */
-                            start_angles[i]=action_current_angles[i];
+                            action_start_angles[i]=action_current_angles[i];
                             main_angles[i]=action_moving_angles[i]-main_angles[i]-accel_angles[i];
                             /* first segment of the post section */
                             if(action_zero_speed_finish[i])
                             {
                               delta_speed=((0.0-action_main_speed[i])*(action_current_time-action_section_time))/action_pre_time;
                               current_speed[i]=action_main_speed[i]+delta_speed;
-                              action_current_angles[i]=start_angles[i]+(((action_main_speed[i]*(action_current_time-action_section_time))+((delta_speed*(action_current_time-action_section_time))>>1))>>16);
+                              action_current_angles[i]=action_start_angles[i]+(((action_main_speed[i]*(action_current_time-action_section_time))+((delta_speed*(action_current_time-action_section_time))>>1))>>16);
                             }
                             else
                             {
-                              action_current_angles[i]=start_angles[i]+((main_angles[i]*(action_current_time-action_section_time))/action_pre_time);
+                              action_current_angles[i]=action_start_angles[i]+((main_angles[i]*(action_current_time-action_section_time))/action_pre_time);
                               current_speed[i]=action_main_speed[i];
                             }
                           }
@@ -349,7 +355,7 @@ void action_process(void)
                         {
                           for(i=0;i<PAGE_MAX_NUM_SERVOS;i++)
                           {
-                            action_current_angles[i]=start_angles[i]+(main_angles[i]*action_current_time)/action_section_time;
+                            action_current_angles[i]=action_start_angles[i]+(main_angles[i]*action_current_time)/action_section_time;
                             current_speed[i]=action_main_speed[i];
                           }
                           state=ACTION_MAIN;
@@ -364,15 +370,15 @@ void action_process(void)
                             {
                               delta_speed=-action_main_speed[i];
                               current_speed[i]=action_main_speed[i]+delta_speed;
-                              action_current_angles[i]=start_angles[i]+(((action_main_speed[i]*action_section_time)+((delta_speed*action_section_time)>>1))>>16);
+                              action_current_angles[i]=action_start_angles[i]+(((action_main_speed[i]*action_section_time)+((delta_speed*action_section_time)>>1))>>16);
                             }
                             else
                             {
-                              action_current_angles[i]=start_angles[i]+main_angles[i];
+                              action_current_angles[i]=action_start_angles[i]+main_angles[i];
                               current_speed[i]=action_main_speed[i];
                             }
                             /* update state */
-                            start_angles[i]=action_current_angles[i];
+                            action_start_angles[i]=action_current_angles[i];
                             action_start_speed[i]=current_speed[i];
                           }
                           /* load the next step */
@@ -380,9 +386,11 @@ void action_process(void)
                           {
                             if(action_end)
                             {
+                              action_load_next_step();
                               state=ACTION_PAUSE;
-                              action_running=0x00;
                               action_end=0x00;
+                              ram_clear_bit(BIOLOID_ACTION_SATUTUS,0);
+                              action_running=0x00;
                             }
                             else
                             {
@@ -393,7 +401,7 @@ void action_process(void)
                                 delta_speed=((action_main_speed[i]-action_start_speed[i])*(action_current_time-action_section_time))/action_pre_time;
                                 current_speed[i]=action_start_speed[i]+delta_speed;
                                 accel_angles[i]=(((action_start_speed[i]*(action_current_time-action_section_time))+((delta_speed*(action_current_time-action_section_time))>>1))>>16);
-                                action_current_angles[i]=start_angles[i]+accel_angles[i];
+                                action_current_angles[i]=action_start_angles[i]+accel_angles[i];
                               }
                               action_current_time=action_current_time-action_section_time;
                               action_section_time=action_pre_time;
@@ -415,11 +423,11 @@ void action_process(void)
                             {
                               delta_speed=((0.0-action_main_speed[i])*action_current_time)/action_section_time;
                               current_speed[i]=action_main_speed[i]+delta_speed;
-                              action_current_angles[i]=start_angles[i]+(((action_main_speed[i]*action_current_time)+((delta_speed*action_current_time)>>1))>>16);
+                              action_current_angles[i]=action_start_angles[i]+(((action_main_speed[i]*action_current_time)+((delta_speed*action_current_time)>>1))>>16);
                             }
                             else
                             {
-                              action_current_angles[i]=start_angles[i]+(main_angles[i]*action_current_time)/action_section_time;
+                              action_current_angles[i]=action_start_angles[i]+(main_angles[i]*action_current_time)/action_section_time;
                               current_speed[i]=action_main_speed[i];
                             }
                           }
@@ -430,9 +438,12 @@ void action_process(void)
                          {
                            if(action_end)
                            {
-                             action_running=0x00;
+                             // find next page to execute
+                             action_load_next_step();
                              state=ACTION_PAUSE;
                              action_end=0x00;
+                             ram_clear_bit(BIOLOID_ACTION_SATUTUS,0);
+                             action_running=0x00;
                            }
                            else
                            {
@@ -444,7 +455,7 @@ void action_process(void)
                                delta_speed=((action_main_speed[i]-action_start_speed[i])*(action_current_time-action_section_time))/action_pre_time;
                                current_speed[i]=action_start_speed[i]+delta_speed;
                                accel_angles[i]=(((action_start_speed[i]*(action_current_time-action_section_time))+((delta_speed*(action_current_time-action_section_time))>>1))>>16);
-                               action_current_angles[i]=start_angles[i]+accel_angles[i];
+                               action_current_angles[i]=action_start_angles[i]+accel_angles[i];
                              }
                              action_current_time=action_current_time-action_section_time;
                              action_section_time=action_pre_time;
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 23dfffb4763e556da0966edc99a8eba86ac23458..6035dfd64006ca2a50b25fec47e4221522593ff0 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -30,13 +30,18 @@ uint8_t read_operation(uint8_t address, uint8_t length, uint8_t *data)
 
 uint8_t write_operation(uint8_t address,uint8_t length, uint8_t *data)
 {
-  uint8_t error,byte_value,i,j;
+  uint8_t error,byte_value,i,j,do_op=0x00;
   uint16_t word_value;
 
   // pre-write operation
+  if(ram_in_range(BIOLOID_DXL_POWER,BIOLOID_DXL_POWER,address,length))
+  {
+    if(data[BIOLOID_DXL_POWER-address]&0x01) dyn_master_enable_power();
+    else dyn_master_disable_power();
+  }
   if(ram_in_range(BIOLOID_LED,BIOLOID_LED,address,length))
   {
-    byte_value=data[address-BIOLOID_LED];
+    byte_value=data[BIOLOID_LED-address];
     if(byte_value&0x01)
       gpio_set_led(NORTH_LED);
     else
@@ -56,53 +61,60 @@ uint8_t write_operation(uint8_t address,uint8_t length, uint8_t *data)
   }
   if(ram_in_range(BIOLOID_MM_PERIOD,BIOLOID_MM_PERIOD+1,address,length))
   {
-    word_value=data[address-BIOLOID_MM_PERIOD]+(data[address-BIOLOID_MM_PERIOD+1]<<8);
+    word_value=data[BIOLOID_MM_PERIOD-address]+(data[BIOLOID_MM_PERIOD+1-address]<<8);
     action_set_period(word_value);
     word_value=(word_value*1000000)>>16;
     manager_set_period(word_value);
   }  
   for(i=BIOLOID_MM_MODULE_EN0,j=0;i<=BIOLOID_MM_MODULE_EN15;i++,j+=2)
   {
+    do_op=0x01;
     if(ram_in_range(i,i,address,length))
     {
-      if(data[address-i]&0x80) manager_enable_servo(j);
+      byte_value=data[i-address];
+      if(byte_value&0x80) manager_enable_servo(j);
       else manager_disable_servo(j);
-      manager_set_module(j,(data[address-i]&0x70)>>4);
-      if(data[address-i]&0x08) manager_enable_servo(j+1);
+      manager_set_module(j,(byte_value&0x70)>>4);
+      if(byte_value&0x08) manager_enable_servo(j+1);
       else manager_disable_servo(j+1);
-      manager_set_module(j+1,data[address-i]&0x07);
+      manager_set_module(j+1,byte_value&0x07);
     }
     else break;
   }
+  if(do_op)
+  {
+    do_op=0x00;
+    manager_disable_servos();
+  }
   if(ram_in_range(BIOLOID_IMU_CONTROL,BIOLOID_IMU_CONTROL,address,length))
   {
-    if(data[address-BIOLOID_IMU_CONTROL]&0x01)
+    if(data[BIOLOID_IMU_CONTROL-address]&0x01)
       imu_start();
     else
       imu_stop();
   }
   if(ram_in_range(BIOLOID_MM_CONTROL,BIOLOID_MM_CONTROL,address,length))
   {
-    if(data[address-BIOLOID_MM_CONTROL]&0x01)
+    if(data[BIOLOID_MM_CONTROL-address]&0x01)
       manager_enable();
     else
       manager_disable();
   }
+  if(ram_in_range(BIOLOID_ACTION_CONTROL,BIOLOID_ACTION_CONTROL,address,length))
+  {
+    if(data[BIOLOID_ACTION_CONTROL-address]&0x01)
+      action_start_page();
+    if(data[BIOLOID_ACTION_CONTROL-address]&0x02)
+      action_stop_page();
+  }
+  if(ram_in_range(BIOLOID_ACTION_PAGE,BIOLOID_ACTION_PAGE,address,length))// load the page identifier 
+    action_load_page(data[BIOLOID_ACTION_PAGE-address]);
   // write eeprom
   for(i=address,j=0;i<LAST_EEPROM_OFFSET && i<(address+length);i++,j++)
     EE_WriteVariable(i,data[j]); 
   // write operation
   error=ram_write_table(address,length,data);
   // post-write operation
-  if(ram_in_range(BIOLOID_ACTION_PAGE,BIOLOID_ACTION_PAGE,address,length))// load the page identifier 
-    action_load_page(data[address-BIOLOID_ACTION_PAGE]);
-  if(ram_in_range(BIOLOID_ACTION_CONTROL,BIOLOID_ACTION_CONTROL,address,length))
-  {
-    if(data[address-BIOLOID_ACTION_CONTROL]&0x01)
-      action_start_page();
-    if(data[address-BIOLOID_ACTION_CONTROL]&0x02)
-      action_stop_page();
-  }
 
   return error;
 }
@@ -141,8 +153,8 @@ int32_t main(void)
   // initialize motion manager
   EE_ReadVariable(DEVICE_ID_OFFSET,&eeprom_data);
   action_period=eeprom_data&0x00FF;
-  EE_ReadVariable(DEVICE_ID_OFFSET,&eeprom_data);
-  action_period+=(eeprom_data&0x00FF)<<8;
+  EE_ReadVariable(DEVICE_ID_OFFSET+1,&eeprom_data);
+  action_period+=((eeprom_data&0x00FF)<<8);
   mm_period=(action_period*1000000)>>16;
   manager_init(mm_period);
   // initialize the action module
diff --git a/src/dynamixel_master_uart_dma.c b/src/dynamixel_master_uart_dma.c
index 2c545b89e4df0c76cab573514f92f11a9f57be05..a279031de5df5c9ffb0c266bb15661c64a7631ee 100755
--- a/src/dynamixel_master_uart_dma.c
+++ b/src/dynamixel_master_uart_dma.c
@@ -56,6 +56,12 @@
 #define     USART_DMA_TX_IRQHandler  DMA1_Stream6_IRQHandler
 #define     USART_DMA_RX_IRQHandler  DMA1_Stream5_IRQHandler
 
+#define     POWER_GPIO_CLK           RCC_AHB1Periph_GPIOB
+#define     POWER_PIN                GPIO_Pin_2               
+#define     POWER_GPIO_PORT          GPIOB                       
+#define     POWER_SOURCE             GPIO_PinSource2
+
+
 #define     MAX_BUFFER_LEN           1024
 
 // private variables
@@ -71,6 +77,8 @@ volatile uint8_t dyn_master_packet_ready;
 volatile uint8_t dyn_master_sending_packet;
 // no answer for sync write operation
 uint8_t dyn_master_no_answer;
+// power enabled variable
+uint8_t dyn_master_power_enabled;
 // DMA initialization data structures
 DMA_InitTypeDef  DMA_TX_InitStructure;
 DMA_InitTypeDef  DMA_RX_InitStructure;
@@ -270,6 +278,7 @@ void dyn_master_init(void)
   /* Enable GPIO clock */
   USART_CLK_INIT(USART_CLK, ENABLE);
   RCC_AHB1PeriphClockCmd(USART_TX_GPIO_CLK | USART_RX_GPIO_CLK | USART_TX_EN_GPIO_CLK | USART_RX_EN_GPIO_CLK, ENABLE);
+  RCC_AHB1PeriphClockCmd(POWER_GPIO_CLK, ENABLE);
   // configure the GPIO pins
 
   /* Connect USART pins to AF7 */
@@ -390,6 +399,16 @@ void dyn_master_init(void)
   
   /* Enable the USART2 */
   USART_Cmd(USART, ENABLE);
+
+  // initialize the power enable gpio
+  GPIO_InitStructure.GPIO_Pin = POWER_PIN;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+  GPIO_Init(POWER_GPIO_PORT, &GPIO_InitStructure);
+
+  dyn_master_disable_power();
 }
 
 void dyn_master_flush(void)
@@ -418,6 +437,23 @@ void dyn_master_scan(uint8_t *num,uint8_t *ids)
   }
 }
 
+inline void dyn_master_enable_power(void)
+{
+  GPIO_SetBits(POWER_GPIO_PORT,POWER_PIN);
+  dyn_master_power_enabled=0x01;
+}
+
+inline void dyn_master_disable_power(void)
+{
+  GPIO_ResetBits(POWER_GPIO_PORT,POWER_PIN);
+  dyn_master_power_enabled=0x00;
+}
+
+uint8_t dyn_master_is_power_enabled(void)
+{
+  return dyn_master_power_enabled;
+}
+
 uint8_t dyn_master_ping(uint8_t id)
 {
   uint8_t error;
diff --git a/src/motion_manager.c b/src/motion_manager.c
index 11ed9bb7355c68119e3e04549b3ce6b8fb14d71c..b386bda52fca8e4973c77aa09ff80fb7bdd6fd07 100644
--- a/src/motion_manager.c
+++ b/src/motion_manager.c
@@ -4,14 +4,13 @@
 #include "gpio.h"
 #include "ram.h"
 #include "action.h"
+#include "time.h"
 
 #define      MOTION_TIMER                 TIM3
 #define      MOTION_TIMER_IRQn            TIM3_IRQn
 #define      MOTION_TIMER_IRQHandler      TIM3_IRQHandler
 #define      MOTION_TIMER_CLK             RCC_APB1Periph_TIM3
 
-extern int64_t action_current_angles[MANAGER_MAX_NUM_SERVOS];
-
 // private variables
 __IO uint16_t manager_motion_period;
 uint8_t manager_num_servos;
@@ -21,7 +20,7 @@ TServoInfo manager_servos[MANAGER_MAX_NUM_SERVOS];
 void manager_send_motion_command(void)
 {
   uint8_t servo_ids[MANAGER_MAX_NUM_SERVOS];
-  uint8_t data[2048];
+  uint8_t data[256];
   uint8_t i,num=0;
   
   for(i=0;i<manager_num_servos;i++)
@@ -35,7 +34,7 @@ void manager_send_motion_command(void)
     }
   }
   if(num>0)
-    dyn_master_sync_write(manager_num_servos,servo_ids,P_GOAL_POSITION_L,2,data);
+    dyn_master_sync_write(num,servo_ids,P_GOAL_POSITION_L,2,data);
 }
 
 inline uint16_t manager_angle_to_value(uint8_t servo_id,int16_t angle)
@@ -45,7 +44,7 @@ inline uint16_t manager_angle_to_value(uint8_t servo_id,int16_t angle)
 
 inline int16_t manager_value_to_angle(uint8_t servo_id,uint16_t value)
 {
-  return (((value*manager_servos[servo_id].max_angle)/manager_servos[servo_id].encoder_resolution)-manager_servos[servo_id].center_angle);
+  return (((int16_t)((value*manager_servos[servo_id].max_angle)/manager_servos[servo_id].encoder_resolution))-manager_servos[servo_id].center_angle);
 }
 
 inline uint16_t manager_speed_to_value(uint8_t servo_id,uint16_t speed)
@@ -86,7 +85,8 @@ void manager_get_target_position(void)
     {
       if(manager_servos[i].module==MM_ACTION)
       {
-        manager_servos[i].current_angle=((action_current_angles[i+1])>>16);
+        manager_servos[i].current_angle=((action_current_angles[i+1])>>9);
+        //>>16 from the action codification, <<7 from the manager codification
         manager_servos[i].current_value=manager_angle_to_value(i,manager_servos[i].current_angle);
       }
     }
@@ -103,20 +103,20 @@ void MOTION_TIMER_IRQHandler(void)
     TIM_ClearITPendingBit(MOTION_TIMER,TIM_IT_CC1);
     capture = TIM_GetCapture1(MOTION_TIMER);
     TIM_SetCompare1(MOTION_TIMER, capture + manager_motion_period);
-    // get the target angles from all modules
-    // manager_get_target_position();
     // call the action process
-    // action_process();
+    action_process();
     // call the joint motion process
     // joint_motion_process();
     // call the walking process
     // walking_process();
     // balance the robot
     // manager_balance();
+    // get the target angles from all modules
+    manager_get_target_position();
     // send the motion commands to the servos
     manager_send_motion_command();
     // get the disabled servos position
-    // manager_get_current_position();
+    manager_get_current_position();
   }
 }
 
@@ -132,6 +132,10 @@ void manager_init(uint16_t period_us)
 
   RCC_APB1PeriphClockCmd(MOTION_TIMER_CLK,ENABLE);
 
+  // enable power to the servos
+  dyn_master_enable_power();
+  delay_ms(300);
+
   // detect the servos connected 
   dyn_master_scan(&num,servo_ids); 
   ram_data[BIOLOID_MM_NUM_SERVOS]=num;
@@ -215,7 +219,7 @@ void manager_init(uint16_t period_us)
       ram_data[BIOLOID_MM_SERVO0_CUR_POS_L+i*2]=(manager_servos[i].current_angle&0xFF);
       ram_data[BIOLOID_MM_SERVO0_CUR_POS_H+i*2]=(manager_servos[i].current_angle>>8);
       // set the action current angles
-      action_current_angles[manager_servos[i].id]=manager_servos[i].current_angle<<16;
+      action_current_angles[i+1]=manager_servos[i].current_angle<<9;
       manager_num_servos++;
     }
     else
@@ -312,10 +316,7 @@ inline TModules manager_get_module(uint8_t servo_id)
 inline void manager_enable_servo(uint8_t servo_id)
 {
   if(servo_id>=0 && servo_id<MANAGER_MAX_NUM_SERVOS)
-  {
     manager_servos[servo_id].enabled=0x01;
-    gpio_toggle_led(WEST_LED);
-  }
 }
 
 inline void manager_disable_servo(uint8_t servo_id)
@@ -324,6 +325,25 @@ inline void manager_disable_servo(uint8_t servo_id)
     manager_servos[servo_id].enabled=0x00;
 }
 
+void manager_disable_servos(void)
+{
+  uint8_t servo_ids[MANAGER_MAX_NUM_SERVOS];
+  uint8_t data[256];
+  uint8_t i,num=0;
+
+  for(i=0;i<manager_num_servos;i++)
+  {
+    if(!manager_servos[i].enabled)
+    {
+      servo_ids[num]=manager_servos[i].id;
+      data[num]=0x00;
+      num++;
+    }
+  }
+  if(num>0)
+    dyn_master_sync_write(num,servo_ids,P_TORQUE_ENABLE,1,data);
+}
+
 inline uint8_t manager_is_servo_enabled(uint8_t servo_id)
 {
   if(servo_id>=0 && servo_id<MANAGER_MAX_NUM_SERVOS)
diff --git a/src/motion_pages.c b/src/motion_pages.c
index d7d4e2f7aaced096e7cb2ff03823cf94e2228980..680ec463429067c3fe0538cbe50f17b6cec39eed 100644
--- a/src/motion_pages.c
+++ b/src/motion_pages.c
@@ -5,7 +5,7 @@ void pages_get_page(uint8_t page_id,TPage *page)
   uint16_t i=0;
 
   for(i=0;i<sizeof(TPage);i++)
-    ((uint8_t *)page)[i]=((uint8_t *)&motion_pages[page_id])[i];
+    ((uint8_t *)page)[i]=((__IO uint8_t *)&motion_pages[page_id])[i];
 }
 
 uint8_t pages_check_checksum(TPage *page)
@@ -15,7 +15,7 @@ uint8_t pages_check_checksum(TPage *page)
 
   for(i=0;i<sizeof(TPage);i++)
     checksum+=((uint8_t *)page)[i];
-  if(checksum==0xFF)
+  if(checksum==0x00)
     return 0x01;
   else
     return 0x00;
@@ -54,7 +54,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc0,
+      0x00,
       {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -111,7 +111,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x5a,
+      0x8e,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -168,7 +168,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x03,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x47,
+      0xb7,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -225,7 +225,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x04,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x6e,
+      0x19,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -282,7 +282,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xdd,
+      0x27,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -339,7 +339,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x06,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xdb,
+      0x92,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -396,7 +396,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x55,
+      0xac,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -453,7 +453,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xed,
+      0x4f,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -510,7 +510,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x09,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x34,
+      0x59,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -567,7 +567,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x0a,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa1,
+      0xfa,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -624,7 +624,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x93,
+      0x9b,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -681,7 +681,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x0c,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xf7,
+      0x10,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -738,7 +738,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x0d,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa1,
+      0x80,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -795,7 +795,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xb0,
+      0xf8,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -852,7 +852,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x0e,
       0x0f,
       {0x00,0x00,0x00,0x00},
-      0xd3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -909,7 +909,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xb4,
+      0xe7,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -966,7 +966,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x10,
       0x11,
       {0x00,0x00,0x00,0x00},
-      0xd1,
+      0x62,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -1023,7 +1023,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xb4,
+      0xe7,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -1080,7 +1080,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc8,
+      0x81,
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@@ -3474,7 +3474,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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@@ -3645,7 +3645,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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@@ -9402,7 +9402,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xa5,
       {0x00,0x00,0x00,0x00},
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@@ -9459,7 +9459,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xaa,
       {0x00,0x00,0x00,0x00},
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@@ -9516,7 +9516,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xa7,
       {0x00,0x00,0x00,0x00},
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@@ -9573,7 +9573,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xac,
       {0x00,0x00,0x00,0x00},
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@@ -9630,7 +9630,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xa9,
       {0x00,0x00,0x00,0x00},
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@@ -9687,7 +9687,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xaa,
       {0x00,0x00,0x00,0x00},
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@@ -9744,7 +9744,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xab,
       {0x00,0x00,0x00,0x00},
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@@ -9801,7 +9801,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xac,
       {0x00,0x00,0x00,0x00},
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@@ -9858,7 +9858,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xad,
       {0x00,0x00,0x00,0x00},
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@@ -9915,7 +9915,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -9972,7 +9972,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xaf,
       {0x00,0x00,0x00,0x00},
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@@ -10029,7 +10029,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -10086,7 +10086,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb1,
       {0x00,0x00,0x00,0x00},
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@@ -10143,7 +10143,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb6,
       0xba,
       {0x00,0x00,0x00,0x00},
-      0x5f,
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@@ -10200,7 +10200,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb3,
       {0x00,0x00,0x00,0x00},
-      0x60,
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@@ -10257,7 +10257,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb4,
       {0x00,0x00,0x00,0x00},
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@@ -10314,7 +10314,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb5,
       {0x00,0x00,0x00,0x00},
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@@ -10371,7 +10371,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb6,
       0xba,
       {0x00,0x00,0x00,0x00},
-      0xd1,
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@@ -10428,7 +10428,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb7,
       {0x00,0x00,0x00,0x00},
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@@ -10485,7 +10485,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb4,
       {0x00,0x00,0x00,0x00},
-      0x5d,
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@@ -10542,7 +10542,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xb9,
       {0x00,0x00,0x00,0x00},
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@@ -10599,7 +10599,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -10656,7 +10656,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xbb,
       {0x00,0x00,0x00,0x00},
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@@ -10713,7 +10713,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc5,
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@@ -10770,7 +10770,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xbd,
       {0x00,0x00,0x00,0x00},
-      0x74,
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@@ -10827,7 +10827,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xc2,
       {0x00,0x00,0x00,0x00},
-      0x73,
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@@ -10884,7 +10884,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xbf,
       {0x00,0x00,0x00,0x00},
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@@ -10941,7 +10941,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -10998,7 +10998,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xc1,
       {0x00,0x00,0x00,0x00},
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@@ -11055,7 +11055,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -11112,7 +11112,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xc3,
       {0x00,0x00,0x00,0x00},
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@@ -11169,7 +11169,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -11226,7 +11226,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xc5,
       {0x00,0x00,0x00,0x00},
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@@ -11283,7 +11283,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -11340,7 +11340,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -11397,7 +11397,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -11454,7 +11454,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xc9,
       {0x00,0x00,0x00,0x00},
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@@ -11511,7 +11511,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xd2,
       {0x00,0x00,0x00,0x00},
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@@ -11568,7 +11568,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xcb,
       {0x00,0x00,0x00,0x00},
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@@ -11625,7 +11625,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcc,
       0xcc,
       {0x00,0x00,0x00,0x00},
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@@ -11682,7 +11682,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xcd,
       {0x00,0x00,0x00,0x00},
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@@ -11739,7 +11739,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xd2,
       {0x00,0x00,0x00,0x00},
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@@ -11796,7 +11796,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcf,
       0xcf,
       {0x00,0x00,0x00,0x00},
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@@ -11853,7 +11853,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcc,
       0xcc,
       {0x00,0x00,0x00,0x00},
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@@ -11910,7 +11910,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd1,
       0xd1,
       {0x00,0x00,0x00,0x00},
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@@ -11967,7 +11967,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -12024,7 +12024,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd3,
       0xd3,
       {0x00,0x00,0x00,0x00},
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@@ -12081,7 +12081,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc5,
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@@ -12138,7 +12138,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd5,
       0xd5,
       {0x00,0x00,0x00,0x00},
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@@ -12195,7 +12195,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xda,
       0xda,
       {0x00,0x00,0x00,0x00},
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@@ -12252,7 +12252,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd7,
       0xd7,
       {0x00,0x00,0x00,0x00},
-      0xaa,
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@@ -12309,7 +12309,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd8,
       0xdc,
       {0x00,0x00,0x00,0x00},
-      0xa3,
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@@ -12366,7 +12366,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd9,
       0xd9,
       {0x00,0x00,0x00,0x00},
-      0x72,
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@@ -12423,7 +12423,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xda,
       0xda,
       {0x00,0x00,0x00,0x00},
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@@ -12480,7 +12480,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xdb,
       0xdb,
       {0x00,0x00,0x00,0x00},
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@@ -12537,7 +12537,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd8,
       0xdc,
       {0x00,0x00,0x00,0x00},
-      0x15,
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@@ -12594,7 +12594,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xdd,
       {0x00,0x00,0x00,0x00},
-      0xbc,
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@@ -12651,7 +12651,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc5,
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@@ -12708,7 +12708,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0xdf,
       {0x00,0x00,0x00,0x00},
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@@ -12765,7 +12765,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc5,
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@@ -12822,7 +12822,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -12879,7 +12879,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -12936,7 +12936,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -12993,7 +12993,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       0x00,
       {0x00,0x00,0x00,0x00},
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@@ -13050,7 +13050,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13107,7 +13107,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13164,7 +13164,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13221,7 +13221,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13278,7 +13278,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13335,7 +13335,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13392,7 +13392,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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@@ -13449,7 +13449,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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       {0x00,0x00,0x00,0x00},
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     },
@@ -13506,7 +13506,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13563,7 +13563,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13620,7 +13620,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13677,7 +13677,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13734,7 +13734,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13791,7 +13791,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13848,7 +13848,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13905,7 +13905,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -13962,7 +13962,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14019,7 +14019,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14076,7 +14076,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14133,7 +14133,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14190,7 +14190,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14247,7 +14247,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14304,7 +14304,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14361,7 +14361,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14418,7 +14418,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14475,7 +14475,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14532,7 +14532,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -14589,7 +14589,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa3,
+      0x53,
       {0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
diff --git a/src/ram.c b/src/ram.c
index a03bc8832cabaf1bcd527f73d8173a8ba688f72c..0bdd49976e589d126604cae8c42e207f25854b58 100644
--- a/src/ram.c
+++ b/src/ram.c
@@ -110,7 +110,7 @@ uint8_t ram_write_table(uint8_t address, uint8_t length,uint8_t *data)
 
 inline uint8_t ram_in_range(uint8_t start_reg,uint8_t end_reg,uint8_t address,uint8_t length)
 {
-  if(start_reg>=address && end_reg<=(address+length))
+  if(start_reg>=address && end_reg<(address+length))
     return 0x01;
   else
     return 0x00;