diff --git a/Makefile b/Makefile
index b5792390a521b5ba0d657efa08d2513a457f6215..96d9771a07750574c3bf785d4247b4c017aa9e08 100755
--- a/Makefile
+++ b/Makefile
@@ -8,6 +8,7 @@ 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/ram.c
TARGET_FILES+=src/bioloid_time.c
TARGET_FILES+=src/bioloid_dyn_slave.c
TARGET_PROCESSOR=STM32F407VG
diff --git a/include/bioloid_dyn_slave.h b/include/bioloid_dyn_slave.h
index 2298418bf77f015680f896614020e0c74e5eaa04..1bf96b38b4e854885652e380237da13898b933a1 100644
--- a/include/bioloid_dyn_slave.h
+++ b/include/bioloid_dyn_slave.h
@@ -13,6 +13,9 @@ extern "C" {
extern TDynamixelSlave bioloid_dyn_slave;
void bioloid_dyn_slave_init(void);
+void bioloid_dyn_slave_set_int(void);
+void bioloid_dyn_slave_clear_int(void);
+uint8_t bioloid_dyn_slave_is_int_set(void);
#ifdef __cplusplus
}
diff --git a/include/bioloid_registers.h b/include/bioloid_registers.h
new file mode 100644
index 0000000000000000000000000000000000000000..4b606f9d3bd2270a26bd69d946850f13439eca09
--- /dev/null
+++ b/include/bioloid_registers.h
@@ -0,0 +1,64 @@
+#ifndef _BIOLOID_REGISTERS_H
+#define _BIOLOID_REGISTERS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define DEVICE_MODEL_OFFSET ((unsigned short int)0x0000)
+#define FIRMWARE_VERSION_OFFSET ((unsigned short int)0x0002)
+#define DEVICE_ID_OFFSET ((unsigned short int)0x0003)
+#define BAUDRATE_OFFSET ((unsigned short int)0x0004)
+#define RETURN_DELAY_OFFSET ((unsigned short int)0x0005)
+#define RETURN_LEVEL_OFFSET ((unsigned short int)0x0010)
+
+#define LAST_EEPROM_OFFSET ((unsigned short int)0x0020)
+
+typedef enum {
+ BIOLOID_MODEL_NUMBER_L = DEVICE_MODEL_OFFSET,
+ BIOLOID_MODEL_NUMBER_H = DEVICE_MODEL_OFFSET+1,
+ BIOLOID_VERSION = FIRMWARE_VERSION_OFFSET,
+ BIOLOID_ID = DEVICE_ID_OFFSET,
+ BIOLOID_BAUD_RATE = BAUDRATE_OFFSET,
+ BIOLOID_RETURN_DELAY_TIME = RETURN_DELAY_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
+ BIOLOID_USER1_LED_PERIOD_L = 0x21,
+ BIOLOID_USER1_LED_PERIOD_H = 0x22,
+ BIOLOID_USER2_LED_CNTRL = 0x23, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | blink | toggle | value | internally used
+ BIOLOID_USER2_LED_PERIOD_L = 0x24,
+ BIOLOID_USER2_LED_PERIOD_H = 0x25,
+ BIOLOID_RXD_LED_CNTRL = 0x26, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | blink | toggle | value | internally used
+ BIOLOID_RXD_LED_PERIOD_L = 0x27,
+ BIOLOID_RXD_LED_PERIOD_H = 0x28,
+ BIOLOID_TXD_LED_CNTRL = 0x29, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | blink | toggle | value | internally used
+ BIOLOID_TXD_LED_PERIOD_L = 0x2A,
+ BIOLOID_TXD_LED_PERIOD_H = 0x2B,
+ BIOLOID_USER_PB_CNTRL = 0x2C, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | interrupt flag | enable interrupt | value | internally used
+ BIOLOID_RESET_PB_CNTRL = 0x2D, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | interrupt flag | enable interrupt | value | internally used
+ BIOLOID_START_PB_CNTRL = 0x2E, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | interrupt flag | enable interrupt | value | internally used
+ BIOLOID_MODE_PB_CNTRL = 0x2F, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | | | | interrupt flag | enable interrupt | value | internally used
+} bioloid_registers;
+
+#define GPIO_BASE_ADDRESS 0x20
+#define GPIO_MEM_LENGTH 16
+#define GPIO_INT_USED 0x01
+#define GPIO_VALUE 0x02
+#define GPIO_TOGGLE 0x04
+#define GPIO_BLINK 0x08
+#define GPIO_INT_EN 0x04
+#define GPIO_INT_FLAG 0x08
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/include/eeprom.h b/include/eeprom.h
index 6a199a1faceebb1086afbc20975a54dab8a7c8e5..25c56092a20b8b2c8795c3a052b5c87ca371016c 100755
--- a/include/eeprom.h
+++ b/include/eeprom.h
@@ -78,17 +78,6 @@
/* Page full define */
#define PAGE_FULL ((uint8_t)0x80)
-/* Virtual address defined by the user: 0xFFFF value is prohibited */
-#define DEVICE_MODEL_OFFSET ((uint16_t)0x0000)
-#define FIRMWARE_VERSION_OFFSET ((uint16_t)0x0002)
-#define DEVICE_ID_OFFSET ((uint16_t)0x0003)
-#define BAUDRATE_OFFSET ((uint16_t)0x0004)
-#define RETURN_DELAY_OFFSET ((uint16_t)0x0005)
-#define MM_PERIOD_OFFSET ((uint16_t)0x0006)
-#define RETURN_LEVEL_OFFSET ((uint16_t)0x0010)
-
-#define LAST_EEPROM_OFFSET ((uint16_t)0x0017)
-
/* Variables' number */
#define NB_OF_VAR ((uint8_t)0x03)
diff --git a/include/gpio.h b/include/gpio.h
index 25be95af7cc2d496b868559cbde57dfba0daa99b..4f5ea59546abdde0bca4079660f0fadd901c248c 100644
--- a/include/gpio.h
+++ b/include/gpio.h
@@ -20,6 +20,8 @@ void gpio_blink_led(led_t led_id, int16_t period_ms);
// Pushbuttons functions
uint8_t gpio_is_pushbutton_pressed(pushbutton_t pb_id);
void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void));
+// operation functions
+void gpio_process_cmd(unsigned short int address,unsigned short int length,unsigned char *data);
#ifdef __cplusplus
}
diff --git a/include/ram.h b/include/ram.h
index a1d31eb2ebc8dcc4ff2097f24c60094acc7c000a..3b350e370257bc192a00a155c8ac68b6f17ee3af 100644
--- a/include/ram.h
+++ b/include/ram.h
@@ -6,7 +6,7 @@ extern "C" {
#endif
#include "stm32f4xx.h"
-#include "eeprom.h"
+#include "bioloid_registers.h"
#define RAM_SUCCESS 0
#define RAM_BAD_ADDRESS -1
@@ -14,134 +14,6 @@ extern "C" {
#define RAM_BAD_BIT -3
#define RAM_BAD_ACCESS -4
-typedef enum {
- BIOLOID_MODEL_NUMBER_L = DEVICE_MODEL_OFFSET,
- BIOLOID_MODEL_NUMBER_H = DEVICE_MODEL_OFFSET+1,
- BIOLOID_VERSION = FIRMWARE_VERSION_OFFSET,
- BIOLOID_ID = DEVICE_ID_OFFSET,
- BIOLOID_BAUD_RATE = BAUDRATE_OFFSET,
- BIOLOID_RETURN_DELAY_TIME = RETURN_DELAY_OFFSET,
- BIOLOID_MM_PERIOD_L = MM_PERIOD_OFFSET,
- BIOLOID_MM_PERIOD_H = MM_PERIOD_OFFSET+1,
- BIOLOID_RETURN_LEVEL = RETURN_LEVEL_OFFSET,
- BIOLOID_DXL_POWER = 0x18,
- BIOLOID_LED = 0x19,
- BIOLOID_PUSHBUTTON = 0x1A,
- BIOLOID_MM_NUM_SERVOS = 0x1B,
- BIOLOID_MM_CONTROL = 0x1C,
- BIOLOID_MM_STATUS = 0x1D,
- BIOLOID_MM_MODULE_EN0 = 0x1E,
- BIOLOID_MM_MODULE_EN1 = 0x1F,
- BIOLOID_MM_MODULE_EN2 = 0x20,
- BIOLOID_MM_MODULE_EN3 = 0x21,
- BIOLOID_MM_MODULE_EN4 = 0x22,
- BIOLOID_MM_MODULE_EN5 = 0x23,
- BIOLOID_MM_MODULE_EN6 = 0x24,
- BIOLOID_MM_MODULE_EN7 = 0x25,
- BIOLOID_MM_MODULE_EN8 = 0x26,
- BIOLOID_MM_MODULE_EN9 = 0x27,
- BIOLOID_MM_MODULE_EN10 = 0x28,
- BIOLOID_MM_MODULE_EN11 = 0x29,
- BIOLOID_MM_MODULE_EN12 = 0x2A,
- BIOLOID_MM_MODULE_EN13 = 0x2B,
- BIOLOID_MM_MODULE_EN14 = 0x2C,
- BIOLOID_MM_MODULE_EN15 = 0x2D,
- BIOLOID_MM_SERVO0_CUR_POS_L = 0x2E,
- BIOLOID_MM_SERVO0_CUR_POS_H = 0x2F,
- BIOLOID_MM_SERVO1_CUR_POS_L = 0x30,
- BIOLOID_MM_SERVO1_CUR_POS_H = 0x31,
- BIOLOID_MM_SERVO2_CUR_POS_L = 0x32,
- BIOLOID_MM_SERVO2_CUR_POS_H = 0x33,
- BIOLOID_MM_SERVO3_CUR_POS_L = 0x34,
- BIOLOID_MM_SERVO3_CUR_POS_H = 0x35,
- BIOLOID_MM_SERVO4_CUR_POS_L = 0x36,
- BIOLOID_MM_SERVO4_CUR_POS_H = 0x37,
- BIOLOID_MM_SERVO5_CUR_POS_L = 0x38,
- BIOLOID_MM_SERVO5_CUR_POS_H = 0x39,
- BIOLOID_MM_SERVO6_CUR_POS_L = 0x3A,
- BIOLOID_MM_SERVO6_CUR_POS_H = 0x3B,
- BIOLOID_MM_SERVO7_CUR_POS_L = 0x3C,
- BIOLOID_MM_SERVO7_CUR_POS_H = 0x3D,
- BIOLOID_MM_SERVO8_CUR_POS_L = 0x3E,
- BIOLOID_MM_SERVO8_CUR_POS_H = 0x3F,
- BIOLOID_MM_SERVO9_CUR_POS_L = 0x40,
- BIOLOID_MM_SERVO9_CUR_POS_H = 0x41,
- BIOLOID_MM_SERVO10_CUR_POS_L = 0x42,
- BIOLOID_MM_SERVO10_CUR_POS_H = 0x43,
- BIOLOID_MM_SERVO11_CUR_POS_L = 0x44,
- BIOLOID_MM_SERVO11_CUR_POS_H = 0x45,
- BIOLOID_MM_SERVO12_CUR_POS_L = 0x46,
- BIOLOID_MM_SERVO12_CUR_POS_H = 0x47,
- BIOLOID_MM_SERVO13_CUR_POS_L = 0x48,
- BIOLOID_MM_SERVO13_CUR_POS_H = 0x49,
- BIOLOID_MM_SERVO14_CUR_POS_L = 0x4A,
- BIOLOID_MM_SERVO14_CUR_POS_H = 0x4B,
- BIOLOID_MM_SERVO15_CUR_POS_L = 0x4C,
- BIOLOID_MM_SERVO15_CUR_POS_H = 0x4D,
- BIOLOID_MM_SERVO16_CUR_POS_L = 0x4E,
- BIOLOID_MM_SERVO16_CUR_POS_H = 0x4F,
- BIOLOID_MM_SERVO17_CUR_POS_L = 0x50,
- BIOLOID_MM_SERVO17_CUR_POS_H = 0x51,
- BIOLOID_MM_SERVO18_CUR_POS_L = 0x52,
- BIOLOID_MM_SERVO18_CUR_POS_H = 0x53,
- BIOLOID_MM_SERVO19_CUR_POS_L = 0x54,
- BIOLOID_MM_SERVO19_CUR_POS_H = 0x55,
- BIOLOID_MM_SERVO20_CUR_POS_L = 0x56,
- BIOLOID_MM_SERVO20_CUR_POS_H = 0x57,
- BIOLOID_MM_SERVO21_CUR_POS_L = 0x58,
- BIOLOID_MM_SERVO21_CUR_POS_H = 0x59,
- BIOLOID_MM_SERVO22_CUR_POS_L = 0x5A,
- BIOLOID_MM_SERVO22_CUR_POS_H = 0x5B,
- BIOLOID_MM_SERVO23_CUR_POS_L = 0x5C,
- BIOLOID_MM_SERVO23_CUR_POS_H = 0x5D,
- BIOLOID_MM_SERVO24_CUR_POS_L = 0x5E,
- BIOLOID_MM_SERVO24_CUR_POS_H = 0x5F,
- BIOLOID_MM_SERVO25_CUR_POS_L = 0x60,
- BIOLOID_MM_SERVO25_CUR_POS_H = 0x61,
- BIOLOID_MM_SERVO26_CUR_POS_L = 0x62,
- BIOLOID_MM_SERVO26_CUR_POS_H = 0x63,
- BIOLOID_MM_SERVO27_CUR_POS_L = 0x64,
- BIOLOID_MM_SERVO27_CUR_POS_H = 0x65,
- BIOLOID_MM_SERVO28_CUR_POS_L = 0x66,
- BIOLOID_MM_SERVO28_CUR_POS_H = 0x67,
- BIOLOID_MM_SERVO29_CUR_POS_L = 0x68,
- BIOLOID_MM_SERVO29_CUR_POS_H = 0x69,
- BIOLOID_MM_SERVO30_CUR_POS_L = 0x6A,
- BIOLOID_MM_SERVO30_CUR_POS_H = 0x6B,
- BIOLOID_IMU_STATUS = 0x6C,
- BIOLOID_IMU_CONTROL = 0x6D,
- BIOLOID_IMU_ACCEL_X_L = 0x6E,
- BIOLOID_IMU_ACCEL_X_H = 0x6F,
- BIOLOID_IMU_ACCEL_Y_L = 0x70,
- BIOLOID_IMU_ACCEL_Y_H = 0x71,
- BIOLOID_IMU_ACCEL_Z_L = 0x72,
- BIOLOID_IMU_ACCEL_Z_H = 0x73,
- BIOLOID_IMU_GYRO_X_L = 0x74,
- BIOLOID_IMU_GYRO_X_H = 0x75,
- BIOLOID_IMU_GYRO_Y_L = 0x76,
- BIOLOID_IMU_GYRO_Y_H = 0x77,
- BIOLOID_IMU_GYRO_Z_L = 0x78,
- BIOLOID_IMU_GYRO_Z_H = 0x79,
- BIOLOID_IMU_COMPASS_X_L = 0x7A,
- BIOLOID_IMU_COMPASS_X_H = 0x7B,
- BIOLOID_IMU_COMPASS_Y_L = 0x7C,
- BIOLOID_IMU_COMPASS_Y_H = 0x7D,
- BIOLOID_IMU_COMPASS_Z_L = 0x7E,
- BIOLOID_IMU_COMPASS_Z_H = 0x7F,
- BIOLOID_IMU_TEMP = 0x80,
- BIOLOID_ACTION_PAGE = 0x81,
- BIOLOID_ACTION_CONTROL = 0x82,
- BIOLOID_ACTION_STATUS = 0x83,
- BIOLOID_MM_PELVIS_ROLL_GAIN_L = 0x84,
- BIOLOID_MM_PELVIS_ROLL_GAIN_R = 0x85,
- BIOLOID_MM_ANKLE_ROLL_GAIN_L = 0x86,
- BIOLOID_MM_ANKLE_ROLL_GAIN_R = 0x87,
- BIOLOID_MM_ANKLE_PITCH_GAIN_L = 0x88,
- BIOLOID_MM_ANKLE_PITCH_GAIN_R = 0x89,
- BIOLOID_MM_KNEE_GAIN_L = 0x8A,
- BIOLOID_MM_KNEE_GAIN_R = 0x8B
-} bioloid_registers;
-
#define RAM_SIZE 256
extern uint8_t ram_data[RAM_SIZE];
@@ -155,7 +27,8 @@ uint8_t ram_clear_bit(uint8_t address, uint8_t bit);
uint8_t ram_write_byte(uint8_t address, uint8_t data);
uint8_t ram_write_word(uint8_t address, uint16_t data);
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);
+inline uint8_t ram_in_range(uint8_t reg,uint8_t address,uint8_t length);
+inline uint8_t ram_in_window(uint8_t start_reg,uint8_t reg_length,uint8_t start_address,uint8_t address_length);
#ifdef __cplusplus
}
diff --git a/src/bioloid_dyn_slave.c b/src/bioloid_dyn_slave.c
index 28eceee2a0077d80d2aff8ab3758dc65f183db0c..a4edced5d1a85756ec7e3962d8f8a4f4f4dd8714 100644
--- a/src/bioloid_dyn_slave.c
+++ b/src/bioloid_dyn_slave.c
@@ -1,20 +1,65 @@
#include "bioloid_dyn_slave.h"
#include "bioloid_time.h"
#include "usart3.h"
+#include "ram.h"
+#include "eeprom.h"
+#include "gpio.h"
+
+/* external interrupt pin */
+#define DYN_SLAVE_EXT_INT_PIN GPIO_PIN_8
+#define DYN_SLAVE_EXT_INT_GPIO_PORT GPIOE
+#define DYN_SLAVE_EXT_INT_EN_GPIO_CLK __HAL_RCC_GPIOE_CLK_ENABLE()
/* private variables */
TDynamixelSlave bioloid_dyn_slave;
TTime bioloid_dyn_slave_timer;
TComm bioloid_dyn_slave_comm;
+UART_InitTypeDef bioloid_comm_init;
+uint8_t bioloid_slave_int_state;
// private functions
unsigned char bioloid_on_read(unsigned short int address,unsigned short int length,unsigned char *data)
{
- return 0x00;
+ unsigned char error;
+ /* dynamixel slave internal operation registers */
+ error=ram_read_table(address,length,data);
+
+ return error;
}
unsigned char bioloid_on_write(unsigned short int address,unsigned short int length,unsigned char *data)
{
+ unsigned char i,j;
+
+ /* dynamixel slave internal operation registers */
+ if(ram_in_range(BIOLOID_ID,address,length))
+ {
+ dyn_slave_set_address(&bioloid_dyn_slave,data[BIOLOID_ID-address]);
+ ram_write_byte(BIOLOID_ID,data[BIOLOID_ID-address]);
+ }
+ if(ram_in_range(BIOLOID_BAUD_RATE,address,length))
+ {
+ bioloid_comm_init.BaudRate=2000000/(data[BIOLOID_BAUD_RATE-address]+1);
+ usart3_config(&bioloid_dyn_slave_comm,&bioloid_comm_init);
+ ram_write_byte(BIOLOID_BAUD_RATE,data[BIOLOID_BAUD_RATE-address]);
+ }
+ if(ram_in_range(BIOLOID_RETURN_DELAY_TIME,address,length))
+ {
+ dyn_slave_set_return_delay(&bioloid_dyn_slave,data[BIOLOID_RETURN_DELAY_TIME-address]);
+ ram_write_byte(BIOLOID_RETURN_DELAY_TIME,data[BIOLOID_RETURN_DELAY_TIME-address]);
+ }
+ if(ram_in_range(BIOLOID_RETURN_LEVEL,address,length))
+ {
+ dyn_slave_set_return_level(&bioloid_dyn_slave,data[BIOLOID_RETURN_LEVEL-address]);
+ ram_write_byte(BIOLOID_RETURN_LEVEL,data[BIOLOID_RETURN_LEVEL-address]);
+ }
+ // GPIO commands
+ if(ram_in_window(GPIO_BASE_ADDRESS,GPIO_MEM_LENGTH,address,length))
+ gpio_process_cmd(address,length,data);
+ // write eeprom
+ for(i=address,j=0;i<LAST_EEPROM_OFFSET && i<(address+length);i++,j++)
+ EE_WriteVariable(i,data[j]);
+
return 0x00;
}
@@ -22,20 +67,23 @@ unsigned char bioloid_on_write(unsigned short int address,unsigned short int len
void bioloid_dyn_slave_init(void)
{
TUSART_IRQ_Priorities priorities;
- UART_InitTypeDef Init;
+ GPIO_InitTypeDef GPIO_InitStructure;
+
+ // initialize private variables
+ bioloid_slave_int_state=0;
// initialize timer structure
time_init(&bioloid_dyn_slave_timer,bioloid_time_get_counts_per_us(),bioloid_time_get_counts);
/* initialize the comm object */
comm_init(&bioloid_dyn_slave_comm,0x01,&bioloid_dyn_slave_timer);
- Init.BaudRate = 921600;
- Init.WordLength = UART_WORDLENGTH_8B;
- Init.StopBits = UART_STOPBITS_1;
- Init.Parity = UART_PARITY_NONE;
- Init.Mode = UART_MODE_TX_RX;
- Init.HwFlowCtl = UART_HWCONTROL_NONE;
- Init.OverSampling = UART_OVERSAMPLING_16;
+ bioloid_comm_init.BaudRate = 921600;
+ bioloid_comm_init.WordLength = UART_WORDLENGTH_8B;
+ bioloid_comm_init.StopBits = UART_STOPBITS_1;
+ bioloid_comm_init.Parity = UART_PARITY_NONE;
+ bioloid_comm_init.Mode = UART_MODE_TX_RX;
+ bioloid_comm_init.HwFlowCtl = UART_HWCONTROL_NONE;
+ bioloid_comm_init.OverSampling = UART_OVERSAMPLING_16;
priorities.irq_priority=0;
priorities.irq_subpriority=0;
@@ -44,11 +92,35 @@ void bioloid_dyn_slave_init(void)
priorities.dma_tx_priority=1;
priorities.dma_tx_subpriority=0;
- usart3_init(&bioloid_dyn_slave_comm,&Init,&priorities);
- dyn_slave_init(&bioloid_dyn_slave,&bioloid_dyn_slave_comm,0x01);
+ usart3_init(&bioloid_dyn_slave_comm,&bioloid_comm_init,&priorities);
+ dyn_slave_init(&bioloid_dyn_slave,&bioloid_dyn_slave_comm,ram_data[BIOLOID_ID]);
bioloid_dyn_slave.on_read=bioloid_on_read;
bioloid_dyn_slave.on_write=bioloid_on_write;
- //dyn_slave_set_return_delay(&battery_dyn_slave,ram_data[BATTERY_RETURN_DELAY_TIME]);
- //dyn_slave_set_return_level(&battery_dyn_slave,ram_data[BATTERY_STATUS_RETURN_LEVEL]);
+ dyn_slave_set_return_delay(&bioloid_dyn_slave,ram_data[BIOLOID_RETURN_DELAY_TIME]);
+ dyn_slave_set_return_level(&bioloid_dyn_slave,ram_data[BIOLOID_RETURN_LEVEL]);
+
+ /* initialize the external interrupt pin */
+ DYN_SLAVE_EXT_INT_EN_GPIO_CLK;
+ GPIO_InitStructure.Pin = DYN_SLAVE_EXT_INT_PIN;
+ GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD;
+ GPIO_InitStructure.Pull = GPIO_NOPULL;
+ GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
+ HAL_GPIO_Init(DYN_SLAVE_EXT_INT_GPIO_PORT, &GPIO_InitStructure);
}
+void bioloid_dyn_slave_set_int(void)
+{
+ HAL_GPIO_WritePin(DYN_SLAVE_EXT_INT_GPIO_PORT,DYN_SLAVE_EXT_INT_PIN,GPIO_PIN_RESET);
+ bioloid_slave_int_state=1;
+}
+
+void bioloid_dyn_slave_clear_int(void)
+{
+ HAL_GPIO_WritePin(DYN_SLAVE_EXT_INT_GPIO_PORT,DYN_SLAVE_EXT_INT_PIN,GPIO_PIN_SET);
+ bioloid_slave_int_state=0;
+}
+
+uint8_t bioloid_dyn_slave_is_int_set(void)
+{
+ return bioloid_slave_int_state;
+}
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index c65b2d86bafe79ecba0bc53d177008bc8556b567..e5bcd5387cf7547a48eab87c9ec95bd5814df588 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -1,9 +1,9 @@
#include "stm32f4xx_hal.h"
-#include "bioloid_dyn_slave.h"
#include "gpio.h"
#include "eeprom.h"
+#include "ram.h"
#include "bioloid_time.h"
-#include "stm32_time.h"
+#include "bioloid_dyn_slave.h"
int32_t main(void)
{
@@ -11,7 +11,9 @@ int32_t main(void)
/* initialize the gpio */
gpio_init();
/* initialize the eeprom emmulation */
-// EE_Init();
+ EE_Init();
+ /* initialize the ram module */
+ ram_init();
/* initialize the time module */
bioloid_time_init();
/* initialize the dynamixel slave interface */
diff --git a/src/eeprom.c b/src/eeprom.c
index 18f4c047fe7da62a5fca0e628b7143b02340178f..8696f8cca185f890aced9f3a72435486ef5d0a3f 100755
--- a/src/eeprom.c
+++ b/src/eeprom.c
@@ -41,16 +41,16 @@
/* Includes ------------------------------------------------------------------*/
#include "eeprom.h"
+#include "bioloid_registers.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define EEPROM_SIZE 0x09
#define DEFAULT_DEVICE_MODEL 0x7300
-#define DEFAULT_FIRMWARE_VERSION 0x0013
-#define DEFAULT_DEVICE_ID 0x00C0
+#define DEFAULT_FIRMWARE_VERSION 0x0001
+#define DEFAULT_DEVICE_ID 0x0002
#define DEFAULT_BAUDRATE 0x0001
#define DEFAULT_RETURN_DELAY 0x0000
-#define DEFAULT_MM_PERIOD 0x01FF
#define DEFAULT_RETURN_LEVEL 0x0002
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
@@ -73,10 +73,6 @@ uint16_t eeprom_data[] __attribute__ ((section (".eeprom")))={VALID_PAGE,
BAUDRATE_OFFSET,
DEFAULT_RETURN_DELAY,// return delay time
RETURN_DELAY_OFFSET,
- DEFAULT_MM_PERIOD&0xFF,
- MM_PERIOD_OFFSET,
- DEFAULT_MM_PERIOD>>8,
- MM_PERIOD_OFFSET+1,
DEFAULT_RETURN_LEVEL,
RETURN_LEVEL_OFFSET};// return level
diff --git a/src/gpio.c b/src/gpio.c
index 7e541ea51753318c560f464a7117119ad0dca99b..3dd9b2587abb5eb3ceaf79582a2eaf7bb8561596 100644
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -55,10 +55,16 @@ void (*reset_pb_callback)(void);
void (*user_pb_callback)(void);
void (*start_pb_callback)(void);
void (*mode_pb_callback)(void);
-__IO uint16_t led_tx_period;
-__IO uint16_t led_rx_period;
-__IO uint16_t led_usr1_period;
-__IO uint16_t led_usr2_period;
+/* led period variables */
+uint16_t led_tx_period;
+uint16_t led_rx_period;
+uint16_t led_usr1_period;
+uint16_t led_usr2_period;
+/* led blinking status */
+uint8_t led_tx_blinking;
+uint8_t led_rx_blinking;
+uint8_t led_usr1_blinking;
+uint8_t led_usr2_blinking;
// IRQ handler functions
void GPI_EXTI1_IRQHandler(void)
@@ -66,14 +72,26 @@ void GPI_EXTI1_IRQHandler(void)
if(__HAL_GPIO_EXTI_GET_IT(RESET_PB_PIN) != RESET)
{
__HAL_GPIO_EXTI_CLEAR_IT(RESET_PB_PIN);
- if(reset_pb_callback!=0)
- reset_pb_callback();
+ if(ram_data[BIOLOID_RESET_PB_CNTRL]&GPIO_INT_USED)
+ {
+ if(reset_pb_callback!=0)
+ reset_pb_callback();
+ }
+ else
+ {
+ }
}
if(__HAL_GPIO_EXTI_GET_IT(USER_PB_PIN) != RESET)
{
__HAL_GPIO_EXTI_CLEAR_IT(USER_PB_PIN);
- if(user_pb_callback!=0)
- user_pb_callback();
+ if(ram_data[BIOLOID_USER_PB_CNTRL]&GPIO_INT_USED)
+ {
+ if(user_pb_callback!=0)
+ user_pb_callback();
+ }
+ else
+ {
+ }
}
}
@@ -82,8 +100,14 @@ void GPI_EXTI2_IRQHandler(void)
if(__HAL_GPIO_EXTI_GET_IT(START_PB_PIN) != RESET)
{
__HAL_GPIO_EXTI_CLEAR_IT(START_PB_PIN);
- if(start_pb_callback!=0)
- start_pb_callback();
+ if(ram_data[BIOLOID_START_PB_CNTRL]&GPIO_INT_USED)
+ {
+ if(start_pb_callback!=0)
+ start_pb_callback();
+ }
+ else
+ {
+ }
}
}
@@ -92,8 +116,14 @@ void GPI_EXTI3_IRQHandler(void)
if(__HAL_GPIO_EXTI_GET_IT(MODE_PB_PIN) != RESET)
{
__HAL_GPIO_EXTI_CLEAR_IT(MODE_PB_PIN);
- if(mode_pb_callback!=0)
- mode_pb_callback();
+ if(ram_data[BIOLOID_MODE_PB_CNTRL]&GPIO_INT_USED)
+ {
+ if(mode_pb_callback!=0)
+ mode_pb_callback();
+ }
+ else
+ {
+ }
}
}
@@ -109,6 +139,10 @@ void GPO_TIMER_IRQHandler(void)
capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&GPO_TIM_Handle, TIM_CHANNEL_1, (capture + led_tx_period));
HAL_GPIO_TogglePin(LED_TX_GPIO_PORT,LED_TX_PIN);
+ if(ram_data[BIOLOID_TXD_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_TXD_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_TXD_LED_CNTRL]|=0x02;
}
}
if(__HAL_TIM_GET_FLAG(&GPO_TIM_Handle, TIM_FLAG_CC2) != RESET)
@@ -119,6 +153,10 @@ void GPO_TIMER_IRQHandler(void)
capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&GPO_TIM_Handle, TIM_CHANNEL_2, (capture + led_rx_period));
HAL_GPIO_TogglePin(LED_RX_GPIO_PORT,LED_RX_PIN);
+ if(ram_data[BIOLOID_RXD_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_RXD_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_RXD_LED_CNTRL]|=0x02;
}
}
if(__HAL_TIM_GET_FLAG(&GPO_TIM_Handle, TIM_FLAG_CC3) != RESET)
@@ -129,6 +167,10 @@ void GPO_TIMER_IRQHandler(void)
capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_3);
__HAL_TIM_SET_COMPARE(&GPO_TIM_Handle, TIM_CHANNEL_3, (capture + led_usr1_period));
HAL_GPIO_TogglePin(LED_USR1_GPIO_PORT,LED_USR1_PIN);
+ if(ram_data[BIOLOID_USER1_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_USER1_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_USER1_LED_CNTRL]|=0x02;
}
}
if(__HAL_TIM_GET_FLAG(&GPO_TIM_Handle, TIM_FLAG_CC4) != RESET)
@@ -139,6 +181,10 @@ void GPO_TIMER_IRQHandler(void)
capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_4);
__HAL_TIM_SET_COMPARE(&GPO_TIM_Handle, TIM_CHANNEL_4, (capture + led_usr2_period));
HAL_GPIO_TogglePin(LED_USR2_GPIO_PORT,LED_USR2_PIN);
+ if(ram_data[BIOLOID_USER2_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_USER2_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_USER2_LED_CNTRL]|=0x02;
}
}
/* TIM Update event */
@@ -177,6 +223,10 @@ void gpio_init(void)
led_rx_period=0;
led_usr1_period=0;
led_usr2_period=0;
+ led_tx_blinking=0;
+ led_rx_blinking=0;
+ led_usr1_blinking=0;
+ led_usr2_blinking=0;
/* enable clocks */
ENABLE_LED_TX_GPIO_CLK;
@@ -320,6 +370,7 @@ void gpio_toggle_led(led_t led_id)
void gpio_blink_led(led_t led_id, int16_t period_ms)
{
TIM_OC_InitTypeDef TIM_OCInitStructure;
+ uint32_t capture;
TIM_OCInitStructure.OCMode = TIM_OCMODE_TIMING;
TIM_OCInitStructure.OCPolarity = TIM_OCPOLARITY_HIGH;
@@ -328,48 +379,80 @@ void gpio_blink_led(led_t led_id, int16_t period_ms)
switch(led_id)
{
case TXD_LED:
- if(period_ms>1)
+ if(period_ms>=1)
{
led_tx_period=period_ms;
- TIM_OCInitStructure.Pulse = led_tx_period;
- HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_1);
- HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_1);
+ if(!led_tx_blinking)
+ {
+ capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_1);
+ TIM_OCInitStructure.Pulse = capture+led_tx_period;
+ HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_1);
+ HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_1);
+ led_tx_blinking=1;
+ }
}
else
+ {
HAL_TIM_OC_Stop_IT(&GPO_TIM_Handle, TIM_CHANNEL_1);
+ led_tx_blinking=0;
+ }
break;
case RXD_LED:
- if(period_ms>1)
+ if(period_ms>=1)
{
led_rx_period=period_ms;
- TIM_OCInitStructure.Pulse = led_rx_period;
- HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_2);
- HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_2);
+ if(!led_rx_blinking)
+ {
+ capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_2);
+ TIM_OCInitStructure.Pulse = capture+led_rx_period;
+ HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_2);
+ HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_2);
+ led_tx_blinking=1;
+ }
}
else
+ {
HAL_TIM_OC_Stop_IT(&GPO_TIM_Handle, TIM_CHANNEL_2);
+ led_tx_blinking=0;
+ }
break;
case USER1_LED:
- if(period_ms>1)
+ if(period_ms>=1)
{
led_usr1_period=period_ms;
- TIM_OCInitStructure.Pulse = led_usr1_period;
- HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_3);
- HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_3);
+ if(!led_usr1_blinking)
+ {
+ capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_3);
+ TIM_OCInitStructure.Pulse = capture+led_usr1_period;
+ HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_3);
+ HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_3);
+ led_usr1_blinking=1;
+ }
}
else
+ {
HAL_TIM_OC_Stop_IT(&GPO_TIM_Handle, TIM_CHANNEL_3);
+ led_usr1_blinking=0;
+ }
break;
case USER2_LED:
- if(period_ms>1)
+ if(period_ms>=1)
{
led_usr2_period=period_ms;
- TIM_OCInitStructure.Pulse = led_usr2_period;
- HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_4);
- HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_4);
+ if(!led_usr2_blinking)
+ {
+ capture = HAL_TIM_ReadCapturedValue(&GPO_TIM_Handle, TIM_CHANNEL_4);
+ TIM_OCInitStructure.Pulse = capture+led_usr2_period;
+ HAL_TIM_OC_ConfigChannel(&GPO_TIM_Handle, &TIM_OCInitStructure,TIM_CHANNEL_4);
+ HAL_TIM_OC_Start_IT(&GPO_TIM_Handle, TIM_CHANNEL_4);
+ led_usr2_blinking=1;
+ }
}
else
+ {
HAL_TIM_OC_Stop_IT(&GPO_TIM_Handle, TIM_CHANNEL_4);
+ led_usr2_blinking=0;
+ }
break;
}
}
@@ -425,3 +508,172 @@ void gpio_set_pushbutton_callback(pushbutton_t pb_id,void (*callback)(void))
break;
}
}
+
+void gpio_process_cmd(unsigned short int address,unsigned short int length,unsigned char *data)
+{
+ uint16_t period;
+
+ /* LED's */
+ if(ram_in_range(BIOLOID_USER1_LED_CNTRL,address,length))
+ {
+ if(!ram_data[BIOLOID_USER1_LED_CNTRL]&GPIO_INT_USED)/* GPIO is not internally used */
+ {
+ period=led_usr1_period;
+ if(ram_in_range(BIOLOID_USER1_LED_PERIOD_L,address,length))
+ period=(period&0xFF00)+data[BIOLOID_USER1_LED_PERIOD_L-address];
+ if(ram_in_range(BIOLOID_USER1_LED_PERIOD_H,address,length))
+ period=(period&0x00FF)+(data[BIOLOID_USER1_LED_PERIOD_H-address]<<8);
+ if(data[BIOLOID_USER1_LED_CNTRL-address]&GPIO_BLINK)
+ gpio_blink_led(USER1_LED,period);
+ else
+ {
+ gpio_blink_led(USER1_LED,0x0000);
+ if(data[BIOLOID_USER1_LED_CNTRL-address]&GPIO_TOGGLE)
+ {
+ gpio_toggle_led(USER1_LED);
+ if(ram_data[BIOLOID_USER1_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_USER1_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_USER1_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ if(data[BIOLOID_USER1_LED_CNTRL-address]&GPIO_VALUE)
+ {
+ gpio_set_led(USER1_LED);
+ ram_data[BIOLOID_USER1_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ gpio_clear_led(USER1_LED);
+ ram_data[BIOLOID_USER1_LED_CNTRL]&=0xFD;
+ }
+ }
+ }
+ }
+ }
+ if(ram_in_range(BIOLOID_USER2_LED_CNTRL,address,length))
+ {
+ if(!ram_data[BIOLOID_USER2_LED_CNTRL]&GPIO_INT_USED)/* GPIO is not internally used */
+ {
+ period=led_usr2_period;
+ if(ram_in_range(BIOLOID_USER2_LED_PERIOD_L,address,length))
+ period=(period&0xFF00)+data[BIOLOID_USER2_LED_PERIOD_L-address];
+ if(ram_in_range(BIOLOID_USER2_LED_PERIOD_H,address,length))
+ period=(period&0x00FF)+(data[BIOLOID_USER2_LED_PERIOD_H-address]<<8);
+ if(data[BIOLOID_USER2_LED_CNTRL-address]&GPIO_BLINK)
+ gpio_blink_led(USER2_LED,period);
+ else
+ {
+ gpio_blink_led(USER2_LED,0x0000);
+ if(data[BIOLOID_USER2_LED_CNTRL-address]&GPIO_TOGGLE)
+ {
+ gpio_toggle_led(USER2_LED);
+ if(ram_data[BIOLOID_USER2_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_USER2_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_USER2_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ if(data[BIOLOID_USER2_LED_CNTRL-address]&GPIO_VALUE)
+ {
+ gpio_set_led(USER2_LED);
+ ram_data[BIOLOID_USER2_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ gpio_clear_led(USER2_LED);
+ ram_data[BIOLOID_USER2_LED_CNTRL]&=0xFD;
+ }
+ }
+ }
+ }
+ }
+ if(ram_in_range(BIOLOID_RXD_LED_CNTRL,address,length))
+ {
+ if(!ram_data[BIOLOID_RXD_LED_CNTRL]&GPIO_INT_USED)/* GPIO is not internally used */
+ {
+ period=led_usr1_period;
+ if(ram_in_range(BIOLOID_RXD_LED_PERIOD_L,address,length))
+ period=(period&0xFF00)+data[BIOLOID_RXD_LED_PERIOD_L-address];
+ if(ram_in_range(BIOLOID_RXD_LED_PERIOD_H,address,length))
+ period=(period&0x00FF)+(data[BIOLOID_RXD_LED_PERIOD_H-address]<<8);
+ if(data[BIOLOID_RXD_LED_CNTRL-address]&GPIO_BLINK)
+ gpio_blink_led(RXD_LED,period);
+ else
+ {
+ gpio_blink_led(RXD_LED,0x0000);
+ if(data[BIOLOID_RXD_LED_CNTRL-address]&GPIO_TOGGLE)
+ {
+ gpio_toggle_led(RXD_LED);
+ if(ram_data[BIOLOID_RXD_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_RXD_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_RXD_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ if(data[BIOLOID_RXD_LED_CNTRL-address]&GPIO_VALUE)
+ {
+ gpio_set_led(RXD_LED);
+ ram_data[BIOLOID_RXD_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ gpio_clear_led(RXD_LED);
+ ram_data[BIOLOID_RXD_LED_CNTRL]&=0xFD;
+ }
+ }
+ }
+ }
+ }
+ if(ram_in_range(BIOLOID_TXD_LED_CNTRL,address,length))
+ {
+ if(!ram_data[BIOLOID_TXD_LED_CNTRL]&GPIO_INT_USED)/* GPIO is not internally used */
+ {
+ period=led_usr1_period;
+ if(ram_in_range(BIOLOID_TXD_LED_PERIOD_L,address,length))
+ period=(period&0xFF00)+data[BIOLOID_TXD_LED_PERIOD_L-address];
+ if(ram_in_range(BIOLOID_TXD_LED_PERIOD_H,address,length))
+ period=(period&0x00FF)+(data[BIOLOID_TXD_LED_PERIOD_H-address]<<8);
+ if(data[BIOLOID_TXD_LED_CNTRL-address]&GPIO_BLINK)
+ gpio_blink_led(TXD_LED,period);
+ else
+ {
+ gpio_blink_led(TXD_LED,0x0000);
+ if(data[BIOLOID_TXD_LED_CNTRL-address]&GPIO_TOGGLE)
+ {
+ gpio_toggle_led(TXD_LED);
+ if(ram_data[BIOLOID_TXD_LED_CNTRL]&0x02)
+ ram_data[BIOLOID_TXD_LED_CNTRL]&=0xFD;
+ else
+ ram_data[BIOLOID_TXD_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ if(data[BIOLOID_TXD_LED_CNTRL-address]&GPIO_VALUE)
+ {
+ gpio_set_led(TXD_LED);
+ ram_data[BIOLOID_TXD_LED_CNTRL]|=0x02;
+ }
+ else
+ {
+ gpio_clear_led(TXD_LED);
+ ram_data[BIOLOID_TXD_LED_CNTRL]&=0xFD;
+ }
+ }
+ }
+ }
+ }
+ /* pushbuttons */
+ if(ram_in_range(BIOLOID_RESET_PB_CNTRL,address,length))
+ {
+ if(!ram_data[BIOLOID_RESET_PB_CNTRL]&GPIO_INT_USED)/* GPIO is not internally used */
+ {
+ if(data[BIOLOID_RESET_PB_CNTRL-address]&GPIO_INT_EN)
+ {
+ }
+ }
+ }
+}
diff --git a/src/ram.c b/src/ram.c
index 0bdd49976e589d126604cae8c42e207f25854b58..5d4eb01c505425ac43254b0cd2e736212e34c7de 100644
--- a/src/ram.c
+++ b/src/ram.c
@@ -1,11 +1,14 @@
#include "ram.h"
+#include "eeprom.h"
uint8_t ram_data[RAM_SIZE];
void ram_init(void)
{
- uint16_t eeprom_data;
+ uint16_t eeprom_data,i;
+ for(i=0;i<RAM_SIZE;i++)
+ ram_data[i]=0x00;
// read contents from EEPROM to RAM
if(EE_ReadVariable(DEVICE_MODEL_OFFSET,&eeprom_data)==0)
ram_data[DEVICE_MODEL_OFFSET]=(uint8_t)(eeprom_data&0x00FF);
@@ -19,10 +22,6 @@ void ram_init(void)
ram_data[BAUDRATE_OFFSET]=(uint8_t)eeprom_data;
if(EE_ReadVariable(RETURN_DELAY_OFFSET,&eeprom_data)==0)
ram_data[RETURN_DELAY_OFFSET]=(uint8_t)eeprom_data;
- if(EE_ReadVariable(MM_PERIOD_OFFSET,&eeprom_data)==0)
- ram_data[MM_PERIOD_OFFSET]=(uint8_t)eeprom_data;
- if(EE_ReadVariable(MM_PERIOD_OFFSET+1,&eeprom_data)==0)
- ram_data[MM_PERIOD_OFFSET+1]=(uint8_t)eeprom_data;
if(EE_ReadVariable(RETURN_LEVEL_OFFSET,&eeprom_data)==0)
ram_data[RETURN_LEVEL_OFFSET]=(uint8_t)eeprom_data;
}
@@ -108,11 +107,19 @@ uint8_t ram_write_table(uint8_t address, uint8_t length,uint8_t *data)
return RAM_BAD_ADDRESS;
}
-inline uint8_t ram_in_range(uint8_t start_reg,uint8_t end_reg,uint8_t address,uint8_t length)
+inline uint8_t ram_in_range(uint8_t reg,uint8_t address,uint8_t length)
{
- if(start_reg>=address && end_reg<(address+length))
+ if(reg>=address && reg<(address+length))
return 0x01;
else
return 0x00;
}
+inline uint8_t ram_in_window(uint8_t start_reg,uint8_t reg_length,uint8_t start_address,uint8_t address_length)
+{
+ if((start_reg>=start_address && start_reg<(start_address+address_length)) ||
+ ((start_reg+reg_length)>=start_address && (start_reg+reg_length)<(start_address+address_length)))
+ return 0x01;
+ else
+ return 0x00;
+}