From f230093e41076dc9d05470d9a8165508946b027c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 22 Feb 2016 20:58:23 +0000
Subject: [PATCH] Solved a problem in the timing of the action process. Changed
 the stored value of speed ratio in the motion pages.

---
 include/action.h   |   2 +
 src/action.c       |  37 +++-
 src/motion_pages.c | 434 ++++++++++++++++++++++-----------------------
 3 files changed, 247 insertions(+), 226 deletions(-)

diff --git a/include/action.h b/include/action.h
index 97315be..165841c 100644
--- a/include/action.h
+++ b/include/action.h
@@ -19,6 +19,8 @@ uint8_t action_load_page(uint8_t page_id);
 void action_start_page(void);
 void action_stop_page(void);
 uint8_t action_is_running(void);
+uint8_t action_get_current_page(void);
+uint8_t action_get_current_step(void);
 void action_enable_int(void);
 void action_disable_int(void);
 uint8_t action_is_int_enabled(void);
diff --git a/src/action.c b/src/action.c
index 95ceb5d..bccc1fe 100644
--- a/src/action.c
+++ b/src/action.c
@@ -3,6 +3,7 @@
 #include "motion_manager.h"
 #include "ram.h"
 #include "bioloid_dyn_slave.h"
+#include <stdio.h>
 
 #define SPEED_BASE_SCHEDULE 0x00
 #define TIME_BASE_SCHEDULE  0x0A
@@ -13,6 +14,7 @@ typedef enum {ACTION_PRE,ACTION_MAIN,ACTION_POST,ACTION_PAUSE} action_states;
 TPage action_next_page;
 TPage action_current_page;
 uint8_t action_current_step_index;
+uint8_t action_current_page_index;
 // angle variables
 int64_t action_moving_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
 int64_t action_start_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
@@ -39,7 +41,6 @@ int16_t action_period_us;
 void action_load_next_step(void)
 {
   // page and step information
-  static uint8_t current_index=0;
   static int8_t num_repetitions=0;
   // angle variables
   int16_t next_angle;// information from the flash memory (fixed point 9|7 format)
@@ -70,7 +71,7 @@ void action_load_next_step(void)
       {
         num_repetitions--;
         if(num_repetitions>0)
-          action_next_index=current_index;
+          action_next_index=action_current_page_index;
         else
           action_next_index=action_current_page.header.next;
       }
@@ -78,7 +79,7 @@ void action_load_next_step(void)
         action_end=0x01;
       else
       {
-        if(action_next_index!=current_index)
+        if(action_next_index!=action_current_page_index)
         {
           pages_get_page(action_next_index,&action_next_page);
           ram_data[BIOLOID_ACTION_PAGE]=action_next_index;
@@ -90,10 +91,10 @@ void action_load_next_step(void)
       }
     }
     pages_copy_page(&action_next_page,&action_current_page);// make the next page active
-    if(current_index!=action_next_index)
+    if(action_current_page_index!=action_next_index)
       num_repetitions=action_current_page.header.repeat;
     action_current_step_index=0;
-    current_index=action_next_index;
+    action_current_page_index=action_next_index;
   }
   else if(action_current_step_index==action_current_page.header.stepnum-1)// it is the last step
   {
@@ -103,7 +104,7 @@ void action_load_next_step(void)
     {
       num_repetitions--;
       if(num_repetitions>0)
-        action_next_index=current_index;
+        action_next_index=action_current_page_index;
       else
         action_next_index=action_current_page.header.next;
     }
@@ -111,7 +112,7 @@ void action_load_next_step(void)
       action_end=0x01;
     else
     {
-      if(action_next_index!=current_index)
+      if(action_next_index!=action_current_page_index)
       {
         pages_get_page(action_next_index,&action_next_page);
         ram_data[BIOLOID_ACTION_PAGE]=action_next_index;
@@ -123,8 +124,12 @@ void action_load_next_step(void)
     }
   }
   // compute trajectory
-  action_pause_time=((action_current_page.steps[action_current_step_index].pause<<14)*action_current_page.header.speed);
-  action_step_time=((action_current_page.steps[action_current_step_index].time<<14)/action_current_page.header.speed);
+//  action_pause_time=((action_current_page.steps[action_current_step_index].pause<<4)*action_current_page.header.speed);
+  action_pause_time=(action_current_page.steps[action_current_step_index].pause*action_current_page.header.speed)>>5;
+  action_pause_time=action_pause_time<<9;
+//  action_step_time=((action_current_page.steps[action_current_step_index].time<<4)*action_current_page.header.speed);
+  action_step_time=(action_current_page.steps[action_current_step_index].time*action_current_page.header.speed)>>5;
+  action_step_time=action_step_time<<9;
   if(action_step_time<action_period)
     action_step_time=action_period;// 0.078 in 16|16 format
   max_angle=0;
@@ -252,6 +257,8 @@ void action_init(uint16_t period_us)
   // clear the contents of the next page
   pages_clear_page(&action_next_page);
   pages_clear_page(&action_current_page);
+  action_current_page_index=0;
+  action_current_step_index=-1;
   // control variables
   action_end=0x00;
   action_stop=0x00;
@@ -323,6 +330,16 @@ uint8_t action_is_running(void)
   return action_running;
 }
 
+uint8_t action_get_current_page(void)
+{
+  return action_current_page_index;
+}
+
+uint8_t action_get_current_step(void)
+{
+  return action_current_step_index;
+}
+
 void action_enable_int(void)
 {
   ram_data[BIOLOID_ACTION_CNTRL]|=ACTION_INT_EN;
@@ -555,7 +572,9 @@ void action_process(void)
                            }
                          }
                          else// pause section still active
+                         {
                            state=ACTION_PAUSE;
+                         }
                          break;
       default: break;
     }
diff --git a/src/motion_pages.c b/src/motion_pages.c
index 4223450..b948683 100644
--- a/src/motion_pages.c
+++ b/src/motion_pages.c
@@ -173,7 +173,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x03,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc7,
+      0xe2,
       {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
     },
@@ -230,7 +230,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x04,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc9,
+      0xe4,
       {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
     },
@@ -287,7 +287,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xd7,
+      0xf2,
       {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
     },
@@ -344,7 +344,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x06,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x22,
+      0x3d,
       {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
     },
@@ -401,7 +401,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x5c,
+      0x77,
       {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
     },
@@ -458,7 +458,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x76,
+      0x68,
       {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
     },
@@ -515,7 +515,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x09,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x29,
+      0x44,
       {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
     },
@@ -572,7 +572,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x0a,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xaa,
+      0xc5,
       {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
     },
@@ -629,7 +629,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x4b,
+      0x66,
       {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
     },
@@ -800,7 +800,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xa8,
+      0xc3,
       {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
     },
@@ -857,7 +857,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x0e,
       0x0f,
       {0x00,0x00,0x00,0x00},
-      0xcd,
+      0xd9,
       {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
     },
@@ -914,7 +914,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x97,
+      0xb2,
       {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
     },
@@ -971,7 +971,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x10,
       0x11,
       {0x00,0x00,0x00,0x00},
-      0xdc,
+      0xe8,
       {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
     },
@@ -1028,7 +1028,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x97,
+      0xb2,
       {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
     },
@@ -1085,7 +1085,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x71,
+      0x8c,
       {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
     },
@@ -1142,7 +1142,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xd9,
+      0xf4,
       {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
     },
@@ -1199,7 +1199,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x28,
+      0x43,
       {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
     },
@@ -1256,7 +1256,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xb6,
+      0xd1,
       {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
     },
@@ -1313,7 +1313,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc2,
+      0xdd,
       {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
     },
@@ -1427,7 +1427,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc1,
+      0xb3,
       {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
     },
@@ -1541,7 +1541,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xc2,
+      0xb4,
       {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
     },
@@ -1598,7 +1598,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xe8,
+      0x08,
       {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
     },
@@ -1712,7 +1712,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x7c,
+      0x4c,
       {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
     },
@@ -1769,7 +1769,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x61,
+      0x91,
       {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
     },
@@ -1883,7 +1883,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x21,
       0x21,
       {0x00,0x00,0x00,0x00},
-      0x0e,
+      0x42,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x66,0x66,0x66,0x66,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -1940,7 +1940,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x26,
       0x2a,
       {0x00,0x00,0x00,0x00},
-      0xa7,
+      0xdb,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x66,0x66,0x66,0x66,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -1997,7 +1997,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x23,
       0x23,
       {0x00,0x00,0x00,0x00},
-      0x82,
+      0xb6,
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@@ -10262,7 +10262,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb4,
       0xb4,
       {0x00,0x00,0x00,0x00},
-      0x25,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -10319,7 +10319,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb5,
       0xb5,
       {0x00,0x00,0x00,0x00},
-      0xf0,
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     },
@@ -10376,7 +10376,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb6,
       0xba,
       {0x00,0x00,0x00,0x00},
-      0x82,
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@@ -10433,7 +10433,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb7,
       0xb7,
       {0x00,0x00,0x00,0x00},
-      0x71,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -10490,7 +10490,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb4,
       0xb4,
       {0x00,0x00,0x00,0x00},
-      0x35,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -10547,7 +10547,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xb9,
       0xb9,
       {0x00,0x00,0x00,0x00},
-      0x0b,
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     },
@@ -10604,7 +10604,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xdd,
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     },
@@ -10661,7 +10661,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xbb,
       0xbb,
       {0x00,0x00,0x00,0x00},
-      0xd5,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -10718,7 +10718,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x96,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -10775,7 +10775,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xbd,
       0xbd,
       {0x00,0x00,0x00,0x00},
-      0x0c,
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     },
@@ -10832,7 +10832,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc2,
       0xc2,
       {0x00,0x00,0x00,0x00},
-      0x77,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -10889,7 +10889,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xbf,
       0xbf,
       {0x00,0x00,0x00,0x00},
-      0x80,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -10946,7 +10946,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc0,
       0xc4,
       {0x00,0x00,0x00,0x00},
-      0x54,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11003,7 +11003,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc1,
       0xc1,
       {0x00,0x00,0x00,0x00},
-      0x29,
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       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11060,7 +11060,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc2,
       0xc2,
       {0x00,0x00,0x00,0x00},
-      0x41,
+      0x8c,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11117,7 +11117,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc3,
       0xc3,
       {0x00,0x00,0x00,0x00},
-      0xaa,
+      0xf5,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11174,7 +11174,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc0,
       0xc4,
       {0x00,0x00,0x00,0x00},
-      0xf6,
+      0x41,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11231,7 +11231,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc5,
       0xc5,
       {0x00,0x00,0x00,0x00},
-      0xf1,
+      0x25,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11288,7 +11288,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xdd,
+      0x11,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11345,7 +11345,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc7,
       0xc7,
       {0x00,0x00,0x00,0x00},
-      0xb7,
+      0xeb,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11402,7 +11402,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x96,
+      0xca,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11459,7 +11459,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xc9,
       0xc9,
       {0x00,0x00,0x00,0x00},
-      0xfe,
+      0x32,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11516,7 +11516,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xce,
       0xd2,
       {0x00,0x00,0x00,0x00},
-      0xe0,
+      0x14,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11573,7 +11573,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcb,
       0xcb,
       {0x00,0x00,0x00,0x00},
-      0x72,
+      0xa6,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11630,7 +11630,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcc,
       0xcc,
       {0x00,0x00,0x00,0x00},
-      0x7b,
+      0xaf,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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     },
@@ -11687,7 +11687,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcd,
       0xcd,
       {0x00,0x00,0x00,0x00},
-      0x3b,
+      0x86,
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@@ -11744,7 +11744,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xce,
       0xd2,
       {0x00,0x00,0x00,0x00},
-      0x81,
+      0xcc,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
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@@ -11801,7 +11801,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcf,
       0xcf,
       {0x00,0x00,0x00,0x00},
-      0x54,
+      0x9f,
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@@ -11858,7 +11858,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xcc,
       0xcc,
       {0x00,0x00,0x00,0x00},
-      0xcc,
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@@ -11915,7 +11915,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd1,
       0xd1,
       {0x00,0x00,0x00,0x00},
-      0x46,
+      0x7a,
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@@ -11972,7 +11972,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xdd,
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@@ -12029,7 +12029,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd3,
       0xd3,
       {0x00,0x00,0x00,0x00},
-      0x8b,
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@@ -12086,7 +12086,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x96,
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@@ -12143,7 +12143,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd5,
       0xd5,
       {0x00,0x00,0x00,0x00},
-      0xe0,
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@@ -12200,7 +12200,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xda,
       0xda,
       {0x00,0x00,0x00,0x00},
-      0xc6,
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@@ -12257,7 +12257,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd7,
       0xd7,
       {0x00,0x00,0x00,0x00},
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     },
@@ -12314,7 +12314,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd8,
       0xdc,
       {0x00,0x00,0x00,0x00},
-      0x5e,
+      0x92,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12371,7 +12371,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd9,
       0xd9,
       {0x00,0x00,0x00,0x00},
-      0xe5,
+      0x30,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12428,7 +12428,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xda,
       0xda,
       {0x00,0x00,0x00,0x00},
-      0x4c,
+      0x97,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12485,7 +12485,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xdb,
       0xdb,
       {0x00,0x00,0x00,0x00},
-      0x02,
+      0x4d,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12542,7 +12542,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xd8,
       0xdc,
       {0x00,0x00,0x00,0x00},
-      0x8a,
+      0xd5,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12599,7 +12599,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xdd,
       0xdd,
       {0x00,0x00,0x00,0x00},
-      0xe3,
+      0x17,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12656,7 +12656,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0xdd,
+      0x11,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12713,7 +12713,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0xdf,
       0xdf,
       {0x00,0x00,0x00,0x00},
-      0x26,
+      0x5a,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12770,7 +12770,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x96,
+      0xca,
       {0x55,0x77,0x77,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x44,0x44,0x44,0x44,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00,0x00,0x00,0x00,0x00},
       0x00
     },
@@ -12884,7 +12884,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
       0x00,
       0x00,
       {0x00,0x00,0x00,0x00},
-      0x01,
+      0xd1,
       {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
     },
-- 
GitLab