Added the first version of the darwin stm32 firmware.

include/action.h

+#ifndef _ACTION_H
+#define _ACTION_H
+
+#include "stm32f10x.h"
+
+// basic motion interface
+void action_init(void);
+uint8_t action_set_page(uint8_t page_id);
+void action_start_page(void);
+void action_stop_page(void);
+uint8_t action_is_running(void);
+
+// motion manager interface
+void action_process(void);
+
+#endif

include/adc.h

+#ifndef _ADC_H
+#define _ADC_H
+
+#include "stm32f10x.h"
+
+#define     NUM_ADC_CHANNELS      16
+
+// public functions
+void adc_init(void);
+uint16_t adc_get_channel(uint8_t channel);
+uint16_t adc_get_averaged_channel(uint8_t channel);
+
+#endif

include/dyn_servos.h

+#ifndef _DYN_SERVOS_H
+#define _DYN_SERVOS_H
+
+// servo models
+#define       SERVO_AX12      0x000C
+#define       SERVO_AX18      0x0012
+#define       SERVO_RX10      0x000A
+#define       SERVO_RX24F     0x0018
+#define       SERVO_RX28      0x001C
+#define       SERVO_RX64      0x0040
+#define       SERVO_EX106     0x006B
+#define       SERVO_MX28      0x001D
+
+// Servo register map
+typedef enum{
+  P_MODEL_NUMBER_L            = 0,
+  P_MODEL_NUMBER_H            = 1,
+  P_VERSION                   = 2,
+  P_ID                        = 3,
+  P_BAUD_RATE                 = 4,
+  P_RETURN_DELAY_TIME         = 5,
+  P_CW_ANGLE_LIMIT_L          = 6,
+  P_CW_ANGLE_LIMIT_H          = 7,
+  P_CCW_ANGLE_LIMIT_L         = 8,
+  P_CCW_ANGLE_LIMIT_H         = 9,
+  P_SYSTEM_DATA2              = 10,
+  P_HIGH_LIMIT_TEMPERATURE    = 11,
+  P_LOW_LIMIT_VOLTAGE         = 12,
+  P_HIGH_LIMIT_VOLTAGE        = 13,
+  P_MAX_TORQUE_L              = 14,
+  P_MAX_TORQUE_H              = 15,
+  P_RETURN_LEVEL              = 16,
+  P_ALARM_LED                 = 17,
+  P_ALARM_SHUTDOWN            = 18,
+  P_OPERATING_MODE            = 19,
+  P_LOW_CALIBRATION_L         = 20,
+  P_LOW_CALIBRATION_H         = 21,
+  P_HIGH_CALIBRATION_L        = 22,
+  P_HIGH_CALIBRATION_H        = 23,
+  P_TORQUE_ENABLE             = 24,
+  P_LED                       = 25,
+  P_CW_COMPLIANCE_MARGIN      = 26,
+  P_CCW_COMPLIANCE_MARGIN     = 27,
+  P_CW_COMPLIANCE_SLOPE       = 28,
+  P_CCW_COMPLIANCE_SLOPE      = 29,
+  P_D_GAIN                    = 26,
+  P_I_GAIN                    = 27,
+  P_P_GAIN                    = 28,
+  P_RESERVED                  = 29,
+  P_GOAL_POSITION_L           = 30,
+  P_GOAL_POSITION_H           = 31,
+  P_MOVING_SPEED_L            = 32,
+  P_MOVING_SPEED_H            = 33,
+  P_TORQUE_LIMIT_L            = 34,
+  P_TORQUE_LIMIT_H            = 35,
+  P_PRESENT_POSITION_L        = 36,
+  P_PRESENT_POSITION_H        = 37,
+  P_PRESENT_SPEED_L           = 38,
+  P_PRESENT_SPEED_H           = 39,
+  P_PRESENT_LOAD_L            = 40,
+  P_PRESENT_LOAD_H            = 41,
+  P_PRESENT_VOLTAGE           = 42,
+  P_PRESENT_TEMPERATURE       = 43,
+  P_REGISTERED_INSTRUCTION    = 44,
+  P_PAUSE_TIME                = 45,
+  P_MOVING                    = 46,
+  P_LOCK                      = 47,
+  P_PUNCH_L                   = 48,
+  P_PUNCH_H                   = 49,
+  P_RESERVED4                 = 50,
+  P_RESERVED5                 = 51,
+  P_POT_L                     = 52,
+  P_POT_H                     = 53,
+  P_PWM_OUT_L                 = 54,
+  P_PWM_OUT_H                 = 55,
+  P_P_ERROR_L                 = 56,
+  P_P_ERROR_H                 = 57,
+  P_I_ERROR_L                 = 58,
+  P_I_ERROR_H                 = 59,
+  P_D_ERROR_L                 = 60,
+  P_D_ERROR_H                 = 61,
+  P_P_ERROR_OUT_L             = 62,
+  P_P_ERROR_OUT_H             = 63,
+  P_I_ERROR_OUT_L             = 64,
+  P_I_ERROR_OUT_H             = 65,
+  P_D_ERROR_OUT_L             = 66,
+  P_D_ERROR_OUT_H             = 67}TDynServo;
+
+#endif

include/dynamixel.h

+#ifndef _DYNAMIXEL_H
+#define _DYNAMIXEL_H
+
+#include "stm32f10x.h"
+
+#define     MAX_DATA_LENGTH     255
+
+// errors
+#define     DYN_SUCCESS         0
+#define     DYN_BAD_FORMAT      -1
+#define     DYN_NO_DEVICE       -2
+#define     DYN_TIMEOUT         -3
+
+// possible packet types
+typedef enum{DYN_PING=0x01,
+             DYN_READ=0x02,
+             DYN_WRITE=0x03,
+             DYN_REG_WRITE=0x04,
+             DYN_ACTION=0x05,
+             DYN_RESET=0x06,
+             DYN_SYNC_WRITE=0x83} TDynInstruction;
+
+// boradcast ID
+#define     DYN_BROADCAST_ID    0xFE
+
+void dyn_copy_packet(uint8_t *source, uint8_t *destination);
+
+uint8_t dyn_set_id(uint8_t *packet, uint8_t id);
+void dyn_set_checksum(uint8_t *packet);
+uint8_t dyn_get_id(uint8_t *packet);
+uint8_t dyn_get_length(uint8_t *packet);
+uint8_t dyn_check_checksum(uint8_t *packet);
+
+// instruction packet
+/*
+typedef struct{
+  uint8_t header[2];
+  uint8_t id;
+  uint8_t length;
+  uint8_t instruction;
+  uint8_t data[MAX_DATA_LENGTH];
+  uint8_t checksum;
+}TDynInst;
+*/
+
+void dyn_init_instruction_packet(uint8_t *packet);
+void dyn_set_instruction(uint8_t *packet,TDynInstruction inst);
+// read instruction functions
+uint8_t dyn_set_read_address(uint8_t *packet,uint8_t address);
+uint8_t dyn_set_read_length(uint8_t *packet,uint8_t length);
+// write and write_reg instruction functions
+uint8_t dyn_set_write_address(uint8_t *packet,uint8_t address);
+uint8_t dyn_set_write_data(uint8_t *packet,uint8_t length, uint8_t *data);
+// sync_write instruction functions
+uint8_t dyn_set_sync_write_length(uint8_t *packet,uint8_t length);
+uint8_t dyn_set_sync_write_data(uint8_t *packet,uint8_t id,uint8_t *data);
+
+TDynInstruction dyn_get_instruction(uint8_t *packet);
+// read instruction functions
+uint8_t dyn_get_read_address(uint8_t *packet);
+uint8_t dyn_get_read_length(uint8_t *packet);
+// write and write_reg instruction functions
+uint8_t dyn_get_write_address(uint8_t *packet);
+uint8_t dyn_get_write_data(uint8_t *packet,uint8_t *data);
+// sync_write instruction functions
+uint8_t dyn_get_sync_write_address(uint8_t *packet);
+uint8_t dyn_get_sync_write_data(uint8_t *packet,uint8_t id,uint8_t *data);
+
+// status packet
+typedef enum{DYN_NO_ERROR=0x00,
+             DYN_INST_ERROR=0x40,
+             DYN_OVERLOAD_ERROR=0x20,
+             DYN_CHECKSUM_ERROR=0x10,
+             DYN_RANGE_ERROR=0x08,
+             DYN_OVERTEMP_ERROR=0x04,
+             DYN_ANGLE_ERROR=0x02,
+             DYN_VOLTAGE_ERROR=0x01} TDynError;
+/*
+typedef struct{
+  uint8_t header[2];
+  uint8_t id;
+  uint8_t length;
+  uint8_t error;
+  uint8_t data[MAX_DATA_LENGTH];
+  uint8_t checksum;
+}TDynStatus;
+*/
+
+void dyn_init_status_packet(uint8_t *packet);
+void dyn_set_status_error(uint8_t *packet,TDynError error);
+void dyn_set_status_data(uint8_t *packet, uint8_t length, uint8_t *data);
+
+TDynError dyn_get_status_error(uint8_t *packet);
+uint8_t dyn_get_status_data(uint8_t *packet,uint8_t *data);
+
+#endif

include/dynamixel_master.h

+#ifndef _DYNAMIXEL_MASTER_H
+#define _DYNAMIXEL_MASTER_H
+
+#include "dynamixel.h"
+
+// interrupt handlers
+void USART1_IRQHandler(void);
+
+// dynamixel master functions
+void dyn_master_init(void);
+void dyn_master_flush(void);
+void dyn_master_power_on(void);
+void dyn_master_power_off(void);
+uint8_t dyn_master_is_powered_on(void);
+void dyn_master_set_timeout(uint16_t timeout_ms);
+void dyn_master_scan(uint8_t *num,uint8_t *ids);
+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);
+uint8_t dyn_master_read_table(uint8_t id,uint8_t address,uint8_t length,uint8_t *data);
+uint8_t dyn_master_write_byte(uint8_t id, uint8_t address, uint8_t data);
+uint8_t dyn_master_write_word(uint8_t id, uint8_t address, uint16_t data);
+uint8_t dyn_master_write_table(uint8_t id, uint8_t address, uint8_t length, uint8_t *data);
+uint8_t dyn_master_reg_write(uint8_t id, uint8_t address, uint8_t length, uint8_t *data);
+void dyn_master_action(void);
+void dyn_master_sync_write(uint8_t num,uint8_t *ids,uint8_t address, uint8_t length, uint8_t *data);
+uint8_t dyn_master_reset(uint8_t id);
+// repeater functions
+uint8_t dyn_master_resend_inst_packet(uint8_t *inst_packet, uint8_t *status_packet);
+
+#endif

include/dynamixel_slave.h

+#ifndef _DYNAMIXEL_SLAVE_H
+#define _DYNAXIXEL_SLAVE_H
+
+#include "dynamixel.h"
+
+// interrupt handlers
+void USART3_IRQHandler(void);
+
+// public functions
+void dyn_slave_init(void);
+uint8_t dyn_slave_pc_present(void);
+void dyn_slave_set_address(uint8_t id);
+uint8_t dyn_slave_get_address(void);
+uint8_t dyn_slave_is_packet_ready(void);
+void dyn_slave_get_inst_packet(uint8_t *packet);
+void dyn_slave_send_status_packet(uint8_t error,uint8_t length, uint8_t *data);
+void dyn_slave_resend_status_packet(uint8_t *packet);
+
+#endif

include/eeprom.h

+#ifndef _EEPROM_H
+#define _EEPROM_H
+
+#include "stm32f10x.h"
+
+#define      EEPROM_DATA_SIZE       0x18
+
+// EEPROM errors
+#define      EEPROM_SUCCESS         0
+#define      EEPROM_BAD_ADDRESS     -1
+
+// public functions
+uint16_t eeprom_read_device_model(void);
+uint8_t eeprom_read_firmware_version(void);
+uint8_t eeprom_read_device_id(void);
+uint8_t eeprom_read_baudrate(void);
+uint8_t eeprom_read_return_delay(void);
+uint8_t eeprom_read_return_level(void);
+uint8_t eeprom_read_table(uint32_t start_offset, int16_t length,uint8_t *data);
+uint8_t eeprom_write_table(uint32_t start_offset, int16_t length,uint8_t *data);
+
+#endif

include/gpio.h

+#ifndef _GPIO_H
+#define _GPIO_H
+
+#include "stm32f10x.h"
+
+// interrupt handler
+void TIM2_IRQHandler(void);
+
+// configuration functions
+void gpio_init(void);
+
+// LED 2 functions
+void set_led2(void);
+void clear_led2(void);
+void toggle_led2(void);
+void blink_led2(uint16_t period_ms);
+
+// LED 3 functions
+void set_led3(void);
+void clear_led3(void);
+void toggle_led3(void);
+void blink_led4(uint16_t period_ms);
+
+// LED 4 functions
+void set_led4(void);
+void clear_led4(void);
+void toggle_led4(void);
+void blink_led4(uint16_t period_ms);
+
+// RX LED functions
+void set_rx_led(void);
+void clear_rx_led(void);
+void toggle_rx_led(void);
+void blink_rx_led(uint16_t period_ms);
+
+// TX LED functions
+void set_tx_led(void);
+void clear_tx_led(void);
+void toggle_tx_led(void);
+void blink_tx_led(uint16_t period_ms);
+
+// RGB LED's
+void set_eyes_color(uint8_t r,uint8_t g, uint8_t b);
+void get_eyes_color(uint8_t *r,uint8_t *g, uint8_t *b);
+void set_head_color(uint8_t r,uint8_t g, uint8_t b);
+void get_head_color(uint8_t *r,uint8_t *g, uint8_t *b);
+
+// pushbuttons
+uint8_t is_mode_pushed(void);
+void mode_attach_function(void (*sw_function)(void));
+uint8_t is_start_pushed(void);
+void start_attach_function(void (*sw_function)(void));
+
+#endif

include/imu.h

+#ifndef _IMU_H
+#define _IMU_H
+
+#include "stm32f10x.h"
+
+//public functions
+void imu_init(void);
+void imu_get_gyroscope(int16_t *x, int16_t *y, int16_t *z);
+void imu_get_accelerometer(int16_t *x, int16_t *y, int16_t *z);
+
+#endif

include/joint_motion.h

+#ifndef _JOINT_MOTION_H
+#define _JOINT_MOTION_H
+
+#include "stm32f10x.h"
+
+#define      JOINT_MAX_NUM_SERVOS       30
+
+// public functions
+void joint_motion_init(void);
+void joint_motion_load_angles(uint8_t first,uint8_t num_servos, int16_t *angles);
+void joint_motion_load_speeds(uint8_t first,uint8_t num_servos, uint8_t *speeds);
+void joint_motion_load_accels(uint8_t first,uint8_t num_servos, uint8_t *accels);
+void joint_motion_start(void);
+void joint_motion_stop(void);
+void joint_motion_pause(void);
+uint8_t joint_motion_is_running(void);
+
+// motion manager interface
+void joint_motion_process(void);
+
+#endif

include/matrix.h

+#ifndef _MATRIX_H_
+#define _MATRIX_H_
+
+#include "stm32f10x.h"
+
+#include "vector.h"
+#include "point.h"
+
+enum{
+  m00=0,
+  m01,
+  m02,
+  m03,
+  m10,
+  m11,
+  m12,
+  m13,
+  m20,
+  m21,
+  m22,
+  m23,
+  m30,
+  m31,
+  m32,
+  m33,
+};
+
+typedef struct{
+  float coef[16];
+}TMatrix3D;
+
+// public functions
+void matrix3d_init(TMatrix3D *matrix);
+void matrix3d_copy(TMatrix3D *matrix_dst, TMatrix3D *matrix_src);
+void matrix3d_identity(TMatrix3D *matrix);
+uint8_t matrix3d_inverse(TMatrix3D *org, TMatrix3D *inv);
+void matrix3d_set_transform(TMatrix3D *matrix, TPoint3D *point, TVector3D *vector);
+void matrix3d_mult(TMatrix3D *dst,TMatrix3D *a,TMatrix3D *b);
+
+#endif

include/motion_manager.h

+#ifndef _MOTION_MANAGER_H
+#define _MOTION_MANAGER_H
+
+#include "stm32f10x.h"
+
+// default joint identifiers
+enum{
+  R_SHOULDER_PITCH     = 1,
+  L_SHOULDER_PITCH     = 2,
+  R_SHOULDER_ROLL      = 3,
+  L_SHOULDER_ROLL      = 4,
+  R_ELBOW              = 5,
+  L_ELBOW              = 6,
+  R_HIP_YAW            = 7,
+  L_HIP_YAW            = 8,
+  R_HIP_ROLL           = 9,
+  L_HIP_ROLL           = 10,
+  R_HIP_PITCH          = 11,
+  L_HIP_PITCH          = 12,
+  R_KNEE               = 13,
+  L_KNEE               = 14,
+  R_ANKLE_PITCH        = 15,
+  L_ANKLE_PITCH        = 16,
+  R_ANKLE_ROLL         = 17,
+  L_ANKLE_ROLL         = 18,
+  HEAD_PAN             = 19,
+  HEAD_TILT            = 20
+};
+
+// motion modules
+typedef enum{MM_NONE          = 0,
+             MM_ACTION        = 1,
+             MM_WALKING       = 2,
+             MM_JOINTS        = 3}TModules;
+
+#define         MAX_NUM_SERVOS          254
+
+// servo information structure
+typedef struct{
+  uint8_t id;
+  uint8_t model;
+  uint16_t max_value;
+  uint16_t min_value;
+  uint16_t center_value;
+  uint16_t current_value;
+  int16_t max_angle;
+  int16_t min_angle;
+  int16_t current_angle;
+  uint8_t module;
+}TServoInfo;
+
+extern const int8_t dir[14];
+
+// interrupt handler
+void TIM3_IRQHandler(void);
+
+// public functions
+void manager_init(void);
+void manager_enable(void);
+void manager_disable(void);
+uint8_t manager_is_enabled(void);
+inline uint8_t manager_get_num_servos(void);
+inline uint8_t manager_get_period(void);
+void manager_read_current_position(void);
+void manager_set_servo_angle(uint8_t servo_id, int16_t angle);
+void manager_set_servo_value(uint8_t servo_id, uint16_t value);
+void manager_set_module(uint8_t servo_id,TModules module);
+void manager_set_index_angle(uint8_t servo_id, int16_t angle);
+void manager_set_index_value(uint8_t servo_id, uint16_t value);
+inline int16_t manager_get_servo_angle(uint8_t servo_id);
+inline uint16_t manager_get_servo_value(uint8_t servo_id);
+inline TModules manager_get_servo_module(uint8_t servo_id);
+inline int16_t manager_get_index_angle(uint8_t servo_id);
+inline uint16_t manager_get_index_value(uint8_t servo_id);
+inline TModules manager_get_index_module(uint8_t servo_id);
+
+#endif

include/motion_pages.h

+#ifndef _MOTION_PAGES_H
+#define _MOTION_PAGES_H
+
+#include "stm32f10x.h"
+
+#define       PAGE_SUCCESS                  0
+#define       PAGE_BAD_CHECKSUM             -1
+#define       PAGE_INVALID                  -2
+#define       PAGE_INVALID_POSE             -3
+
+#define       PAGE_MAX_NUM_SERVOS           31
+#define       POSE_NUMBER_OF_POSES_PER_PAGE 7
+
+typedef struct // Header Structure (total 64unsigned char)
+{
+  uint8_t name[13];         // Name             0~13
+  uint8_t reserved1;        // Reserved1        14
+  uint8_t repeat;           // Repeat count     15
+  uint8_t schedule;         // schedule         16
+  uint8_t reserved2[3];     // reserved2        17~19
+  uint8_t stepnum;          // Number of step   20
+  uint8_t reserved3;        // reserved3        21
+  uint8_t speed;            // Speed            22
+  uint8_t reserved4;        // reserved4        23
+  uint8_t accel;            // Acceleration time 24
+  uint8_t next;             // Link to next     25
+  uint8_t exit;             // Link to exit     26
+  uint8_t reserved5[4];     // reserved5        27~30
+  uint8_t checksum;         // checksum         31
+  uint8_t slope[PAGE_MAX_NUM_SERVOS];        // CW/CCW compliance slope  32~62
+  uint8_t reserved6;        // reserved6        63
+} TPageHeader;
+
+typedef struct // Step Structure (total 64unsigned char)
+{
+  uint16_t position[PAGE_MAX_NUM_SERVOS];    // Joint position   0~61
+  uint8_t pause;            // Pause time       62
+  uint8_t time;             // Time             63
+} TStep;
+
+typedef struct // Page Structure (total 512unsigned char)
+{
+  TPageHeader header;       // Page header  0~64
+  TStep steps[POSE_NUMBER_OF_POSES_PER_PAGE];           // Page step    65~511
+} TPage;
+
+uint8_t load_page_info(uint8_t page_id,TPage *page);
+uint8_t get_offsets(uint16_t *offsets);
+
+#endif

include/point.h

+#ifndef _POINT_H_
+#define _POINT_H_
+
+typedef struct{
+  float x;
+  float y;
+  float z;
+}TPoint3D;
+
+// public functions
+void point3d_init(TPoint3D *point);
+void point3d_load(TPoint3D *point, float x, float y, float z);
+void point3d_copy(TPoint3D *point_dst, TPoint3D *point_src);
+
+#endif

include/ram.h

+#ifndef _RAM_H
+#define _RAM_H
+
+#include "stm32f10x.h"
+
+#define      RAM_SIZE         256
+
+#define      RAM_SUCCESS      0
+#define      RAM_BAD_ADDRESS  -1
+#define      RAM_WRITE_ERROR  -2
+#define      RAM_BAD_BIT      -3
+
+// CM730 register map
+typedef enum {
+/* EEPROM AREA */
+  CM730_MODEL_NUMBER_L    = 0,
+  CM730_MODEL_NUMBER_H    = 1,
+  CM730_VERSION           = 2,
+  CM730_ID                = 3,
+  CM730_BAUD_RATE         = 4,
+  CM730_RETURN_DELAY_TIME = 5,
+  CM730_RETURN_LEVEL      = 16,
+/* RAM AREA */
+  CM730_DXL_POWER         = 24,
+  CM730_LED_PANNEL        = 25,
+  CM730_LED_HEAD_L        = 26,
+  CM730_LED_HEAD_H        = 27,
+  CM730_LED_EYE_L         = 28,
+  CM730_LED_EYE_H         = 29,
+  CM730_BUTTON            = 30,
+/* Action control registers*/
+  CM730_ACTION_NUMBER     = 31,
+  CM730_ACTION_CONTROL    = 32,
+  CM730_ACTION_STATUS     = 33,
+/* Walking control interface */
+  CM730_WALKING_CONTROL   = 34,
+  CM730_WALKING_STATUS    = 35,
+/* joint motion control interface */
+  CM730_JOINT_CONTROL     = 36,
+  CM730_JOINT_STATUS      = 37,
+/* Inertial sensors */
+  CM730_GYRO_Z_L          = 38,
+  CM730_GYRO_Z_H          = 39,
+  CM730_GYRO_Y_L          = 40,
+  CM730_GYRO_Y_H          = 41,
+  CM730_GYRO_X_L          = 42,
+  CM730_GYRO_X_H          = 43,
+  CM730_ACCEL_X_L         = 44,
+  CM730_ACCEL_X_H         = 45,
+  CM730_ACCEL_Y_L         = 46,
+  CM730_ACCEL_Y_H         = 47,
+  CM730_ACCEL_Z_L         = 48,
+  CM730_ACCEL_Z_H         = 49,
+/* Analof to digital interface */
+  CM730_VOLTAGE           = 50,
+  CM730_LEFT_MIC_L        = 51,
+  CM730_LEFT_MIC_H        = 52,
+  CM730_ADC2_L            = 53,
+  CM730_ADC2_H            = 54,
+  CM730_ADC3_L            = 55,
+  CM730_ADC3_H            = 56,
+  CM730_ADC4_L            = 57,
+  CM730_ADC4_H            = 58,
+  CM730_ADC5_L            = 59,
+  CM730_ADC5_H            = 60,
+  CM730_ADC6_L            = 61,
+  CM730_ADC6_H            = 62,
+  CM730_ADC7_L            = 63,
+  CM730_ADC7_H            = 64,
+  CM730_ADC8_L            = 65,
+  CM730_ADC8_H            = 66,
+  CM730_RIGHT_MIC_L       = 67,
+  CM730_RIGHT_MIC_H       = 68,
+  CM730_ADC10_L           = 69,
+  CM730_ADC10_H           = 70,
+  CM730_ADC11_L           = 71,
+  CM730_ADC11_H           = 72,
+  CM730_ADC12_L           = 73,
+  CM730_ADC12_H           = 74,
+  CM730_ADC13_L           = 75,
+  CM730_ADC13_H           = 76,
+  CM730_ADC14_L           = 77,
+  CM730_ADC14_H           = 78,
+  CM730_ADC15_L           = 79,
+  CM730_ADC15_H           = 80,
+  CM730_BUZZER_DATA0      = 81,
+  CM730_BUZZER_DATA1      = 82,
+  CM730_TX_REMOCON_DATA_L = 83,
+  CM730_TX_REMOCON_DATA_H = 84,
+  CM730_RX_REMOCON_DATA_L = 85,
+  CM730_RX_REMOCON_DATA_H = 86,
+  CM730_RX_REMOCON_DATA_ARRIVED = 87,
+  CM730_ZIGBEE_ID_L       = 88,
+  CM730_ZIGBEE_ID_H       = 89,
+/* Walking data interface */
+  CM730_X_OFFSET          = 90,
+  CM730_Y_OFFSET          = 91,
+  CM730_Z_OFFSET          = 92,
+  CM730_ROLL              = 93,
+  CM730_PITCH             = 94,
+  CM730_YAW               = 95,
+  CM730_HIP_PITCH_OFF_L   = 96,
+  CM730_HIP_PITCH_OFF_H   = 97,
+  CM730_PERIOD_TIME_L     = 98,
+  CM730_PERIOD_TIME_H     = 99,
+  CM730_DSP_RATIO         = 100,
+  CM730_STEP_FW_BW_RATIO  = 101,
+  CM730_STEP_FW_BW        = 102,
+  CM730_STEP_LEFT_RIGHT   = 103,
+  CM730_STEP_DIRECTION    = 104,
+  CM730_FOOT_HEIGHT       = 105,
+  CM730_SWING_RIGHT_LEFT  = 106,
+  CM730_SWING_TOP_DOWN    = 107,
+  CM730_PELVIS_OFFSET     = 108,
+  CM730_ARM_SWING_GAIN    = 109,
+  CM730_BAL_KNEE_GAIN     = 110,
+  CM730_BAL_ANKLE_PITCH_GAIN = 111,
+  CM730_BAL_HIP_ROLL_GAIN = 112,
+  CM730_BAL_ANKLE_ROLL_GAIN = 113,	
+  CM730_P_GAIN            = 114,
+  CM730_D_GAIN            = 115,
+  CM730_I_GAIN            = 116,
+/* joint motion data interface */
+  CM730_SERVO_1_POS_L     = 117,
+  CM730_SERVO_1_POS_H     = 118,
+  CM730_SERVO_2_POS_L     = 119, 
+  CM730_SERVO_2_POS_H     = 120, 
+  CM730_SERVO_3_POS_L     = 121,
+  CM730_SERVO_3_POS_H     = 122,
+  CM730_SERVO_4_POS_L     = 123,
+  CM730_SERVO_4_POS_H     = 124, 
+  CM730_SERVO_5_POS_L     = 125, 
+  CM730_SERVO_5_POS_H     = 126,
+  CM730_SERVO_6_POS_L     = 127, 
+  CM730_SERVO_6_POS_H     = 128,
+  CM730_SERVO_7_POS_L     = 129,
+  CM730_SERVO_7_POS_H     = 130,
+  CM730_SERVO_8_POS_L     = 131, 
+  CM730_SERVO_8_POS_H     = 132, 
+  CM730_SERVO_9_POS_L     = 133,
+  CM730_SERVO_9_POS_H     = 134,
+  CM730_SERVO_10_POS_L    = 135, 
+  CM730_SERVO_10_POS_H    = 136, 
+  CM730_SERVO_11_POS_L    = 137,
+  CM730_SERVO_11_POS_H    = 138,
+  CM730_SERVO_12_POS_L    = 139,
+  CM730_SERVO_12_POS_H    = 140,
+  CM730_SERVO_13_POS_L    = 141,
+  CM730_SERVO_13_POS_H    = 142, 
+  CM730_SERVO_14_POS_L    = 143,
+  CM730_SERVO_14_POS_H    = 144, 
+  CM730_SERVO_15_POS_L    = 145, 
+  CM730_SERVO_15_POS_H    = 146,
+  CM730_SERVO_16_POS_L    = 147,
+  CM730_SERVO_16_POS_H    = 148,
+  CM730_SERVO_17_POS_L    = 149,
+  CM730_SERVO_17_POS_H    = 150,
+  CM730_SERVO_18_POS_L    = 151,
+  CM730_SERVO_18_POS_H    = 152,
+  CM730_SERVO_19_POS_L    = 153, 
+  CM730_SERVO_19_POS_H    = 154,
+  CM730_SERVO_20_POS_L    = 155,
+  CM730_SERVO_20_POS_H    = 156,
+  CM730_SERVO_21_POS_L    = 157,
+  CM730_SERVO_21_POS_H    = 158,
+  CM730_SERVO_22_POS_L    = 159,
+  CM730_SERVO_22_POS_H    = 160,
+  CM730_SERVO_23_POS_L    = 161,
+  CM730_SERVO_23_POS_H    = 162,
+  CM730_SERVO_24_POS_L    = 163,
+  CM730_SERVO_24_POS_H    = 164,
+  CM730_SERVO_25_POS_L    = 165,
+  CM730_SERVO_25_POS_H    = 166,
+  CM730_SERVO_26_POS_L    = 167, 
+  CM730_SERVO_26_POS_H    = 168,
+  CM730_SERVO_27_POS_L    = 169,
+  CM730_SERVO_27_POS_H    = 170,
+  CM730_SERVO_28_POS_L    = 171,
+  CM730_SERVO_28_POS_H    = 172,
+  CM730_SERVO_29_POS_L    = 173, 
+  CM730_SERVO_29_POS_H    = 174,
+  CM730_SERVO_30_POS_L    = 175,
+  CM730_SERVO_30_POS_H    = 176,
+  CM730_SERVO_1_SPEED     = 177,
+  CM730_SERVO_2_SPEED     = 178,
+  CM730_SERVO_3_SPEED     = 179,
+  CM730_SERVO_4_SPEED     = 180,
+  CM730_SERVO_5_SPEED     = 181,
+  CM730_SERVO_6_SPEED     = 182,
+  CM730_SERVO_7_SPEED     = 183,
+  CM730_SERVO_8_SPEED     = 184, 
+  CM730_SERVO_9_SPEED     = 185,
+  CM730_SERVO_10_SPEED    = 186,
+  CM730_SERVO_11_SPEED    = 187,
+  CM730_SERVO_12_SPEED    = 188,
+  CM730_SERVO_13_SPEED    = 189,
+  CM730_SERVO_14_SPEED    = 190,
+  CM730_SERVO_15_SPEED    = 191,
+  CM730_SERVO_16_SPEED    = 192,
+  CM730_SERVO_17_SPEED    = 193,
+  CM730_SERVO_18_SPEED    = 194,
+  CM730_SERVO_19_SPEED    = 195,
+  CM730_SERVO_20_SPEED    = 196,
+  CM730_SERVO_21_SPEED    = 197,
+  CM730_SERVO_22_SPEED    = 198,
+  CM730_SERVO_23_SPEED    = 199,
+  CM730_SERVO_24_SPEED    = 200,
+  CM730_SERVO_25_SPEED    = 201,
+  CM730_SERVO_26_SPEED    = 202,
+  CM730_SERVO_27_SPEED    = 203, 
+  CM730_SERVO_28_SPEED    = 204,
+  CM730_SERVO_29_SPEED    = 205,
+  CM730_SERVO_30_SPEED    = 206,
+  CM730_SERVO_1_ACCEL     = 207,
+  CM730_SERVO_2_ACCEL     = 208,
+  CM730_SERVO_3_ACCEL     = 209,
+  CM730_SERVO_4_ACCEL     = 210,
+  CM730_SERVO_5_ACCEL     = 211,
+  CM730_SERVO_6_ACCEL     = 212,
+  CM730_SERVO_7_ACCEL     = 213,
+  CM730_SERVO_8_ACCEL     = 214,
+  CM730_SERVO_9_ACCEL     = 215,
+  CM730_SERVO_10_ACCEL    = 216,
+  CM730_SERVO_11_ACCEL    = 217,
+  CM730_SERVO_12_ACCEL    = 218,
+  CM730_SERVO_13_ACCEL    = 219,
+  CM730_SERVO_14_ACCEL    = 220,
+  CM730_SERVO_15_ACCEL    = 221, 
+  CM730_SERVO_16_ACCEL    = 222,
+  CM730_SERVO_17_ACCEL    = 223, 
+  CM730_SERVO_18_ACCEL    = 224,
+  CM730_SERVO_19_ACCEL    = 225, 
+  CM730_SERVO_20_ACCEL    = 226,
+  CM730_SERVO_21_ACCEL    = 227, 
+  CM730_SERVO_22_ACCEL    = 228,
+  CM730_SERVO_23_ACCEL    = 229,
+  CM730_SERVO_24_ACCEL    = 230,
+  CM730_SERVO_25_ACCEL    = 231,
+  CM730_SERVO_26_ACCEL    = 232,
+  CM730_SERVO_27_ACCEL    = 233,
+  CM730_SERVO_28_ACCEL    = 234,
+  CM730_SERVO_29_ACCEL    = 235,
+  CM730_SERVO_30_ACCEL    = 236,
+  CM730_MODULE_SEL_1      = 237,
+  CM730_MODULE_SEL_2      = 238,
+  CM730_MODULE_SEL_3      = 239,
+  CM730_MODULE_SEL_4      = 240,
+  CM730_MODULE_SEL_5      = 241,
+  CM730_MODULE_SEL_6      = 242,
+  CM730_MODULE_SEL_7      = 243,
+  CM730_MODULE_SEL_8      = 244,
+  CM730_NUM_SERVOS        = 245
+}TRAMReg;
+
+// public functions
+void ram_init(void);
+inline void ram_read_byte(uint8_t address, uint8_t *data);
+inline void ram_read_word(uint8_t address, uint16_t *data);
+uint8_t ram_read_table(uint8_t address, uint8_t length,uint8_t *data);
+uint8_t ram_set_bit(uint8_t address, uint8_t bit);
+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);
+
+#endif

include/spi.h

+#ifndef _SPI_H
+#define _SPI_H
+
+#include "stm32f10x.h"
+
+//public functions
+void spi_init(void);
+void spi_read_byte(uint8_t address, uint8_t *data);
+void spi_read_word(uint8_t address, uint16_t *data);
+void spi_write_byte(uint8_t address, uint8_t data);
+void spi_write_word(uint8_t address, uint16_t data);
+
+#endif

include/stm32f10x_it.h

+/**
+  ******************************************************************************
+  * @file    Project/STM32F10x_StdPeriph_Template/stm32f10x_it.h 
+  * @author  MCD Application Team
+  * @version V3.5.0
+  * @date    08-April-2011
+  * @brief   This file contains the headers of the interrupt handlers.
+  ******************************************************************************
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F10x_IT_H
+#define __STM32F10x_IT_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f10x.h"
+
+// NMI interrupt handler
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void SVC_Handler(void);
+void DebugMon_Handler(void);
+void PendSV_Handler(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F10x_IT_H */
+

include/system_init.h

+#ifndef _SYSTEM_INIT_H
+#define _SYSTEM_INIT_H
+
+#include "stm32f10x.h"
+
+void clocks_init(void);
+
+#endif

include/time.h

+#ifndef _TIME_H
+#define _TIME_H
+
+#include "stm32f10x.h"
+
+void time_init(void);
+void delay_ms(__IO uint32_t time);
+
+#endif

include/utils.h

+#ifndef _UTILS_H
+#define _UTILS_H
+
+#include "stm32f10x.h" 
+
+inline uint16_t make_word(uint8_t msb,uint8_t lsb);
+inline uint8_t get_msb(uint16_t data);
+inline uint8_t get_lsb(uint16_t data);
+
+#endif