diff --git a/include/darwin_registers.h b/include/darwin_registers.h
index 3899d162c9ec3376c3cd66d2f73679239fc1b11a..e8808233769725336f052d9a785ceb155faddf7e 100644
--- a/include/darwin_registers.h
+++ b/include/darwin_registers.h
@@ -81,6 +81,8 @@ extern "C" {
#define GRIPPER_RIGHT_MAX_ANGLE ((unsigned short int)0x005A)
#define GRIPPER_RIGHT_MIN_ANGLE ((unsigned short int)0x005C)
#define GRIPPER_RIGHT_MAX_FORCE ((unsigned short int)0x005E)
+#define SMART_CHARGER_PERIOD ((unsigned short int)0x0060)
+
#define LAST_EEPROM_OFFSET ((unsigned short int)0x00FF)
@@ -183,6 +185,9 @@ typedef enum {
DARWIN_GRIPPER_RIGHT_MIN_ANGLE_H = GRIPPER_RIGHT_MIN_ANGLE+1,
DARWIN_GRIPPER_RIGHT_MAX_FORCE_L = GRIPPER_RIGHT_MAX_FORCE,
DARWIN_GRIPPER_RIGHT_MAX_FORCE_H = GRIPPER_RIGHT_MAX_FORCE+1,
+ DARWIN_SMART_CHARGER_PERIOD_L = SMART_CHARGER_PERIOD, //en ms
+ DARWIN_SMART_CHARGER_PERIOD_H = SMART_CHARGER_PERIOD+1,
+//RAM
DARWIN_TX_LED_CNTRL = 0x0100, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | | blink | toggle | value | internally used
DARWIN_TX_LED_PERIOD_L = 0x0101,
@@ -562,6 +567,7 @@ typedef enum {
DARWIN_HEAD_MIN_TILT_H = 0x0244,
DARWIN_HEAD_TILT_TARGET_L = 0x0245, // angle in fixed point format 9|7
DARWIN_HEAD_TILT_TARGET_H = 0x0246,
+
DARWIN_BATT_CHARGER_STATUS = 0x0247,
DARWIN_BATT_INPUT_CURRENT_L = 0x0248,
DARWIN_BATT_INPUT_CURRENT_H = 0x0249,
@@ -570,7 +576,7 @@ typedef enum {
DARWIN_BATT_CHARGE_VOLTAGE_L = 0x024C,
DARWIN_BATT_CHARGE_VOLTAGE_H = 0x024D,
DARWIN_BATT_LIMIT_CURRENT_L = 0x024E,
- DARWIN_BATT_LIMIT_CURRENT_H = 0x024F,
+ DARWIN_BATT_LIMIT_CURRENT_H = 0x024F, //
DARWIN_BATT_TEMPERATURE_L = 0x0250,
DARWIN_BATT_TEMPERATURE_H = 0x0251,
DARWIN_BATT_VOLTAGE_L = 0x0252,
@@ -579,13 +585,13 @@ typedef enum {
DARWIN_BATT_CURRENT_H = 0x0255,
DARWIN_BATT_AVG_CURRENT_L = 0x0256,
DARWIN_BATT_AVG_CURRENT_H = 0x0257,
- DARWIN_BATT_RELATIVE_SOC = 0x0258,
+ DARWIN_BATT_RELATIVE_SOC = 0x0258,//
DARWIN_BATT_ABSOLUTE_SOC = 0x0259,
DARWIN_BATT_REMAINING_CAP_L = 0x025A,
DARWIN_BATT_REMAINING_CAP_H = 0x025B,
DARWIN_BATT_FULL_CHARGE_CAP_L = 0x025C,
DARWIN_BATT_FULL_CHARGE_CAP_H = 0x025D,
- DARWIN_BATT_RUN_TIME_EMPTY_L = 0x025E,
+ DARWIN_BATT_RUN_TIME_EMPTY_L = 0x025E, //
DARWIN_BATT_RUN_TIME_EMPTY_H = 0x025F,
DARWIN_BATT_AVG_TIME_EMPTY_L = 0x0260,
DARWIN_BATT_AVG_TIME_EMPTY_H = 0x0261,
@@ -605,7 +611,14 @@ typedef enum {
DARWIN_BATT_CELL3_VOLTAGE_H = 0x026F,
DARWIN_BATT_CELL4_VOLTAGE_L = 0x0270,
DARWIN_BATT_CELL4_VOLTAGE_H = 0x0271,
- DARWIN_GRIPPER_CNTRL = 0x0272, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+
+//añadidos
+ DARWIN_SMART_CHARGER_CNTRL = 0x0272, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | detected | enable
+ DARWIN_SMART_CHARGER_ID = 0x0273,
+
+//Cambio registro
+ DARWIN_GRIPPER_CNTRL = 0x0276, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// left opened | right opened | | | close left | open left | close right | open right
} darwin_registers;
@@ -688,7 +701,7 @@ typedef enum {
#define HEAD_STOP 0x02
#define HEAD_STATUS 0x10
-#define GRIPPER_BASE_ADDRESS 0x0272
+#define GRIPPER_BASE_ADDRESS 0x0276 //Modificado
#define GRIPPER_MEM_LENGTH 1
#define GRIPPER_EEPROM_ADDRESS 0x0054
#define GRIPPER_EEPROM_LENGTH 14
@@ -697,6 +710,15 @@ typedef enum {
#define GRIPPER_OPEN_LEFT 0x04
#define GRIPPER_CLOSE_LEFT 0x08
+#define SMART_CHARGER_BASE_ADDRESS 0x0247 //DARWIN_BATT_CHARGER_STATUS
+#define SMART_CHARGER_MEM_LENGTH 45
+#define SMART_CHARGER_EEPROM_BASE 0x0060
+#define SMART_CHARGER_EEPROM_LENGTH 2
+#define SMART_CHARGER_DET 0x01
+#define SMART_CHARGER_EN 0x02
+
+
+
#ifdef __cplusplus
}
#endif
diff --git a/include/eeprom_init.h b/include/eeprom_init.h
index b636703311e13ee36d73b97ef44bbfa484f75d23..7ba89ed6261ee183c407170d0a0fff7e1a2587ab 100644
--- a/include/eeprom_init.h
+++ b/include/eeprom_init.h
@@ -10,7 +10,7 @@ extern "C" {
#define DEFAULT_DEVICE_ID 0x0002
#define DEFAULT_BAUDRATE 0x0001
#define DEFAULT_RETURN_DELAY 0x0000
-#define DEFAULT_MM_PERIOD 0x1E78
+#define DEFAULT_MM_PERIOD 0x1E78 //7800us
#define DEFAULT_BAL_KNEE_GAIN 0x4CCD // 0.3 in fixed point format 0|16
#define DEFAULT_BAL_ANKLE_ROLL_GAIN 0xFFFF // 0.99999
#define DEFAULT_BAL_ANKLE_PITCH_GAIN 0xE666 // 0.9
@@ -81,6 +81,10 @@ extern "C" {
#define DEFAULT_GRIPPER_RIGHT_MAX_ANGLE 0x0F00 // 30 in fixed point format 9|7
#define DEFAULT_GRIPPER_RIGHT_MIN_ANGLE 0xF100 // -30 in fixed point format 9|7
#define DEFAULT_GRIPPER_RIGHT_MAX_FORCE 0x03FF // 1023 max force in binary format
+
+#define DEFAULT_SMART_CHARGER_PERIOD 0x05DC //1500 ms (7,8ms*200)
+
+
#ifdef __cplusplus
}
diff --git a/src/eeprom.c b/src/eeprom.c
index c5caef423ff350cc15ad1eeb015987de27471d87..d511af23b9cf8ebb04bf8cd314b10cfea15fc435 100755
--- a/src/eeprom.c
+++ b/src/eeprom.c
@@ -152,7 +152,9 @@ uint16_t eeprom_data[] __attribute__ ((section (".eeprom")))={VALID_PAGE,
DEFAULT_GRIPPER_RIGHT_MIN_ANGLE&0xFF, GRIPPER_RIGHT_MIN_ANGLE,
DEFAULT_GRIPPER_RIGHT_MIN_ANGLE>>8, GRIPPER_RIGHT_MIN_ANGLE+1,
DEFAULT_GRIPPER_RIGHT_MAX_FORCE&0xFF, GRIPPER_RIGHT_MAX_FORCE,
- DEFAULT_GRIPPER_RIGHT_MAX_FORCE>>8, GRIPPER_RIGHT_MAX_FORCE+1};
+ DEFAULT_GRIPPER_RIGHT_MAX_FORCE>>8, GRIPPER_RIGHT_MAX_FORCE+1,
+ DEFAULT_SMART_CHARGER_PERIOD&0xFF, SMART_CHARGER_PERIOD,
+ DEFAULT_SMART_CHARGER_PERIOD>>8, SMART_CHARGER_PERIOD+1};
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
diff --git a/src/ram.c b/src/ram.c
index 3d77ee0e898d5c198d2a21c0bcf014127af8f21c..f2c505dfb8b5e82c15e1311d9a27dad51bd60416 100755
--- a/src/ram.c
+++ b/src/ram.c
@@ -147,6 +147,10 @@ void ram_init(void)
ram_data[GRIPPER_RIGHT_MAX_FORCE]=(uint8_t)(eeprom_data&0x00FF);
if(EE_ReadVariable(GRIPPER_RIGHT_MAX_FORCE+1,&eeprom_data)==0)
ram_data[GRIPPER_RIGHT_MAX_FORCE+1]=(uint8_t)(eeprom_data&0x00FF);
+ if(EE_ReadVariable(SMART_CHARGER_PERIOD,&eeprom_data)==0)
+ ram_data[SMART_CHARGER_PERIOD]=(uint8_t)(eeprom_data&0x00FF);
+ if(EE_ReadVariable(SMART_CHARGER_PERIOD+1,&eeprom_data)==0)
+ ram_data[SMART_CHARGER_PERIOD+1]=(uint8_t)(eeprom_data&0x00FF);
}
inline void ram_read_byte(uint16_t address,uint8_t *data)