From 5a745110ad925cb44f6cb91c85c2242a9c7f1057 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Thu, 23 Mar 2017 19:20:26 +0100
Subject: [PATCH] Updated smart charger's firmware

Changed the Dynamixel version to Version 2 and the baudrate to 1000000.
---
 include/dyn_battery.h      | 2 +-
 src/darwin_dyn_master.c    | 2 +-
 src/darwin_dyn_master_v2.c | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/dyn_battery.h b/include/dyn_battery.h
index e41d3e2..ac02ce8 100644
--- a/include/dyn_battery.h
+++ b/include/dyn_battery.h
@@ -7,7 +7,7 @@
 //#define EEPROM_SIZE    31
 
 #define DYN_BATTERY_MODEL   0x8000
-#define DYN_BATTERY_VERSION 0x01
+#define DYN_BATTERY_VERSION 0x02
 
 /* battery charger memory map */
 /* memory map */
diff --git a/src/darwin_dyn_master.c b/src/darwin_dyn_master.c
index 23c7525..7b3c0e9 100755
--- a/src/darwin_dyn_master.c
+++ b/src/darwin_dyn_master.c
@@ -67,7 +67,7 @@ void darwin_dyn_master_init(void)
 
   /* initialize the comm object */
   comm_init(&darwin_dyn_master_comm,0x01,&darwin_dyn_master_timer);
-  Init.BaudRate     = 1000000;
+  Init.BaudRate     = 1000000; //57600;
   Init.WordLength   = UART_WORDLENGTH_8B;
   Init.StopBits     = UART_STOPBITS_1;
   Init.Parity       = UART_PARITY_NONE;
diff --git a/src/darwin_dyn_master_v2.c b/src/darwin_dyn_master_v2.c
index 392c5ad..5dc5e5d 100755
--- a/src/darwin_dyn_master_v2.c
+++ b/src/darwin_dyn_master_v2.c
@@ -56,7 +56,7 @@ void darwin_dyn_master_v2_init(void)
 
   /* initialize the comm object */
   comm_init(&darwin_dyn_master_v2_comm,0x01,&darwin_dyn_master_v2_timer);
-  Init.BaudRate     = 1000000;
+  Init.BaudRate     = 1000000; //57600;
   Init.WordLength   = UART_WORDLENGTH_8B;
   Init.StopBits     = UART_STOPBITS_1;
   Init.Parity       = UART_PARITY_NONE;
-- 
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