diff --git a/include/darwin_registers.h b/include/darwin_registers.h
index 86ee43f0353cf4e4b92c807470bc6b3cee4becbc..ae7cf2eb5c534f21661a3268244109854deb6726 100644
--- a/include/darwin_registers.h
+++ b/include/darwin_registers.h
@@ -568,67 +568,19 @@ 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,
-
-// to do: include more registers os smart charger's memory map to read
-/* DARWIN_BATT_CHARGER_STATUS = 0x0247,
- DARWIN_BATT_INPUT_CURRENT_L = 0x0248,
- DARWIN_BATT_INPUT_CURRENT_H = 0x0249,
- DARWIN_BATT_CHARGE_CURRENT_L = 0x024A,
- DARWIN_BATT_CHARGE_CURRENT_H = 0x024B,
- 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_TEMPERATURE_L = 0x0250,
- DARWIN_BATT_TEMPERATURE_H = 0x0251,
- DARWIN_BATT_VOLTAGE_L = 0x0252,
- DARWIN_BATT_VOLTAGE_H = 0x0253,
- DARWIN_BATT_CURRENT_L = 0x0254,
- DARWIN_BATT_CURRENT_H = 0x0255,
- DARWIN_BATT_AVG_CURRENT_L = 0x0256,
- DARWIN_BATT_AVG_CURRENT_H = 0x0257,
- 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_H = 0x025F,
- DARWIN_BATT_AVG_TIME_EMPTY_L = 0x0260,
- DARWIN_BATT_AVG_TIME_EMPTY_H = 0x0261,
- DARWIN_BATT_AVG_TIME_FULL_L = 0x0262,
- DARWIN_BATT_AVG_TIME_FULL_H = 0x0263,
- DARWIN_BATT_STATUS_L = 0x0264,
- DARWIN_BATT_STATUS_H = 0x0265,
- DARWIN_BATT_DESIGN_CAP_L = 0x0266,
- DARWIN_BATT_DESIGN_CAP_H = 0x0267,
- DARWIN_BATT_DESIGN_VOLTAGE_L = 0x0268,
- DARWIN_BATT_DESIGN_VOLTAGE_H = 0x0269,
- DARWIN_BATT_CELL1_VOLTAGE_L = 0x026A,
- DARWIN_BATT_CELL1_VOLTAGE_H = 0x026B,
- DARWIN_BATT_CELL2_VOLTAGE_L = 0x026C,
- DARWIN_BATT_CELL2_VOLTAGE_H = 0x026D,
- DARWIN_BATT_CELL3_VOLTAGE_L = 0x026E,
- DARWIN_BATT_CELL3_VOLTAGE_H = 0x026F,
- DARWIN_BATT_CELL4_VOLTAGE_L = 0x0270,
- DARWIN_BATT_CELL4_VOLTAGE_H = 0x0271,
-*/
-//añadidos
+
DARWIN_SMART_CHARGER_ID = 0x0247,
- DARWIN_SMART_CHARGER_STATUS = 0x0248,
- DARWIN_SMART_CHARGER_LIMIT_CURRENT_L = 0x0249,
- DARWIN_SMART_CHARGER_LIMIT_CURRENT_H = 0x024A,
- DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_L = 0x024B,
- DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_H = 0x024C,
- DARWIN_SMART_CHARGER_AVG_TIME_FULL_L = 0x024D,
- DARWIN_SMART_CHARGER_AVG_TIME_FULL_H = 0x024E,
- DARWIN_SMART_CHARGER_BATT_STATUS_L = 0x024F,
- DARWIN_SMART_CHARGER_BATT_STATUS_H = 0x0250,
- DARWIN_SMART_CHARGER_CNTRL = 0x0251, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
- // | detected | enable
-//Cambio registro
- DARWIN_GRIPPER_CNTRL = 0x0252 // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ DARWIN_SMART_CHARGER_LIMIT_CURRENT_L = 0x0248, // Input max current in mA
+ DARWIN_SMART_CHARGER_LIMIT_CURRENT_H = 0x0249,
+ DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_L = 0x024A, // Average time to empty batteries in min
+ DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_H = 0x024B,
+ DARWIN_SMART_CHARGER_AVG_TIME_FULL_L = 0x024C, // Average time to full batteries in min
+ DARWIN_SMART_CHARGER_AVG_TIME_FULL_H = 0x024D,
+ DARWIN_SMART_CHARGER_BATT_STATUS_L = 0x024E, // Battery status
+ DARWIN_SMART_CHARGER_BATT_STATUS_H = 0x024F,
+ DARWIN_SMART_CHARGER_CNTRL = 0x0250, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+ // | detected | enable
+ DARWIN_GRIPPER_CNTRL = 0x0251 // 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;
@@ -711,7 +663,7 @@ typedef enum {
#define HEAD_STOP 0x02
#define HEAD_STATUS 0x10
-#define GRIPPER_BASE_ADDRESS 0x0252//0x0274
+#define GRIPPER_BASE_ADDRESS 0x0251
#define GRIPPER_MEM_LENGTH 1
#define GRIPPER_EEPROM_ADDRESS 0x0054
#define GRIPPER_EEPROM_LENGTH 14
@@ -721,8 +673,8 @@ typedef enum {
#define GRIPPER_CLOSE_LEFT 0x08
#define SMART_CHARGER_BASE_ADDRESS 0x0247
-#define SMART_CHARGER_MEM_LENGTH 10 //45
-#define SMART_CHARGER_EEPROM_BASE 0x0060
+#define SMART_CHARGER_MEM_LENGTH 10
+#define SMART_CHARGER_EEPROM_BASE 0x0062
#define SMART_CHARGER_EEPROM_LENGTH 2
#define SMART_CHARGER_DET 0x01
#define SMART_CHARGER_EN 0x02
diff --git a/include/dyn_battery.h b/include/dyn_battery.h
index ac02ce82b99b8996815da0b769d379eaa18ce3e6..70e47b622cbb9e935c4cacd2d708d15971979527 100644
--- a/include/dyn_battery.h
+++ b/include/dyn_battery.h
@@ -45,7 +45,7 @@ typedef enum {
BATTERY_OUTPUT_VOLTAGE_H = 0x1E,
/* RAM */
BATTERY_CHARGER_STATUS = 0x1F,
- BATTERY_INPUT_CURRENT_L = 0x20,//corriente consumida (mA)
+ BATTERY_INPUT_CURRENT_L = 0x20,
BATTERY_INPUT_CURRENT_H = 0x21,
BATTERY_CHARGE_CURRENT_L = 0x22,
BATTERY_CHARGE_CURRENT_H = 0x23,
@@ -61,25 +61,25 @@ typedef enum {
BATTERY_CURRENT_H = 0x2D,
BATTERY_AVG_CURRENT_L = 0x2E,
BATTERY_AVG_CURRENT_H = 0x2F,
- BATTERY_RELATIVE_SOC = 0x30,//State Of Charge (%)
+ BATTERY_RELATIVE_SOC = 0x30,
BATTERY_ABSOLUTE_SOC = 0x31,
- BATTERY_REMAINING_CAP_L = 0x32,//mAh (tiempo de vida)
+ BATTERY_REMAINING_CAP_L = 0x32,
BATTERY_REMAINING_CAP_H = 0x33,
- BATTERY_FULL_CHARGE_CAP_L = 0x34,//
+ BATTERY_FULL_CHARGE_CAP_L = 0x34,
BATTERY_FULL_CHARGE_CAP_H = 0x35,
- BATTERY_RUN_TIME_EMPTY_L = 0x36,//(min)
+ BATTERY_RUN_TIME_EMPTY_L = 0x36,
BATTERY_RUN_TIME_EMPTY_H = 0x37,
BATTERY_AVG_TIME_EMPTY_L = 0x38,
- BATTERY_AVG_TIME_EMPTY_H = 0x39,//tiempo hasta que este descargada (min)
- BATTERY_AVG_TIME_FULL_L = 0x3A,//tiempo hasta que este cargada (min)
+ BATTERY_AVG_TIME_EMPTY_H = 0x39,
+ BATTERY_AVG_TIME_FULL_L = 0x3A,
BATTERY_AVG_TIME_FULL_H = 0x3B,
- BATTERY_STATUS_L = 0x3C,//cargando o descargando, cargada, descargada,...
+ BATTERY_STATUS_L = 0x3C,
BATTERY_STATUS_H = 0x3D,
- BATTERY_DESIGN_CAP_L = 0x3E,//Capacidad de la bateria - numero constante
+ BATTERY_DESIGN_CAP_L = 0x3E,
BATTERY_DESIGN_CAP_H = 0x3F,
BATTERY_DESIGN_VOLTAGE_L = 0x40,
BATTERY_DESIGN_VOLTAGE_H = 0x41,
- BATTERY_CELL1_VOLTAGE_L = 0x42,//Voltage de cada celda
+ BATTERY_CELL1_VOLTAGE_L = 0x42,
BATTERY_CELL1_VOLTAGE_H = 0x43,
BATTERY_CELL2_VOLTAGE_L = 0x44,
BATTERY_CELL2_VOLTAGE_H = 0x45,
diff --git a/include/smart_charger.h b/include/smart_charger.h
index d6f8659ee1635a6f3a4446b1ddb1cc3aedbf0e76..5d3587c7bc3748040028b426690c3840186c1f9b 100644
--- a/include/smart_charger.h
+++ b/include/smart_charger.h
@@ -37,13 +37,13 @@ void smart_charger_init(uint16_t period_us);
*
* \param master pointer to a TDynamixelMaster structure ((darwin_dyn_master or darwin_dyn_master_v2).
*/
-inline void smart_charger_set_version(TDynamixelMaster *master);
+inline void smart_charger_set_master(TDynamixelMaster *master);
/**
* \brief Function to get the master version of the Dynamixel protocol set to the module
* \return the Dynamixel master structure associated to the smart charger module (darwin_dyn_master or darwin_dyn_master_v2).
*/
-inline TDynamixelMaster* smart_charger_get_version(void);
+inline TDynamixelMaster* smart_charger_get_master(void);
/**
* \brief Function to set smart charger's period
*
diff --git a/src/cm730_fw.c b/src/cm730_fw.c
index d074c765ddd1f91e06636c2809f33fa476b6acb2..5c1040f3150da3161096002b21ddc6a37e1c58a0 100755
--- a/src/cm730_fw.c
+++ b/src/cm730_fw.c
@@ -14,7 +14,6 @@
int main(void)
{
uint16_t eeprom_data,period;
- uint8_t i;
/* initialize the HAL module */
HAL_Init();
diff --git a/src/motion_manager.c b/src/motion_manager.c
index 4672002a904cf6b4af702a78645883c7176ac278..eeb4d17016b66ad5f27457943a895d87629599f8 100755
--- a/src/motion_manager.c
+++ b/src/motion_manager.c
@@ -322,20 +322,20 @@ void manager_init(uint16_t period_us)
}
//Other devices detected - smart charger
- for(i=current; i<num; i++){
+ for(i=current; i<num; i++)
+ {
dyn_master_read_word(&darwin_dyn_master,servo_ids[i],BATTERY_MODEL_NUMBER_L,&model);
switch(model)
{
case DYN_BATTERY_MODEL: ram_data[DARWIN_SMART_CHARGER_CNTRL]=SMART_CHARGER_DET; //smart charger detected
- ram_data[DARWIN_SMART_CHARGER_ID] = servo_ids[i]; //smart charger ID
- smart_charger_set_version(&darwin_dyn_master); //set bus Dynamixel master version
- // Read smart charger's memory map
- //dyn_master_read_table(&darwin_dyn_master,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_CHARGER_STATUS,43,&ram_data[DARWIN_BATT_CHARGER_STATUS]);
- //Read charger status
- dyn_master_read_byte(&darwin_dyn_master,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_CHARGER_STATUS,&ram_data[DARWIN_SMART_CHARGER_STATUS]);
- break;
+ ram_data[DARWIN_SMART_CHARGER_ID] = servo_ids[i]; //smart charger ID
+ smart_charger_set_master(&darwin_dyn_master); //set bus Dynamixel master version
+ // Set smart charger's memory map
+ dyn_master_read_table(&darwin_dyn_master,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_AVG_TIME_EMPTY_L,6,&ram_data[DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_L]);
+ dyn_master_read_byte(&darwin_dyn_master,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_INPUT_MAX_CURRENT_L,&ram_data[DARWIN_SMART_CHARGER_LIMIT_CURRENT_L]);
+ break;
default: break;
- }
+ }
}
darwin_dyn_master_disable_power();
@@ -384,20 +384,20 @@ void manager_init(uint16_t period_us)
}
//Other devices detected - smart charger
- for(i=current; i<num; i++){
+ for(i=current; i<num; i++)
+ {
dyn_master_read_word(&darwin_dyn_master_v2,servo_ids[i],BATTERY_MODEL_NUMBER_L,&model);
switch(model)
{
case DYN_BATTERY_MODEL: ram_data[DARWIN_SMART_CHARGER_CNTRL]=SMART_CHARGER_DET; //smart charger detected
- ram_data[DARWIN_SMART_CHARGER_ID] = servo_ids[i]; //smart charger ID
- smart_charger_set_version(&darwin_dyn_master_v2); //Set bus Dynamixel master version
- // Read smart charger's memory map
- //dyn_master_read_table(&darwin_dyn_master_v2,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_CHARGER_STATUS,43,&ram_data[DARWIN_BATT_CHARGER_STATUS]);
- //Read charger status
- dyn_master_read_byte(&darwin_dyn_master_v2,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_CHARGER_STATUS,&ram_data[DARWIN_SMART_CHARGER_STATUS]);
+ ram_data[DARWIN_SMART_CHARGER_ID] = servo_ids[i]; //smart charger ID
+ smart_charger_set_master(&darwin_dyn_master_v2); //Set bus Dynamixel master version
+ // Set smart charger's memory map
+ dyn_master_read_table(&darwin_dyn_master_v2,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_AVG_TIME_EMPTY_L,6,&ram_data[DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_L]);
+ dyn_master_read_byte(&darwin_dyn_master_v2,ram_data[DARWIN_SMART_CHARGER_ID],BATTERY_INPUT_MAX_CURRENT_L,&ram_data[DARWIN_SMART_CHARGER_LIMIT_CURRENT_L]);
break;
default: break;
- }
+ }
}
diff --git a/src/smart_charger.c b/src/smart_charger.c
index 70de2e7d9e8861e467e41ffc048098053149e7f2..3812797f57a5e046e4286bb189a5eca7c04bbc27 100644
--- a/src/smart_charger.c
+++ b/src/smart_charger.c
@@ -8,17 +8,17 @@
uint8_t smart_charger_id; //smart charger dynamixel ID
uint8_t smart_charger_enabled; //smart charger module enable signal
uint8_t smart_charger_detected; //smart charger detect signal
-uint16_t smart_charger_period; //smart charger period value
-uint16_t counter; //for read access operations
+uint16_t smart_charger_period; //smart charger period value in ms
+//uint16_t counter; //for read access operations
uint16_t smart_charger_count; //counter = sc period / mm period --> Default: (1500ms*1000)/7800us
uint8_t smart_charger_write; //write smart charger signal
uint8_t init_regs[6]={0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
-#define fifosize 32
+#define FIFOSIZE 32
unsigned char *infifo; //Pointer to fifo position where to store next input data
unsigned char *outfifo; //Pointer to fifo position where is stored the data to be written
unsigned char numdata; //Number of elements stored in the fifo
-unsigned char write_fifo[fifosize]; //Vector with data to write (data_write)
+unsigned char write_fifo[FIFOSIZE]; //Vector with data to write (data_write)
unsigned char current[2];
//---------------------------------------
@@ -29,11 +29,10 @@ TDynamixelMaster *dyn_battery_master;
void smart_charger_init(uint16_t period_us)
{
smart_charger_id = ram_data[DARWIN_SMART_CHARGER_ID];
- smart_charger_enabled = 0x00;
+ smart_charger_enabled = ram_data[DARWIN_SMART_CHARGER_CNTRL]&SMART_CHARGER_EN;
smart_charger_detected = ram_data[DARWIN_SMART_CHARGER_CNTRL]&SMART_CHARGER_DET;
- counter = 0;
- smart_charger_period = ram_data[DARWIN_SMART_CHARGER_PERIOD_L];
- smart_charger_period = (ram_data[DARWIN_SMART_CHARGER_PERIOD_H])<<8;
+ // counter = 0;
+ smart_charger_period = (ram_data[DARWIN_SMART_CHARGER_PERIOD_L]) + ((ram_data[DARWIN_SMART_CHARGER_PERIOD_H])<<8);
smart_charger_count = (smart_charger_period*1000)/period_us;
smart_charger_write = 0x00;
infifo=outfifo=&write_fifo[0];
@@ -41,20 +40,20 @@ void smart_charger_init(uint16_t period_us)
ram_write_table(DARWIN_SMART_CHARGER_AVG_TIME_EMPTY_L, 6, init_regs);
}
-inline void smart_charger_set_version(TDynamixelMaster *master)
+inline void smart_charger_set_master(TDynamixelMaster *master)
{
dyn_battery_master=master;
}
-inline TDynamixelMaster* smart_charger_get_version(void)
+inline TDynamixelMaster* smart_charger_get_master(void)
{
return dyn_battery_master;
}
-void smart_charger_set_period(uint16_t period) //en ms
+void smart_charger_set_period(uint16_t period)
{
- uint16_t mm_period=manager_get_period_us(); //default: 7800us
- smart_charger_count = (period*1000)/mm_period; //(ms*1000)/us
+ uint16_t mm_period=manager_get_period_us();
+ smart_charger_count = (period*1000)/mm_period;
smart_charger_period = period;
ram_data[DARWIN_SMART_CHARGER_PERIOD_L]=period&0x00FF;
ram_data[DARWIN_SMART_CHARGER_PERIOD_H]=(period&0xFF00)>>8;
@@ -94,8 +93,8 @@ void smart_charger_process_read_cmd(unsigned short int address,unsigned short in
void smart_charger_process_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data)
{
- //uint8_t i;
- uint16_t period,i;
+ uint16_t period;//,i;
+
//Enable/Disable smart charger
if(ram_in_range(DARWIN_SMART_CHARGER_CNTRL,address,length))
@@ -119,9 +118,9 @@ void smart_charger_process_write_cmd(unsigned short int address,unsigned short i
current[1]=data[DARWIN_SMART_CHARGER_LIMIT_CURRENT_H-address];
- /* if(infifo==&write_fifo[fifosize]);
+ /* if(infifo==&write_fifo[FIFOSIZE]);
infifo=&write_fifo[0]; //go to first position of fifo
- if(numdata<fifosize) //free space in fifo
+ if(numdata<FIFOSIZE) //free space in fifo
{
for(i=DARWIN_SMART_CHARGER_LIMIT_CURRENT_L;i<=DARWIN_SMART_CHARGER_LIMIT_CURRENT_H;i++)
{
@@ -144,17 +143,19 @@ void smart_charger_process_write_cmd(unsigned short int address,unsigned short i
// motion manager interface function
void smart_charger_process(void)
-{
- gpio_set_led(LED_TX);//amarillo
- counter++;
+{
uint8_t error;
+ static uint16_t counter;
+
+ counter++;
+
//Write smart_charger - Battery limit current (EEPROM)
if(smart_charger_detected && smart_charger_enabled && smart_charger_write && counter!=smart_charger_count)
{
error=dyn_master_write_table(dyn_battery_master,smart_charger_id,BATTERY_INPUT_MAX_CURRENT_L,2, current);
if(error==DYN_SUCCESS){
/* dyn_master_write_table(dyn_battery_master,smart_charger_id,BATTERY_INPUT_MAX_CURRENT_L,2,outfifo);
- if(outfifo==&write_fifo[fifosize-1])
+ if(outfifo==&write_fifo[FIFOSIZE-1])
outfifo=&write_fifo[0]; //go to first position of fifo
else
outfifo=outfifo+2;
diff --git a/src/test_charger.c b/src/test_charger.c
index 5a547fceff13e6ed90be00b86f97142b1f391d35..23cb9b869118c00872faf71c98f56b5019823381 100644
--- a/src/test_charger.c
+++ b/src/test_charger.c
@@ -74,7 +74,7 @@ int main(void)
gpio_set_led(LED_3);//Si existen dispositivos conectados -> luz verde
}
-
+/*
////READ CHARGER STATUS
unsigned short int address=DARWIN_SMART_CHARGER_STATUS;
unsigned short int length=1;
@@ -84,9 +84,9 @@ int main(void)
error=darwin_on_read(address,length,&data_read);
if(data_read&0x01)
gpio_set_led(LED_2); //verde
-
+*/
-/* ////READ PERIOD SMART CHARGER
+ ////READ PERIOD SMART CHARGER
unsigned short int address=DARWIN_SMART_CHARGER_PERIOD_L;
unsigned short int length=2;
unsigned char data_read[2];
@@ -98,7 +98,7 @@ int main(void)
gpio_set_led(LED_3); //verde
else if(dread==0)
gpio_set_led(LED_4); //azul
-*/
+
/* ////READ ID SMART CHARGER
unsigned char data_read2;
@@ -110,7 +110,7 @@ int main(void)
//else if(data_read==0)
*/
-/* ////WRITE PERIOD SMART CHARGER
+ ////WRITE PERIOD SMART CHARGER
//HAL_Delay(500);
unsigned short int address=DARWIN_SMART_CHARGER_PERIOD_L;
unsigned short int length=2;
@@ -126,9 +126,9 @@ int main(void)
gpio_set_led(LED_3); //verde
else if(dread==1500)
gpio_set_led(LED_4); //azul
-*/
-/* ////ENABLE SMART CHARGER MODULE
+
+ ////ENABLE SMART CHARGER MODULE
address=DARWIN_SMART_CHARGER_CNTRL;
length=1;
uint8_t data_read;
@@ -145,14 +145,21 @@ int main(void)
darwin_on_read(address,length,&data_read);
if(data_read==3) //Smart charger control = detected + enabled
gpio_set_led(LED_3); //verde
-*/
+
-/* ////ENABLE MOTION MANAGER TIMER
+ ////ENABLE MOTION MANAGER TIMER
address=DARWIN_MM_CNTRL;
data_write=MANAGER_ENABLE;
darwin_on_write(address,length,&data_write);
HAL_Delay(500);
-*/
+
+ ////WRITE LIMIT CURRENT
+/* address=DARWIN_SMART_CHARGER_LIMIT_CURRENT_L;
+ length=2;
+ data_write=0.512;
+ darwin_on_write(address,length,&data_write);
+ HAL_Delay(500);
+*/
/* //Read battery status
address=DARWIN_BATT_AVG_TIME_EMPTY_L;