diff --git a/CMakeLists.txt b/CMakeLists.txt
index eb679a2e6c02faa593189cfa3eb56ecbde450452..e0ce4dea0e8a06603b0c99c9a6ba53bd712f0c45 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,9 @@ SET(lib_sources ./stm32_libraries/utils/src/buffer.c
./stm32_libraries/dynamixel_manager/src/modules/motion_manager.c
./stm32_libraries/dynamixel_manager/src/modules/motion_module.c
./stm32_libraries/dynamixel_manager/src/modules/action.c
+ ./stm32_libraries/dynamixel_manager/src/modules/joint_motion.c
+ ./stm32_libraries/dynamixel_manager/src/modules/head_tracking.c
+ ./stm32_libraries/dynamixel_manager/src/modules/walk.c
./stm32_libraries/dynamixel_manager/src/modules/motion_pages.c
./stm32_libraries/dynamixel_manager/src/modules/dyn_servos.c)
# application header files
@@ -50,6 +53,13 @@ SET(lib_headers ./stm32_libraries/utils/include/buffer.h
./stm32_libraries/dynamixel_manager/include/modules/motion_module.h
./stm32_libraries/dynamixel_manager/include/modules/action.h
./stm32_libraries/dynamixel_manager/include/modules/motion_pages.h
+ ./stm32_libraries/dynamixel_manager/include/modules/action_registers.h
+ ./stm32_libraries/dynamixel_manager/include/modules/joint_motion.h
+ ./stm32_libraries/dynamixel_manager/include/modules/joint_motion_registers.h
+ ./stm32_libraries/dynamixel_manager/include/modules/head_tracking.h
+ ./stm32_libraries/dynamixel_manager/include/modules/head_tracking_registers.h
+ ./stm32_libraries/dynamixel_manager/include/modules/walk.h
+ ./stm32_libraries/dynamixel_manager/include/modules/walk_registers.h
./stm32_libraries/dynamixel_manager/include/modules/dyn_servos.h)
# add include directories
@@ -99,7 +109,7 @@ set(TARGET_PROCESSOR STM32F103RE)
ADD_SUBDIRECTORY(src)
# compiler settings
-SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mlittle-endian -mcpu=cortex-m3 -mthumb -mthumb-interwork -Wall -g -fno-common -msoft-float -ffreestanding -imacros ${configuration_file}")
+SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mlittle-endian -mcpu=cortex-m3 -mthumb -mthumb-interwork -Wall -g -fno-common -msoft-float -ffreestanding -fno-math-errno -imacros ${configuration_file}")
# linker settings
set(LINKER_SCRIPT "${CMAKE_CURRENT_SOURCE_DIR}/linker_script/darwin.ld")
@@ -115,6 +125,8 @@ add_definitions(-DEEPROM_START_ADDRESS=0x08003800)
add_executable(${PROJECT_NAME}.elf ${lib_sources} ${hal_sources} ${asm_source} ${sources})
+target_link_libraries(${PROJECT_NAME}.elf -lm)
+
add_custom_command(TARGET "${PROJECT_NAME}.elf" POST_BUILD
# Build .hex and .bin files
COMMAND ${CMAKE_OBJCOPY} -O binary ${PROJECT_NAME}.elf ${PROJECT_NAME}.bin
diff --git a/include/darwin_conf.h b/include/darwin_conf.h
index c922b66055fe760373dc581ad210cbd9e109c172..90314cb9ca2f6bf9266b86a93a2def9bd21e792e 100644
--- a/include/darwin_conf.h
+++ b/include/darwin_conf.h
@@ -1,69 +1,127 @@
#ifndef _DARWIN_CONF_H
#define _DARWIN_CONF_H
-#define RAM_SIZE 4096
-#define EEPROM_SIZE 128
+#define RAM_SIZE 4096
+#define EEPROM_SIZE 128
+
+#define NUM_MOTION_PAGES 46
+#define MAX_DYN_MASTER_TX_BUFFER_LEN 1024
+#define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
+#define MAX_DYN_SLAVE_TX_BUFFER_LEN 1024
+#define MAX_DYN_SLAVE_RX_BUFFER_LEN 1024
+#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
+#define MAX_NUM_SLAVE_DEVICES 4
+#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
+#define DYN_MANAGER_MAX_NUM_MASTERS 4
+#define DYN_MANAGER_MAX_NUM_MODULES 8
+#define DYN_MANAGER_MAX_NUM_DEVICES 32
+#define DYN_MANAGER_MAX_NUM_SINGLE_OP 16
+#define DYN_MANAGER_MAX_NUM_SYNC_OP 4
+#define DYN_MANAGER_MAX_NUM_BULK_OP 4
+#define MODULE_MAX_NUM_MODELS 32
+#define MM_MAX_NUM_MOTION_MODULES 8
+#define NUM_JOINT_GROUPS 4
/* Dynamixel slave memory map */
/* dynamixel slave */
-#define EEPROM_DYN_SLAVE_BASE_ADDRESS1 ((unsigned short int)0x0000)
-#define EEPROM_DYN_SLAVE_BASE_ADDRESS2 ((unsigned short int)0x0010)
+#define EEPROM_DYN_SLAVE_BASE_ADDRESS1 ((unsigned short int)0x0000)
+#define EEPROM_DYN_SLAVE_BASE_ADDRESS2 ((unsigned short int)0x0010)
/* dynamixel manager */
-#define EEPROM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0006)
-#define RAM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0080)
+#define EEPROM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0006)
+#define RAM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0080)
/* motion manager */
-#define EEPROM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0011)
-#define RAM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0088)
+#define EEPROM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0011)
+#define RAM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0088)
/* action motion module */
-#define RAM_ACTION_MM_BASE_ADDRESS ((unsigned short int)0x009E)
-
-/* IMU */
-#define RAM_IMU_MM_BASE_ADDRESS ((unsigned short int)0x00A0)
+#define RAM_ACTION_MM_BASE_ADDRESS ((unsigned short int)0x009E)
/* balance */
-#define EEPROM_BALANCE_BASE_ADDRESS ((unsigned short int)0x0007)
-#define RAM_BALANCE_BASE_ADDRESS ((unsigned short int)0x00AF)
-
-#define NUM_MOTION_PAGES 46
-#define MAX_DYN_MASTER_TX_BUFFER_LEN 1024
-#define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
-#define MAX_DYN_SLAVE_TX_BUFFER_LEN 1024
-#define MAX_DYN_SLAVE_RX_BUFFER_LEN 1024
-#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
-#define MAX_NUM_SLAVE_DEVICES 4
-#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
-#define DYN_MANAGER_MAX_NUM_MASTERS 4
-#define DYN_MANAGER_MAX_NUM_MODULES 8
-#define DYN_MANAGER_MAX_NUM_DEVICES 32
-#define DYN_MANAGER_MAX_NUM_SINGLE_OP 16
-#define DYN_MANAGER_MAX_NUM_SYNC_OP 4
-#define DYN_MANAGER_MAX_NUM_BULK_OP 4
-#define MODULE_MAX_NUM_MODELS 32
-#define MM_MAX_NUM_MOTION_MODULES 8
+#define EEPROM_BALANCE_BASE_ADDRESS ((unsigned short int)0x0007)
+#define RAM_BALANCE_BASE_ADDRESS ((unsigned short int)0x00A0)
+
+/* action motion module */
+#define RAM_JOINT_MOTION_MM_BASE_ADDRESS ((unsigned short int)0x00A1)
+
+/* head tracking motion module */
+#define RAM_HEAD_TRACKING_MM_BASE_ADDRESS ((unsigned short int)0x0135)
+#define EEPROM_HEAD_TRACKING_MM_BASE_ADDRESS ((unsigned short int)0x0031)
+
+/* head tracking motion module */
+#define RAM_WALK_MM_BASE_ADDRESS ((unsigned short int)0x0142)
+#define EEPROM_WALK_MM_BASE_ADDRESS ((unsigned short int)0x0043)
+
+/* IMU */
+#define RAM_IMU_MM_BASE_ADDRESS ((unsigned short int)0x0146)
/* EEPROM default values */
/* Dynamixel slave */
-#define DARWIN_DEVICE_MODEL 0x7300
-#define DARWIN_FIRMWARE_VERSION 0x0001
-#define DARWIN_DEVICE_ID 0x0001
-
-#define DEFAULT_BAUDRATE 0x0010
-#define DEFAULT_RETURN_DELAY 0x0000
-#define DEFAULT_RETURN_LEVEL 0x0002
+#define DARWIN_DEVICE_MODEL 0x7300
+#define DARWIN_FIRMWARE_VERSION 0x0001
+#define DARWIN_DEVICE_ID 0x0001
+
+#define DEFAULT_BAUDRATE 0x0010
+#define DEFAULT_RETURN_DELAY 0x0000
+#define DEFAULT_RETURN_LEVEL 0x0002
/* dynamixel manager */
-#define DYN_MANAGER_PERIOD 0x0007
+#define DYN_MANAGER_PERIOD 0x0007
/* motion manager */
-#define MMANAGER_PERIOD 0x0001
+#define MMANAGER_PERIOD 0x0001
/* balance */
-#define DEFAULT_BALANCE_KNEE_GAIN 0x4CCD // 0.3 in fixed point format 0|16
-#define DEFAULT_BALANCE_ANKLE_ROLL_GAIN 0xFFFF // 0.99999
-#define DEFAULT_BALANCE_ANKLE_PITCH_GAIN 0xE666 // 0.9
-#define DEFAULT_BALANCE_HIP_ROLL_GAIN 0x8000 // 0.5
+#define DEFAULT_BALANCE_KNEE_GAIN 0x4CCD // 0.3 in fixed point format 0|16
+#define DEFAULT_BALANCE_ANKLE_ROLL_GAIN 0xFFFF // 0.99999
+#define DEFAULT_BALANCE_ANKLE_PITCH_GAIN 0xE666 // 0.9
+#define DEFAULT_BALANCE_HIP_ROLL_GAIN 0x8000 // 0.5
+
+/* head tracking */
+#define DEFAULT_HEAD_PAN_P_GAIN 0x028F // 0.01 in fixed point format 0|16
+#define DEFAULT_HEAD_PAN_I_GAIN 0x0000 // 0.0 in fixed point format 0|16
+#define DEFAULT_HEAD_PAN_D_GAIN 0x0000 // 0.0 in fixed point format 0|16
+#define DEFAULT_HEAD_PAN_I_CLAMP 0x0000 // 0.0 in fixed point format 9|7
+#define DEFAULT_HEAD_TILT_P_GAIN 0x028F // 0.01 in fixed point format 0|16
+#define DEFAULT_HEAD_TILT_I_GAIN 0x0000 // 0.0 in fixed point format 0|16
+#define DEFAULT_HEAD_TILT_D_GAIN 0x0000 // 0.0 in fixed point format 0|16
+#define DEFAULT_HEAD_TILT_I_CLAMP 0x0000 // 0.0 in fixed point format 9|7
+#define DEFAULT_HEAD_PAN_SERVO_ID 0x0013
+#define DEFAULT_HEAD_TILT_SERVO_ID 0x0014
+
+/* walk */
+#define DEFAULT_WALK_X_OFFSET 0xFFF6 // -10 mm
+#define DEFAULT_WALK_Y_OFFSET 0x0005 // 5 mm
+#define DEFAULT_WALK_Z_OFFSET 0x0014 // 20 mm
+#define DEFAULT_WALK_ROLL_OFFSET 0x0000 // 0 degrees in fixed point format 5 (1+4) | 3
+#define DEFAULT_WALK_PITCH_OFFSET 0x0000 // 0 degrees in fixed point format 5 (1+4) | 3
+#define DEFAULT_WALK_YAW_OFFSET 0x0000 // 0 degrees in fixed point format 5 (1+4) | 3
+#define DEFAULT_WALK_HIP_PITCH_OFFSET 0x34B6 // 13.18 degrees in fixed point format 6 (1+5) | 10
+#define DEFAULT_WALK_PERIOD_TIME 0x0258 // 600 ms
+#define DEFAULT_WALK_DSP_RATIO 0x0019 // 0.1 in fixed point format 0 | 8
+#define DEFAULT_WALK_STEP_FW_BW_RATIO 0x004C // 0.3 in fixed point format 0 | 8
+#define DEFAULT_WALK_FOOT_HEIGHT 0x0028 // 40 mm
+#define DEFAULT_WALK_SWING_RIGHT_LEFT 0x0014 // 20 mm
+#define DEFAULT_WALK_SWING_TOP_DOWN 0x0005 // 5 mm
+#define DEFAULT_WALK_PELVIS_OFFSET 0x0018 // 3 degrees in fixed point format 5 (1+4) | 3
+#define DEFAULT_WALK_ARM_SWING_GAIN 0x0030 // 1.5 in fixed point format 3 | 5
+#define DEFAULT_WALK_MAX_VEL 0x0016 // 20 mm/s
+#define DEFAULT_WALK_MAX_ROT_VEL 0x0040 // 8 degrees/s in fixed point format 5 | 3
+#define DEFAULT_WALK_R_HIP_YAW_SERVO_ID 0x0007
+#define DEFAULT_WALK_R_HIP_ROLL_SERVO_ID 0x0009
+#define DEFAULT_WALK_R_HIP_PITCH_SERVO_ID 0x000B
+#define DEFAULT_WALK_R_KNEE_SERVO_ID 0x000D
+#define DEFAULT_WALK_R_ANKLE_PITCH_SERVO_ID 0x000F
+#define DEFAULT_WALK_R_ANKLE_ROLL_SERVO_ID 0x0011
+#define DEFAULT_WALK_R_SHOULDER_PITCH_SERVO_ID 0x0001
+#define DEFAULT_WALK_L_HIP_YAW_SERVO_ID 0x0008
+#define DEFAULT_WALK_L_HIP_ROLL_SERVO_ID 0x000A
+#define DEFAULT_WALK_L_HIP_PITCH_SERVO_ID 0x000C
+#define DEFAULT_WALK_L_KNEE_SERVO_ID 0x000E
+#define DEFAULT_WALK_L_ANKLE_PITCH_SERVO_ID 0x0010
+#define DEFAULT_WALK_L_ANKLE_ROLL_SERVO_ID 0x0012
+#define DEFAULT_WALK_L_SHOULDER_PITCH_SERVO_ID 0x0002
+
#endif
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index cfb80e21ce0376d79f537dd3d41f73fb2c33ccc0..adc42f27fe21a268bea9d5f7443c28469b51e036 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -10,6 +10,8 @@ SET(sources ${CMAKE_CURRENT_SOURCE_DIR}/cm730_fw.c
${CMAKE_CURRENT_SOURCE_DIR}/stm32f1xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_balance.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_motion.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/darwin_kinematics.c
+ ${CMAKE_CURRENT_SOURCE_DIR}/darwin_math.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_motion_pages.c
#${CMAKE_CURRENT_SOURCE_DIR}/smart_charger.c
${PROJECT_SOURCE_DIR}/stm32_libraries/f1/usart/src/usart3.c
diff --git a/src/darwin_motion.c b/src/darwin_motion.c
index 8337ac8a889427df90d9879cc8b20008f3eae4bf..a4b04099f3b7d7d665ad5d764741e1c8498a65b5 100644
--- a/src/darwin_motion.c
+++ b/src/darwin_motion.c
@@ -3,25 +3,59 @@
#include "darwin_dyn_master.h"
#include "motion_manager.h"
#include "action.h"
+#include "joint_motion.h"
+#include "head_tracking.h"
+#include "walk.h"
+#include "darwin_kinematics.h"
#include "eeprom.h"
TDynManager darwin_dyn_manager;
TDynamixelMaster *darwin_master;
TMotionManager darwin_mmanager;
TActionMModule action_mm;
+TJointMModule joints_mm;
+THeadMModule head_mm;
+TWalkMModule walk_mm;
dyn_manager_eeprom_data(darwin_dyn_manager,".eeprom",EEPROM_DYN_MANAGER_BASE_ADDRESS,DYN_MANAGER_PERIOD);
+
dyn_mm_eeprom_data(darwin_mmanager,".eeprom",EEPROM_MMANAGER_BASE_ADDRESS,MMANAGER_PERIOD,0,EEPROM_MMANAGER_BASE_ADDRESS+1,0,EEPROM_MMANAGER_BASE_ADDRESS+2,0,EEPROM_MMANAGER_BASE_ADDRESS+3,0,EEPROM_MMANAGER_BASE_ADDRESS+4,0,EEPROM_MMANAGER_BASE_ADDRESS+5,0,EEPROM_MMANAGER_BASE_ADDRESS+6,0,EEPROM_MMANAGER_BASE_ADDRESS+7,0,EEPROM_MMANAGER_BASE_ADDRESS+8,0,EEPROM_MMANAGER_BASE_ADDRESS+9,0,EEPROM_MMANAGER_BASE_ADDRESS+10,0,EEPROM_MMANAGER_BASE_ADDRESS+11,0,EEPROM_MMANAGER_BASE_ADDRESS+12,0,EEPROM_MMANAGER_BASE_ADDRESS+13,0,EEPROM_MMANAGER_BASE_ADDRESS+14,0,EEPROM_MMANAGER_BASE_ADDRESS+15,0,EEPROM_MMANAGER_BASE_ADDRESS+16,0,EEPROM_MMANAGER_BASE_ADDRESS+17,0,EEPROM_MMANAGER_BASE_ADDRESS+18,0,EEPROM_MMANAGER_BASE_ADDRESS+19,0,EEPROM_MMANAGER_BASE_ADDRESS+20,0,EEPROM_MMANAGER_BASE_ADDRESS+21,0,EEPROM_MMANAGER_BASE_ADDRESS+22,0,EEPROM_MMANAGER_BASE_ADDRESS+23,0,EEPROM_MMANAGER_BASE_ADDRESS+24,0,EEPROM_MMANAGER_BASE_ADDRESS+25,0,EEPROM_MMANAGER_BASE_ADDRESS+26,0,EEPROM_MMANAGER_BASE_ADDRESS+27,0,EEPROM_MMANAGER_BASE_ADDRESS+28,0,EEPROM_MMANAGER_BASE_ADDRESS+29,0,EEPROM_MMANAGER_BASE_ADDRESS+30,0,EEPROM_MMANAGER_BASE_ADDRESS+31,0,EEPROM_MMANAGER_BASE_ADDRESS+32);
+head_tracking_eeprom_data(darwin_head_tracking,".eeprom",EEPROM_HEAD_TRACKING_MM_BASE_ADDRESS,DEFAULT_HEAD_PAN_P_GAIN,DEFAULT_HEAD_PAN_I_GAIN,DEFAULT_HEAD_PAN_D_GAIN,DEFAULT_HEAD_PAN_I_CLAMP,DEFAULT_HEAD_TILT_P_GAIN,DEFAULT_HEAD_TILT_I_GAIN,DEFAULT_HEAD_TILT_D_GAIN,DEFAULT_HEAD_TILT_I_CLAMP,DEFAULT_HEAD_PAN_SERVO_ID,DEFAULT_HEAD_TILT_SERVO_ID);
+
+walk_eeprom_data(darwin_walk,".eeprom",EEPROM_WALK_MM_BASE_ADDRESS,DEFAULT_WALK_X_OFFSET,DEFAULT_WALK_Y_OFFSET,DEFAULT_WALK_Z_OFFSET,DEFAULT_WALK_ROLL_OFFSET,DEFAULT_WALK_PITCH_OFFSET,DEFAULT_WALK_YAW_OFFSET,DEFAULT_WALK_HIP_PITCH_OFFSET,DEFAULT_WALK_PERIOD_TIME,DEFAULT_WALK_DSP_RATIO,DEFAULT_WALK_STEP_FW_BW_RATIO,DEFAULT_WALK_FOOT_HEIGHT,DEFAULT_WALK_SWING_RIGHT_LEFT,DEFAULT_WALK_SWING_TOP_DOWN,DEFAULT_WALK_PELVIS_OFFSET,DEFAULT_WALK_ARM_SWING_GAIN,DEFAULT_WALK_MAX_VEL,DEFAULT_WALK_MAX_ROT_VEL,DEFAULT_WALK_R_HIP_YAW_SERVO_ID,DEFAULT_WALK_R_HIP_ROLL_SERVO_ID,DEFAULT_WALK_R_HIP_PITCH_SERVO_ID,DEFAULT_WALK_R_KNEE_SERVO_ID,DEFAULT_WALK_R_ANKLE_PITCH_SERVO_ID,DEFAULT_WALK_R_ANKLE_ROLL_SERVO_ID,DEFAULT_WALK_R_SHOULDER_PITCH_SERVO_ID,DEFAULT_WALK_L_HIP_YAW_SERVO_ID,DEFAULT_WALK_L_HIP_ROLL_SERVO_ID,DEFAULT_WALK_L_HIP_PITCH_SERVO_ID,DEFAULT_WALK_L_KNEE_SERVO_ID,DEFAULT_WALK_L_ANKLE_PITCH_SERVO_ID,DEFAULT_WALK_L_ANKLE_ROLL_SERVO_ID,DEFAULT_WALK_L_SHOULDER_PITCH_SERVO_ID);
+
unsigned char darwin_mm_init(TScheduler *scheduler,TMemory *memory)
{
+ // initialize dynamixel manager
dyn_manager_init(&darwin_dyn_manager,memory,scheduler,SCHED_CH3,SCHED_CH2,RAM_DYN_MANAGER_BASE_ADDRESS,EEPROM_DYN_MANAGER_BASE_ADDRESS);
+ // initialize dynamixel master
darwin_master=darwin_dyn_master_init();
+ // add master to manager
dyn_manager_add_master(&darwin_dyn_manager,darwin_master);
+ // initialize motion manager
mmanager_init(&darwin_mmanager,memory,RAM_MMANAGER_BASE_ADDRESS,EEPROM_MMANAGER_BASE_ADDRESS);
+ // initialize action motion module
action_init(&action_mm,memory,RAM_ACTION_MM_BASE_ADDRESS);
+ // add action module to motion manager
mmanager_add_module(&darwin_mmanager,action_get_module(&action_mm));
+ // initialize joint motion module
+ joint_motion_init(&joints_mm,memory,RAM_JOINT_MOTION_MM_BASE_ADDRESS);
+ // add joint motion module to motion manager
+ mmanager_add_module(&darwin_mmanager,joint_motion_get_module(&joints_mm));
+ // initialize head tracking motion module
+ head_tracking_init(&head_mm,memory,RAM_HEAD_TRACKING_MM_BASE_ADDRESS,EEPROM_HEAD_TRACKING_MM_BASE_ADDRESS);
+ // add head tracking module to motion manager
+ mmanager_add_module(&darwin_mmanager,head_tracking_get_module(&head_mm));
+ EE_update_num_variables(EEPROM_HEAD_TRACKING_LENGTH);
+ // initialize walking motion module
+ walk_init(&walk_mm,memory,RAM_WALK_MM_BASE_ADDRESS,EEPROM_WALK_MM_BASE_ADDRESS);
+ walk_mm.leg_ik_function=darwin_leg_ik;
+ // add walk module to motion manager
+ mmanager_add_module(&darwin_mmanager,walk_get_module(&walk_mm));
+ EE_update_num_variables(EEPROM_WALK_LENGTH);
+ // add motion manager to dynamixel manager
dyn_manager_add_module(&darwin_dyn_manager,mmanager_get_dyn_module(&darwin_mmanager));
EE_update_num_variables(EEPROM_DYN_MANAGER_LENGTH+EEPROM_DYN_MODULE_LENGTH+EEPROM_MM_LENGTH);