Updated some source files with the new version of the libraries.

include/darwin_conf.h

@@ -27,7 +27,7 @@
 #define EEPROM_BALANCE_BASE_ADDRESS           ((unsigned short int)0x0007)
 #define RAM_BALANCE_BASE_ADDRESS              ((unsigned short int)0x00AF)
 
-#define NUM_MOTION_PAGES                      256
+#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
@@ -46,9 +46,9 @@
 
 /* EEPROM default values */
 /* Dynamixel slave */
-#define DARWIN_DEVICE_MODEL                  0x7300
-#define DARWIN_FIRMWARE_VERSION              0x0001
-#define DARWIN_DEVICE_ID                     0x0001
+#define DARWIN_DEVICE_MODEL                   0x7300
+#define DARWIN_FIRMWARE_VERSION               0x0001
+#define DARWIN_DEVICE_ID                      0x0001
 
 #define DEFAULT_BAUDRATE                      0x0010
 #define DEFAULT_RETURN_DELAY                  0x0000

include/darwin_dyn_master.h

@@ -11,7 +11,7 @@ extern "C" {
 
 extern TDynamixelMaster darwin_dyn_master;
 
-void darwin_dyn_master_init(void);
+TDynamixelMaster *darwin_dyn_master_init(void);
 void darwin_dyn_master_enable_power(void);
 void darwin_dyn_master_disable_power(void);
 

src/CMakeLists.txt

@@ -6,20 +6,12 @@ SET(sources ${CMAKE_CURRENT_SOURCE_DIR}/cm730_fw.c
             #${CMAKE_CURRENT_SOURCE_DIR}/adc_dma.c
             ${CMAKE_CURRENT_SOURCE_DIR}/darwin_imu.c
             ${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_slave.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_master.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_master_v2.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/darwin_dyn_master.c
             ${CMAKE_CURRENT_SOURCE_DIR}/stm32f1xx_hal_msp.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/motion_manager.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/action.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/motion_pages.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/walking.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/darwin_math.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/darwin_kinematics.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/joint_motion.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/head_tracking.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/grippers.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/darwin_balance.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/darwin_motion.c
+            ${CMAKE_CURRENT_SOURCE_DIR}/darwin_motion_pages.c
             #${CMAKE_CURRENT_SOURCE_DIR}/smart_charger.c
-            #${CMAKE_CURRENT_SOURCE_DIR}/stairs.c
             ${PROJECT_SOURCE_DIR}/stm32_libraries/f1/usart/src/usart3.c
             ${PROJECT_SOURCE_DIR}/stm32_libraries/f1/usart/src/usart1.c PARENT_SCOPE)
 

src/cm730_fw.c

@@ -6,15 +6,12 @@
 #include "darwin_time.h"
 #include "eeprom.h"
 #include "darwin_imu.h"
-//#include "gpio.h"
-//#include "adc_dma.h"
-//#include "darwin_dyn_master.h"
-//#include "darwin_dyn_master_v2.h"
-//#include "motion_manager.h"
-//#include "action.h"
-//#include "action_id.h"
+#include "darwin_motion.h"
+#include "darwin_imu.h"
+#include "darwin_balance.h"
 
 TMemory *darwin_memory;
+TDynamixelMaster *dyn_master;
 TScheduler *scheduler;
 
 int main(void)
@@ -37,7 +34,8 @@ int main(void)
   darwin_dyn_slave_init(&darwin_memory,scheduler);
   // initialize imu
   imu_init(darwin_memory,RAM_IMU_MM_BASE_ADDRESS);
-  /* initialize motion manager module */
+  // initialize motion manager
+  darwin_mm_init(scheduler,darwin_memory);
   /* initialize the ram module */
   ram_init(darwin_memory);
 

src/darwin_dyn_master.c

 #include "darwin_dyn_master.h"
 #include "darwin_time.h"
 #include "usart1.h"
-#include "ram.h"
 
 #define ENABLE_RX_EN_GPIO_CLK      __GPIOB_CLK_ENABLE()
 #define RX_EN_PIN                  GPIO_PIN_5
@@ -34,11 +33,11 @@ void darwin_dyn_master_set_tx_mode(void)
 }
 
 // public functions
-void darwin_dyn_master_init(void)
+TDynamixelMaster *darwin_dyn_master_init(void)
 {
   GPIO_InitTypeDef GPIO_InitStructure;
   TUSART_IRQ_Priorities priorities;
-  UART_InitTypeDef Init;
+  USART_InitTypeDef Init;
 
   // initialize timer structure
   time_init(&darwin_dyn_master_timer,darwin_time_get_counts_per_us(),darwin_time_get_counts);
@@ -68,12 +67,13 @@ void darwin_dyn_master_init(void)
   /* initialize the comm object */
   comm_init(&darwin_dyn_master_comm,0x01,&darwin_dyn_master_timer);
   Init.BaudRate     = 1000000; //57600;
-  Init.WordLength   = UART_WORDLENGTH_8B;
-  Init.StopBits     = UART_STOPBITS_1;
-  Init.Parity       = UART_PARITY_NONE;
-  Init.Mode         = UART_MODE_TX_RX;
-  Init.HwFlowCtl    = UART_HWCONTROL_NONE;
-  Init.OverSampling = UART_OVERSAMPLING_16;
+  Init.WordLength   = USART_WORDLENGTH_8B;
+  Init.StopBits     = USART_STOPBITS_1;
+  Init.Parity       = USART_PARITY_NONE;
+  Init.Mode         = USART_MODE_TX_RX;
+  Init.CLKPolarity  = USART_POLARITY_LOW;
+  Init.CLKPhase     = USART_PHASE_1EDGE;
+  Init.CLKLastBit   = USART_LASTBIT_DISABLE;
   
   priorities.irq_priority=0;
   priorities.irq_subpriority=1;
@@ -89,18 +89,20 @@ void darwin_dyn_master_init(void)
 
   /* configure dynamixel master module */
   dyn_master_set_rx_timeout(&darwin_dyn_master,50);
-  dyn_master_set_return_level(&darwin_dyn_master,RETURN_ALL);
+  dyn_master_set_return_level(&darwin_dyn_master,return_all);
+
+  return &darwin_dyn_master;
 }
 
 void darwin_dyn_master_enable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_SET);
-  ram_data[DARWIN_MM_CNTRL]|=MANAGER_EN_PWR;
+//  ram_data[DARWIN_MM_CNTRL]|=MANAGER_EN_PWR;
 }
 
 void darwin_dyn_master_disable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_RESET);
-  ram_data[DARWIN_MM_CNTRL]&=(~MANAGER_EN_PWR);
+//  ram_data[DARWIN_MM_CNTRL]&=(~MANAGER_EN_PWR);
 }