diff --git a/Makefile b/Makefile
index a114da239b4073b6e28c21912f0e2168804977de..eeb471a7684a62268bfbd0597f4fd42a3fba967b 100755
--- a/Makefile
+++ b/Makefile
@@ -7,14 +7,13 @@ STM32_LIBRARIES_PATH=$(HOME)/humanoids/stm32_libraries
PROJECT_NAME=darwin_firmware
#TARGET_FILES=$(wildcard src/*.c)
TARGET_FILES=src/cm730_fw.c
-#TARGET_FILES+=src/test_charger.c
+TARGET_FILES+=src/eeprom.c
TARGET_FILES+=src/system_stm32f1xx.c
TARGET_FILES+=src/gpio.c
-#TARGET_FILES+=src/darwin_time.c
-TARGET_FILES+=src/eeprom.c
+TARGET_FILES+=src/darwin_time.c
TARGET_FILES+=src/adc_dma.c
TARGET_FILES+=src/imu.c
-#TARGET_FILES+=src/darwin_dyn_slave.c
+TARGET_FILES+=src/darwin_dyn_slave.c
#TARGET_FILES+=src/darwin_dyn_master.c
#TARGET_FILES+=src/darwin_dyn_master_v2.c
TARGET_FILES+=src/stm32f1xx_hal_msp.c
diff --git a/include/darwin_conf.h b/include/darwin_conf.h
index 97ee25acf58ba5d7c20cfad94ef02b2d9a344569..577308c12f14edc0828bdca1a295743d07161015 100644
--- a/include/darwin_conf.h
+++ b/include/darwin_conf.h
@@ -4,6 +4,21 @@
#define RAM_SIZE 1024
#define EEPROM_SIZE 256
+/* Dynamixel slave configuration */
+#define EEPROM_DYN_SLAVE_BASE_ADDRESS1 ((unsigned short int)0x0000)
+#define EEPROM_DYN_SLAVE_BASE_ADDRESS2 ((unsigned short int)0x0010)
+
+#define DEFAULT_DEVICE_MODEL 0x7300
+#define DEFAULT_FIRMWARE_VERSION 0x0001
+#define DEFAULT_DEVICE_ID 0x0001
+#define DEFAULT_BAUDRATE 0x0010
+#define DEFAULT_RETURN_DELAY 0x0000
+#define DEFAULT_RETURN_LEVEL 0x0002
+
+#define MAX_DYN_SLAVE_TX_BUFFER_LEN 1024
+#define MAX_DYN_SLAVE_RX_BUFFER_LEN 1024
+#define MAX_DYN_SLAVE_REG_BUFFER_LEN 1024
+
/* GPIO configuration */
#define RAM_GPIO_BASE_ADDRESS ((unsigned short int)0x0100)
diff --git a/include/darwin_dyn_slave.h b/include/darwin_dyn_slave.h
index b3a38c9467c69f2be448e3c19c64fa92437468e4..49437d6860ecfdfe7e5548e671d0b517c9adf31d 100644
--- a/include/darwin_dyn_slave.h
+++ b/include/darwin_dyn_slave.h
@@ -7,8 +7,10 @@ extern "C" {
#include "stm32f1xx.h"
#include "dynamixel_slave.h"
+#include "dynamixel_slave_registers.h"
+#include "memory.h"
-void darwin_dyn_slave_init(void);
+uint8_t darwin_dyn_slave_init(TMemory *memory);
void darwin_dyn_slave_start(void);
void darwin_dyn_slave_stop(void);
diff --git a/include/darwin_registers.h b/include/darwin_registers.h
index 59ae35e783a50db52191099b27c1a841efa4ef59..c431cb92c468e9ad855da073dda74233f2d061ec 100644
--- a/include/darwin_registers.h
+++ b/include/darwin_registers.h
@@ -7,17 +7,11 @@
extern "C" {
#endif
-#define DEVICE_MODEL_OFFSET ((unsigned short int)0x0000)
-#define FIRMWARE_VERSION_OFFSET ((unsigned short int)0x0002)
-#define DEVICE_ID_OFFSET ((unsigned short int)0x0003)
-#define BAUDRATE_OFFSET ((unsigned short int)0x0004)
-#define RETURN_DELAY_OFFSET ((unsigned short int)0x0005)
#define MM_PERIOD_OFFSET ((unsigned short int)0x0006)
#define MM_BAL_KNEE_GAIN_OFFSET ((unsigned short int)0x0008)
#define MM_BAL_ANKLE_ROLL_GAIN_OFFSET ((unsigned short int)0x000A)
#define MM_BAL_ANKLE_PITCH_GAIN_OFFSET ((unsigned short int)0x000C)
#define MM_BAL_HIP_ROLL_GAIN_OFFSET ((unsigned short int)0x000E)
-#define RETURN_LEVEL_OFFSET ((unsigned short int)0x0010)
#define MM_SERVO0_OFFSET ((unsigned short int)0x0011)
#define MM_SERVO1_OFFSET ((unsigned short int)0x0012)
#define MM_SERVO2_OFFSET ((unsigned short int)0x0013)
@@ -115,12 +109,6 @@ extern "C" {
#define LAST_EEPROM_OFFSET ((unsigned short int)0x00FF)
typedef enum {
- DARWIN_MODEL_NUMBER_L = DEVICE_MODEL_OFFSET,
- DARWIN_MODEL_NUMBER_H = DEVICE_MODEL_OFFSET+1,
- DARWIN_VERSION = FIRMWARE_VERSION_OFFSET,
- DARWIN_ID = DEVICE_ID_OFFSET,
- DARWIN_BAUD_RATE = BAUDRATE_OFFSET,
- DARWIN_RETURN_DELAY_TIME = RETURN_DELAY_OFFSET,
DARWIN_MM_PERIOD_L = MM_PERIOD_OFFSET,
DARWIN_MM_PERIOD_H = MM_PERIOD_OFFSET+1,
DARWIN_MM_BAL_KNEE_GAIN_L = MM_BAL_KNEE_GAIN_OFFSET,// fixed point format 0|16
@@ -131,7 +119,6 @@ typedef enum {
DARWIN_MM_BAL_ANKLE_PITCH_GAIN_H = MM_BAL_ANKLE_PITCH_GAIN_OFFSET+1,
DARWIN_MM_BAL_HIP_ROLL_GAIN_L = MM_BAL_HIP_ROLL_GAIN_OFFSET,// fixed point format 0|16
DARWIN_MM_BAL_HIP_ROLL_GAIN_H = MM_BAL_HIP_ROLL_GAIN_OFFSET+1,
- DARWIN_RETURN_LEVEL = RETURN_LEVEL_OFFSET,
DARWIN_MM_SERVO0_OFFSET = MM_SERVO0_OFFSET, // angle offset in fixed point format 1-3|4
DARWIN_MM_SERVO1_OFFSET = MM_SERVO1_OFFSET, // angle offset in fixed point format 1-3|4
DARWIN_MM_SERVO2_OFFSET = MM_SERVO2_OFFSET, // angle offset in fixed point format 1-3|4
diff --git a/src/darwin_dyn_slave.c b/src/darwin_dyn_slave.c
index b287d062003f5a8011ae145d60137559255b6382..eb680dbfe896a92a801e7f72a136ed8a4553b8d0 100755
--- a/src/darwin_dyn_slave.c
+++ b/src/darwin_dyn_slave.c
@@ -2,18 +2,6 @@
#include "darwin_time.h"
#include "usart3.h"
#include "ram.h"
-#include "eeprom.h"
-#include "gpio.h"
-#include "adc_dma.h"
-#include "imu.h"
-#include "motion_manager.h"
-#include "action.h"
-#include "walking.h"
-#include "joint_motion.h"
-#include "head_tracking.h"
-#include "grippers.h"
-#include "smart_charger.h"
-#include "stairs.h"
/* timer for the execution of the dynamixel slave loop */
#define DYN_SLAVE_TIMER TIM7
@@ -28,80 +16,20 @@ TComm darwin_dyn_slave_comm;
UART_InitTypeDef darwin_comm_init;
TIM_HandleTypeDef darwin_dyn_slave_tim_handle;
+/* memory module */
+TMemory *darwin_dyn_slave_memory;
+
// private functions
unsigned char darwin_on_read(unsigned short int address,unsigned short int length,unsigned char *data)
{
- unsigned char error;
-
- if(ram_in_window(GPIO_BASE_ADDRESS,GPIO_MEM_LENGTH,address,length))
- gpio_process_read_cmd(address,length,data);
- /* dynamixel slave internal operation registers */
- error=ram_read_table(address,length,data);
-
- return error;
+ mem_do_read(darwin_dyn_slave_memory,address,length,data);
+
+ return 0x00;
}
unsigned char darwin_on_write(unsigned short int address,unsigned short int length,unsigned char *data)
{
- unsigned short int i,j;
-
- /* dynamixel slave internal operation registers */
- if(ram_in_range(DARWIN_ID,address,length))
- {
- dyn_slave_set_address(&darwin_dyn_slave,data[DARWIN_ID-address]);
- ram_data[DARWIN_ID]=data[DARWIN_ID-address];
- }
- if(ram_in_range(DARWIN_BAUD_RATE,address,length))
- {
- darwin_comm_init.BaudRate=2000000/(data[DARWIN_BAUD_RATE-address]+1);
- usart3_config(&darwin_dyn_slave_comm,&darwin_comm_init);
- ram_data[DARWIN_BAUD_RATE]=data[DARWIN_BAUD_RATE-address];
- }
- if(ram_in_range(DARWIN_RETURN_DELAY_TIME,address,length))
- {
- dyn_slave_set_return_delay(&darwin_dyn_slave,data[DARWIN_RETURN_DELAY_TIME-address]);
- ram_data[DARWIN_RETURN_DELAY_TIME]=data[DARWIN_RETURN_DELAY_TIME-address];
- }
- if(ram_in_range(DARWIN_RETURN_LEVEL,address,length))
- {
- dyn_slave_set_return_level(&darwin_dyn_slave,data[DARWIN_RETURN_LEVEL-address]);
- ram_data[DARWIN_RETURN_LEVEL]=data[DARWIN_RETURN_LEVEL-address];
- }
- // GPIO commands
- if(gpio_in_range(address,length))
- gpio_process_write_cmd(address,length,data);
- // ADC commands
- if(adc_in_range(address,length))
- adc_process_write_cmd(address,length,data);
- // IMU commands
- if(imu_in_range(address,length))
- imu_process_write_cmd(address,length,data);
- // Manager commands
- if(manager_in_range(address,length))
- manager_process_write_cmd(address,length,data);
- // action commands
- if(action_in_range(address,length))
- action_process_write_cmd(address,length,data);
- // walk commands
- if(walking_in_range(address,length))
- walking_process_write_cmd(address,length,data);
- // joint motion commands
- if(joint_motion_in_range(address,length))
- joint_motion_process_write_cmd(address,length,data);
- // head_tracking commands
- if(head_tracking_in_range(address,length))
- head_tracking_process_write_cmd(address,length,data);
- // gripper commands
- if(grippers_in_range(address,length))
- grippers_process_write_cmd(address,length,data);
- // smart charger commands
- if(smart_charger_in_range(address,length))
- smart_charger_process_write_cmd(address,length,data);
- if(stairs_in_range(address,length))
- stairs_process_write_cmd(address,length,data);
- // write eeprom
- for(i=address,j=0;i<LAST_EEPROM_OFFSET && i<(address+length);i++,j++)
- EE_WriteVariable(i,data[j]);
+ mem_do_write(darwin_dyn_slave_memory,address,length,data);
return 0x00;
}
@@ -124,16 +52,17 @@ void DYN_SLAVE_TIMER_IRQHandler(void)
}
// public functions
-void darwin_dyn_slave_init(void)
+uint8_t darwin_dyn_slave_init(TMemory *memory)
{
TUSART_IRQ_Priorities priorities;
+ uint8_t status;
// initialize timer structure
time_init(&darwin_dyn_slave_timer,darwin_time_get_counts_per_us(),darwin_time_get_counts);
/* initialize the comm object */
comm_init(&darwin_dyn_slave_comm,0x01,&darwin_dyn_slave_timer);
- darwin_comm_init.BaudRate = 2000000/(ram_data[BAUDRATE_OFFSET]+1);
+ darwin_comm_init.BaudRate = 2000000/(ram_data[BAUDRATE]+1);
darwin_comm_init.WordLength = UART_WORDLENGTH_8B;
darwin_comm_init.StopBits = UART_STOPBITS_1;
darwin_comm_init.Parity = UART_PARITY_NONE;
@@ -149,12 +78,13 @@ void darwin_dyn_slave_init(void)
priorities.dma_tx_subpriority=0;
usart3_init(&darwin_dyn_slave_comm,&darwin_comm_init,&priorities);
- dyn_slave_init(&darwin_dyn_slave,&darwin_dyn_slave_comm,ram_data[DEVICE_ID_OFFSET],DYN_VER2);
+ status=dyn_slave_init(&darwin_dyn_slave,memory,&darwin_dyn_slave_comm,ram_data[DEVICE_ID],DYN_VER2);
+ darwin_dyn_slave_memory=memory;
darwin_dyn_slave.on_read=darwin_on_read;
darwin_dyn_slave.on_write=darwin_on_write;
darwin_dyn_slave.on_ping=darwin_on_ping;
- dyn_slave_set_return_delay(&darwin_dyn_slave,ram_data[DARWIN_RETURN_DELAY_TIME]);
- dyn_slave_set_return_level(&darwin_dyn_slave,ram_data[DARWIN_RETURN_LEVEL]);
+ dyn_slave_set_return_delay(&darwin_dyn_slave,ram_data[RETURN_DELAY]);
+ dyn_slave_set_return_level(&darwin_dyn_slave,ram_data[RETURN_LEVEL]);
/* initialize timer for the execution of the dynamixel slave loop */
DYN_SLAVE_TIMER_ENABLE_CLK;
@@ -168,6 +98,7 @@ void darwin_dyn_slave_init(void)
HAL_NVIC_SetPriority(DYN_SLAVE_TIMER_IRQn, 2, 2);
HAL_NVIC_EnableIRQ(DYN_SLAVE_TIMER_IRQn);
+ return status;
}
void darwin_dyn_slave_start(void)
diff --git a/src/eeprom.c b/src/eeprom.c
index fd7d1f016d4c07e2bef8678d444a430c3e54311f..ca45c913d0c898359c8f5dca5611b6f01aacf936 100755
--- a/src/eeprom.c
+++ b/src/eeprom.c
@@ -53,145 +53,7 @@
uint16_t DataVar = 0;
/* Virtual address defined by the user: 0xFFFF value is prohibited */
-uint16_t eeprom_data[] __attribute__ ((section (".eeprom")))={VALID_PAGE, 0xFFFF,
- DEFAULT_DEVICE_MODEL&0xFF, DEVICE_MODEL_OFFSET,// model number LSB
- DEFAULT_DEVICE_MODEL>>8, DEVICE_MODEL_OFFSET+1,// model number MSB
- DEFAULT_FIRMWARE_VERSION, FIRMWARE_VERSION_OFFSET,// firmware version
- DEFAULT_DEVICE_ID, DEVICE_ID_OFFSET,// default device id
- DEFAULT_BAUDRATE, BAUDRATE_OFFSET,// default baudrate
- DEFAULT_RETURN_DELAY, RETURN_DELAY_OFFSET,// return delay time
- DEFAULT_MM_PERIOD&0xFF, MM_PERIOD_OFFSET,
- DEFAULT_MM_PERIOD>>8, MM_PERIOD_OFFSET+1,
- DEFAULT_BAL_KNEE_GAIN&0xFF, MM_BAL_KNEE_GAIN_OFFSET,
- DEFAULT_BAL_KNEE_GAIN>>8, MM_BAL_KNEE_GAIN_OFFSET+1,
- DEFAULT_BAL_ANKLE_ROLL_GAIN&0xFF, MM_BAL_ANKLE_ROLL_GAIN_OFFSET,
- DEFAULT_BAL_ANKLE_ROLL_GAIN>>8, MM_BAL_ANKLE_ROLL_GAIN_OFFSET+1,
- DEFAULT_BAL_ANKLE_PITCH_GAIN&0xFF, MM_BAL_ANKLE_PITCH_GAIN_OFFSET,
- DEFAULT_BAL_ANKLE_PITCH_GAIN>>8, MM_BAL_ANKLE_PITCH_GAIN_OFFSET+1,
- DEFAULT_BAL_HIP_ROLL_GAIN&0xFF, MM_BAL_HIP_ROLL_GAIN_OFFSET,
- DEFAULT_BAL_HIP_ROLL_GAIN>>8, MM_BAL_HIP_ROLL_GAIN_OFFSET+1,
- DEFAULT_RETURN_LEVEL, RETURN_LEVEL_OFFSET,// return level
- DEFAULT_SERVO0_OFFSET, MM_SERVO0_OFFSET,
- DEFAULT_SERVO1_OFFSET, MM_SERVO1_OFFSET,
- DEFAULT_SERVO2_OFFSET, MM_SERVO2_OFFSET,
- DEFAULT_SERVO3_OFFSET, MM_SERVO3_OFFSET,
- DEFAULT_SERVO4_OFFSET, MM_SERVO4_OFFSET,
- DEFAULT_SERVO5_OFFSET, MM_SERVO5_OFFSET,
- DEFAULT_SERVO6_OFFSET, MM_SERVO6_OFFSET,
- DEFAULT_SERVO7_OFFSET, MM_SERVO7_OFFSET,
- DEFAULT_SERVO8_OFFSET, MM_SERVO8_OFFSET,
- DEFAULT_SERVO9_OFFSET, MM_SERVO9_OFFSET,
- DEFAULT_SERVO10_OFFSET, MM_SERVO10_OFFSET,
- DEFAULT_SERVO11_OFFSET, MM_SERVO11_OFFSET,
- DEFAULT_SERVO12_OFFSET, MM_SERVO12_OFFSET,
- DEFAULT_SERVO13_OFFSET, MM_SERVO13_OFFSET,
- DEFAULT_SERVO14_OFFSET, MM_SERVO14_OFFSET,
- DEFAULT_SERVO15_OFFSET, MM_SERVO15_OFFSET,
- DEFAULT_SERVO16_OFFSET, MM_SERVO16_OFFSET,
- DEFAULT_SERVO17_OFFSET, MM_SERVO17_OFFSET,
- DEFAULT_SERVO18_OFFSET, MM_SERVO18_OFFSET,
- DEFAULT_SERVO19_OFFSET, MM_SERVO19_OFFSET,
- DEFAULT_SERVO20_OFFSET, MM_SERVO20_OFFSET,
- DEFAULT_SERVO21_OFFSET, MM_SERVO21_OFFSET,
- DEFAULT_SERVO22_OFFSET, MM_SERVO22_OFFSET,
- DEFAULT_SERVO23_OFFSET, MM_SERVO23_OFFSET,
- DEFAULT_SERVO24_OFFSET, MM_SERVO24_OFFSET,
- DEFAULT_SERVO25_OFFSET, MM_SERVO25_OFFSET,
- DEFAULT_SERVO26_OFFSET, MM_SERVO26_OFFSET,
- DEFAULT_SERVO27_OFFSET, MM_SERVO27_OFFSET,
- DEFAULT_SERVO28_OFFSET, MM_SERVO28_OFFSET,
- DEFAULT_SERVO29_OFFSET, MM_SERVO29_OFFSET,
- DEFAULT_SERVO30_OFFSET, MM_SERVO30_OFFSET,
- DEFAULT_SERVO31_OFFSET, MM_SERVO31_OFFSET,
- DEFAULT_WALK_X_OFFSET, WALK_X_OFFSET,
- DEFAULT_WALK_Y_OFFSET, WALK_Y_OFFSET,
- DEFAULT_WALK_Z_OFFSET, WALK_Z_OFFSET,
- DEFAULT_WALK_ROLL_OFFSET, WALK_ROLL_OFFSET,
- DEFAULT_WALK_PITCH_OFFSET, WALK_PITCH_OFFSET,
- DEFAULT_WALK_YAW_OFFSET, WALK_YAW_OFFSET,
- DEFAULT_WALK_HIP_PITCH_OFF&0xFF, WALK_HIP_PITCH_OFF,
- DEFAULT_WALK_HIP_PITCH_OFF>>8, WALK_HIP_PITCH_OFF+1,
- DEFAULT_WALK_PERIOD_TIME&0xFF, WALK_PERIOD_TIME,
- DEFAULT_WALK_PERIOD_TIME>>8, WALK_PERIOD_TIME+1,
- DEFAULT_WALK_DSP_RATIO, WALK_DSP_RATIO,
- DEFAULT_WALK_STEP_FW_BW_RATIO, WALK_STEP_FW_BW_RATIO,
- DEFAULT_WALK_FOOT_HEIGHT, WALK_FOOT_HEIGHT,
- DEFAULT_WALK_SWING_RIGHT_LEFT, WALK_SWING_RIGHT_LEFT,
- DEFAULT_WALK_SWING_TOP_DOWN, WALK_SWING_TOP_DOWN,
- DEFAULT_WALK_PELVIS_OFFSET, WALK_PELVIS_OFFSET,
- DEFAULT_WALK_ARM_SWING_GAIN, WALK_ARM_SWING_GAIN,
- DEFAULT_WALK_MAX_VEL, WALK_MAX_VEL,
- DEFAULT_WALK_MAX_ROT_VEL, WALK_MAX_ROT_VEL,
- DEFAULT_HEAD_PAN_P&0xFF, HEAD_PAN_P,
- DEFAULT_HEAD_PAN_P>>8, HEAD_PAN_P+1,
- DEFAULT_HEAD_PAN_I&0xFF, HEAD_PAN_I,
- DEFAULT_HEAD_PAN_I>>8, HEAD_PAN_I+1,
- DEFAULT_HEAD_PAN_D&0xFF, HEAD_PAN_D,
- DEFAULT_HEAD_PAN_D>>8, HEAD_PAN_D+1,
- DEFAULT_HEAD_PAN_I_CLAMP&0xFF, HEAD_PAN_I_CLAMP,
- DEFAULT_HEAD_PAN_I_CLAMP>>8, HEAD_PAN_I_CLAMP+1,
- DEFAULT_HEAD_PAN_D>>8, HEAD_PAN_D+1,
- DEFAULT_HEAD_TILT_P&0xFF, HEAD_TILT_P,
- DEFAULT_HEAD_TILT_P>>8, HEAD_TILT_P+1,
- DEFAULT_HEAD_TILT_I&0xFF, HEAD_TILT_I,
- DEFAULT_HEAD_TILT_I>>8, HEAD_TILT_I+1,
- DEFAULT_HEAD_TILT_D&0xFF, HEAD_TILT_D,
- DEFAULT_HEAD_TILT_D>>8, HEAD_TILT_D+1,
- DEFAULT_HEAD_TILT_I_CLAMP&0xFF, HEAD_TILT_I_CLAMP,
- DEFAULT_HEAD_TILT_I_CLAMP>>8, HEAD_TILT_I_CLAMP+1,
- DEFAULT_GRIPPER_LEFT_TOP_ID, GRIPPER_LEFT_TOP_ID,
- DEFAULT_GRIPPER_LEFT_BOT_ID, GRIPPER_LEFT_BOT_ID,
- DEFAULT_GRIPPER_LEFT_MAX_ANGLE&0xFF, GRIPPER_LEFT_MAX_ANGLE,
- DEFAULT_GRIPPER_LEFT_MAX_ANGLE>>8, GRIPPER_LEFT_MAX_ANGLE+1,
- DEFAULT_GRIPPER_LEFT_MIN_ANGLE&0xFF, GRIPPER_LEFT_MIN_ANGLE,
- DEFAULT_GRIPPER_LEFT_MIN_ANGLE>>8, GRIPPER_LEFT_MIN_ANGLE+1,
- DEFAULT_GRIPPER_LEFT_MAX_FORCE&0xFF, GRIPPER_LEFT_MAX_FORCE,
- DEFAULT_GRIPPER_LEFT_MAX_FORCE>>8, GRIPPER_LEFT_MAX_FORCE+1,
- DEFAULT_GRIPPER_RIGHT_TOP_ID, GRIPPER_RIGHT_TOP_ID,
- DEFAULT_GRIPPER_RIGHT_BOT_ID, GRIPPER_RIGHT_BOT_ID,
- DEFAULT_GRIPPER_RIGHT_MAX_ANGLE&0xFF, GRIPPER_RIGHT_MAX_ANGLE,
- DEFAULT_GRIPPER_RIGHT_MAX_ANGLE>>8, GRIPPER_RIGHT_MAX_ANGLE+1,
- 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_SMART_CHARGER_PERIOD&0xFF, SMART_CHARGER_PERIOD,
- DEFAULT_SMART_CHARGER_PERIOD>>8, SMART_CHARGER_PERIOD+1,
- DEFAULT_STAIRS_PHASE1_TIME&0xFF, STAIRS_PHASE1_TIME,
- DEFAULT_STAIRS_PHASE1_TIME>>8, STAIRS_PHASE1_TIME+1,
- DEFAULT_STAIRS_PHASE2_TIME&0xFF, STAIRS_PHASE2_TIME,
- DEFAULT_STAIRS_PHASE2_TIME>>8, STAIRS_PHASE2_TIME+1,
- DEFAULT_STAIRS_PHASE3_TIME&0xFF, STAIRS_PHASE3_TIME,
- DEFAULT_STAIRS_PHASE3_TIME>>8, STAIRS_PHASE3_TIME+1,
- DEFAULT_STAIRS_PHASE4_TIME&0xFF, STAIRS_PHASE4_TIME,
- DEFAULT_STAIRS_PHASE4_TIME>>8, STAIRS_PHASE4_TIME+1,
- DEFAULT_STAIRS_PHASE5_TIME&0xFF, STAIRS_PHASE5_TIME,
- DEFAULT_STAIRS_PHASE5_TIME>>8, STAIRS_PHASE5_TIME+1,
- DEFAULT_STAIRS_PHASE6_TIME&0xFF, STAIRS_PHASE6_TIME,
- DEFAULT_STAIRS_PHASE6_TIME>>8, STAIRS_PHASE6_TIME+1,
- DEFAULT_STAIRS_PHASE7_TIME&0xFF, STAIRS_PHASE7_TIME,
- DEFAULT_STAIRS_PHASE7_TIME>>8, STAIRS_PHASE7_TIME+1,
- DEFAULT_STAIRS_PHASE8_TIME&0xFF, STAIRS_PHASE8_TIME,
- DEFAULT_STAIRS_PHASE8_TIME>>8, STAIRS_PHASE8_TIME+1,
- DEFAULT_STAIRS_PHASE9_TIME&0xFF, STAIRS_PHASE9_TIME,
- DEFAULT_STAIRS_PHASE9_TIME>>8, STAIRS_PHASE9_TIME+1,
- DEFAULT_STAIRS_X_OFFSET, STAIRS_X_OFFSET,
- DEFAULT_STAIRS_Y_OFFSET, STAIRS_Y_OFFSET,
- DEFAULT_STAIRS_Z_OFFSET, STAIRS_Z_OFFSET,
- DEFAULT_STAIRS_R_OFFSET, STAIRS_R_OFFSET,
- DEFAULT_STAIRS_P_OFFSET, STAIRS_P_OFFSET,
- DEFAULT_STAIRS_A_OFFSET, STAIRS_A_OFFSET,
- DEFAULT_STAIRS_Y_SHIFT, STAIRS_Y_SHIFT,
- DEFAULT_STAIRS_X_SHIFT, STAIRS_X_SHIFT,
- DEFAULT_STAIRS_Z_OVERSHOOT, STAIRS_Z_OVERSHOOT,
- DEFAULT_STAIRS_Z_HEIGHT, STAIRS_Z_HEIGHT,
- DEFAULT_STAIRS_HIP_PITCH_OFF&0xFF, STAIRS_HIP_PITCH_OFF,
- DEFAULT_STAIRS_HIP_PITCH_OFF>>8, STAIRS_HIP_PITCH_OFF+1,
- DEFAULT_STAIRS_R_SHIFT, STAIRS_R_SHIFT,
- DEFAULT_STAIRS_P_SHIFT, STAIRS_P_SHIFT,
- DEFAULT_STAIRS_A_SHIFT, STAIRS_A_SHIFT,
- DEFAULT_STAIRS_Y_SPREAD, STAIRS_Y_SPREAD,
- DEFAULT_STAIRS_X_SHIFT_BODY, STAIRS_X_SHIFT_BODY};
+uint16_t eeprom_data[] __attribute__ ((section (".eeprom")))={VALID_PAGE, 0xFFFF};
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/