diff --git a/dynamixel_manager/Makefile b/dynamixel_manager/Makefile
index 4ebb37992b0d459fc28f3864365f430b99e11ee1..020c8182f704eec57c52c1efec5a4c7590ff25d3 100755
--- a/dynamixel_manager/Makefile
+++ b/dynamixel_manager/Makefile
@@ -18,6 +18,8 @@ MEMORY_PATH = ../memory
INCLUDE_DIRS = -I./include/ -I./include/modules -I$(COMM_PATH)/include -I$(UTILS_PATH)/include -I$(DYN_BASE_PATH)/include -I$(MEMORY_PATH)/include
+MACROS = -DMAX_DYN_MASTER_TX_BUFFER_LEN=256 -DMAX_DYN_MASTER_RX_BUFFER_LEN=256 -DDYN_MANAGER_MAX_NUM_MASTERS=4 -DDYN_MANAGER_MAX_NUM_MODULES=8 -DDYN_MANAGER_MAX_NUM_DEVICES=32 -DDYN_MANAGER_MAX_NUM_SINGLE_OP=16 -DDYN_MANAGER_MAX_NUM_SYNC_OP=4 -DDYN_MANAGER_MAX_NUM_BULK_OP=4 -DMODULE_MAX_NUM_MODELS=32 -DMM_MAX_NUM_MOTION_MODULES=8
+
TCHAIN_PREFIX=arm-none-eabi-
CC = $(TCHAIN_PREFIX)gcc
@@ -33,8 +35,8 @@ DYNAMIXEL_OUT_M3 = ./lib/dynamixel_manager_m3.a
SRC_DIR=./src/
SRC=$(wildcard $(SRC_DIR)*.c)
-SRC_DIR_MODULES=./src/modules/
-SRC+=$(wildcard $(SRC_DIR_MODULES)*.c)
+#SRC_DIR_MODULES=./src/modules/
+#SRC+=$(wildcard $(SRC_DIR_MODULES)*.c)
DYNAMIXEL_M4_FPU_OBJ_DIR=build/m4_fpu/
DYNAMIXEL_M4_FPU_OBJS_TMP = $(notdir $(SRC:.c=.o))
@@ -54,21 +56,21 @@ DYNAMIXEL_M3_OBJS = $(patsubst %,$(DYNAMIXEL_M3_OBJ_DIR)%,$(DYNAMIXEL_M3_OBJS_TM
all: $(DYNAMIXEL_OUT_M4_FPU) $(DYNAMIXEL_OUT_M0) $(DYNAMIXEL_OUT_M0plus) $(DYNAMIXEL_OUT_M3)
$(DYNAMIXEL_M4_FPU_OBJ_DIR)%.o: $(SRC_DIR)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M4_FPU) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M4_FPU) -o $@ $<
$(DYNAMIXEL_M4_FPU_OBJ_DIR)%.o: $(SRC_DIR_MODULES)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M4_FPU) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M4_FPU) -o $@ $<
$(DYNAMIXEL_M0_OBJ_DIR)%.o: $(SRC_DIR)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M0) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M0) -o $@ $<
$(DYNAMIXEL_M0_OBJ_DIR)%.o: $(SRC_DIR_MODULES)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M0) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M0) -o $@ $<
$(DYNAMIXEL_M0plus_OBJ_DIR)%.o: $(SRC_DIR)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M0plus) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M0plus) -o $@ $<
$(DYNAMIXEL_M0plus_OBJ_DIR)%.o: $(SRC_DIR_MODULES)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M0plus) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M0plus) -o $@ $<
$(DYNAMIXEL_M3_OBJ_DIR)%.o: $(SRC_DIR)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M3) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M3) -o $@ $<
$(DYNAMIXEL_M3_OBJ_DIR)%.o: $(SRC_DIR_MODULES)%.c
- $(CC) -c $(CFLAGS) $(COMPILE_OPTS_M3) -o $@ $<
+ $(CC) -c $(CFLAGS) $(MACROS) $(COMPILE_OPTS_M3) -o $@ $<
mkdir_build:
mkdir -p build/m4_fpu
mkdir -p build/m0
diff --git a/dynamixel_manager/include/dyn_manager.h b/dynamixel_manager/include/dyn_manager.h
index b9f03388a2dcf3461dcad06f3d654ff32a2c3adf..b5c8cff1085b6254a1b1b635de67f422e1b78287 100644
--- a/dynamixel_manager/include/dyn_manager.h
+++ b/dynamixel_manager/include/dyn_manager.h
@@ -6,22 +6,22 @@
#include "memory.h"
#ifndef DYN_MANAGER_MAX_NUM_MASTERS
- #define DYN_MANAGER_MAX_NUM_MASTERS 4
+ #error "Please, specify the maximum number of masters with the DYN_MANAGER_MAX_NUM_MASTERS macro"
#endif
#ifndef DYN_MANAGER_MAX_NUM_MODULES
- #define DYN_MANAGER_MAX_NUM_MODULES 8
+ #error "Please, specify the maximum number of modules with the DYN_MANAGER_MAX_NUM_MODULES macro"
#endif
#ifndef DYN_MANAGER_MAX_NUM_DEVICES
- #define DYN_MANAGER_MAX_NUM_DEVICES 32
+ #error "Please, specify the maximum number of devices with the DYN_MANAGER_MAX_NUM_DEVICES macro"
#endif
#ifndef DYN_MANAGER_MAX_NUM_SINGLE_OP
- #define DYN_MANAGER_MAX_NUM_SINGLE_OP 16
+ #error "Please, specify the maximum number of single operations with the DYN_MANAGER_MAX_NUM_SINGLE_OP macro"
#endif
#ifndef DYN_MANAGER_MAX_NUM_SYNC_OP
- #define DYN_MANAGER_MAX_NUM_SYNC_OP 4
+ #error "Please, specify the maximum number of sync operations with the DYN_MANAGER_MAX_NUM_SYNC_OP macro"
#endif
#ifndef DYN_MANAGER_MAX_NUM_BULK_OP
- #define DYN_MANAGER_MAX_NUM_BULK_OP 4
+ #error "Please, specify the maximum number of bulk operations with the DYN_MANAGER_MAX_NUM_BULK_OP macro"
#endif
#define DYN_MANAGER_MAX_NUM_OP ((DYN_MANAGER_MAX_NUM_SINGLE_OP+DYN_MANAGER_MAX_NUM_SYNC_OP+DYN_MANAGER_MAX_NUM_BULK_OP)*DYN_MANAGER_MAX_NUM_MASTERS)
@@ -101,6 +101,8 @@ typedef struct{
struct TDynModule;
typedef struct{
+ unsigned short int eeprom_base_address;
+ unsigned short int ram_base_address;
TDynamixelMaster *masters[DYN_MANAGER_MAX_NUM_MASTERS];
TDynManagerOps operations[DYN_MANAGER_MAX_NUM_MASTERS];
unsigned char num_masters;
@@ -113,11 +115,12 @@ typedef struct{
unsigned short int period_us;
void (*init_timer)(void);
void (*set_period)(unsigned short int period_us);
+ TMemory *memory;
TMemModule mem_module;
}TDynManager;
// public functions
-unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory);
+unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,unsigned short int eeprom_base_address,unsigned short int ram_base_address);
void dyn_manager_set_period(TDynManager *manager,unsigned short int period_us);
unsigned short int dyn_manager_get_period(TDynManager *manager);
void dyn_manager_scan(TDynManager *manager);
diff --git a/dynamixel_manager/include/dyn_manager_registers.h b/dynamixel_manager/include/dyn_manager_registers.h
index 7099cc7d5ce6a4292d3a7b7c2c96164bbe2e0264..c7d360be6c57731f044ba572f5d6af9b17b51455 100644
--- a/dynamixel_manager/include/dyn_manager_registers.h
+++ b/dynamixel_manager/include/dyn_manager_registers.h
@@ -1,26 +1,18 @@
#ifndef _DYN_MANAGER_REGISTERS_H
#define _DYN_MANAGER_REGISTERS_H
-#ifndef RAM_DYN_MANAGER_BASE_ADDRESS
- #define RAM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0000)
-#endif
-
-#ifndef EEPROM_DYN_MANAGER_BASE_ADDRESS
- #define EEPROM_DYN_MANAGER_BASE_ADDRESS ((unsigned short int)0x0000)
-#endif
-
#define RAM_DYN_MANAGER_LENGTH 2
#define EEPROM_DYN_MANAGER_LENGTH 2
-#define DYN_MANAGER_PERIOD EEPROM_DYN_MANAGER_BASE_ADDRESS
+#define DYN_MANAGER_PERIOD 0
-#define DYN_MANAGER_NUM_MODULES RAM_DYN_MANAGER_BASE_ADDRESS
-#define DYN_MANAGER_NUM_MASTERS (RAM_DYN_MANAGER_BASE_ADDRESS+1)
+#define DYN_MANAGER_NUM_MODULES 0
+#define DYN_MANAGER_NUM_MASTERS 1
-#ifndef DEFAULT_DYN_MANAGER_PERIOD
- #define DEFAULT_DYN_MANAGER_PERIOD 0x1E78
-#endif
+#define dyn_manager_eeprom_data(name,section_name,base_address,DEFAULT_PERIOD) \
+unsigned short int name##_eeprom_data[] __attribute__ ((section (section_name)))={DEFAULT_PERIOD&0x00FF,base_address+DYN_MANAGER_PERIOD, \
+ (DEFAULT_PERIOD>>8)&0x00FF,base_address+DYN_MANAGER_PERIOD+1};
#endif
diff --git a/dynamixel_manager/include/dyn_module.h b/dynamixel_manager/include/dyn_module.h
index f4c6d44fad8636bfe75fb69f09f4484344900090..a79d6c6a7669d5c3a3405ac8d2546fb08e2a3ff9 100644
--- a/dynamixel_manager/include/dyn_module.h
+++ b/dynamixel_manager/include/dyn_module.h
@@ -2,7 +2,7 @@
#define _DYN_MODULE_H
#ifndef MODULE_MAX_NUM_MODELS
- #define MODULE_MAX_NUM_MODELS 32
+ #error "Please, specify the maximum number of dynamixel master modules with the MODULE_MAX_NUM_MODELS macro"
#endif
#include "dyn_manager.h"
diff --git a/dynamixel_manager/include/dyn_module_registers.h b/dynamixel_manager/include/dyn_module_registers.h
index c4c7afdf264b1289021c6f3478da61db963cfe8e..fe27dbb309ebefbe6eb880dd716b8ce44518836e 100644
--- a/dynamixel_manager/include/dyn_module_registers.h
+++ b/dynamixel_manager/include/dyn_module_registers.h
@@ -5,15 +5,14 @@
#define EEPROM_DYN_MODULE_LENGTH 1
-#define DYN_MODULE_PERIOD EEPROM_DYN_MODULE_BASE_ADDRESS
+#define DYN_MODULE_PERIOD 0
-#define DYN_MODULE_CNTRL RAM_DYN_MODULE_BASE_ADDRESS
-#define DYN_MODULE_NUM_MODELS (RAM_DYN_MODULE_BASE_ADDRESS+1)
-#define DYN_MODULE_NUM_DEVICES (RAM_DYN_MODULE_BASE_ADDRESS+2)
+#define DYN_MODULE_CNTRL 0
+#define DYN_MODULE_NUM_MODELS 1
+#define DYN_MODULE_NUM_DEVICES 2
-#ifndef DEFAULT_DYN_MODULE_PERIOD
- #define DEFAULT_DYN_MODULE_PERIOD 0x01
-#endif
+#define dyn_module_eeprom_data(name,section_name,base_address,DEFAULT_PERIOD) \
+unsigned short int name##_eeprom_data[] __attribute__ ((section (section_name)))={DEFAULT_PERIOD,base_address+DYN_MODULE_PERIOD};
#endif
diff --git a/dynamixel_manager/src/dyn_manager.c b/dynamixel_manager/src/dyn_manager.c
index 8499d2c1a5130a45251b9d02167c47bba4e6338d..73db6b175604463e9a7c863b62610ea24b11530d 100644
--- a/dynamixel_manager/src/dyn_manager.c
+++ b/dynamixel_manager/src/dyn_manager.c
@@ -37,7 +37,7 @@ void dyn_manager_write_cmd(TDynManager *module,unsigned short int address,unsign
void dyn_manager_read_cmd(TDynManager *module,unsigned short int address,unsigned short int length,unsigned char *data)
{
- ram_read_table(address,length,data);
+ ram_read_table(module->memory,address,length,data);
}
unsigned char dyn_manager_check_id(TDynManager *manager,unsigned char id)
@@ -211,7 +211,7 @@ void dyn_manager_delete_op_single_master(TDynManager *manager,unsigned char mast
}
// public functions
-unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory)
+unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,unsigned short int eeprom_base_address,unsigned short int ram_base_address)
{
unsigned char i,j,k;
@@ -284,19 +284,20 @@ unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory)
/* initialize timer */
if(manager->init_timer!=0x00000000)
manager->init_timer();
- manager->set_period(DEFAULT_DYN_MANAGER_PERIOD);
/* initialize memory module */
mem_module_init(&manager->mem_module);
manager->mem_module.data=manager;
manager->mem_module.write_cmd=(void(*)(void *,unsigned short int, unsigned short int,unsigned char *))dyn_manager_write_cmd;
manager->mem_module.read_cmd=(void(*)(void *,unsigned short int, unsigned short int,unsigned char *))dyn_manager_read_cmd;
- if(!mem_module_add_ram_segment(&manager->mem_module,RAM_DYN_MANAGER_BASE_ADDRESS,RAM_DYN_MANAGER_LENGTH))
+ if(!mem_module_add_ram_segment(&manager->mem_module,ram_base_address,RAM_DYN_MANAGER_LENGTH))
return 0x00;
- if(!mem_module_add_eeprom_segment(&manager->mem_module,EEPROM_DYN_MANAGER_BASE_ADDRESS,EEPROM_DYN_MANAGER_LENGTH))
+ if(!mem_module_add_eeprom_segment(&manager->mem_module,eeprom_base_address,EEPROM_DYN_MANAGER_LENGTH))
return 0x00;
if(!mem_add_module(memory,&manager->mem_module))
return 0x00;
+ manager->eeprom_base_address=eeprom_base_address;
+ manager->ram_base_address=ram_base_address;
return 0x01;
}
@@ -312,8 +313,8 @@ void dyn_manager_set_period(TDynManager *manager,unsigned short int period_us)
if(manager->modules[i]!=0x00000000 && manager->modules[i]->set_period!=0x00000000)
manager->modules[i]->set_period(manager->modules[i]->data,period_us);
manager->period_us=period_us;
- ram_data[DYN_MANAGER_PERIOD]=period_us%256;
- ram_data[DYN_MANAGER_PERIOD+1]=period_us/256;
+ manager->memory->data[DYN_MANAGER_PERIOD]=period_us%256;
+ manager->memory->data[DYN_MANAGER_PERIOD+1]=period_us/256;
}
}
@@ -368,7 +369,7 @@ void dyn_manager_add_master(TDynManager *manager,TDynamixelMaster *master)
{
manager->masters[i]=master;
manager->num_masters++;
- ram_data[DYN_MANAGER_NUM_MASTERS]++;
+ manager->memory->data[DYN_MANAGER_NUM_MASTERS]++;
}
}
@@ -402,7 +403,7 @@ void dyn_manager_add_module(TDynManager *manager,TDynModule *module)
manager->modules[i]=module;
manager->num_modules++;
module->manager=manager;
- ram_data[DYN_MANAGER_NUM_MODULES]++;
+ manager->memory->data[DYN_MANAGER_NUM_MODULES]++;
}
}