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humanoides
tools
stm32_libraries
Commits
6f12d06a
Commit
6f12d06a
authored
5 years ago
by
Sergi Hernandez
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Updated the motion manager module.
parent
0be1e0b1
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1 merge request
!7
Multi slave
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2 changed files
dynamixel_manager/include/modules/motion_manager.h
+1
-4
1 addition, 4 deletions
dynamixel_manager/include/modules/motion_manager.h
dynamixel_manager/include/modules/motion_manager_registers.h
+5
-51
5 additions, 51 deletions
dynamixel_manager/include/modules/motion_manager_registers.h
with
6 additions
and
55 deletions
dynamixel_manager/include/modules/motion_manager.h
+
1
−
4
View file @
6f12d06a
...
@@ -4,10 +4,7 @@
...
@@ -4,10 +4,7 @@
#include
"dyn_module.h"
#include
"dyn_module.h"
#ifndef MM_MAX_NUM_MOTION_MODULES
#ifndef MM_MAX_NUM_MOTION_MODULES
#define MM_MAX_NUM_MOTION_MODULES 8
#error "Please, specify the maximum number of motion modules with the MM_MAX_NUM_MOTION_MODULES macro"
#endif
#ifdef MM_MAX_NUM_MODELS
#define MODULE_MAX_NUM_MODELS MM_MAX_NUM_MODELS
#endif
#endif
typedef
enum
{
MM_NONE
=
-
1
,
typedef
enum
{
MM_NONE
=
-
1
,
...
...
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dynamixel_manager/include/modules/motion_manager_registers.h
+
5
−
51
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6f12d06a
...
@@ -3,60 +3,14 @@
...
@@ -3,60 +3,14 @@
#include
"dyn_module_registers.h"
#include
"dyn_module_registers.h"
#ifndef RAM_MM_BASE_ADDRESS
#define RAM_MM_LENGTH (RAM_DYN_MODULE_LENGTH + 0)
#define RAM_MM_BASE_ADDRESS ((unsigned short int)0x0000)
#endif
#ifndef EEPROM_MM_BASE_ADDRESS
#define EEPROM_MM_BASE_ADDRESS ((unsigned short int)0x0000)
#endif
#define RAM_MM_LENGTH (RAM_DYN_MODULE_LENGTH + )
#define EEPROM_MM_LENGTH (
EEPROM_DYN_MODULE_LENGTH +
)
#define EEPROM_MM_LENGTH (
DYN_MANAGER_MAX_NUM_DEVICES
)
#define MM_PERIOD DYN_MODULE_PERIOD
#define MM_SERVO_OFFSET 0
#define MM_CNTRL DYN_MODULE_CNTRL
#define MM_NUM_MODELS DYN_MODULE_NUM_MODELS
#define MM_NUM_DEVICES DYN_MODULE_NUM_DEVICES
#ifndef DEFAULT_MM_PERIOD
#define DEFAULT_MM_PERIOD DEFAULT_DYN_MODULE_PERIOD
#endif
#define MM_SERVO0_OFFSET ((unsigned short int)0x0011)
#define MM_SERVO1_OFFSET ((unsigned short int)0x0012)
#define MM_SERVO2_OFFSET ((unsigned short int)0x0013)
#define MM_SERVO3_OFFSET ((unsigned short int)0x0014)
#define MM_SERVO4_OFFSET ((unsigned short int)0x0015)
#define MM_SERVO5_OFFSET ((unsigned short int)0x0016)
#define MM_SERVO6_OFFSET ((unsigned short int)0x0017)
#define MM_SERVO7_OFFSET ((unsigned short int)0x0018)
#define MM_SERVO8_OFFSET ((unsigned short int)0x0019)
#define MM_SERVO9_OFFSET ((unsigned short int)0x001A)
#define MM_SERVO10_OFFSET ((unsigned short int)0x001B)
#define MM_SERVO11_OFFSET ((unsigned short int)0x001C)
#define MM_SERVO12_OFFSET ((unsigned short int)0x001D)
#define MM_SERVO13_OFFSET ((unsigned short int)0x001E)
#define MM_SERVO14_OFFSET ((unsigned short int)0x001F)
#define MM_SERVO15_OFFSET ((unsigned short int)0x0020)
#define MM_SERVO16_OFFSET ((unsigned short int)0x0021)
#define MM_SERVO17_OFFSET ((unsigned short int)0x0022)
#define MM_SERVO18_OFFSET ((unsigned short int)0x0023)
#define MM_SERVO19_OFFSET ((unsigned short int)0x0024)
#define MM_SERVO20_OFFSET ((unsigned short int)0x0025)
#define MM_SERVO21_OFFSET ((unsigned short int)0x0026)
#define MM_SERVO22_OFFSET ((unsigned short int)0x0027)
#define MM_SERVO23_OFFSET ((unsigned short int)0x0028)
#define MM_SERVO24_OFFSET ((unsigned short int)0x0029)
#define MM_SERVO25_OFFSET ((unsigned short int)0x002A)
#define MM_SERVO26_OFFSET ((unsigned short int)0x002B)
#define MM_SERVO27_OFFSET ((unsigned short int)0x002C)
#define MM_SERVO28_OFFSET ((unsigned short int)0x002D)
#define MM_SERVO29_OFFSET ((unsigned short int)0x002E)
#define MM_SERVO30_OFFSET ((unsigned short int)0x002F)
#define MM_SERVO31_OFFSET ((unsigned short int)0x0030)
#define dyn_mm_eeprom_data(name,section_name,base_address) \
unsigned short int name##_eeprom_data[] __attribute__ ((section (section_name)))={0,base_address+MM_SERVO_OFFSET};
#endif
#endif
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