From 6f12d06a336d3fba211fe0c6e82fb087b6d495bf Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Sun, 15 Dec 2019 19:16:07 +0100
Subject: [PATCH] Updated the motion manager module.
---
.../include/modules/motion_manager.h | 5 +-
.../modules/motion_manager_registers.h | 56 ++-----------------
2 files changed, 6 insertions(+), 55 deletions(-)
diff --git a/dynamixel_manager/include/modules/motion_manager.h b/dynamixel_manager/include/modules/motion_manager.h
index b5d3bbe..1a2e9aa 100644
--- a/dynamixel_manager/include/modules/motion_manager.h
+++ b/dynamixel_manager/include/modules/motion_manager.h
@@ -4,10 +4,7 @@
#include "dyn_module.h"
#ifndef MM_MAX_NUM_MOTION_MODULES
- #define MM_MAX_NUM_MOTION_MODULES 8
-#endif
-#ifdef MM_MAX_NUM_MODELS
- #define MODULE_MAX_NUM_MODELS MM_MAX_NUM_MODELS
+ #error "Please, specify the maximum number of motion modules with the MM_MAX_NUM_MOTION_MODULES macro"
#endif
typedef enum {MM_NONE = -1,
diff --git a/dynamixel_manager/include/modules/motion_manager_registers.h b/dynamixel_manager/include/modules/motion_manager_registers.h
index 208e6b8..02fbc9e 100644
--- a/dynamixel_manager/include/modules/motion_manager_registers.h
+++ b/dynamixel_manager/include/modules/motion_manager_registers.h
@@ -3,60 +3,14 @@
#include "dyn_module_registers.h"
-#ifndef RAM_MM_BASE_ADDRESS
- #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 RAM_MM_LENGTH (RAM_DYN_MODULE_LENGTH + 0)
-#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_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 MM_SERVO_OFFSET 0
+#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
--
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