Added a data structure for the action motion moduel.

Added the dynamixel slave interface registers.

dynamixel_manager/include/modules/action.h

@@ -7,16 +7,62 @@ extern "C" {
 
 #include "motion_pages.h"
 #include "motion_module.h"
+#include "motion_pages.h"
+#include "memory.h"
+
+typedef enum {ACTION_PRE,ACTION_MAIN,ACTION_POST,ACTION_PAUSE} action_states;
+
+typedef struct{
+  TMotionModule mmodule;
+  TMemory *memory;
+  TMemModule mem_module;
+  unsigned short int ram_base_address;
+  unsigned short int eeprom_base_address;  
+  TPage next_page;
+  TPage current_page;
+  unsigned char current_step_index;
+  unsigned char current_page_index;
+  // angle variables
+  long long int moving_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  long long int start_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  // speed variables
+  long long int start_speed[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  long long int main_speed[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  // control variables
+  unsigned char end;
+  unsigned char stop;
+  unsigned char zero_speed_finish[PAGE_MAX_NUM_SERVOS];
+  unsigned char next_index;
+  unsigned char running;
+  // time variables (in time units (7.8 ms each time unit))
+  long long int total_time;// fixed point 48|16 format
+  long long int pre_time;// fixed point 48|16 format
+  long long int main_time;// fixed point 48|16 format
+  long long int step_time;// fixed point 48|16 format
+  long long int pause_time;// fixed point 48|16 format
+  long long int current_time;// fixed point 48|16 format
+  long long int section_time;// fixed point 48|16 format
+  long long int period;
+  // angle variables 
+  long long int accel_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  long long int main_angles[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  // speed variables (in controller units)
+  long long int current_speed[PAGE_MAX_NUM_SERVOS];// fixed point 48|16 format
+  long long int delta_speed;
+  char num_repetitions;
+  // control variables 
+  action_states state;
+}TActionMModule;
 
 // public functions
-void action_init(void);
-TMotionModule *action_get_module(void);
-unsigned char action_load_page(unsigned char page_id);
-void action_start_page(void);
-void action_stop_page(void);
-unsigned char action_is_running(void);
-unsigned char action_get_current_page(void);
-unsigned char action_get_current_step(void);
+unsigned char action_init(TActionMModule *action,TMemory *memory,unsigned short int ram_base_address);
+TMotionModule *action_get_module(TActionMModule *action);
+unsigned char action_load_page(TActionMModule *action,unsigned char page_id);
+void action_start_page(TActionMModule *action);
+void action_stop_page(TActionMModule *action);
+unsigned char action_is_running(TActionMModule *action);
+unsigned char action_get_current_page(TActionMModule *action);
+unsigned char action_get_current_step(TActionMModule *action);
 
 #ifdef __cplusplus
 }

dynamixel_manager/include/modules/action_mm_registers.h

+#ifndef _ACTION_MM_REGISTERS_H
+#define _ACTION_MM_REGISTERS_H
+
+#define RAM_ACTION_MM_LENGTH                 2
+
+#define ACTION_MM_PAGE_OFFSET                0
+#define ACTION_MM_CNTRL_OFFSET               1
+
+#endif
+