Added the battery status and pack status information to the list of info read from the battery.

Modified the labrobotica driver to use the CDynamixel interface.

include/mem.h

@@ -38,20 +38,24 @@
 #define Bat_charge_current_H    0x37
 #define Bat_charge_voltage_L    0x38
 #define Bat_charge_voltage_H    0x39
-#define Bat_design_capacity_L   0x3A
-#define Bat_design_capacity_H   0x3B
-#define Bat_design_voltage_L    0x3C
-#define Bat_design_voltage_H    0x3D
-#define Bat_cell4_voltage_L     0x3E
-#define Bat_cell4_voltage_H     0x3F
-#define Bat_cell3_voltage_L     0x40
-#define Bat_cell3_voltage_H     0x41
-#define Bat_cell2_voltage_L     0x42
-#define Bat_cell2_voltage_H     0x43
-#define Bat_cell1_voltage_L     0x44
-#define Bat_cell1_voltage_H     0x45
+#define Bat_status_L            0x3A
+#define Bat_status_H            0x3B
+#define Bat_design_capacity_L   0x3C
+#define Bat_design_capacity_H   0x3D
+#define Bat_design_voltage_L    0x3E
+#define Bat_design_voltage_H    0x3F
+#define Bat_pack_status_L       0x40
+#define Bat_pack_status_H       0x41
+#define Bat_cell4_voltage_L     0x42
+#define Bat_cell4_voltage_H     0x43
+#define Bat_cell3_voltage_L     0x44
+#define Bat_cell3_voltage_H     0x45
+#define Bat_cell2_voltage_L     0x56
+#define Bat_cell2_voltage_H     0x47
+#define Bat_cell1_voltage_L     0x48
+#define Bat_cell1_voltage_H     0x49
 
-#define RAM_SIZE                70
+#define RAM_SIZE                74
 
 extern unsigned char ram_data[RAM_SIZE];
 

include/smbus.h

@@ -18,8 +18,10 @@
 #define AverageTimeToFull          0x13
 #define ChargingCurrent            0x14
 #define ChargingVoltage            0x15
+#define BatteryStatus              0x16
 #define DesignCapacity             0x18
 #define DesignVoltage              0x19
+#define PackStatus                 0x2f
 #define VCELL4                     0x3c
 #define VCELL3                     0x3d
 #define VCELL2                     0x3e

src/smbus.c

@@ -24,15 +24,17 @@ TSMBusCmd commands[]={{Temperature,Bat_temperature_L},
                       {AverageTimeToFull,Bat_avg_time_full_L},
                       {ChargingCurrent,Bat_charge_current_L},
                       {ChargingVoltage,Bat_charge_voltage_L},
+                      {BatteryStatus,Bat_status_L},
                       {DesignCapacity,Bat_design_capacity_L},
                       {DesignVoltage,Bat_design_voltage_L},
+                      {PackStatus,Bat_pack_status_L},
                       {VCELL4,Bat_cell4_voltage_L},
                       {VCELL3,Bat_cell3_voltage_L},
                       {VCELL2,Bat_cell2_voltage_L},
                       {VCELL1,Bat_cell1_voltage_L}};
 unsigned char current_cmd;
 
-#define NUM_COMMANDS 19
+#define NUM_COMMANDS 21
 
 /* private functions */