feetech_protocol.h
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/*
* Copyright (C) 2017 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup drivers_feetech
*
* @{
*
* @file
* @brief Feetech protocol definitions
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*/
#ifndef FEETECH_PROTOCOL_H
#define FEETECH_PROTOCOL_H
#ifdef __cplusplus
extern "C" {
#endif
#define FEETECH_START (0xFF)
typedef enum {
SCS15_B_1M = 0,
SCS15_B_0_5M = 1,
SCS15_B_250K = 2,
SCS15_B_128K = 3,
SCS15_B_115200 = 4,
SCS15_B_76800 = 5,
SCS15_B_57600 = 6,
SCS15_B_38400 = 7
} scs15_baudrate_t;
typedef enum {
SCS15_ID = 5,
SCS15_BAUD_RATE = 6,
SCS15_RETURN_DELAY_TIME = 7,
SCS15_RETURN_LEVEL = 8,
SCS15_LIMIT_TEMPERATURE = 13,
SCS15_MAX_LIMIT_VOLTAGE = 14,
SCS15_MIN_LIMIT_VOLTAGE = 15,
SCS15_ALARM_LED = 18,
SCS15_ALARM_SHUTDOWN = 19,
SCS15_COMPLIANCE_P = 21,
SCS15_COMPLIANCE_D = 22,
SCS15_COMPLIANCE_I = 23,
SCS15_CW_DEAD = 26,
SCS15_CCW_DEAD = 27,
SCS15_TORQUE_ENABLE = 40,
SCS15_LED = 41,
SCS15_LOCK = 48,
SCS15_PRESENT_VOLTAGE = 62,
SCS15_PRESENT_TEMPERATURE = 63,
SCS15_REGISTERED_INSTRUCTION = 64,
SCS15_ERROR = 65,
SCS15_MOVING = 66,
} scs15_register8_t;
typedef enum {
SCS15_MODEL_NUMBER = 0,
SCS15_VERSION = 3,
SCS15_MIN_ANGLE_LIMIT = 9,
SCS15_MAX_ANGLE_LIMIT = 11,
SCS15_MAX_TORQUE = 16,
SCS15_PUNCH = 24,
SCS15_IMAX = 28,
SCS15_OFFSET = 30,
SCS15_GOAL_POSITION = 42,
SCS15_GOAL_TIME = 44,
SCS15_GOAL_SPEED = 46,
SCS15_PRESENT_POSITION = 56,
SCS15_PRESENT_SPEED = 58,
SCS15_PRESENT_LOAD = 60,
SCS15_VIR_POSITION = 67,
SCS15_CURRENT = 69,
} scs15_register16_t;
typedef enum {
INST_PING = 0x01,
INST_READ = 0x02,
INST_WRITE = 0x03,
INST_REG_WRITE = 0x04,
INST_ACTION = 0x05,
INST_RESET = 0x06,
INST_SYNC_WRITE = 0x83,
} feetech_intruction_t;
#ifdef __cplusplus
}
#endif
#endif /* FEETECH_PROTOCOL_H */
/** @} */