Subversion Repositories Projects

Rev

Rev 211 | Rev 217 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
211 dhylands 1
/****************************************************************************
2
*
3
*   Copyright (c) 2009 Dave Hylands     <dhylands@gmail.com>
4
*
5
*   This program is free software; you can redistribute it and/or modify
6
*   it under the terms of the GNU General Public License version 2 as
7
*   published by the Free Software Foundation.
8
*
9
*   Alternatively, this software may be distributed under the terms of BSD
10
*   license.
11
*
12
*   See README and COPYING for more details.
13
*
14
****************************************************************************/
15
/**
16
*
17
*   @file   bioloid-reg-servo.c
18
*
19
*   @brief  Provides the description of the registers used by the
20
*           Dynamixel AX-12 servo.
21
*
22
*****************************************************************************/
23
 
24
/* ---- Include Files ----------------------------------------------------- */
25
 
26
#include "bioloid-reg-servo.h"
27
 
28
/* ---- Public Variables -------------------------------------------------- */
29
 
30
BLD_Reg_t   BLD_gServoReg[] =
31
{
32
    { 0x00, "model",                BLD_REG_FLAG_16_RD,      0,    0, NULL },
33
    { 0x02, "version",              BLD_REG_FLAG_8_RD,       0,    0, NULL },
213 dhylands 34
    { 0x03, "id",                   BLD_REG_FLAG_8_RW,       0,  253, NULL },
211 dhylands 35
    { 0x04, "baud-rate",            BLD_REG_FLAG_8_RW,       0,  254, BLD_RegFmtBaud },
36
    { 0x05, "return-delay-time",    BLD_REG_FLAG_8_RW,       0,  254, BLD_RegFmtRDT },
37
    { 0x06, "cw-angle-limit",       BLD_REG_FLAG_16_RW,      0, 1023, BLD_RegFmtAngle },
38
    { 0x08, "ccw-angle-limit",      BLD_REG_FLAG_16_RW,      0, 1023, BLD_RegFmtAngle},
39
    { 0x0B, "high-limit-temp",      BLD_REG_FLAG_8_RW,       0,  150, BLD_RegFmtTemp },
40
    { 0x0C, "low-limit-voltage",    BLD_REG_FLAG_8_RW,      50,  250, BLD_RegFmtVolt },
41
    { 0x0D, "high-limit-voltage",   BLD_REG_FLAG_8_RW,      50,  250, BLD_RegFmtVolt },
42
    { 0x0E, "max-torque-def",       BLD_REG_FLAG_16_RW,      0, 1023, NULL },
43
    { 0x10, "status-level",         BLD_REG_FLAG_8_RW,       0,    2, BLD_RegFmtStatusRet },
44
    { 0x11, "alarm-led",            BLD_REG_FLAG_8_RW,       0, 0x7f, BLD_RegFmtAlarm },
45
    { 0x12, "alarm-shutdown",       BLD_REG_FLAG_8_RW,       0, 0x7f, BLD_RegFmtAlarm },
46
    { 0x14, "down-calib",           BLD_REG_FLAG_16_RD,      0,    0, NULL },
47
    { 0x16, "up-calib",             BLD_REG_FLAG_16_RD,      0,    0, NULL },
48
    { 0x18, "torque-enable",        BLD_REG_FLAG_8_RW,       0,    1, BLD_RegFmtOnOff },
49
    { 0x19, "led",                  BLD_REG_FLAG_8_RW,       0,    1, BLD_RegFmtOnOff },
50
    { 0x1A, "cw-comp-margin",       BLD_REG_FLAG_8_RW,       0,  254, NULL },
51
    { 0x1B, "ccw-comp-margin",      BLD_REG_FLAG_8_RW,       0,  254, NULL },
52
    { 0x1C, "cw-comp-slope",        BLD_REG_FLAG_8_RW,       1,  254, NULL },
53
    { 0x1D, "ccw-comp-slope",       BLD_REG_FLAG_8_RW,       1,  254, NULL },
54
    { 0x1E, "goal-position",        BLD_REG_FLAG_16_RW,      0, 1023, BLD_RegFmtAngle },
55
    { 0x20, "moving-speed",         BLD_REG_FLAG_16_RW,      0, 1023, BLD_RegFmtVelocity },
56
    { 0x22, "max-torque",           BLD_REG_FLAG_16_RW,      0, 1023, NULL },
57
    { 0x24, "present-position",     BLD_REG_FLAG_16_RD,      0,    0, BLD_RegFmtAngle },
58
    { 0x26, "present-speed",        BLD_REG_FLAG_16_RD,      0,    0, BLD_RegFmtVelocity },
59
    { 0x28, "present-load",         BLD_REG_FLAG_16_RD,      0,    0, BLD_RegFmtLoad },
60
    { 0x2A, "present-voltage",      BLD_REG_FLAG_8_RD,       0,    0, BLD_RegFmtVolt },
61
    { 0x2B, "present-temp",         BLD_REG_FLAG_8_RD,       0,    0, BLD_RegFmtTemp },
62
    { 0x2C, "reg-instruction",      BLD_REG_FLAG_8_RW,       0,    1, BLD_RegFmtOnOff },
63
    { 0x2E, "moving",               BLD_REG_FLAG_8_RD,       0,    0, NULL },
64
    { 0x2F, "lock",                 BLD_REG_FLAG_8_RW,       0,    1, NULL },
65
    { 0x30, "punch",                BLD_REG_FLAG_16_RW,      0, 1023, NULL },
66
    {    0, NULL }
67
};
68
 
69
/* ---- Private Constants and Types --------------------------------------- */
70
 
71
/* ---- Private Variables ------------------------------------------------- */
72
 
73
/* ---- Private Function Prototypes --------------------------------------- */
74
 
75
/* ---- Functions --------------------------------------------------------- */
76
 
77
/**
78
 * @addtogroup XXX
79
 * @{
80
 */
81
 
82
//***************************************************************************
83
/**
84
*   Description goes here
85
*/
86
 
87
/** @} */
88