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/****************************************************************************
*
* Copyright (c) 2009 Dave Hylands <dhylands@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* Alternatively, this software may be distributed under the terms of BSD
* license.
*
* See README and COPYING for more details.
*
****************************************************************************/
/**
*
* @file bioloid-reg-servo.c
*
* @brief Provides the description of the registers used by the
* Dynamixel AX-12 servo.
*
*****************************************************************************/
/* ---- Include Files ----------------------------------------------------- */
#include "bioloid-reg-servo.h"
/* ---- Public Variables -------------------------------------------------- */
BLD_Reg_t BLD_gServoReg[] =
{
{ 0x00, "model", BLD_REG_FLAG_16_RD, 0, 0, NULL },
{ 0x02, "version", BLD_REG_FLAG_8_RD, 0, 0, NULL },
{ 0x03, "id", BLD_REG_FLAG_8_RW, 0, 23, NULL },
{ 0x04, "baud-rate", BLD_REG_FLAG_8_RW, 0, 254, BLD_RegFmtBaud },
{ 0x05, "return-delay-time", BLD_REG_FLAG_8_RW, 0, 254, BLD_RegFmtRDT },
{ 0x06, "cw-angle-limit", BLD_REG_FLAG_16_RW, 0, 1023, BLD_RegFmtAngle },
{ 0x08, "ccw-angle-limit", BLD_REG_FLAG_16_RW, 0, 1023, BLD_RegFmtAngle},
{ 0x0B, "high-limit-temp", BLD_REG_FLAG_8_RW, 0, 150, BLD_RegFmtTemp },
{ 0x0C, "low-limit-voltage", BLD_REG_FLAG_8_RW, 50, 250, BLD_RegFmtVolt },
{ 0x0D, "high-limit-voltage", BLD_REG_FLAG_8_RW, 50, 250, BLD_RegFmtVolt },
{ 0x0E, "max-torque-def", BLD_REG_FLAG_16_RW, 0, 1023, NULL },
{ 0x10, "status-level", BLD_REG_FLAG_8_RW, 0, 2, BLD_RegFmtStatusRet },
{ 0x11, "alarm-led", BLD_REG_FLAG_8_RW, 0, 0x7f, BLD_RegFmtAlarm },
{ 0x12, "alarm-shutdown", BLD_REG_FLAG_8_RW, 0, 0x7f, BLD_RegFmtAlarm },
{ 0x14, "down-calib", BLD_REG_FLAG_16_RD, 0, 0, NULL },
{ 0x16, "up-calib", BLD_REG_FLAG_16_RD, 0, 0, NULL },
{ 0x18, "torque-enable", BLD_REG_FLAG_8_RW, 0, 1, BLD_RegFmtOnOff },
{ 0x19, "led", BLD_REG_FLAG_8_RW, 0, 1, BLD_RegFmtOnOff },
{ 0x1A, "cw-comp-margin", BLD_REG_FLAG_8_RW, 0, 254, NULL },
{ 0x1B, "ccw-comp-margin", BLD_REG_FLAG_8_RW, 0, 254, NULL },
{ 0x1C, "cw-comp-slope", BLD_REG_FLAG_8_RW, 1, 254, NULL },
{ 0x1D, "ccw-comp-slope", BLD_REG_FLAG_8_RW, 1, 254, NULL },
{ 0x1E, "goal-position", BLD_REG_FLAG_16_RW, 0, 1023, BLD_RegFmtAngle },
{ 0x20, "moving-speed", BLD_REG_FLAG_16_RW, 0, 1023, BLD_RegFmtVelocity },
{ 0x22, "max-torque", BLD_REG_FLAG_16_RW, 0, 1023, NULL },
{ 0x24, "present-position", BLD_REG_FLAG_16_RD, 0, 0, BLD_RegFmtAngle },
{ 0x26, "present-speed", BLD_REG_FLAG_16_RD, 0, 0, BLD_RegFmtVelocity },
{ 0x28, "present-load", BLD_REG_FLAG_16_RD, 0, 0, BLD_RegFmtLoad },
{ 0x2A, "present-voltage", BLD_REG_FLAG_8_RD, 0, 0, BLD_RegFmtVolt },
{ 0x2B, "present-temp", BLD_REG_FLAG_8_RD, 0, 0, BLD_RegFmtTemp },
{ 0x2C, "reg-instruction", BLD_REG_FLAG_8_RW, 0, 1, BLD_RegFmtOnOff },
{ 0x2E, "moving", BLD_REG_FLAG_8_RD, 0, 0, NULL },
{ 0x2F, "lock", BLD_REG_FLAG_8_RW, 0, 1, NULL },
{ 0x30, "punch", BLD_REG_FLAG_16_RW, 0, 1023, NULL },
{ 0, NULL }
};
/* ---- Private Constants and Types --------------------------------------- */
/* ---- Private Variables ------------------------------------------------- */
/* ---- Private Function Prototypes --------------------------------------- */
/* ---- Functions --------------------------------------------------------- */
/**
* @addtogroup XXX
* @{
*/
//***************************************************************************
/**
* Description goes here
*/
/** @} */