2025-04-16 22:51:39 +03:00
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#ifndef REG_CAH_H_
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#define REG_CAH_H_
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#define APP_ADDR 0x0800400 // 16KB - Application
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#define ADDR_VAR 0x8040000
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#define REG_READ 0x07
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#define REG_WRITE 0x08
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/* Startup ID device */
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#define START_ID 0x00
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/* CAN REGISTER ID */
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#define REG_ID 0x01
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#define REG_BAUDRATE 0x02
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#define REG_MOTOR_POSPID_Kp 0x30
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#define REG_MOTOR_POSPID_Ki 0x31
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#define REG_MOTOR_POSPID_Kd 0x32
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#define REG_MOTOR_VELPID_Kp 0x40
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#define REG_MOTOR_VELPID_Ki 0x41
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#define REG_MOTOR_VELPID_Kd 0x42
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#define REG_MOTOR_IMPPID_Kp 0x50
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#define REG_MOTOR_IMPPID_Kd 0x51
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#define REG_RESET 0x88
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#define REG_LED_BLINK 0x8B
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#define FOC_STATE 0x60
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#define MOTOR_VELOCITY 0x70
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#define MOTOR_ENABLED 0x71
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#define MOTOR_ANGLE 0x72
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#define MOTOR_TORQUE 0x73
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2025-05-23 09:10:51 +03:00
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#define FIRMWARE_UPDATE 0x55
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2025-05-13 19:05:54 +03:00
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//For send
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#define CAN_MSG_MAX_LEN 7
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#define CRC_SIZE 2
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#define ID_SIZE sizeof(uint8_t)
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2025-04-16 22:51:39 +03:00
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#endif // REG_CAH_H_
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