28 lines
754 B
C
28 lines
754 B
C
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#define ADDR_VAR 0x8040000
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#define ADDR_VAR_ID ADDR_VAR
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#define ADDR_VAR_P (ADDR_VAR + 1)
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#define ADDR_VAR_I (ADDR_VAR + 2)
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#define ADDR_VAR_D (ADDR_VAR + 3)
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#define REG_READ 0x99
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#define REG_WRITE 0xA0
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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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