From dc445c11b74e979c09f8a8c18d44552ad808a77f Mon Sep 17 00:00:00 2001 From: lulko Date: Thu, 27 Feb 2025 20:17:48 +0300 Subject: [PATCH] git --- controller/fw/embed/include/reg_cah.h | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 controller/fw/embed/include/reg_cah.h diff --git a/controller/fw/embed/include/reg_cah.h b/controller/fw/embed/include/reg_cah.h new file mode 100644 index 0000000..52a9102 --- /dev/null +++ b/controller/fw/embed/include/reg_cah.h @@ -0,0 +1,27 @@ +#define ADDR_VAR 0x8040000 +#define ADDR_VAR_ID ADDR_VAR +#define ADDR_VAR_P (ADDR_VAR + 1) +#define ADDR_VAR_I (ADDR_VAR + 2) +#define ADDR_VAR_D (ADDR_VAR + 3) + +#define REG_READ 0x99 +#define REG_WRITE 0xA0 + + +/* CAN REGISTER ID */ +#define REG_ID 0x01 +#define REG_BAUDRATE 0x02 + +#define REG_MOTOR_POSPID_Kp 0x30 +#define REG_MOTOR_POSPID_Ki 0x31 +#define REG_MOTOR_POSPID_Kd 0x32 + +#define REG_MOTOR_VELPID_Kp 0x40 +#define REG_MOTOR_VELPID_Ki 0x41 +#define REG_MOTOR_VELPID_Kd 0x42 + +#define REG_MOTOR_IMPPID_Kp 0x50 +#define REG_MOTOR_IMPPID_Kd 0x51 + +#define REG_RESET 0x88 +#define REG_LED_BLINK 0x8B