git

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