#ifndef REG_CAH_H_
#define REG_CAH_H_

#define APP_ADDR        0x0800400  // 16KB - Application
#define ADDR_VAR        0x8040000


#define REG_READ                0x07
#define REG_WRITE               0x08


/*               Startup    ID device          */
#define START_ID               0x00

/*              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

#define FOC_STATE               0x60

#define MOTOR_VELOCITY          0x70
#define MOTOR_ENABLED           0x71
#define MOTOR_ANGLE             0x72
#define MOTOR_TORQUE            0x73

#define FIRMWARE_UPDATE         0x55

//For send
#define CAN_MSG_MAX_LEN 7
#define CRC_SIZE        2
#define ID_SIZE         sizeof(uint8_t)


#endif  // REG_CAH_H_