#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