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sbcp_mdv.h
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sbcp_mdv.h
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			/*
			* File: sbcp_mdv.h
			* Author: tuleu
			*
			* Created on September 12, 2012, 6:09 PM
			*/

			#ifndef SBCP_MDV_H_
			#define SBCP_MDV_H_

			#include <sbcp.h>

			enum sbcp_mdv_mX_register {
			MX_STATUS_AND_CONTROL_MODE = 0,

			MX_GOAL_POSITION = 1,
			MX_TARGETED_POSITION = 2,
			MX_PRESENT_POSITION = 3,

			MX_GOAL_SPEED = 4,
			MX_TARGETED_SPEED = 5,
			MX_PRESENT_SPEED = 6,

			MX_TARGETED_TORQUE = 7,

			MX_PID_PGAIN = 8,
			MX_PID_IGAIN = 9,
			MX_PID_DGAIN = 10,

			MX_COMPLIANCE_PRELOAD = 11,
			MX_COMPLIANCE_STIFFNESS = 12,
			MX_COMPLIANCE_DAMPING = 13,
			MX_MAX_ACCELERATION = 14,

			MX_MAX_SPEED = 15,
			MX_MAX_TORQUE = 16,


			MX_GEAR_MULT = 17,
			MX_GEAR_DIV = 18,

			MX_LIMIT_POS_CW = 19,
			MX_CALIBRATION_REGION_MIN = 20,
			MX_CALIBRATION_REGION_MAX = 21,
			MX_CALIBRATION_OFFSET = 22,

			MX_SMOOTH_POSITION_UPDATE = 23,


			MX_REGISTER_SIZE = 24
			};

			typedef enum sbcp_mdv_mx_register sbcp_mdv_mX_register;


			enum sbcp_mdv_meX_register {
			MEX_POSITION = 0,
			MEX_GEAR_MULT = 1,
			MEX_GEAR_DIV = 2,
			MEX_REGISTER_SIZE = 3
			};

			enum sbcp_mdv_lcX_register {
			LCX_TORQUE = 0,
			LCX_REGISTER_SIZE = 1
			};

			enum sbcp_mdv_Sine_register {
			SINE_FREQUENCY = 0,
			SINE_AMPLITUDE = 1,
			SINE_OFFSET = 2,
			SINE_REGISTER_SIZE
			};

			enum sbcp_mdv_register {
			MDV_ME_Q1 = SBCP_SPECIFIC_REG_START, // 3

			MDV_ME_Q2 = MDV_ME_Q1 + MEX_REGISTER_SIZE, // 6

			MDV_ME_Q3 = MDV_ME_Q2 + MEX_REGISTER_SIZE, // 9

			MDV_LC_AXIS_1 = MDV_ME_Q3 + MEX_REGISTER_SIZE, //12
			MDV_LC_AXIS_2 = MDV_LC_AXIS_1 + LCX_REGISTER_SIZE, // 13
			MDV_LC_AXIS_3 = MDV_LC_AXIS_2 + LCX_REGISTER_SIZE, // 14

			MDV_M1 = MDV_LC_AXIS_3 + LCX_REGISTER_SIZE, // 15
			MDV_M2 = MDV_M1 + MX_REGISTER_SIZE, // 39
			MDV_SINE_1 = MDV_M2 + MX_REGISTER_SIZE, // 63
			MDV_SINE_2 = MDV_SINE_1 + SINE_REGISTER_SIZE // 66
			};

			typedef enum sbcp_mdv_register sbcp_mdv_register;


			enum sbcp_mdv_instruction {
			SBCP_MDV_CALIBRATE_MOTORS = SBCP_INST_DEVICE_SPECIFIC_START,
			SBCP_MDV_UNCALIBRATE_MOTORS = SBCP_INST_DEVICE_SPECIFIC_START + 1
			};




			#define sbcp_mdv_reg(mdv,reg) (sbcp_reg_table[mdv->address_start + reg])

			#define sbcp_me_reg(me,reg) (sbcp_reg_table[me + reg])

			#define sbcp_lc_reg(lc,reg) (sbcp_reg_table[lc + reg])

			void init_sbcp_mdv_registers();

			void init_sbcp_mdv_instructions();

			#endif /* SBCP_MDV_H */

oncilla-motordriver-fw/src/sbcp_mdv.hedc3f097732eload-bad-commit

sbcp_mdv.hView Options

oncilla-motordriver-fw/src/sbcp_mdv.h
edc3f097732eload-bad-commit

sbcp_mdv.h
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