sts3032_regs.h

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#pragma once
 
 
#define INST_PING 0x01
#define INST_READ 0x02
#define INST_WRITE 0x03
#define INST_REG_WRITE 0x04
#define INST_REG_ACTION 0x05
#define INST_SYNC_READ 0x82
#define INST_SYNC_WRITE 0x83
 
 
#define SMS_STS_1M    0
#define SMS_STS_0_5M  1
#define SMS_STS_250K  2
#define SMS_STS_128K  3
#define SMS_STS_115200  4
#define SMS_STS_76800 5
#define SMS_STS_57600 6
#define SMS_STS_38400 7
 
//memory table definition
//-------EPROM(read only)--------
#define SMS_STS_MODEL_L 3
#define SMS_STS_MODEL_H 4
 
//-------EPROM(read and write)--------
#define SMS_STS_ID    5
#define SMS_STS_BAUD_RATE 6
#define SMS_STS_RESPONSE_LEVEL 8
#define SMS_STS_MIN_ANGLE_LIMIT_L 9
#define SMS_STS_MIN_ANGLE_LIMIT_H 10
#define SMS_STS_MAX_ANGLE_LIMIT_L 11
#define SMS_STS_MAX_ANGLE_LIMIT_H 12
#define SMS_STS_CW_DEAD 26
#define SMS_STS_CCW_DEAD 27
#define SMS_STS_OFS_L 31
#define SMS_STS_OFS_H 32
#define SMS_STS_MODE  33
 
//-------SRAM(read and write)--------
#define SMS_STS_TORQUE_ENABLE 40
#define SMS_STS_ACC   41
#define SMS_STS_GOAL_POSITION_L 42
#define SMS_STS_GOAL_POSITION_H 43
#define SMS_STS_GOAL_TIME_L 44
#define SMS_STS_GOAL_TIME_H 45
#define SMS_STS_GOAL_SPEED_L 46
#define SMS_STS_GOAL_SPEED_H 47
#define SMS_STS_LOCK  55
 
//-------SRAM(read only)--------
#define SMS_STS_PRESENT_POSITION_L 56
#define SMS_STS_PRESENT_POSITION_H 57
#define SMS_STS_PRESENT_SPEED_L 58
#define SMS_STS_PRESENT_SPEED_H 59
#define SMS_STS_PRESENT_LOAD_L 60
#define SMS_STS_PRESENT_LOAD_H 61
#define SMS_STS_PRESENT_VOLTAGE 62
#define SMS_STS_PRESENT_TEMPERATURE 63
#define SMS_STS_MOVING 66
#define SMS_STS_PRESENT_CURRENT_L 69
#define SMS_STS_PRESENT_CURRENT_H 70