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feetech_protocol.h
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1/*
2 * SPDX-FileCopyrightText: 2017 Inria
3 * SPDX-License-Identifier: LGPL-2.1-only
4 */
5
6#pragma once
7
18
19#ifdef __cplusplus
20extern "C" {
21#endif
22
23#define FEETECH_START (0xFF)
24
25typedef enum {
26 SCS15_B_1M = 0,
27 SCS15_B_0_5M = 1,
28 SCS15_B_250K = 2,
29 SCS15_B_128K = 3,
30 SCS15_B_115200 = 4,
31 SCS15_B_76800 = 5,
32 SCS15_B_57600 = 6,
33 SCS15_B_38400 = 7
34} scs15_baudrate_t;
35
36typedef enum {
37 SCS15_ID = 5,
38 SCS15_BAUD_RATE = 6,
39 SCS15_RETURN_DELAY_TIME = 7,
40 SCS15_RETURN_LEVEL = 8,
41 SCS15_LIMIT_TEMPERATURE = 13,
42 SCS15_MAX_LIMIT_VOLTAGE = 14,
43 SCS15_MIN_LIMIT_VOLTAGE = 15,
44 SCS15_ALARM_LED = 18,
45 SCS15_ALARM_SHUTDOWN = 19,
46 SCS15_COMPLIANCE_P = 21,
47 SCS15_COMPLIANCE_D = 22,
48 SCS15_COMPLIANCE_I = 23,
49 SCS15_CW_DEAD = 26,
50 SCS15_CCW_DEAD = 27,
51 SCS15_TORQUE_ENABLE = 40,
52 SCS15_LED = 41,
53 SCS15_LOCK = 48,
54 SCS15_PRESENT_VOLTAGE = 62,
55 SCS15_PRESENT_TEMPERATURE = 63,
56 SCS15_REGISTERED_INSTRUCTION = 64,
57 SCS15_ERROR = 65,
58 SCS15_MOVING = 66,
59} scs15_register8_t;
60
61typedef enum {
62 SCS15_MODEL_NUMBER = 0,
63 SCS15_VERSION = 3,
64 SCS15_MIN_ANGLE_LIMIT = 9,
65 SCS15_MAX_ANGLE_LIMIT = 11,
66 SCS15_MAX_TORQUE = 16,
67 SCS15_PUNCH = 24,
68 SCS15_IMAX = 28,
69 SCS15_OFFSET = 30,
70 SCS15_GOAL_POSITION = 42,
71 SCS15_GOAL_TIME = 44,
72 SCS15_GOAL_SPEED = 46,
73 SCS15_PRESENT_POSITION = 56,
74 SCS15_PRESENT_SPEED = 58,
75 SCS15_PRESENT_LOAD = 60,
76 SCS15_VIR_POSITION = 67,
77 SCS15_CURRENT = 69,
78} scs15_register16_t;
79
80typedef enum {
81 INST_PING = 0x01,
82 INST_READ = 0x02,
83 INST_WRITE = 0x03,
84 INST_REG_WRITE = 0x04,
85 INST_ACTION = 0x05,
86 INST_RESET = 0x06,
87 INST_SYNC_WRITE = 0x83,
88} feetech_intruction_t;
89
90#ifdef __cplusplus
91}
92#endif
93