dynamixel_protocol.h

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/*
 * Copyright (C) 2017 Inria
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#ifndef DYNAMIXEL_PROTOCOL_H
#define DYNAMIXEL_PROTOCOL_H
 
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DXL_HEADER ((uint8_t[]){0xFF,0xFF,0xFD})
 
typedef enum {
    XL320_B_9600    = 0, 
    XL320_B_57600   = 1, 
    XL320_B_115200  = 2, 
    XL320_B_1000000 = 3, 
} xl320_baudrate_t;
 
typedef enum {
    XL320_VERSION             =  2, 
    XL320_ID                  =  3, 
    XL320_BAUD_RATE           =  4, 
    XL320_RETURN_DELAY_TIME   =  5, 
    XL320_CONTROL_MODE        = 11, 
    XL320_LIMIT_TEMPERATURE   = 12, 
    XL320_LOWER_LIMIT_VOLTAGE = 13, 
    XL320_UPPER_LIMIT_VOLTAGE = 14, 
    XL320_RETURN_LEVEL        = 17, 
    XL320_ALARM_SHUTDOWN      = 18, 
    XL320_TORQUE_ENABLE       = 24, 
    XL320_LED                 = 25, 
    XL320_D_GAIN              = 27, 
    XL320_I_GAIN              = 28, 
    XL320_P_GAIN              = 29, 
    XL320_PRESENT_VOLTAGE     = 45, 
    XL320_PRESENT_TEMPERATURE = 46, 
    XL320_REGISTERED_INST     = 47, 
    XL320_MOVING              = 49, 
    XL320_ERROR               = 50, 
} xl320_register8_t;
 
typedef enum {
    XL320_MODEL_NUMBER     =  0, 
    XL320_CW_ANGLE_LIMIT   =  6, 
    XL320_CCW_ANGLE_LIMIT  =  8, 
    XL320_MAX_TORQUE       = 15, 
    XL320_GOAL_POSITION    = 30, 
    XL320_GOAL_VELOCITY    = 32, 
    XL320_GOAL_TORQUE      = 35, 
    XL320_PRESENT_POSITION = 37, 
    XL320_PRESENT_SPEED    = 39, 
    XL320_PRESENT_LOAD     = 41, 
    XL320_PUNCH            = 51, 
} xl320_register16_t;
 
typedef enum {
    DXL_INST_PING          = 0x01, 
    DXL_INST_READ          = 0x02, 
    DXL_INST_WRITE         = 0x03, 
    DXL_INST_REG_WRITE     = 0x04, 
    DXL_INST_ACTION        = 0x05, 
    DXL_INST_FACTORY_RESET = 0x06, 
    DXL_INST_REBOOT        = 0x08, 
    DXL_INST_STATUS        = 0x55, 
    DXL_INST_SYNC_READ     = 0x82, 
    DXL_INST_SYNC_WRITE    = 0x83, 
    DXL_INST_BULK_READ     = 0x92, 
    DXL_INST_BULK_WRITE    = 0x93, 
} dynamixel_intruction_t;
 
#ifdef __cplusplus
}
#endif
 
#endif /* DYNAMIXEL_PROTOCOL_H */