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Commit ddbc3078 authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the registre addresses for the walk parameters.

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include/darwin_registers.h
+ 131
− 99
View file @ ddbc3078
#ifndef _DARWIN_REGISTERS_H
#define _DARWIN_REGISTERS_H
#define MANAGER_PERIOD 6
#define MANAGER_NUM_MODULES 128
#define MANAGER_NUM_MASTERS 129
#define MANAGER_CONTROL 130
#define MANAGER_START 0x01
#define MANAGER_STOP 0x02
#define MANAGER_START_SCAN 0x04
#define MANAGER_RUNNING 0x40
#define MANAGER_SCANNING 0x80
#define MANAGER_NUM_DEVICES 131
#define MANAGER_PRESENT_DEVICES 132
#define MMANAGER_PERIOD 17
#define MMANAGER_OFFSETS 18
#define MMANAGER_NUM_MODELS 136
#define MMANAGER_NUM_DEVICES 137
#define MMANAGER_PRESENT_SERVOS 138
#define MMANAGER_ENABLE 142
#define MMANAGER_EVEN_SER_EN 0x80
#define MMANAGER_EVEN_SER_MOD 0x70
#define MMANAGER_ODD_SER_EN 0x08
#define MMANAGER_ODD_SER_MOD 0x07
#define MMANAGER_CURRENT_ANGLE 158
#define ACTION_CONTROL 224
#define ACTION_START 0x01
#define ACTION_STOP 0x02
#define ACTION_STATUS 0x80
#define ACTION_PAGE_ID 225
#define BALANCE_CONTROL_OFFSET 226// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// standing | bwd fall | fwd fall | | | | | enable
#define BALANCE_ENABLE 0x01
#define BALANCE_STANDING 0x80
#define BALANCE_BWD_FALL 0x40
#define BALANCE_FWD_FALL 0x20
#define JOINT_MOTION_GROUP_CONTROL 227// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// running | | | | | | stop | start
#define JOINT_MOTION_START 0x01
#define JOINT_MOTION_STOP 0x02
#define JOINT_MOTION_RUNNING 0x80
#define JOINT_MOTION_GROUP_SERVOS 231
#define JOINT_MOTION_GROUP_ANGLES 247
#define JOINT_MOTION_GROUP_SPEEDS 311
#define JOINT_MOTION_GROUP_ACCELS 343
#define HEAD_TRACKING_CONTROL 375// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | tracking | | | stop tracking | start tracking
#define HEAD_TRACKING_START 0x01
#define HEAD_TRACKING_STOP 0x02
#define HEAD_TRACKING_RUNNING 0x10
#define HEAD_TRACKING_MAX_PAN 376
#define HEAD_TRACKING_MIN_PAN 378
#define HEAD_TRACKING_TARGET_PAN 380
#define HEAD_TRACKING_MAX_TILT 382
#define HEAD_TRACKING_MIN_TILT 384
#define HEAD_TRACKING_TARGET_TILT 386
#define HEAD_TRACKING_PAN_P_GAIN 50
#define HEAD_TRACKING_PAN_I_GAIN 52
#define HEAD_TRACKING_PAN_D_GAIN 54
#define HEAD_TRACKING_PAN_I_CLAMP 56
#define HEAD_TRACKING_TILT_P_GAIN 58
#define HEAD_TRACKING_TILT_I_GAIN 60
#define HEAD_TRACKING_TILT_D_GAIN 62
#define HEAD_TRACKING_TILT_I_CLAMP 64
#define HEAD_TRACKING_PAN_SERVO_ID 66
#define HEAD_TRACKING_TILT_SERVO_ID 68
#define WALK_CONTROL 388// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current phase walking stop walking start walking
#define WALK_START 0x01
#define WALK_STOP 0x02
#define WALK_RUNNING 0x10
#define WALK_CURRENT_PHASE 0xC0
#define WALK_STEP_FW_BW 389
#define WALK_STEP_LEFT_RIGHT 390
#define WALK_STEP_DIRECTION 301
#define IMU_CONTROL_OFFSET 392// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// accel_det | gyro_det | calibrating | running | | start_cal | stop | start
#define IMU_START 0x01
#define IMU_STOP 0x02
#define IMU_START_CAL 0x04
#define IMU_RUNNING 0x10
#define IMU_CALIBRATING 0x20
#define IMU_ACCEL_DET 0x40
#define IMU_GYRO_DET 0x80
#define IMU_CAL_SAMPLES_OFFSET 393
#define IMU_GYRO_X_OFFSET 395
#define IMU_GYRO_Y_OFFSET 397
#define IMU_GYRO_Z_OFFSET 399
#define IMU_ACCEL_X_OFFSET 401
#define IMU_ACCEL_Y_OFFSET 403
#define IMU_ACCEL_Z_OFFSET 405
#define MANAGER_PERIOD 6
#define MANAGER_NUM_MODULES 128
#define MANAGER_NUM_MASTERS 129
#define MANAGER_CONTROL 130
#define MANAGER_START 0x01
#define MANAGER_STOP 0x02
#define MANAGER_START_SCAN 0x04
#define MANAGER_RUNNING 0x40
#define MANAGER_SCANNING 0x80
#define MANAGER_NUM_DEVICES 131
#define MANAGER_PRESENT_DEVICES 132
#define MMANAGER_PERIOD 17
#define MMANAGER_OFFSETS 18
#define MMANAGER_NUM_MODELS 136
#define MMANAGER_NUM_DEVICES 137
#define MMANAGER_PRESENT_SERVOS 138
#define MMANAGER_ENABLE 142
#define MMANAGER_EVEN_SER_EN 0x80
#define MMANAGER_EVEN_SER_MOD 0x70
#define MMANAGER_ODD_SER_EN 0x08
#define MMANAGER_ODD_SER_MOD 0x07
#define MMANAGER_CURRENT_ANGLE 158
#define ACTION_CONTROL 224
#define ACTION_START 0x01
#define ACTION_STOP 0x02
#define ACTION_STATUS 0x80
#define ACTION_PAGE_ID 225
#define BALANCE_CONTROL_OFFSET 226// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// standing | bwd fall | fwd fall | | | | | enable
#define BALANCE_ENABLE 0x01
#define BALANCE_STANDING 0x80
#define BALANCE_BWD_FALL 0x40
#define BALANCE_FWD_FALL 0x20
#define JOINT_MOTION_GROUP_CONTROL 227// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// running | | | | | | stop | start
#define JOINT_MOTION_START 0x01
#define JOINT_MOTION_STOP 0x02
#define JOINT_MOTION_RUNNING 0x80
#define JOINT_MOTION_GROUP_SERVOS 231
#define JOINT_MOTION_GROUP_ANGLES 247
#define JOINT_MOTION_GROUP_SPEEDS 311
#define JOINT_MOTION_GROUP_ACCELS 343
#define HEAD_TRACKING_CONTROL 375// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// | | | tracking | | | stop tracking | start tracking
#define HEAD_TRACKING_START 0x01
#define HEAD_TRACKING_STOP 0x02
#define HEAD_TRACKING_RUNNING 0x10
#define HEAD_TRACKING_MAX_PAN 376
#define HEAD_TRACKING_MIN_PAN 378
#define HEAD_TRACKING_TARGET_PAN 380
#define HEAD_TRACKING_MAX_TILT 382
#define HEAD_TRACKING_MIN_TILT 384
#define HEAD_TRACKING_TARGET_TILT 386
#define HEAD_TRACKING_PAN_P_GAIN 50
#define HEAD_TRACKING_PAN_I_GAIN 52
#define HEAD_TRACKING_PAN_D_GAIN 54
#define HEAD_TRACKING_PAN_I_CLAMP 56
#define HEAD_TRACKING_TILT_P_GAIN 58
#define HEAD_TRACKING_TILT_I_GAIN 60
#define HEAD_TRACKING_TILT_D_GAIN 62
#define HEAD_TRACKING_TILT_I_CLAMP 64
#define HEAD_TRACKING_PAN_SERVO_ID 66
#define HEAD_TRACKING_TILT_SERVO_ID 67
#define WALK_CONTROL 388// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current phase walking stop walking start walking
#define WALK_START 0x01
#define WALK_STOP 0x02
#define WALK_RUNNING 0x10
#define WALK_CURRENT_PHASE 0xC0
#define WALK_STEP_FW_BW 389
#define WALK_STEP_LEFT_RIGHT 390
#define WALK_STEP_DIRECTION 301
#define WALK_X_OFFSET 68
#define WALK_Y_OFFSET 69
#define WALK_Z_OFFSET 70
#define WALK_ROLL_OFFSET 71
#define WALK_PITCH_OFFSET 72
#define WALK_YAW_OFFSET 73
#define WALK_HIP_PITCH_OFFSET 74
#define WALK_PERIOD_TIME 76
#define WALK_DSP_RATIO 78
#define WALK_STEP_FW_BW_RATIO 79
#define WALK_FOOT_HEIGHT 80
#define WALK_SWING_RIGHT_LEFT 81
#define WALK_SWING_TOP_DOWN 82
#define WALK_PELVIS_OFFSET 83
#define WALK_ARM_SWING_GAIN 84
#define WALK_MAX_VEL 85
#define WALK_MAX_ROT_VEL 86
#define WALK_R_HIP_YAW_SERVO_ID 87
#define WALK_R_HIP_ROLL_SERVO_ID 88
#define WALK_R_HIP_PITCH_SERVO_ID 89
#define WALK_R_KNEE_SERVO_ID 90
#define WALK_R_ANKLE_PITCH_SERVO_ID 91
#define WALK_R_ANKLE_ROLL_SERVO_ID 92
#define WALK_R_SHOULDER_PITCH_SERVO_ID 93
#define WALK_L_HIP_YAW_SERVO_ID 94
#define WALK_L_HIP_ROLL_SERVO_ID 95
#define WALK_L_HIP_PITCH_SERVO_ID 96
#define WALK_L_KNEE_SERVO_ID 97
#define WALK_L_ANKLE_PITCH_SERVO_ID 98
#define WALK_L_ANKLE_ROLL_SERVO_ID 99
#define WALK_L_SHOULDER_PITCH_SERVO_ID 100
#define IMU_CONTROL_OFFSET 392// bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// accel_det | gyro_det | calibrating | running | | start_cal | stop | start
#define IMU_START 0x01
#define IMU_STOP 0x02
#define IMU_START_CAL 0x04
#define IMU_RUNNING 0x10
#define IMU_CALIBRATING 0x20
#define IMU_ACCEL_DET 0x40
#define IMU_GYRO_DET 0x80
#define IMU_CAL_SAMPLES_OFFSET 393
#define IMU_GYRO_X_OFFSET 395
#define IMU_GYRO_Y_OFFSET 397
#define IMU_GYRO_Z_OFFSET 399
#define IMU_ACCEL_X_OFFSET 401
#define IMU_ACCEL_Y_OFFSET 403
#define IMU_ACCEL_Z_OFFSET 405
#define BALANCE_KNEE_GAIN_OFFSET 7
#define BALANCE_ANKLE_ROLL_GAIN_OFFSET 9
......
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