diff --git a/include/darwin_registers.h b/include/darwin_registers.h index ea257d4e52ee34d18513120a7d80b84c764f60bf..689d39addadbfd53416ddbd829cf6d92d5573b55 100644 --- a/include/darwin_registers.h +++ b/include/darwin_registers.h @@ -1,105 +1,137 @@ #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