ned3pro_stepper_reg.hpp

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/*
ned3pro_stepper_reg.hpp
Copyright (C) 2024 Niryo
All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http:// www.gnu.org/licenses/>.
*/
 
#ifndef NED3PRO_STEPPER_REG_HPP
#define NED3PRO_STEPPER_REG_HPP
 
#include <memory>
#include "common/model/hardware_type_enum.hpp"
#include "common/model/i_model_number_validator.hpp"
 
namespace ttl_driver
{
struct Ned3ProStepperReg
{
  static constexpr common::model::EHardwareType motor_type = common::model::EHardwareType::STEPPER;
 
  static constexpr float PROTOCOL_VERSION = 2.0;
 
  static constexpr int MODEL_NUMBER = 2100;           // Primary/standard model number (joints)
  static constexpr int MODEL_NUMBER_CONVEYOR = 2104;  // Conveyor variant (different gear ratio)
 
  static constexpr int VOLTAGE_CONVERSION = 1000;
 
  static std::unique_ptr<common::model::IModelNumberValidator> createModelNumberValidator()
  {
    return std::make_unique<common::model::SetModelNumberValidator>(
        std::initializer_list<uint16_t>{ MODEL_NUMBER, MODEL_NUMBER_CONVEYOR });
  }
 
  // EEPROM
 
  static constexpr uint16_t ADDR_MODEL_NUMBER = 0;
  using TYPE_MODEL_NUMBER = uint16_t;
 
  static constexpr uint16_t ADDR_ID = 7;
  using TYPE_ID = uint8_t;
 
  static constexpr uint16_t ADDR_BAUDRATE = 8;
  using TYPE_BAUDRATE = uint8_t;
 
  static constexpr uint16_t ADDR_OPERATING_MODE = 11;
  using TYPE_OPERATING_MODE = uint8_t;
 
  static constexpr uint16_t ADDR_FIRMWARE_VERSION = 59;
  using TYPE_FIRMWARE_VERSION = uint32_t;
 
  // RAM
 
  static constexpr uint16_t ADDR_TORQUE_ENABLE = 64;
  using TYPE_TORQUE_ENABLE = uint8_t;
 
  static constexpr uint16_t ADDR_HW_ERROR_STATUS = 70;
  using TYPE_HW_ERROR_STATUS = uint8_t;
 
  static constexpr float VELOCITY_UNIT = 0.001;
  static constexpr uint16_t ADDR_GOAL_VELOCITY = 104;
  using TYPE_GOAL_VELOCITY = uint32_t;
 
  // unit = 214.577 RPM2
  static constexpr uint16_t ADDR_PROFILE_ACCELERATION = 108;
  using TYPE_PROFILE_ACCELERATION = uint32_t;
 
  // unit = 0.001 RPM
  static constexpr uint16_t ADDR_PROFILE_VELOCITY = 112;
  using TYPE_PROFILE_VELOCITY = uint32_t;
 
  // unit = 0.001 deg
  static constexpr uint16_t ADDR_GOAL_POSITION = 116;
  using TYPE_GOAL_POSITION = uint32_t;
 
  // not used
  static constexpr uint16_t ADDR_MOVING_STATUS = 123;
  using TYPE_MOVING_STATUS = uint8_t;
 
  // unit = 0.001 RPM
  static constexpr uint16_t ADDR_PRESENT_VELOCITY = 128;
  using TYPE_PRESENT_VELOCITY = uint32_t;
 
  // unit = 0.001 deg
  static constexpr uint16_t ADDR_PRESENT_POSITION = 132;
  using TYPE_PRESENT_POSITION = uint32_t;
 
  // unit = 1mV
  static constexpr uint16_t ADDR_PRESENT_VOLTAGE = 144;
  using TYPE_PRESENT_VOLTAGE = uint16_t;
 
  static constexpr uint16_t ADDR_PRESENT_TEMPERATURE = 146;
  using TYPE_PRESENT_TEMPERATURE = uint8_t;
 
  static constexpr uint16_t ADDR_CONTROL = 1536;
  using TYPE_CONTROL = uint32_t;
 
  static constexpr uint16_t ADDR_STATUS = 1540;
  using TYPE_STATUS = uint32_t;
 
  static constexpr uint16_t ADDR_ENC_ANGLE = 1544;
  using TYPE_ENC_ANGLE = uint32_t;
 
  // Firmware status
 
  static constexpr uint16_t ADDR_FIRMWARE_RUNNING = 8192;
  using TYPE_FIRMWARE_RUNNING = uint8_t;
 
  static constexpr uint16_t ADDR_ENTER_BOOTLOADER = 8193;
  using TYPE_ENTER_BOOTLOADER = uint32_t;
 
  static constexpr uint16_t ADDR_OTA_BEGIN = 8197;
  using TYPE_OTA_BEGIN = uint8_t;
 
  static constexpr uint16_t ADDR_OTA_WRITE = 8198;
  using TYPE_OTA_WRITE = uint8_t[520];
 
  static constexpr uint16_t ADDR_OTA_END = 8718;
  using TYPE_OTA_END = uint32_t;
 
  static constexpr uint16_t ADDR_OTA_ERASE = 8722;
  using TYPE_OTA_ERASE = uint32_t;
};
}  // namespace ttl_driver
 
#endif  // NED3PRO_STEPPER_REG_HPP