sts_registers.h

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#pragma once
 
#define STS_ID_BROADCAST_SYNC   0xFEU 
#define STS_ID_BROADCAST_ASYNC  0xFFU 
#define STS_INST_PING       0x01 
#define STS_INST_READ       0x02 
#define STS_INST_WRITE      0x03 
#define STS_INST_REGWRITE   0x04 
#define STS_INST_ACTION     0x05 
#define STS_INST_RESET      0x06 
#define STS_INST_SYNCREAD   0x82 
#define STS_INST_SYNCWRITE  0x83 
#define STS_REG_ID              0x05 
#define STS_REG_BAUDRATE        0x06 
#define STS_REG_RETURN_DELAY    0x07 
#define STS_REG_RESPONSE_LEVEL  0x08 
#define STS_REG_MIN_ANGLE_LIMIT 0x09 
#define STS_REG_MAX_ANGLE_LIMIT 0x0B 
#define STS_REG_MAX_TEMP_LIMIT  0x0D 
#define STS_REG_MAX_VOLT_LIMIT  0x0E 
#define STS_REG_MIN_VOLT_LIMIT  0x0F 
#define STS_REG_MAX_TORQUE_LIMIT 0x10 
#define STS_REG_P_GAIN          0x15 
#define STS_REG_D_GAIN          0x16 
#define STS_REG_I_GAIN          0x17 
#define STS_REG_OFF_OFFSET      0x1F 
#define STS_REG_OPERATION_MODE  0x21 
#define STS_REG_TORQUE_ENABLE   0x28 
#define STS_REG_ACCELERATION    0x29 
#define STS_REG_GOAL_POSITION   0x2A 
#define STS_REG_GOAL_TIME       0x2C 
#define STS_REG_GOAL_SPEED      0x2E 
#define STS_REG_LOCK            0x33 
#define STS_REG_PRESENT_POSITION 0x38 
#define STS_REG_PRESENT_SPEED    0x3A 
#define STS_REG_PRESENT_LOAD     0x3C 
#define STS_REG_PRESENT_VOLTAGE  0x3E 
#define STS_REG_PRESENT_TEMP     0x3F 
#define STS_REG_ASYNC_WRITE_FLAG 0x40 
#define STS_REG_STATUS_ERROR     0x41 
#define STS_REG_MOVING_FLAG      0x42 
#define STS_REG_TORQUE_LIMIT    0x30 
 #define STS_STATUS_OK        0x00U 
#define STS_BIT_ERR_VOLTAGE  (1 << 0) 
#define STS_BIT_ERR_TEMP     (1 << 1) 
#define STS_BIT_ERR_OVERHEAT (1 << 2) 
#define STS_BIT_ERR_LOAD     (1 << 3) 
#define STS_TORQUE_DISABLE  0x00U 
#define STS_TORQUE_ENABLE   0x01U 
#define STS_SPEED_DIRECTION_BIT   0x8000U  
#define STS_SPEED_MAGNITUDE_MASK  0x7FFFU  
#define STS_LOAD_DIRECTION_BIT    0x0400U  
#define STS_LOAD_MAGNITUDE_MASK   0x03FF   
typedef enum {
    STS_MODE_POSITION = 0U, 
    STS_MODE_SPEED    = 1U, 
    STS_MODE_PWM      = 2U, 
    STS_MODE_STEP     = 3U  
} sts_operating_mode_t;