3mxlControlTable.h

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#ifndef __3MXLCONTROLTABLE_H_INCLUDED__
#define __3MXLCONTROLTABLE_H_INCLUDED__

/*************************************************************************
Organisation    :       Delft University Of Technology
                                        Biomechanical Engineering
                                        Dutch Biorobotics Lab

Project                 : 3MXL

Author                  : Dries Hulens / Eelko van Breda / Guus Liqui Lung / Daniel Karssen

initial Date    : 09 March 2010
                                  02 December 2010
                                  28 January 2010

current Version : 2.1

Filename :              : 3mxlControlTable.h

Description             : contains constants for the controltable used in the
                                        Dynamixelprotocol

*************************************************************************/

// original Dynamixel command instructions:
#define NO_INSTRUCTION                                                  0x00
#define PING                                                                    0x01
#define READ_DATA                                                               0x02
#define WRITE_DATA                                                              0x03
#define REG_WRITE                                                               0x04
#define ACTION                                                                  0x05
#define RESET                                                                   0x06
#define SYNC_WRITE                                                              0x83

// instructions added by GLL for 3Mxel, not fully implemented yet
#define WRITE_MOTOR_PARAMS                                              0xA0    // motor constant, gearboxratio etc
#define WRITE_JOINT_PARAMS                                              0xA1    // encoder resol, spring etc
#define WRITE_SEA_SETPOINTS                                             0xA2    // PD gains position control mode
#define SET_JOINT_TYPE                                                  0xA3    // left/right hip/knee

// broadcast ID to address multiple 3Mxels
#define BROADCAST_ID                                                    0xFE

// packet types
#define NORMAL_PACKET_TYPE                                              0x00
#define BROADCAST_PACKET_TYPE                                   0x01

#define POSITION_MODE                                                   0       // uses one motor and encoder with position controller
#define SPEED_MODE                                                              1       // uses one motor and encoder with speed controller
#define CURRENT_MODE                                                    2       // uses one motor and encoder with current controller
#define TORQUE_MODE                                                             3       // uses one motor and encoder with torque controller
#define SEA_MODE                                                                4       // uses one motor and two encoders with SEA controller
#define PWM_MODE                                                                5       // uses one motor and encoder with PWM controller, no PID, just PWM !!

#define INDEX_INIT                                                              6       // reset counter on index pulse, turn motor with given torque in M3XL_DESIRED_TORQUE_L
#define EXTERNAL_INIT                                                   7       // reset counter on external io pulse, turn motor with given torque in M3XL_DESIRED_TORQUE_L
#define ZERO_SPEED_INIT                                                 8       // reset counter when jointspeed reaches zero (endstop), turn motor with given torque in
                                                                                                        //      M3XL_DESIRED_TORQUE_L
#define SEA_INIT                                                                9       // reset counter of joint on index pulse and reset counter of motor on the next motor pulse.
                                                                                                        //      Turn motor with given torque in M3XL_DESIRED_TORQUE_L
#define MANUAL_INIT                                                             10      // reset counter of joint on index pulse and reset counter of motor on the next motor pulse.
                                                                                                        //      manually rotate motor/joint
#define TIME_OUT_INIT                                                   11      // reset counter of joint after a timeou value. Turn motor with given torque in M3XL_DESIRED_TORQUE_L
#define STOP_MODE                                                               12      // do nothing, no actuated motors
#define HOME_SWITCH_AND_INDEX_INIT                              13      // move to external home switch and reset counter on index in SPEED_MODE
#define CURRENT_POS_AND_SPEED_MODE                              14      // uses current control based on position and motor torque
#define START_UP_MODE                                                   15
#define SINUSOIDAL_POSITION_MODE                                16
#define TEST_MODE                                                               17      // for general testing

#define NR_OF_CONTROL_MODES                                             TORQUE_MODE+1

// Standard Dynamixel status errorcode bits
// They are reurned as standard dynamixel ERRR_CODE in a status packet
// and are now stored at  M3XL_DONE  = 0xA5
#define M3XL_NO_ERROR                                                   0b00000000
#define M3XL_INSTRUCTION_ERROR                                  0b01000000
#define M3XL_OVERLOAD_ERROR                                             0b00100000
#define M3XL_CHECKSUM_ERROR                                             0b00010000
#define M3XL_RANGE_ERROR                                                0b00001000
#define M3XL_OVERHEATING_ERROR                                  0b00000100
#define M3XL_ANGLE_LIMIT_ERROR                                  0b00000010
#define M3XL_INPUT_VOLTAGE_ERROR                                0b00000001

#define M3XL_STATUS_EEPROM_ERROR                                0x80
#define M3XL_STATUS_NOT_INITIALIZED                             0x81
#define M3XL_STATUS_EM_STOP_ERROR                               0x82
#define M3XL_STATUS_INIT_TIME_OUT_ERROR                 0x83
#define M3XL_STATUS_MAX_POS_ERROR                               0x84
#define M3XL_STATUS_MAX_TORQUE_ERROR                    0x85
#define M3XL_STATUS_MAX_CURRENT_ERROR                   0x86
#define M3XL_STATUS_MOTOR_STUCK_ERROR                   0x87
#define M3XL_STATUS_JOINT_STUCK_ERROR                   0x88
#define M3XL_STATUS_PROTOCOL_TIME_OUT_ERROR             0x89

#define M3XL_STATUS_MOVING                                              0X90
#define M3XL_STATUS_MOVE_DONE                                   0X91
#define M3XL_STATUS_INITIALIZE_BUSY                             0X92
#define M3XL_STATUS_INIT_DONE                                   0x93
#define M3XL_STATUS_POS_MODE_EXECUTING                  0x94
#define M3XL_STATUS_POS_MODE_DONE                               0x95
#define M3XL_STATUS_SPEED_MODE_EXECUTING                0x96
#define M3XL_STATUS_SPEED_MODE_DONE                             0x97
#define M3XL_STATUS_TORQUE_MODE_EXECUTING               0x98
#define M3XL_STATUS_TORQUE_MODE_DONE                    0x99
#define M3XL_STATUS_CURRENT_MODE_EXECUTING              0x9A
#define M3XL_STATUS_CURRENT_MODE_DONE                   0x9B
#define M3XL_STATUS_SEA_MODE_EXECUTING                  0x9C
#define M3XL_STATUS_SEA_MODE_DONE                               0x9D
#define M3XL_STATUS_PWM_MODE_EXECUTING                  0x9E
#define M3XL_STATUS_PWM_MODE_DONE                               0x9F
#define M3XL_STATUS_SINUSOIDAL_POS_MODE_EXECUTING     0xA0
#define M3XL_STATUS_SINUSOIDAL_POS_MODE_DONE          0xA1
#define M3XL_STATUS_IDLE_STATE                                  0xA0

// used for signaling when action is in progress
#define M3XL_ACTION_BUSY                                                0x00
#define M3XL_ACTION_DONE                                                0xFF

// default IDs for address M3XL_ID
#define DEFAULT_3MXL_ID_1                                               0x64
#define DEFAULT_3MXL_ID_2                                               0x65

// status return level Control table address M3XL_STATUS_RETURN_LEVEL
#define M3XL_STATUS_RETURN_NONE                                 0x00
#define M3XL_STATUS_RETURN_READ_DATA                    0x01
#define M3XL_STATUS_RETURN_ALL                                  0x02    //Same as dynamixel

// 3Mxel joints types for address M3XL_JOINT_TYPE_H
#define JOINT_TYPE_WHEEL                                                0x01
#define JOINT_TYPE_ARM                                                  0x02
#define JOINT_TYPE_GRIPPER                                              0x03
#define JOINT_TYPE_DIRECTDRIVE                                  0x04
#define JOINT_TYPE_SEA                                                  0x05
#define JOINT_TYPE_LINEAR                                               0x06
#define JOINT_TYPE_PASSIVE                                              0x07
#define JOINT_TYPE_UNKNOWN                                              0x0A

// maximum allowable motorcurrent, determined by H-bridge
#ifdef M3XL_MINI
        #define M3XL_MAX_MOTOR_CURRENT                                  2.8
#else
        #define M3XL_MAX_MOTOR_CURRENT                                  40.0
#endif

#define M_PI                                                                    3.14159265358979323846

//***************************************************************************
// HERE ARE THE ADRESSES OF THE ELEMENTS IN THE TABLE
//***************************************************************************

#define M3XL_JOINT_TYPE_L                                               0x00
#define M3XL_JOINT_TYPE_H                                               0x01 // The high byte of M3XL_JOINT_TYPE is now used to store the actual jointtype
#define M3XL_VERSION_FIRMWARE                                   0x02
#define M3XL_ID                                                                 0x03
#define M3XL_STATUS_RETURN_LEVEL                                0x10    //Same as dynamixel

//#define BAUD_RATE_L                                                   0x04
//#define RETURN_DELAY_TIME                                             0x05
//#define CW_ANGLE_LIMIT_L                                              0x06
//#define CW_ANGLE_LIMIT_H                                              0x07
//#define CCW_ANGLE_LIMIT_L                                             0x08
//#define CCW_ANGLE_LIMIT_H                                             0x09
//
//#define LIMIT_TEMP_HIGH                                               0x0B
//#define LIMIT_VOLTAGE_LOW                                             0x0C
//#define LIMIT_VOLTAGE_HIGH                                    0x0D
//#define MAX_TORQUE_L                                                  0x0E
//#define MAX_TORQUE_H                                                  0x0F
//#define STATUS_RETURN_LEVEL                                   0x10
//#define ALARM_LED                                                             0x11
//#define ALARM_SHUTDOWN                                                0x12
//
//#define TORQUE_ENABLE                                                 0x18
//#define LED                                                                   0x19
//#define CW_COMPILANCE_MARGIN                                  0x1A
//#define CCW_COMPILANCE_MARGIN                                 0x1B
//#define CW_COMPILANCE_SLOPE                                   0x1C
//#define CCW_COMPILANCE_SLOPE                                  0x1D
//#define GOAL_POSITION_L                                               0x1E
//#define GOAL_POSITION_H                                               0x1F
//#define MOVING_SPEED_L                                                0x20
//#define MOVING_SPEED_H                                                0x21
//#define TORQUE_LIMIT_L                                                0x22
//#define TORQUE_LIMIT_H                                                0x23
//#define PRESENT_POSITION_L                                    0x24
//#define PRESENT_POSITION_H                                    0x25
//#define PRESENT_SPEED_L                                               0x26
//#define PRESENT_SPEED_H                                               0x27
//#define PRESENT_LOAD_L                                                0x28
//#define PRESENT_LOAD_H                                                0x29
//#define PRESENT_VOLTAGE                                               0x2A
//#define PRESENT_TEMP                                                  0x2B
//#define REGISTERED_INSTRUCTION                                0x2C
//
//#define MOVING                                                                0x2E
//#define MXL_LOCK                                                              0x2F
//#define PUNCH_L                                                               0x30
//#define PUNCH_H                                                               0x31

#define M3XL_BAUD_RATE_L                                                0x32    //Baudrate in baud
#define M3XL_BAUD_RATE_M                                                0x33
#define M3XL_BAUD_RATE_H                                                0x34
#define M3XL_RETURN_DELAY_TIME                                  0x35    //In dynamixel dimension
#define M3XL_CONTROL_MODE                                               0x36    //Describes behaviour of the 3mxl

//watchdog resets on arrival of new personal packet or broadcast (Not yet implemented!)
#define M3XL_WATCHDOG_MODE                                              0x37    //what to do of watchdog triggers
#define M3XL_WATCHDOG_TIME_MS                                   0x38    //time setting for watchdog = ms x multiplier
#define M3XL_WATCHDOG_TIMER_MUL                                 0x39

//--- <Direct drive and SEA mode parameters>
#define M3XL_MOTOR_CONSTANT_L                                   0x3A    //dimension 10^-4*Nm/A
#define M3XL_MOTOR_CONSTANT_H                                   0x3B
#define M3XL_MAX_CONTINUOUS_MOTOR_CURRENT_L             0x3C    // MAX continuous Current in 10mA
#define M3XL_MAX_CONTINUOUS_MOTOR_CURRENT_H             0x3D
#define M3XL_MAX_MOTOR_PEAK_CURRENT_L                   0x3E    // stall Current in 10mA
#define M3XL_MAX_MOTOR_PEAK_CURRENT_H                   0x3F
#define M3XL_MOTOR_WINDING_TIME_CONSTANT_L              0x40    // motorwinding temperature time constant in 0.01 sec
#define M3XL_MOTOR_WINDING_TIME_CONSTANT_H              0x41
#define M3XL_GEARBOX_RATIO_MOTOR_L                              0x42    // ratio between motor and joint (turns of motor rev for one joint revolution), times 10
#define M3XL_GEARBOX_RATIO_MOTOR_H                              0x43
#define M3XL_ENCODER_COUNT_MOTOR_L                              0x44    // encoder counts quadrature
#define M3XL_ENCODER_COUNT_MOTOR_H                              0x45
#define M3XL_OFFSET_MOTOR_L                                             0X46    // zero position of the motor in mRad
#define M3XL_OFFSET_MOTOR_H                                             0X47
#define M3XL_MOTOR_ENC_DIRECTION                                0x48    // clockwise is positive {0,1}
#define M3XL_MOTOR_ENC_INDEX_LEVEL                              0x49    // index at LOW AB or HIGH AB pulses
#define M3XL_CW_MOTOR_ANGLE_LIMIT_L                             0x4A    // RW Position in 1 mRad
#define M3XL_CW_MOTOR_ANGLE_LIMIT_H                             0x4B
#define M3XL_CCW_MOTOR_ANGLE_LIMIT_L                    0x4C    // RW Position in 1 mRad
#define M3XL_CCW_MOTOR_ANGLE_LIMIT_H                    0x4D
//--- </Direct drive and SEA mode>

//--- <Series Elastic Mode parameters> (normally not used in direct drive mode)
#define M3XL_GEARBOX_RATIO_JOINT_L                              0x4E    // ratio between encoder and joint (turns of encoder rev for one joint revolution), times 10
#define M3XL_GEARBOX_RATIO_JOINT_H                              0x4F
#define M3XL_ENCODER_COUNT_JOINT_L                              0x50    // encoder counts quadrature
#define M3XL_ENCODER_COUNT_JOINT_H                              0x51
#define M3XL_OFFSET_JOINT_L                                             0x52    // zero position of the joint in mRad
#define M3XL_OFFSET_JOINT_H                                             0x53
#define M3XL_MAX_JOINT_TORQUE_L                                 0x54    // RW Torque in 0,001 Nm (mNm)
#define M3XL_MAX_JOINT_TORQUE_H                                 0x55
#define M3XL_CW_JOINT_ANGLE_LIMIT_L                             0x56    // RW Position in 1 mRad
#define M3XL_CW_JOINT_ANGLE_LIMIT_H                             0x57
#define M3XL_CCW_JOINT_ANGLE_LIMIT_L                    0x58    // RW Position in 1 mRad
#define M3XL_CCW_JOINT_ANGLE_LIMIT_H                    0x59
#define M3XL_ZERO_LENGTH_SPRING_L                               0x5A    // TODO:dimension?
#define M3XL_ZERO_LENGTH_SPRING_H                               0x5B
#define M3XL_SPRING_STIFFNESS_L                                 0x5C    // cNm/rad
#define M3XL_SPRING_STIFFNESS_H                                 0x5D
#define M3XL_JOINT_ENC_DIRECTION                                0x5E    // clockwiseispositive {0,1}
#define M3XL_JOINT_ENC_INDEX_LEVEL                              0x5F    // index at LOW AB or HIGH AB pulses
//--- </Series Elastic Mode>

//--- <Status information>
#define M3XL_VOLTAGE_L                                                  0x60    // RO Voltage in 10mV
#define M3XL_VOLTAGE_H                                                  0x61
#define M3XL_CURRENT_L                                                  0x62    // RO Current in 10mA
#define M3XL_CURRENT_H                                                  0x63
#define M3XL_TORQUE_L                                                   0x64    // RO Torque in 0,001 Nm (mNm)
#define M3XL_TORQUE_H                                                   0x65
#define M3XL_ANGLE_L                                                    0x66    // RO Angle in 1 mRad
#define M3XL_ANGLE_H                                                    0x67
#define M3XL_ANGULAR_RATE_L                     0x68    // RO Angular Speed in 10mRad/s (cRad)/s
#define M3XL_ANGULAR_RATE_H                     0x69
#define M3XL_POSITION_32_1                                              0x6A     // 32 bits actual position in mm
#define M3XL_POSITION_32_2                                              0x6B
#define M3XL_POSITION_32_3                                              0x6C
#define M3XL_POSITION_32_4                                              0x6D
#define M3XL_SPEED_L                                                    0x6E    // speed in 0.1 mm/s
#define M3XL_SPEED_H                                                    0x6F
#define M3XL_LINEAR_SPEED_L                                             M3XL_SPEED_L    // speed in mm/s
#define M3XL_LINEAR_SPEED_H                                             M3XL_SPEED_H
//--- </Status information>

//--- <Setpoints for PID>
// the next 3 parameters MotorCurrent, Pgain and Dgain can be sent in one syncwrite packet
#define M3XL_DESIRED_CURRENT_L                                  0x70    // RW Current in 10mA
#define M3XL_DESIRED_CURRENT_H                                  0x71

// the next 5 parameters can be sent in one syncwrite packet
#define M3XL_P_CURRENT_L                                                0x72    // when start writing at this address
#define M3XL_P_CURRENT_H                                                0x73    // all PID CURRENT_MODE params should be sent, 10 bytes
#define M3XL_D_CURRENT_L                                                0x74
#define M3XL_D_CURRENT_H                                                0x75
#define M3XL_I_CURRENT_L                                                0x76
#define M3XL_I_CURRENT_H                                                0x77
#define M3XL_IL_CURRENT_L                                               0x78
#define M3XL_IL_CURRENT_H                                               0x79
#define M3XL_PID_CURRENT_SCALE_L                                0x7A
#define M3XL_PID_CURRENT_SCALE_H                                0x7B

#define M3XL_DESIRED_POSITION_32_1                              0x7C   // RW 32 bits position in mm
#define M3XL_DESIRED_POSITION_32_2                              0x7D
#define M3XL_DESIRED_POSITION_32_3                              0x7E
#define M3XL_DESIRED_POSITION_32_4                              0x7F

#define M3XL_DESIRED_ACCEL_L                                    0x80    // RW Speed in 10mRad/s (cRad)/s
#define M3XL_DESIRED_ACCEL_H                                    0x81
#define M3XL_DESIRED_ANGULAR_ACCEL_L                    M3XL_DESIRED_ACCEL_L   // RW Speed in 10mRad/s (cRad)/s
#define M3XL_DESIRED_ANGULAR_ACCEL_H                    M3XL_DESIRED_ACCEL_H

// the next 5 parameters Angle, Speed, Torque, Pgain and Dgain can be sent in one syncwrite packet
#define M3XL_DESIRED_ANGLE_L                                    0x82    // RW Position in 1 mRad
#define M3XL_DESIRED_ANGLE_H                                    0x83

// entry names changed, old ones kept for compatibility
#define M3XL_DESIRED_SPEED_L                                    0x84    // RW Speed in 10mRad/s (cRad)/s
#define M3XL_DESIRED_SPEED_H                                    0x85
#define M3XL_DESIRED_ANGULAR_RATE_L                             M3XL_DESIRED_SPEED_L   // RW Speed in 10mRad/s (cRad)/s
#define M3XL_DESIRED_ANGULAR_RATE_H                             M3XL_DESIRED_SPEED_H

#define M3XL_DESIRED_TORQUE_L                                   0x86    // RW Torque in 0,001 Nm (mNm)
#define M3XL_DESIRED_TORQUE_H                                   0x87

// the next 5 PID parameters can be sent in one syncwrite packet
#define M3XL_P_POSITION_L                                               0x88    // when start writing at this address
#define M3XL_P_POSITION_H                                               0x89    // all PID POSITION_MODE params should be sent, 10 bytes
#define M3XL_D_POSITION_L                                               0x8A
#define M3XL_D_POSITION_H                                               0x8B
#define M3XL_I_POSITION_L                                               0x8C
#define M3XL_I_POSITION_H                                               0x8D
#define M3XL_IL_POSITION_L                                              0x8E
#define M3XL_IL_POSITION_H                                              0x8F
#define M3XL_PID_POSITION_SCALE_L                               0x90
#define M3XL_PID_POSITION_SCALE_H                               0x91

// the next 5 PID parameters can be sent in one syncwrite packet
#define M3XL_P_SPEED_L                                                  0x92    // when start writing at this address
#define M3XL_P_SPEED_H                                                  0x93    // all PID SPEED_MODE params should be sent, 10 bytes
#define M3XL_D_SPEED_L                                                  0x94
#define M3XL_D_SPEED_H                                                  0x95
#define M3XL_I_SPEED_L                                                  0x96
#define M3XL_I_SPEED_H                                                  0x97
#define M3XL_IL_SPEED_L                                                 0x98
#define M3XL_IL_SPEED_H                                                 0x99
#define M3XL_PID_SPEED_SCALE_L                                  0x9A
#define M3XL_PID_SPEED_SCALE_H                                  0x9B

// the next 5 PID parameters can be sent in one syncwrite packet
#define M3XL_P_TORQUE_L                                                 0x9C    // when start writing at this address
#define M3XL_P_TORQUE_H                                                 0x9D    // all PID TORQUE_MODE params should be sent, 10 bytes
#define M3XL_D_TORQUE_L                                                 0x9E
#define M3XL_D_TORQUE_H                                                 0x9F
#define M3XL_I_TORQUE_L                                                 0xA0
#define M3XL_I_TORQUE_H                                                 0xA1
#define M3XL_IL_TORQUE_L                                                0xA2
#define M3XL_IL_TORQUE_H                                                0xA3
#define M3XL_PID_TORQUE_SCALE_L                                 0xA4
#define M3XL_PID_TORQUE_SCALE_H                                 0xA5

#define M3XL_DESIRED_PWM_L                                              0xA6
#define M3XL_DESIRED_PWM_H                                              0xA7
//--- </Setpoints for PID>

#define M3XL_STATUS                             0xA8
#define M3XL_INITIALIZED                        0xA9

#define M3XL_STOP_PROTOCOL_HANDLER              0xAA    // quit protocolmode and switch to terminal mode

// added for linear type of joints
#define M3XL_DESIRED_LINEAR_SPEED_L                             0xAB    // speed in mm/s
#define M3XL_DESIRED_LINEAR_SPEED_H                             0xAC    
#define M3XL_DESIRED_LINEAR_ACCEL_L                             0xAD    // accel in mm/s2
#define M3XL_DESIRED_LINEAR_ACCEL_H                             0xAE
#define M3XL_MAX_JERK_L                         0xAF    // jerk in mm/s3
#define M3XL_MAX_JERK_H                         0xB0

#define LAST_MESSAGE_ADDRESS                    0xB1    // local buffering for action after regwrite
#define LAST_MESSAGE_LENGTH                     0xB2

#define M3XL_WHEEL_DIAMETER_L                   0xB3    // wheeldiameter in mm
#define M3XL_WHEEL_DIAMETER_H                   0xB4

// next entries are for Underwater robot
#define M3XL_SINUSOIDAL_FREQUENCY_L                             0xB5    // in 10mHz
#define M3XL_SINUSOIDAL_FREQUENCY_H                             0xB6    
#define M3XL_SINUSOIDAL_AMPLITUDE_L             0xB7    // in mRad
#define M3XL_SINUSOIDAL_AMPLITUDE_H             0xB8
#define M3XL_SINUSOIDAL_PHASE_ANGLE_L                   0xB9    // in mRad
#define M3XL_SINUSOIDAL_PHASE_ANGLE_H                   0xBA

// next entries are used to verify the index position of the motor
#define M3XL_ACQUIRE_INDEX_POSITION             0xBA
#define M3XL_INDEX_POSITION_32_1                                0xBB   // RW 32 bits index position in mm
#define M3XL_INDEX_POSITION_32_2                                0xBC
#define M3XL_INDEX_POSITION_32_3                                0xBD
#define M3XL_INDEX_POSITION_32_4                                0xBE

#define M3XL_LOG_ARRAY_SIZE                                             500             // also declared as LOG_ARRAY_SIZE in SystemDefs.h
#define M3XL_NR_OF_BYTES_PER_SAMPLE                             22              // the amount of bytes in one sample
#define M3XL_NR_OF_SAMPLES_PER_BLOCK                    5               // the amount of samples in a block
#define M3XL_NR_OF_BLOCKS                                               (M3XL_LOG_ARRAY_SIZE / M3XL_NR_OF_SAMPLES_PER_BLOCK)            // the amount of blocks in a log
#define M3XL_NR_OF_BYTES_PER_BLOCK                              (M3XL_NR_OF_SAMPLES_PER_BLOCK * M3XL_NR_OF_BYTES_PER_SAMPLE)

#define M3XL_ENABLE_DATA_LOGGER                                 0xBF    // setting this to 1 enables the datalogger for that motor.
#define M3XL_LOG_DATA_INTERVAL                                  0xC0    // loginterval in ms                                                                                            
                                                                                                                // the entry other motor will be set to 0!
#define M3XL_DATA_LOGGER                                                0xC1    // reading from this location starts reporting data by datalogger
                                                                                                                // which data is logged depends on the control mode
                                                                                                                // data is split in blocks of 5 readings of 20 bytes
                                                                                                                //struct dataLoggerOutputType
                                                                                                                //{
                                                                                                                //      unsigned int sampleTime;        // 16 bits, 2 bytes
                                                                                                                //      float PWMDutyCycle;                     // 32 bits, 4 bytes
                                                                                                                //      float motorCurrent;                     // 32 bits, 4 bytes
                                                                                                                //      float vBus;                                     // 32 bits, 4 bytes
                                                                                                                //      float desiredValue;                     // 32 bits, 4 bytes
                                                                                                                //      float actualValue;                      // 32 bits, 4 bytes
                                                                                                                //};
                                                                                                                // The value written to M3XL_DATA_LOGGER specifies the block number
                                                                                                                // e.g. : 1   : read block 1 samples 1-5
                                                                                                                // e.g. : 2   : read block 2 samples 6-10
                                                                                                                // e.g. : 100 : read block 100 samples 496-500
#define M3XL_BUS_VOLTAGE_L                                              0xC2    // RO Bus Voltage in 10mV
#define M3XL_BUS_VOLTAGE_H                                              0xC3
#define M3XL_MOTOR_CURRENT_L                                            0xC4    // Motorcurrent in cA
#define M3XL_MOTOR_CURRENT_H                                            0xC5
#define M3XL_ANA1_VOLTAGE_L                                             0xC6    // RO Analog Voltage in 10mV
#define M3XL_ANA1_VOLTAGE_H                                             0xC7
#define M3XL_ANA2_VOLTAGE_L                                             0xC8    // RO Analog Voltage in 10mV
#define M3XL_ANA2_VOLTAGE_H                                             0xC9
#define M3XL_ANA3_VOLTAGE_L                                             0xCA    // RO Analog Voltage in 10mV
#define M3XL_ANA3_VOLTAGE_H                                             0xCB
#define M3XL_ANA4_VOLTAGE_L                                             0xCC    // RO Analog Voltage in 10mV
#define M3XL_ANA4_VOLTAGE_H                                             0xCD

// old
// #define M3XL_SYNC_READ_INDEX                    0xCA

// new on 10-12-2013
#define M3XL_SYNC_READ_INDEX                                            0xD0

// *** ALTERNATIVE CONTROL TABLE IDS FOR Michiel's V4 ***
// the next 5 parameters can be sent in one syncwrite packet
#define M3XL_P_ENERGY_L                                                 0xC4    // when start writing at this address
#define M3XL_P_ENERGY_H                                                 0xC5    // all PID ENERGY_MODE params should be sent, 10 bytes
#define M3XL_D_ENERGY_L                                                 0xC6
#define M3XL_D_ENERGY_H                                                 0xC7
#define M3XL_I_ENERGY_L                                                 0xC8
#define M3XL_I_ENERGY_H                                                 0xC9
#define M3XL_IL_ENERGY_L                                                0xCA
#define M3XL_IL_ENERGY_H                                                0xCB
#define M3XL_PID_ENERGY_SCALE_L                                         0xCC
#define M3XL_PID_ENERGY_SCALE_H                                         0xCD

#define M3XL_REFERENCE_ENERGY_L                                         0xCE    // RW Energy in mJ
#define M3XL_REFERENCE_ENERGY_H                                         0xCF
// *** END ALTERNATIVE CONTROL TABLE IDS FOR Michiel's V4 ***

//***************************************************************************
// END OF TABLE
//***************************************************************************

#endif //__3MXLCONTROLTABLE_H_INCLUDED__