/*      $NetBSD: scmdreg.h,v 1.3 2023/04/05 21:53:56 andvar Exp $       */

/*
* Copyright (c) 2021 Brad Spencer <[email protected]>
*
* Permission to use, copy, modify, and distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/

#ifndef _DEV_SCMDREG_H_
#define _DEV_SCMDREG_H_

/* The device can occupy a large number of I2C addresses */

#define SCMD_LOW_I2C_ADDR       0x58
#define SCMD_HIGH_I2C_ADDR      0x61

/* The register address space for each module */

/* Some config and info registers */
#define SCMD_REG_FID                    0x00 /* Firmware version */
#define SCMD_REG_ID                     0x01 /* ID..  always 0xA9 */
#define SCMD_EXPECTED_ID                0xA9 /* What is always expected from the ID register */
#define SCMD_REG_SLAVE_ADDR             0x02 /* If a slave module, the I2C address */
#define SCMD_REG_CONFIG_BITS            0x03 /* Bit pattern of the jumpters on the board */
/* Diagnostics and debug registers */
#define SCMD_REG_U_I2C_RD_ERR           0x04 /* RD_ERR bits on USER port */
#define SCMD_REG_U_I2C_WR_ERR           0x05 /* WR_ERR bits on USER port */
#define SCMD_REG_U_BUF_DUMPED           0x06 /* Count of dumped buffers */
#define SCMD_REG_E_I2C_RD_ERR           0x07 /* Slave I2C read errors */
#define SCMD_REG_E_I2C_WR_ERR           0x08 /* Slave I2C write errors */
#define SCMD_REG_LOOP_TIME              0x09 /* Reports time in 100us of main loop */
#define SCMD_REG_SLV_POLL_CNT           0x0A /* Polls looking for slave modules */
#define SCMD_REG_SLV_TOP_ADDR           0x0B /* Highest slave I2C address */
#define SCMD_REG_MST_E_ERR              0x0C /* Number of expansion port I2C errors seen
                                             * by the master module
                                             */
#define SCMD_REG_MST_E_STATUS           0x0D /* Status of master controller board, expansion
                                             * port I2C (write status)
                                             */
#define SCMD_REG_FSAFE_FAULTS           0x0E /* Number of failsafe conditions seen */
#define SCMD_REG_REG_OOR_CNT            0x0F /* Register access attempts outside of range */
#define SCMD_REG_REG_RO_WRITE_CNT       0x10 /* Write lock write attempts */
#define SCMD_REG_GEN_TEST_WORD          0x11 /* Write causes data to be applied to
                                             * REM_DATA_RD.
                                             * 0x01: Read config bit pins
                                             */
/* Local configuration registers */
#define SCMD_REG_MOTOR_A_INVERT         0x12 /* Invert direction of motor A on local module,
                                             * or both if in bridged mode
                                             */
#define SCMD_REG_MOTOR_B_INVERT         0x13 /* Invert direction of motor B on local module */
#define SCMD_REG_BRIDGE                 0x14 /* Bridge motor A and B on local module */
#define SCMD_REG_LOCAL_MASTER_LOCK      0x15 /* Unlocked when set to 0x9B.  Allows writes to
                                             * nearly any and every register.
                                             */
#define SCMD_REG_LOCAL_USER_LOCK        0x16 /* Unlocked when set to 0x5C.  Allows writes to
                                             * registers that are marked as user lockable
                                             */
#define SCMD_REG_MST_E_IN_FN            0x17 /* Set action when master module config-in pin
                                             * goes high.
                                             * B1-0: Restarts
                                             * 0x00 - do nothing
                                             * 0x01 - reboot module
                                             * 0x02 - re-enumerate
                                             * B2: User port behavior
                                             * 0x00 - do nothing
                                             * 0x01 - reinitialize user port
                                             * B3: Expansion port behavior
                                             * 0x00 - do nothing
                                             * 0x01 - reinitialize expansion port
                                             */
#define SCMD_REG_U_PORT_CLKDIV_U        0x18 /* Clock divisor for the user port */
#define SCMD_REG_U_PORT_CLKDIV_L        0x19 /* See data sheet for more details */
#define SCMD_REG_U_PORT_CLKDIV_CTRL     0x1A /* See data sheet for more details */
#define SCMD_REG_E_PORT_CLKDIV_U        0x1B /* Clock divisor for the expansion port */
#define SCMD_REG_E_PORT_CLKDIV_L        0x1C /* See data sheet for more details */
#define SCMD_REG_E_PORT_CLKDIV_CTRL     0x1D /* See data sheet for more details */
#define SCMD_REG_U_BUS_UART_BAUD        0x1E /* Current baud rate when the module is
                                             * communicating as a UART.  This register
                                             * can only be read and never set directly.
                                             * Use the 'U' command when communicating as
                                             * an UART.
                                             */
#define SCMD_REG_FSAFE_CTRL             0x1F /* Configure what happens when a failsafe
                                             * condition happens:
                                             * B0: output behavior
                                             * 0x00 - maintain last motor drive levels
                                             * 0x01 - set output level to 0 drive
                                             * B2-1: Restart operation on master module
                                             * 0x00 - do nothing
                                             * 0x01 - reboot
                                             * 0x02 - re-enumerate
                                             * B3 - user port behavior
                                             * 0x00 - do nothing
                                             * 0x01 - reinitialize user port
                                             * B4 - expansion port behavior
                                             * 0x00 - do nothing
                                             * 0x01 - reinitialize expansion port
                                             */
/* Motor drive levels, local and remote */
#define SCMD_REG_MA_DRIVE               0x20 /* Drive level on master module motor A */
#define SCMD_REG_MB_DRIVE               0x21 /* Drive level on master module motor B */
#define SCMD_REG_S1A_DRIVE              0x22 /* Drive level on slave 1 module motor A */
#define SCMD_REG_S1B_DRIVE              0x23 /* Drive level on slave 1 module motor B */
#define SCMD_REG_S2A_DRIVE              0x24 /* Drive level on slave 2 module motor A */
#define SCMD_REG_S2B_DRIVE              0x25 /* Drive level on slave 2 module motor B */
#define SCMD_REG_S3A_DRIVE              0x26 /* Drive level on slave 3 module motor A */
#define SCMD_REG_S3B_DRIVE              0x27 /* Drive level on slave 3 module motor B */
#define SCMD_REG_S4A_DRIVE              0x28 /* Drive level on slave 4 module motor A */
#define SCMD_REG_S4B_DRIVE              0x29 /* Drive level on slave 4 module motor B */
#define SCMD_REG_S5A_DRIVE              0x2A /* Drive level on slave 5 module motor A */
#define SCMD_REG_S5B_DRIVE              0x2B /* Drive level on slave 5 module motor B */
#define SCMD_REG_S6A_DRIVE              0x2C /* Drive level on slave 6 module motor A */
#define SCMD_REG_S6B_DRIVE              0x2D /* Drive level on slave 6 module motor B */
#define SCMD_REG_S7A_DRIVE              0x2E /* Drive level on slave 7 module motor A */
#define SCMD_REG_S7B_DRIVE              0x2F /* Drive level on slave 7 module motor B */
#define SCMD_REG_S8A_DRIVE              0x30 /* Drive level on slave 8 module motor A */
#define SCMD_REG_S8B_DRIVE              0x31 /* Drive level on slave 8 module motor B */
#define SCMD_REG_S9A_DRIVE              0x32 /* Drive level on slave 9 module motor A */
#define SCMD_REG_S9B_DRIVE              0x33 /* Drive level on slave 9 module motor B */
#define SCMD_REG_S10A_DRIVE             0x34 /* Drive level on slave 10 module motor A */
#define SCMD_REG_S10B_DRIVE             0x35 /* Drive level on slave 10 module motor B */
#define SCMD_REG_S11A_DRIVE             0x36 /* Drive level on slave 11 module motor A */
#define SCMD_REG_S11B_DRIVE             0x37 /* Drive level on slave 11 module motor B */
#define SCMD_REG_S12A_DRIVE             0x38 /* Drive level on slave 12 module motor A */
#define SCMD_REG_S12B_DRIVE             0x39 /* Drive level on slave 12 module motor B */
#define SCMD_REG_S13A_DRIVE             0x3A /* Drive level on slave 13 module motor A */
#define SCMD_REG_S13B_DRIVE             0x3B /* Drive level on slave 13 module motor B */
#define SCMD_REG_S14A_DRIVE             0x3C /* Drive level on slave 14 module motor A */
#define SCMD_REG_S14B_DRIVE             0x3D /* Drive level on slave 14 module motor B */
#define SCMD_REG_S15A_DRIVE             0x3E /* Drive level on slave 15 module motor A */
#define SCMD_REG_S15B_DRIVE             0x3F /* Drive level on slave 15 module motor B */
#define SCMD_REG_S16A_DRIVE             0x40 /* Drive level on slave 16 module motor A */
#define SCMD_REG_S16B_DRIVE             0x41 /* Drive level on slave 16 module motor B */
/* A hole in the register space */
#define SCMD_REG_HOLE_1_LOW             0x42 /* A hole in the register space */
#define SCMD_REG_HOLE_1_HIGH            0x4F
/* Remote inversion and bridging */
#define SCMD_REG_INV_2_9                0x50 /* Invert the motors on the slave modules.
                                             * Each bit is a motor.  Bit 0 is slave 1
                                             * module, motor A.  Bit 8 is slave 4 module,
                                             * motor B.
                                             */
#define SCMD_REG_INV_10_17              0x51 /* Invert motors 10 - 17 */
#define SCMD_REG_INV_18_25              0x52 /* Invert motors 18 - 25 */
#define SCMD_REG_INV_26_33              0x53 /* Invert motors 26 - 33 */
#define SCMD_REG_BRIDGE_SLV_L           0x54 /* Bridge slave module outputs.  Bit 0 is slave 1
                                             * module.  Bit 8 is slave 8 module.
                                             */
#define SCMD_REG_BRIDGE_SLV_H           0x55 /* Brige slave module outputs.  Slave module 9 to
                                             * 16
                                             */
/* Another hole in the register space */
#define SCMD_REG_HOLE_2_LOW             0x56 /* Another hole in the register space */
#define SCMD_REG_PAGE_SELECT            0x6F /* Usused function to select the register space
                                             * for use
                                             */
#define SCMD_REG_HOLE_2_HIGH            0x6F /* End of the second hole */
/* System configuration registers.
* Most are passed to the slave modules.
*/
#define SCMD_REG_DRIVER_ENABLE          0x70 /* Enable / disable all motor drivers.
                                             * Set to 0x01 to enable, 0x00 to disable.
                                             */
#define SCMD_DRIVER_ENABLE              0x01 /* Enable all motors */
#define SCMD_DRIVER_DISABLE             0x00 /* Disable all motors */
#define SCMD_REG_UPDATE_RATE            0x71 /* Update motors every UPDATE_RATE ms.
                                             * Use 0x00 to require FORCE_UPDATE.
                                             */
#define SCMD_REG_FORCE_UPDATE           0x72 /* Set to 0x01 to force a update of the motors.
                                             * Auto resets to 0x00.
                                             */
#define SCMD_REG_E_BUS_SPEED            0x73 /* Expansion bus speed:
                                             * 0x00 - 50kHz
                                             * 0x01 - 100kHz
                                             * 0x02 - 400kHz
                                             */
#define SCMD_REG_MASTER_LOCK            0x74 /* Unlocked when set to 0x9B.  Unlocks local and
                                             * remote modules.
                                             */
#define SCMD_REG_USER_LOCK              0x75 /* Unlocked when set to 0x5C.  Unlocks the user lock
                                               on the local and remote modules.
                                            */
#define SCMD_REG_FSAFE_TIME             0x76 /* Program status, if set:
                                             * B0 - Enumeration complete
                                             * B1 - Device busy
                                             * B2 - Remote module read in progress
                                             * B3 - Remote module write in progress
                                             * B4 - The state of enable pin U2.5
                                             */
#define SCMD_REG_STATUS_1               0x77 /* Another way to get basic program status, if set:
                                             * B0 - Enumeration complete
                                             * B1 - Device busy
                                             */
#define SCMD_REG_CONTROL_1              0x78 /* Restart and re-enumeration control.  If set:
                                             * B0 - Restart module
                                             * B1 - Re-enumerate, look for modules (self clears)
                                             */
#define SCMD_CONTROL_1_RESTART          0x01 /* Mask to perform a restart using CONTROL_1 */
#define SCMD_CONTROL_1_REENUMERATE      0x02 /* Mask to perform a re-enumeration using
                                             * CONTROL_1
                                             */
/* Remote module I2C bus write / read window */
#define SCMD_REG_REM_ADDR               0x79 /* The slave module I2C address.  This starts at 0x50 */
#define SCMD_REG_REM_OFFSET             0x7A /* Remote module I2C register for write / read */
#define SCMD_REG_REM_DATA_WR            0x7B /* Data staged for write to remote module */
#define SCMD_REG_REM_DATA_RD            0x7C /* Data returned from remote module */
#define SCMD_REG_REM_WRITE              0x7D /* Write REM_DATA_WR to REM_OFFSET on remote module */
#define SCMD_REG_REM_READ               0x7E /* Read from REM_OFFSET into REM_DATA_RD on remote
                                             * module
                                             */

#define SCMD_LAST_REG                   SCMD_REG_REM_READ /* The last register address on a module */
#define SCMD_REG_SIZE                   0x7F /* Size of the register space including the holes */
#define SCMD_REMOTE_ADDR_LOW            0x50 /* The first remote I2C address */
#define SCMD_REMOTE_ADDR_HIGH           0x5F /* The last remote I2C address */
#define SCMD_HOLE_VALUE                 0x55 /* Artificial value on read for a hole register */
#define SCMD_IS_HOLE(r) \
((r >= SCMD_REG_HOLE_1_LOW && r <= SCMD_REG_HOLE_1_HIGH) || \
   (r >= SCMD_REG_HOLE_2_LOW && r <= SCMD_REG_HOLE_2_HIGH))

#define SCMD_MASTER_LOCK_UNLOCKED       0x9B
#define SCMD_USER_LOCK_UNLOCKED         0x5C
#define SCMD_ANY_LOCK_LOCKED            0x00

#endif

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