READVAL WRITEVAL codes Current codes

The current codes supported are:

Note: for the latest subcommands, see protocol.c.

readable version code - 4 byte (int)?

    { 0x00, NULL, NULL, UI_NONE, &version,          sizeof(version),         PARAM_R,  NULL,                     NULL, NULL,               NULL },

read sensor data, if firmware has sensor reading. see SENSOR_DATA in sensorcoms.h in main repo for structure

#ifdef CONTROL_SENSOR
    { 0x01, NULL, NULL, UI_NONE, &sensor_data,      sizeof(sensor_data),     PARAM_R,  NULL,                     NULL, NULL,               NULL },
#endif

read raw hall effect sensor data - expect HALL_DATA_STRUCT HallData[2] from 'hallsensor.h' in main repo

#ifdef HALL_INTERRUPTS
    { 0x02, NULL, NULL, UI_NONE, (void *)&HallData, sizeof(HallData),        PARAM_R,  NULL,                     NULL, NULL,               NULL },
#endif

read/write speeds - see SPEED_DATA in protocol.h. Writing will enable motors as well as setting speed control mode.

    { 0x03, NULL, NULL, UI_NONE, &SpeedData,        sizeof(SpeedData),       PARAM_RW, PreRead_getspeeds,        NULL, PreWrite_setspeeds, PostWrite_setspeeds },

read/write position data.

this reads position in both absolute and offset position. Write sets the base of 'offset'

#ifdef HALL_INTERRUPTS
    { 0x04, NULL, NULL, UI_NONE, &Position,         sizeof(Position),        PARAM_RW, PreRead_getposnupdate,    NULL, NULL,               PostWrite_setposnupdate },

read/write demand posn - writing enables motors and increments demand posn in mm

Use this command to move the robot by a distance

    { 0x05, NULL, NULL, UI_NONE, &PositionIncr,     sizeof(PositionIncr),    PARAM_RW, NULL,                     NULL, NULL,               PostWrite_incrementposition },

read/write complete PosnData structure (POSN_DATA in protocol.h)

useful to clear out values before enabling motors for position control?

    { 0x06, NULL, NULL, UI_NONE, &PosnData,         sizeof(PosnData),        PARAM_RW, NULL,                     NULL, NULL,               NULL },

read write hall posn info in hall units (raw values) - see POSN in protocol.h

(each increment is ~ 6mm?)

    { 0x07, NULL, NULL, UI_NONE, &RawPosition,      sizeof(RawPosition),     PARAM_RW, PreRead_getrawposnupdate, NULL, NULL,               PostWrite_setrawposnupdate },
#endif

read/write enable motors

    { 0x09, NULL, NULL, UI_NONE, &enable,           sizeof(enable),          PARAM_RW, NULL,                     NULL, PreWrite_enable,    NULL },

read/write disable poweroff timer

    { 0x0A, NULL, NULL, UI_NONE, &disablepoweroff,  sizeof(disablepoweroff), PARAM_RW, NULL,                     NULL, NULL,               NULL },

read/write debug enable (spits out ascii if enabled)

    { 0x0B, NULL, NULL, UI_NONE, &debug_out,        sizeof(debug_out),       PARAM_RW, NULL,                     NULL, NULL,               NULL },

read/write dead reckoning position - see INTEGER_XYT_POSN in deadreckoner.h in main repo.

units mm and degrees.

#ifndef EXCLUDE_DEADRECKONER
    { 0x0C, NULL, NULL, UI_NONE, &xytPosn,          sizeof(xytPosn),         PARAM_RW, NULL,                     NULL, NULL,               NULL },
#endif

read/write speed/steer information

    { 0x20, NULL, NULL, UI_NONE, &PwmSteerCmd,      sizeof(PwmSteerCmd),     PARAM_RW, NULL,                     NULL, NULL,               NULL },

read/write buzzer

    { 0x21, NULL, NULL, UI_NONE, &Buzzer,           sizeof(Buzzer),          PARAM_RW, PreRead_getbuzzer,        NULL, NULL,               PostWrite_setbuzzer },

read/write flash configuration information

#ifdef FLASH_STORAGE
    { 0x80, "flash magic",        "m",   UI_SHORT, &FlashContent.magic,                  sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_writeflash },  // write this with CURRENT_MAGIC to commit to flash

    { 0x81, "posn kp x 100",      "pkp", UI_SHORT, &FlashContent.PositionKpx100,         sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID },
    { 0x82, "posn ki x 100",      "pki", UI_SHORT, &FlashContent.PositionKix100,         sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID }, // pid params for Position
    { 0x83, "posn kd x 100",      "pkd", UI_SHORT, &FlashContent.PositionKdx100,         sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID },
    { 0x84, "posn pwm lim",       "pl",  UI_SHORT, &FlashContent.PositionPWMLimit,       sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID }, // e.g. 200

    { 0x85, "speed kp x 100",     "skp", UI_SHORT, &FlashContent.SpeedKpx100,            sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID },
    { 0x86, "speed ki x 100",     "ski", UI_SHORT, &FlashContent.SpeedKix100,            sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID }, // pid params for Speed
    { 0x87, "speed kd x 100",     "skd", UI_SHORT, &FlashContent.SpeedKdx100,            sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID },
    { 0x88, "speed pwm incr lim", "sl",  UI_SHORT, &FlashContent.SpeedPWMIncrementLimit, sizeof(short), PARAM_RW, NULL, NULL, NULL, PostWrite_PID }, // e.g. 20

    { 0xA0, "hoverboard enable",  "he",  UI_SHORT, &FlashContent.HoverboardEnable,       sizeof(short), PARAM_RW, NULL, NULL, NULL, NULL } // e.g. 20