mcmaster:pr0ndexer_protocol
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| mcmaster:pr0ndexer_protocol [2014/07/19 17:13] – created mcmaster | mcmaster:pr0ndexer_protocol [2025/08/04 21:19] (current) – removed mcmaster | ||
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| - | loosely resembles what I actually implemented | ||
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| - | Framing: SLIP with following payload bytes | ||
| - | |||
| - | * 1 byte: checksum or CRC | ||
| - | * 1 byte: sequence number | ||
| - | * 1 byte: opcode/ | ||
| - | * Want a bit for read/write | ||
| - | * Use I2C convention? "7-bit address of the slave…followed by a single bit representing whether it wishes to write(0) to or read(1) from the slave" | ||
| - | * Prefer that its the high bit so register numbers are un-ambiguous | ||
| - | * A read responds with the register value/ | ||
| - | * 4 byte: value argument | ||
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| - | bit 0 is least significant bit. All signed integers are 2's compliment | ||
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| - | Opcodes: | ||
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| - | ^Address ^Mnemonic ^Description | | ||
| - | |0x00 | |Misc block | | ||
| - | |0x00 |MISC_STATUS | | | ||
| - | |0x01 |MISC_CONTROL | | | ||
| - | |0x20 | |X block | | ||
| - | |0x40 | |Y block | | ||
| - | |0x60 | |Z block | | ||
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| - | MISC_STATUS: | ||
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| - | * | ||
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| - | MISC_CONTROL: | ||
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| - | * 0: execute emergency stop | ||
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| - | === Axis blocks === | ||
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| - | All addresses offset by block base address | ||
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| - | XYZ indicates X/Y/Z as appropriate | ||
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| - | ^Address ^Mnemonic ^Description | | ||
| - | |0x00 | |Z block | | ||
| - | |0x00 |XYZ_STATUS | | | ||
| - | |0x01 |XYZ_CONTROL | | | ||
| - | |0x02 |XYZ_STEP_SET |Set the step register to value (2's compliment) | | ||
| - | |0x03 |XYZ_STEP_ADD |Adjust the step register by argument | | ||
| - | |0x04 |XYZ_STEP_ADD |Adjust the step register by argument | | ||
| - | |0x05 |XYZ_VELMIN |Minimum velocity in steps/ | ||
| - | |0x06 |XYZ_VELMAX |Maximum velocity in steps/ | ||
| - | |0x07 |XYZ_ACL |Acceleration/ | ||
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| - | Step register (i32): the number of steps remaining to step. Should probably initiate an automatic read when it hits 0 | ||
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| - | XYZ_STATUS | ||
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| - | XYZ_CONTROL | ||
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| - | XYZ_STEP_SET: | ||
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| - | * value: i32 | ||
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| - | XYZ_STEP_ADD: | ||
| - | |||
| - | * value: i32 | ||
| - | * detect overflows? | ||
mcmaster/pr0ndexer_protocol.1405789995.txt.gz · Last modified: 2014/07/19 17:13 by mcmaster