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Propulsion Microcontroller API
Anthony Randell edited this page Dec 9, 2016
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22 revisions
This page contains the commands used when communicating to and from the Wireless Communication Modules.
More details about the communication protocol can be found via the API Documentation Homepage.
Request Message:
- Payload Size: 1 byte (null)
Response Message:
- Payload Size: 1 byte
Request Message:
- Payload Size: 2 bytes
| Byte | Description | Valid Range |
|---|---|---|
| 0 | Register to Modify | See Qik 2s12v10 User Guide parameter numbers |
| 1 | New Configuration | See Qik 2s12v10 User Guide parameter allowed values |
Response Message:
- Payload Size: 2 bytes
| Byte | Description | Valid Range |
|---|---|---|
| 0 | Register that was Set | See Qik 2s12v10 User Guide |
| 1 | New Configuration Value | Varies |
Request Message:
- Payload Size: 1 byte
| Byte | Description | Valid Range |
|---|---|---|
| 0 | Register to Read | See Qik 2s12v10 User Guide |
Response Message:
- Payload Size: 2 bytes
| Byte | Description | Valid Range |
|---|---|---|
| 0 | Register that was Read | See Qik 2s12v10 User Guide |
| 1 | Value in Register | Varies |
Request Message:
- Payload Size: 8 bytes
- Used to set the speed of both motors simultaneously
Response Message:
- Payload Size: 8 bytes
- The response from the microcontroller to a set motor speed is to reply with the new motor speed to confirm the set was successful
| Byte | Description | Valid Range |
|---|---|---|
| 0 to 3 | M0 Speed (MSB) | Integer -255 to 255 |
| 4 to 7 | M1 Speed (MSB) | Integer -255 to 255 |
Request Message:
- Payload Size: 1 byte (null)
- Used to request the current being consumed by both motors.
Response Message:
- Payload size: 8 bytes
- Reply from the microcontroller contains the current of both motors in milliamps.
| Byte | Description | Valid Range |
|---|---|---|
| 0 to 3 | M0 Current | Integer > 0 |
| 4 to 7 | M1 Current | Integer > 0 |
Request Message:
- Payload Size: 1 byte (null)
- Requests the errors currently active on the device.
- Note: The act of reading the errors will clear them from the device.
Response Message:
- Payload Size: 1 byte
- See Qik 2s12v10 User Guide -> Get Error Byte for details
The table below explains the individual bit meanings of the single byte of the payload.
| Bit | Description | Valid Range |
|---|---|---|
| 7 (MSB) | Timeout | 0 or 1 |
| 6 | Format Error | 0 or 1 |
| 5 | CRC Error | 0 or 1 |
| 4 | Serial Hardware Error | 0 or 1 |
| 3 | Motor 1 Over Current | 0 or 1 |
| 2 | Motor 0 Over Current | 0 or 1 |
| 1 | Motor 1 Fault | 0 or 1 |
| 0 (LSB) | Motor 0 Fault | 0 or 1 |