INT32U CMD Command
INT8U EXTIOSetupFlags Configuration flags of the external I-O
0x01 - EXTIO_SETUP_OUTPUT (EXTIO works as output if flag is set, works as input otherwise.)
0x02 - EXTIO_SETUP_INVERT (Interpret EXTIO states and fronts inverted if flag is set. Falling front as
input event and low logic level as active state.)
INT8U EXTIOModeFlags Flags mode settings external I-O
0x0F - EXTIO_SETUP_MODE_IN_BITS (Bits of the behaviour selector when the signal on input goes to the
active state.)
0x00 - EXTIO_SETUP_MODE_IN_NOP (Do nothing.)
0x01 - EXTIO_SETUP_MODE_IN_STOP (Issue STOP command, ceasing the engine movement.)
0x02 - EXTIO_SETUP_MODE_IN_PWOF (Issue PWOF command, powering off all engine windings.)
0x03 - EXTIO_SETUP_MODE_IN_MOVR (Issue MOVR command with last used settings.)
0x04 - EXTIO_SETUP_MODE_IN_HOME (Issue HOME command.)
0x05 - EXTIO_SETUP_MODE_IN_ALARM (Set Alarm when the signal goes to the active state.)
0xF0 - EXTIO_SETUP_MODE_OUT_BITS (Bits of the output behaviour selection.)
0x00 - EXTIO_SETUP_MODE_OUT_OFF (EXTIO pin always set in inactive state.)
0x10 - EXTIO_SETUP_MODE_OUT_ON (EXTIO pin always set in active state.)
0x20 - EXTIO_SETUP_MODE_OUT_MOVING (EXTIO pin stays active during moving state.)
0x30 - EXTIO_SETUP_MODE_OUT_ALARM (EXTIO pin stays active during Alarm state.)
0x40 - EXTIO_SETUP_MODE_OUT_MOTOR_ON (EXTIO pin stays active when windings are powered.)
0x50 - EXTIO_SETUP_MODE_OUT_MOTOR_FOUND (EXTIO pin stays active when motor is connected (first
winding).)
INT8U Reserved [10] Reserved (10 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set EXTIO settings. This function writes a structure with a set of EXTIO settings to controller's memory. By default input event are
signalled through rising front and output states are signalled by high logic state.
Command GEIO
result_t get_extio_settings (device_t id, extio_settings_t* extio_settings)
Command code (CMD): "geio" or 0x6F696567.
Request: (4 bytes)
INT32U CMD Command
Answer: (18 bytes)
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