INT32U CMD Command (answer)
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
Description:
Read EXTIO settings. This function reads a structure with a set of EXTIO settings from controller's memory.
Command SBRK
result_t set_brake_settings (device_t id, const brake_settings_t* brake_settings)
Command code (CMD): "sbrk" or 0x6B726273.
Request: (25 bytes)
INT32U CMD Command
INT16U t1 Time in ms between turn on motor power and turn off brake.
INT16U t2
Time in ms between turn off brake and moving readiness. All moving commands will execute after this
interval.
INT16U t3 Time in ms between motor stop and turn on brake.
INT16U t4 Time in ms between turn on brake and turn off motor power.
INT8U BrakeFlags Flags.
0x01 - BRAKE_ENABLED (Brake control is enabled, if this flag is set.)
0x02 - BRAKE_ENG_PWROFF (Brake turns off power of step motor, if this flag is set.)
INT8U
Reserved
[10]
Reserved (10 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set settings of brake control.
Command GBRK
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