Description:
A command to read the data buffer to build a speed graph and a sequence error. Filling the buffer starts with the command
"start_measurements". The buffer holds 25 points, the points are taken with a period of 1 ms. To create a robust system, read data
every 20 ms, if the buffer is completely full, then it is recommended to repeat the readings every 5 ms until the buffer again becomes
filled with 20 points.
Command GETC
result_t get_chart_data (device_t id, chart_data_t* chart_data)
Command code (CMD): "getc" or 0x63746567.
Request: (4 bytes)
INT32U CMD Command
Answer: (38 bytes)
INT32U CMD Command (answer)
INT16S WindingVoltageA
In the case step motor, the voltage across the winding A; in the case of a brushless, the voltage on the
first coil, in the case of the only DC.
INT16S WindingVoltageB
In the case step motor, the voltage across the winding B; in case of a brushless, the voltage on the second
winding, and in the case of DC is not used.
INT16S WindingVoltageC In the case of a brushless, the voltage on the third winding, in the case step motor and DC is not used.
INT16S WindingCurrentA
In the case step motor, the current in the coil A; brushless if the current in the first coil, and in the case of
a single DC.
INT16S WindingCurrentB
In the case step motor, the current in the coil B; brushless if the current in the second coil, and in the
case of DC is not used.
INT16S WindingCurrentC In the case of a brushless, the current in the third winding, in the case step motor and DC is not used.
INT16U Pot Analog input value in ten-thousandths. Range: 0..10000
INT16U Joy The joystick position in the ten-thousandths. Range: 0..10000
INT16S DutyCycle Duty cycle of PWM.
INT8U Reserved [14] Reserved (14 bytes)
INT16U CRC Checksum
Description:
Return device electrical parameters, useful for charts. Useful function that fill structure with snapshot of controller voltages and
currents.
Command GETI
result_t get_device_information (device_t id, device_information_t* device_information)
Command code (CMD): "geti" or 0x69746567.
Request: (4 bytes)
INT32U CMD Command
Answer: (36 bytes)
INT32U CMD Command (answer)
CHAR Manufacturer [4] Manufacturer
CHAR ManufacturerId [2] Manufacturer id
CHAR ProductDescription [8] Product description
INT8U Major The major number of the hardware version.
INT8U Minor Minor number of the hardware version.
INT16U Release Number of edits this release of hardware.
INT8U Reserved [12] Reserved (12 bytes)
INT16U CRC Checksum
Description:
Return device information. It's available from the firmware and bootloader.
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