DRAFT COPY 12/27/89
UPDATED 3/3/90
PROGRAMMER'S REFERENCE
HPC INTERFACE
3/30/90
CONTENTS
COMMUNICATIONS 4
PC TO HPC MESSAGES 4
HPC TO PC MESSAGES 5
COMMAND QUEUEING 6
LOW LEVEL COMMUNICATIONS CONSIDERATIONS 6
MOVE ROBOT 8
MOVE SPEEDS AND SONAR CONSIDERATIONS 8
ROTATE THEN MOVE ROBOT 8
ROTATE THEN MOVE ABORT MESSAGES 9
ARC MOVES 9
ARC MOVES ABORT MESSAGES 10
MOVE SUCCESS MESSAGES 11
MOVE CANCEL BYTE 11
MOVE ABORT MESSAGE SONAR BYTE 11
MOVE ABORT AND ERROR CODES 12
SELF TEST 13
EXTENSIVE TEST 14
SELF TEST CANCEL BYTE 14
SELF TEST ABORT MESSAGES AND CODES 15
LIGHTS 15
LIGHTS CANCEL BYTE 16
TURN A SPECIFIC LIGHT ON/OFF 16
TURN ALL LIGHTS ON/OFF 17
TURN EYES ON/OFF 17
LIGHTS RETURN MESSAGES AND CODES 17
CONTROL 17
PAUSE CATEGORY 17
PAUSE RETURN MESSAGES AND CODES 18
CONTINUE CATEGORY 18
CONTINUE RETURN MESSAGES AND CODES 18
FORCE READ INTERNAL 19
FORCE READ INTERNAL ERROR MSGS AND CODES 19
TILT ENABLE 19
TILT ENABLE ERROR MESSAGES AND CODES 19
CANCEL NOP 20
CANCEL NOP RETURN MESSAGES AND CODES 20
SONAR ENABLE/DISABLE 20
SONAR ENABLE/DISABLE RETURN MESSAGES & CODES 21
SONAR ON/OFF 21
SONAR ON/OFF RETURN MESSAGES AND CODES 21
REMOTE CONTROL ON/OFF 21
REMOTE ON/OFF RETURN MESSAGES & CODES 22
SET REMOTE CONTROL ADDRESS 22
SET CONTROL ADDRESS RETURN MESSAGES & CODES 22
SET REMOTE CONTROL DUPLICATE FILTER 23
SET DUP FILTER RETURN MESSAGES AND CODES 23
SEND REMOTE CONTROL KEYSTROKE 23
SEND REMOTE CONTROL RETURN MESSAGES & CODES 23
REMOTE CONTROL DATA WORD FORMAT 24
INDIVIDUAL SONAR ENABLE/DISABLE 24
INDIV ENABLE/DISABLE RETURN MESSAGES & CODES 25
INDIVIDUAL ENABLE/DISABLE CANCEL BYTE FORMAT 25
SET SONAR LIMIT 25
SET SONAR LIMIT RETURN MESSAGES AND CODES 25
SET SONAR LIMIT CANCEL BYTE FORMAT 26
SET INFRA-RED REFERENCE 26
SET IR REF CANCEL BYTE FORMAT 26
SET IR REF RETURN MESSAGES AND CODES 26
HEAD CALIBRATION ENABLE/DISABLE 27
HEAD CAL EN/DISABLE RETURN MESSAGES & CODES 27
READ INTERNAL 27
READ INTERNAL RETURN MESSAGES AND CODES 28
READ INTERNAL DATA BYTE DESCRIPTIONS 28
READ TEMPERATURE 28
READ BATTERY 28
READ TILT 28
READ SMOKE SENSOR 28
READ RAW A/D VALUE 29
READ EXTERNAL 29
READ HEAD SONAR 29
READ HEAD SONAR RETURN MESSAGES AND CODES 29
READ SONAR 30
READ SONAR CANCEL BYTE FORMAT 30
READ SONAR RETURN MESSAGES AND CODES 30
READ INFRA-RED SENSOR 31
SCAN HEAD AND INFRA-RED SENSOR 31
SCAN HEAD AND IR CANCEL BYTE FORMAT 32
SCAN HEAD AND IR RETURN MESSAGES AND CODES 32
READ HEAD POSITION 32
READ LIGHT INTENSITY 33
READ INFRA-RED STATUS 34
MOVE HEAD 34
HEAD SPEEDS AND POSITION ACCURACY 34
MOVE HEAD 35
HOME HEAD 35
MOVE HEAD CANCEL BYTE FORMAT 35
MOVE HEAD RETURN MESSAGES AND CODES 36
BEACON 36
LIGHTSHOWS 37
TURN INDIVIDUAL SHOW ON/OFF 37
SET LIGHT SHOW ORDER 37
TURN ALL LIGHT SHOWS ON/OFF 38
LIGHTSHOW RETURN MESSAGES AND CODES 38
APPENDIX 39
SAMPLE PC TO HPC COMMUNICATIONS PSUEDO CODE 39
COMMUNICATIONS
PC TO HPC MESSAGES
Messages sent by the PC to the HPC are in the following
byte format:
02(STX)/MSG LENGTH/CATEGORY & OPTION/<--- DATA ---->/CANCEL BYTE
STX - The receipt of a single Start of Text (02) signifies the
start of a message. Other valid two's in the message are
differentiated from STX's by sending a second two immediately
after the data two. A single two sent without a second always
means start of a message.
MSG LENGTH - This byte tells the HPC how many bytes are in the
message. The message length includes the length byte through the
cancel byte. It does not include the STX byte. Any data two is
counted as one byte in the message length even though it is
doubled in the actual transmission. Since the minimum message
includes length, category and option, and cancel bytes, the
message length will never be less than three. This always allows
the STX to be sent as a single two.
CATEGORY & OPTION - The high nibble of this byte is the category
number (could also be called the job or task number) that the
message is being sent to. The low nibble is the option (command)
that is to be performed within the category .
DATA - Information required to perform the command. This data
may vary in length from 0 to 6 bytes as described in the detailed
category and option descriptions.
CANCEL BYTE - This is a bit field byte with the bits having the
following significance:
Bits 0 thru 2 - For move robot and move head commands these
bits set the speed from 0 (no movement) thru 7 (highest speed).
Other commands may ignore these bits or use them for different
purposes. See the detailed category and option descriptions for
how these bits are used for a particular command.
Bit 3 - The cancel bit from which the byte takes its name.
In general, the setting of this bit causes preceding commands, if
any, within the same category to be discarded. The command with
the cancel bit set will be executed immediately. This bit
generally is meaningful to the move robot and move head
categories, but other categories may also be affected by the
cancel bit. See the detailed category and option descriptions
for how this bit may affect a category and option.
Bit 4 - The ON/OFF bit. For categories and options using
this bit, setting the bit turns something on and resetting
(clearing) the bit turns something off. See the detailed
descriptions for usage within a specific command.
Bit 5 - The LEFT/RIGHT bit. For robot and head move usage.
Setting the bit means left, resetting the bit means right. Left
and right are as Newton sees them travelling forward.
Bit 6 - The CONTINUE bit. At the end of robot or head
moves, if this bit is reset (cleared), Newton slows down smoothly
to a stop. If the continue bit is set in a following command in
the category queue, Newton does not slow down and stop between
commands. Setting the continue bit means that the next command
in the category queue will be executed smoothly as a continuation
of the preceding command. If the currrently executing command is
the last command in the queue, the move will come to a controlled
stop even if its continue bit is set. This allows a series of
continued commands to come to a controlled end. To override the
final slowdown of a series if desired, send a final command with
the movement data set to zero and the continue bit set. The last
command with a movement will see another continue command and
will simply shut off the movment motor(s) after the commanded
movement is made. The zero movement command will then be
processed as successfully completed.
Bit 7 - The INTERNAL REQUEST bit. This bit is used
internally by the HPC when sending a command from one category
(task) to another. THIS BIT MUST NEVER BE SET WHEN SENDING A
MESSAGE FROM THE PC TO THE HPC!!!!! Unpredictable results and
return messages may occur if the bit is set. Loss of return
status messages is almost sure to result from setting this bit.
HPC TO PC MESSAGES
Messages sent by the HPC to the PC are in the following
byte format:
02(STX)/MSG LENGTH/CATEGORY & OPTION/<--- DATA ---->
STX - This byte the same as in the PC to HPC communications. See
PC to HPC for a description.
MSG LENGTH - This byte is the same as in the PC to HPC
communications. See the PC to HPC for a description.
CATEGORY & OPTION - This byte will be the same as that sent for
the message being answered. Commands are answered in the order
in which received. It is the responsibilty of the PC programming
to maintain order between commands and replies within the same
category and option.
DATA - From one to six bytes depending upon message. See the
detailed category and option descriptions for what is returned in
these bytes.
COMMAND QUEUEING
Messages to the HPC are queued at two levels. The
communications interrupt handler first places received bytes into
a 128 byte first level queue. A higher level routine that is run
on a scan basis as a task processes the bytes from this queue,
and when a complete message has been received and assembled,
places the message into the category's job queue. Each category
has its own 64 byte message queue. If the first level queue is
completely filled, and another byte is received, the HPC will
echo back the one's complement of the byte when it acknowleges
receipt of the byte. This is the only indication of the buffer
overflow. The received byte is not otherwise processed, and may
be resent without error when the first level queue has room for
it.
If a category's message queue does not have room for a new
message, an error message of the following format will be sent
back to the PC:
02(STX)/MSG LENGTH/CATEGORY & OPTION/34(JOB BUFFER FULL ERROR)
Once again, the message is discarded, and can be resent when
the queue has emptied enough to hold the message.
LOW LEVEL COMMUNICATIONS CONSIDERATIONS
When the PC sends a byte to the HPC, the HPC non maskable
interrupt line is asserted, and the HPC BUSY bit is set (IO port
301 HEX, bit 1). When the HPC is done servicing its interrupt it
resets the busy bit. The PC must not send when the busy bit is
set or the HPC will not see another interrupt and the interface
may lock up waiting for a transmission acknowlege that never
comes because the HPC never saw the interrupt.
To send a byte to the HPC, first make sure that the HPC busy
bit is not asserted, then write a one to port 301H to identify
this interrupt as a transmission to the HPC interrupt. Then
write the byte being sent to port 300H. When the byte has been
sent to the HPC, the HPC will acknowlege receipt of the byte by
clearing the interrupt ID bit (IO port 301H, bit 0), and writing
the received byte back to the PC at port 300H. Writing the byte
back to the port will generate an interrupt (IRQ2) to the PC.
The PC then should read the 301H port to see if the interrupt is
an echo (ACK) of the last byte written to the PC or a new byte
(interrupt ID bit = 1) in a message from the HPC. If the
interrupt is an echo, the next byte in the message may then be
sent (if the HPC is not busy), or the new HPC to PC byte must be
read and processed. WHETHER OR NOT the interrupt is an
acknowlege of the last byte sent to the PC or a new message byte,
the data port (IO port 300H) must be read once and once only.
This tells the HPC that the PC has serviced the interrupt and the
HPC can send to the PC again. Not reading the data port will
hang communications since the HPC will wait forever without
seeing that the PC has serviced the interrupt. Reading the port
more than once may clear an HPC interrupt before it actually has
been serviced.
When a message byte has been received from the HPC, write a
0 to port 301H (check HPC busy first and don't do until HPC not
busy) to identify the interrupt as an acknowlege interrupt. Then
write the byte received back to port 300H to tell the HPC that
you have received the byte.
If writing a low level routine to interface with the HPC,
remember that data two's are sent twice, and the second two is
not included in the message length.
See the appendix for psuedo code of a PC to HPC
communications interrupt handler.
If a message is received with a count byte greater than 10
(no command is longer than this), the message is discarded, and
the following error message is returned to the PC:
02(STX)/3/CATEGORY & OPTION/37(MSG TOO LONG ERROR)
This error message is sent as soon as the category and
option byte is received. The rest of the message is discarded.
This means the error message may be sent before completion of the
message transmission.
If a message is received by a category that has a length
different from that expected for the option specified, the
message is discarded, and the following error message is
returned:
02(STX)/3/CATEGORY & OPTION/36(MSG LENGTH ERROR)
If a message is received with an invalid category specified,
the message is discarded, and NO error return is provided to the
PC.
If a message is received with an an invalid option number
for the category, the message is discarded, and the following
message is returned:
02(STX)/3/CATEGORY & OPTION/35(UNIMPLEMENTED ERROR)
MOVE
(CATEGORY ZERO)
MOVE SPEEDS AND SONAR CONSIDERATIONS
Newton moves at the following velocities for the commanded
speeds:
Speed 1 - 0.59 fps (feet per second)
Speed 2 - 0.67 fps
Speed 3 - 0.78 fps
Speed 4 - 0.92 fps
Speed 5 - 1.12 fps
Speed 6 - 1.45 fps
Speed 7 - 2.03 fps
The center lower (drop off) sonar is read once every 0.13
seconds. This means that at speed seven Newton may move 3.2
inches after a drop off is within range before he is aware of the
danger. The other sonars are read once every 0.39 seconds, so
Newton moves 9.5 inches between sonar updates at speed seven.
These figures must be allowed for when programs depend upon
Newton's sonar collision avoidance features.
OPTION ZERO - ROTATE THEN MOVE ROBOT
Command message format:
02(STX)/7/00H/DEGREES LO/DEGREES HI/FEET LO/FEET HI/CANCEL BYTE
This command makes Newton rotate about the center point
between the drive wheels, and then move in a straight line. When
sent with degrees equal zero, it serves as Newton's straight line
move command. When sent with feet equal zero, only the commanded
rotation occurs. If sent with both feet and degrees zero, and
the cancel bit set, it will flush the command queue and stop
Newton. Sending the command with zero data and the cancel bit
cleared just results in a command executed successfully return
message.
Positive degree values cause Newton to rotate counter clock
wise (left), and negative degrees cause clockwise (right)
rotation. The degrees should be limited to 0 through +/- 359.
No range checking is done on this value by the HPC, and erroneous
moves and return messages could result from exceding the range.
Except for the lower center drop off limit, no sonar checking is
done during the rotate part of this option. The rotate and move
can be used to recover from a sonar collision condition without
disabling the sonar unless the condition is caused by the lower
center drop off limit as indicated by bit 7 of the abort message
sonar byte.
The distance to move in the straight line part of the option
must be specified in tenths of feet. The value sent can range
from +32767 to -32766 with the following results:
+32767 sent - Newton keeps on moving indefinitely until a
cancel command is received or an error (collision,tilt, or stall)
condition is detected.
+1 thru +2325 - Newton will move the commanded distance, and
then stop. If a cancel is received or an error condition
is detected during the move, the move is aborted.
+2326 thru +32766 - The distance is truncated to 2325 and
handled as above. No notification is sent to the PC of the
truncation.
0 sent - No straight line move is done. Newton sees the
command as successfully completed.
-1 thru -100 - Newton moves the commanded distance in
reverse. Since the lower sonars are not pointing in the
direction of travel, only 10 feet can be commanded at one time in
the negative direction.
-101 thru -32766 - The distance is truncated to -100 and
handled as above. No notification is sent to the PC of the
truncation.
ROTATE THEN MOVE ABORT MESSAGES
The general form of rotate and move abort messages is:
02(STX)/8/00H/ABORT CODE/DEGREES LO/DEGREES HI/
FEET LO/FEET HI/SONAR
Where degrees and feet are the amounts actually moved. See the
category zero abort code descriptions for the possible codes
returned and the sonar byte description. Any commands pending in
the command queue will be canceled if the abort is caused by a
tilt, collision, or stall condition. Any commands thus canceled
will also send an abort message with the cancel code.
OPTIONS ONE AND TWO - ARC MOVES
Command message format:
02(STX)/6/01H OR 02H/FEET(1) OR DEGREES(2) LO/FEET OR DEGREES HI
/RADIUS/CANCEL BYTE
These commands make Newton travel in an arc which would
eventually form a circle of the radius commanded. The commands
are identical in effect, just specified differently. Using
option one, the distance to move in the arc is specified in
tenths of feet. Using option two, the distance is specified in
degrees of arc. The radius is in tenths of feet, and is always
relative to the center point between Newton's drive wheels.
Sending an arc move command with a radius of .7 feet will
result in a swivel move about the inner wheel. The actual radius
is approximately .63 feet for the swivel moves and is set by the
HPC programming.
A radius of zero causes rotation about the center point
between Newton's drive wheels as if it were the first part of the
rotate then move command (option 0). However, rotations of more
than 359 degrees can be commanded. If a distance arc is
commanded with 0 radius, maximum degrees will be used for the
arc, i.e. 32767 positive or -32766 if negative. Distance arcs
are converted to degrees for execution. If an arc of say 90
degrees is desired, specify the arc in degrees, since distance in
tenths of feet may not give the correct arc. For example, a 1.0
foot arc command with .7 (swivel) radius will result in Newton
turning approximately 87 degrees. To get a 90 degree turn use
the arc degree command. If an arc command is sent to the HPC
with a radius between 0 and .7 feet, Newton will swivel about the
point within his tread width calculated from the radius
commanded.
As in the straight line moves, any distance specified that
is more negative (Newton commanded to go backwards) than -10.0
feet will be truncated to -10.0 feet without notifying the PC of
the truncation. Also, for any combination of radius and distance
or degrees that would result in any wheel traveling farther than
232.5 feet, the distance will be truncated to 232.5 feet without
notifying the PC.
The sign of the commanded distance or arc degrees is used in
combination with the LEFT/RIGHT bit of the cancel byte to
determine the direction the arc and whether Newton moves forward
or backward. See Figure nn. for the effect of different
combinations of positive and negative data together with the
LEFT/RIGHT bit.
ARC MOVES ABORT MESSAGES
The general form of arc move abort messages is:
02(STX)/6/01H OR 02H/ABORT CODE/FEET OR DEGREES LO
/FEET OR DEGREES HI/SONAR
Where feet or degrees are the amounts actually moved. See the
category zero abort code descriptions for the possible codes
returned and the sonar byte description. Any commands pending in
the command queue will be canceled if the abort is caused by a
tilt, collision, or stall condition. Any commands thus canceled
will also send an abort message with the cancel code.
CATEGORY ZERO SUCCESS MESSAGES
When a category zero command successfully runs to
completion, a success message is returned to the PC in the
format:
02(STX)/3/0nH/1 (SUCCESS)
Where n is the option number of the command completed.
CATEGORY ZERO CANCEL BYTE
Bits 0 thru 2 - Speed from 0 thru 7. 1 (slowest) thru 7
(fastest) are valid. Sending 0 with valid data values causes an
abort message to the PC and the command is otherwise ignored.
Bit 3 - Cancel bit. If set, all previous commands
(including the currently executing command), if any, in the
category zero job queue are discarded, and the command is
executed immediately. Sending a category zero command with
cancel set and with zero data values flushes the command queue
and stops Newton, and a success message is returned. Stopping
Newton using this technique will, however, result in an
uncontrolled coast stop, and Newton will probably not stop
straight. To make a controlled stop, send a cancel command with
the distance set equal to the preceding command's speed. Any and
all commands canceled return an abort message indicating that
they have been canceled.
Bit 4 - ON/OFF bit. This bit is ignored in category zero.
Bit 5 - LEFT/RIGHT bit. Used in category zero arc moves.
See the arc move descriptions and diagram for the effect of this
bit.
Bit 6 - Continue bit. Newton normally does a controlled
straight line smooth stop at the completion of a command. If any
succeding command in the job queue has the continue bit set,
Newton does not stop between commands, but continues immediately
into the next without stopping.
Bit 7 - Always reset. See the bit description in the
communication section of this document.
ABORT MESSAGE SONAR BYTE DESCRIPTION
All category zero abort messages include the sonar detection
status packed into a bitfield byte called the SONAR byte. The
bits are set for an alarm status or reset for non-alarm status as
follows:
Bit 0 - Sonar zero has detected an echo closer than its
collision alarm distance set point.
Bits 1 thru 3 - Same as above for sonars 1 thru 3
respectively.
Bit 4 - Sonar zero has detected an echo beyond its drop
off alarm distance set point.
Bits 5 thru 7 - Same as above for sonars 1 thru 3
respectively.
If a sonar has been disabled via the control category
enable/disable sonar options, these bits will be invalid for the
sonar(s) so disabled. The bits will still be valid for the
sonar(s) that are enabled. This byte may be used to determine
which sonar has sensed a collision. If the sonars have been
turned off using the control category sonar on/off option, these
bits are invalid and of no meaning.
CATEGORY ZERO ABORT CODES
#3 - COLLISION ERROR - Sent when the echo distance for an enabled
sonar is below the collision distance set point or beyond the
drop off distance set point. Which sonars are in alarm and the
type of alarm can be determined by examining the SONAR byte. A
collision error also cancels any and all succeding commands in
the move job queue. Commands so cancelled each send an abort
message with the cancel code.
#04 - CANCEL CODE - Command has been canceled by a succeding
command with the cancel bit set in the cancel byte, or by a
preceding collision abort. All commands in the queue and the
currently executing command canceled send this code in an abort
message. The command having the cancel bit set does not return a
cancel code unless it is in turn canceled by another command with
cancel set.
#04 - CANCEL ALL CODE - Command has been canceled by using the
control category cancel option. As above, all commands in the
queue and the currently executing command send this code in an
abort message. The control category sends a success message
after all executing and pending commands have been canceled.
After sending a control category cancel do not send another move
command to be executed until the control success message is
received, or the new command may be canceled also.
#5 - JOB PAUSED - Sent when the job has been temporarily
suspended using the control category suspend option. Paused jobs
can also be canceled.
#6 - LEFT STALLED ERROR - Sent when only the left motor encoder
pulses are missing.
#7 - RIGHT STALLED ERROR - Same as above except for right motor.
#8 - BOTH STALLED ERROR - Sent when Newton gets no encoder pulses
from both wheel motors while they are commanded to move.
#9 - TILT ERROR - Sent when Newton's tilt sensor has been
actuated.
#16 - ZERO MOVE SPEED ERROR - Sent when a command is issued with
the speed bits in the cancel byte equal to zero.
NOTE: Codes 34 thru 38 are sent in a three byte format. See the
communications section of this document.
#34 - JOB BUFFER FULL ERROR CODE - See the Queues section under
communications.
#35 - UNIMPLEMENTED ERROR - Sent if an option number greater than
2 is sent. See the low level communications considerations
section under communcations.
#36 - MSG LENGTH ERROR - Sent if the message length does not
agree with that expected for the option commanded. See the low
level communications considerations section under communications.
#37 - MSG TOO LONG ERROR - See the low level communications
considerations section under communications.
#38 - REJECTED WHILE REMOTE ERROR - Sent if a command is sent
while Newton is being controlled by the hand held remote control.
The command is discarded.
#41 - JOB RESUMED - Sent when a paused job has been resumed using
the control category resume option.
SELF TEST
(CATEGORY ONE)
Command message format:
02(STX)/3/1nH/CANCEL BYTE
Where n is the option desired.
Three options will be implemented for the selftest category
in future firmware revisions. They are:
Option 0 - Short test.
Option 1 - Regular test.
Option 2 - Extensive test.
At this time only an abbreviated version of option two, the
extensive test, is implemented in Newton. Sending an option
number other than two will result in the return of an
unimplemented error message.
OPTION TWO - EXTENSIVE TEST
Return message format:
02(STX)/6/12H/DATA 0/DATA 1/DATA 2/DATA 3
The data bytes in the return message are bitfields, with bit
set indicating a fault condition. The bit assignments are:
DATA 0 -
Bit 0 - Not used.
Bit 1 - Temperature sensor shorted or open.
Bit 2 - Tilt sensor actuated.
Bit 3 - Light sensor faulty.
Bit 4 - Battery voltage low.
Bit 5 - Left motor fault.
Bit 6 - Right motor fault.
Bit 7 - Head motor fault.
DATA 1 -
Bit 0 - One or more sonars faulty.
Bit 1 - Plus 5 volts out of limits.
Bit 2 - Negative 5 volts out of limits.
Bit 3 - Plus 12 volts out of limits.
Bit 4 - Negative 12 volts out of limits.
Bit 5 - Not used.
Bit 6 - Not used.
Bit 7 - Not used.
DATA 2 -
Bit 0 - Motor cable fault.
Bit 1 - Light cable fault.
Bit 2 - Head cable fault.
Bit 3 - Opto cable fault.
Bit 4 - Not used.
Bit 5 - Not used.
Bit 6 - Not used.
Bit 7 - Not used.
DATA 3 -
Bit 0 - Not used.
Bit 1 - Not used.
Bit 2 - Not used.
Bit 3 - Not used.
Bit 4 - Not used.
Bit 5 - Not used.
Bit 6 - Not used.
Bit 7 - Not used.
CATEGORY ONE CANCEL BYTE
All bits except bit 7, which must always be reset, are
ignored in the selftest routine. However, cancelling the move
robot or move head category while selftest is moving the robot or
head will result in the return of a cancel message from selftest.
If a move category is paused and resumed while selftest is using
the move, the pause and resume messages will come from the move
category, and selftest will also be paused and resumed, but will
send no message to that effect.
CATEGORY ONE ABORT MESSAGES AND CODES
All category one abort messages use the three byte format:
02(STX)/3/1nH/ABORT CODE
Possible abort codes returned are:
#34,#35,#36, & #37 - JOB BUFFER FULL, UNIMPLEMENTED, MSG LENGTH,
& MESSAGE TOO LONG ERRORS. See the communications section of
this document for details.
#4 - CANCEL CODE - Sent if a move robot or move head cancel is
received while selftest is moving the robot or head.
#4 - CANCEL ALL CODE - Sent if a move robot or move head cancel
is done using the control category cancel option while selftest
is moving the robot or head.
LIGHTS
(CATEGORY TWO)
Newton has 28 lights numbered 0 thru 27. All lights except
numbers 0 thru 3 are also used in Newton's light shows. Lights 0
and 1 are Newton's eyes, and lights 2 and 3 are power indicators.
These four lights are always under the control of category two.
Lights are removed from the lightshows (if any) and placed under
control of category two any time a command with a non zero time
is received for the light. Sending a command to a light with the
time set to zero returns the light control to the lightshows.
Countdown of the time to zero without a succeding light command
for the light also returns the light to the lightshows.
Each light can handle two commands, one command running, and
another command to be run when the current time period expires.
If another non cancel and non zero command is received with the
individual light command queue full, an error message is sent to
the PC. It should be noted that a success message is generated
by category two as soon as the command is accepted. The HPC does
NOT wait until the end of the time out to send the success
message. In fact even a light command entered into the one
command queue generates an immediate success message. Nor is any
message sent at the end of the time out period or at the start of
execution of a queued command. A currently executing command
that is canceled also does not send a canceled message. In fact
the only possible return messages other than success returned
from the lights category are the communications errors and the
individual light command queue full error messages.
All light options except turn eyes on/off include time in
seconds. Sending time equal 0 returns lights 4 thru thru 27 to
the lightshows if any are running. If no lightshows are running,
and always for lights 0 thru 3, sending time zero toggles the
light on/off. Sending time equal 65535 (0FFFFH) turns the light
on or off forever. A light turned on or off forever can be
reurned to control by sending another command with the cancel bit
set in the cancel byte. It can be returned to the lightshows by
sending a zero time command. This also cancels any running or
queued command. The actual maximum time for control is limited
to 4294 seconds (1 hr 11 min 34 sec). Time values sent that are
from 4295 thru 65534 will be truncated to 4294 seconds without
notification to the PC.
CATEGORY TWO CANCEL BYTE
Bits 0 thru 2 - Ignored.
Bit 3 - Cancel bit - If set command is executed immediately
and the individual light single command queue is flushed. If set
in an all lights command, the command operates all lights (except
eyes and power) immediately and flushes all individual queues.
Sending a time value of zero to individual lights also acts as a
cancel and returns the light to the lightshows.
Bit 4 - ON/OFF bit - If set, the light is turned on for the
specified time period. If cleared, the light is turned off for
the specified time period.
Bits 5 & 6 - Ignored.
Bit 7 - Always reset.
OPTION 0 - TURN A SPECIFIC LIGHT ON/OFF
Command format:
02(STX)/6/20H/LIGHT NUMBER/TIME LO/TIME HI/CANCEL BYTE
Turns the individual light specified on or off for the time
period sent. This command will also control lights 0 thru 3 for
individual control of the eyes and power lights. Any existing
command with time equal on forever will be overridden (cancelled)
by a new command.
BUG NOTE: In this version of firmware, countdown of time to zero
of an eye light or power light causes the eye or power light to
be affected by the light shows. Use on/off forever or eyes
on/off to control these lights without lightshow blinking.
OPTION 1 - TURN ALL LIGHTS ON/OFF
Command format:
02(STX)/5/21H/TIME LO/TIME HI/CANCEL BYTE
Turns all of the lights 4 thru 27 on or off for the specified
time period. This command does not affect the eye or power
lights. It does cancel all current and pending individual light
commands for lights 4 thru 27.
OPTION 2 - TURN EYES ON/OFF
Command format:
02(STX)/3/22H/CANCEL BYTE
Turns eyes on or off indefinitely. Cancels any current or
pending option 0 commands to the eyes (lights 0 & 1).
CATEGORY TWO RETURN MESSAGES AND CODES
All category two return messages use the three byte format:
02(STX)/3/2nH/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
#35 - UNIMPLEMENTED ERROR will also be sent if an invalid light
number is sent.
#127 - ONE LIGHT Q FULL ERROR - Sent when a light's individual
single command queue is full, and another command is received for
that light that does not have the cancel bit set and/or is not a
cancel type.
CONTROL
(CATEGORY THREE)
OPTION 0 - PAUSE CATEGORY nn
Message format:
02(STX)/3/30H/CANCEL BYTE (CATEGORY NUMBER)
Suspend the currently executing and queued commands in the
specified category until a continue (option 1) is sent, or a
cancel is received by the suspended category. The suspended
category will send a message to the PC showing that it has
paused, and then option zero will send a success message. Only
categories 0 and 6 (move robot & move head) can be paused. All
eight bits of the cancel byte are used for the job number.
CONTROL OPTION ZERO RETURN MESSAGES AND CODES
All option zero return messages use the three byte format:
02(STX)/3/30H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
#35 - UNIMPLEMENTED ERROR will also be sent if the pause command
is sent with a category other than 0 or 6.
#4 - JOB NOT RUNNING will be returned if the paused category has
no commands running or in its queue.
OPTION 1 - CONTINUE CATEGORY nn
Message format:
02(STX)/3/31H/CANCEL BYTE (CATEGORY NUMBER)
Start a category previously paused using option 0. The previously
suspended category will send a message to the PC showing that it
has restarted, and then option one will send a success message.
Only categories 0 and 6 (move robot & move head) can be
continued. All eight bits of the cancel byte are used for the
job number.
CONTROL OPTION ONE RETURN MESSAGES AND CODES
All option one return messages use the three byte format:
02(STX)/3/31H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
#35 - UNIMPLEMENTED ERROR will also be sent if the continue
command is sent with a category other than 0 or 6.
If the category specified is not in a paused state when this
command is received, a success message is sent to the PC, and the
category resumed does not send any message.
OPTION TWO - FORCE READ INTERNAL UPDATE
Message format:
02(STX)/3/32H/CANCEL BYTE
Sending this command forces the READ INTERNAL category to send
its messages as if Newton had just powered on. See the read
internal category description for details. The cancel byte is
ignored.
CONTROL OPTION TWO RETURN MESSAGES AND CODES
All option two return messages use the three byte format:
02(STX)/3/32H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION THREE - TILT ENABLE/DISABLE
Message format:
02(STX)/3/33H/CANCEL BYTE
If sent with the ON/OFF bit in the cancel byte cleared, the tilt
sensor abort checking when Newton executes a move is turned off.
Sending the command with the ON/OFF bit set will turn tilt sensor
checking on. The HPC startup default is tilt enabled.
CONTROL OPTION THREE RETURN MESSAGES AND CODES
All option three return messages use the three byte format:
02(STX)/3/33H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION FOUR - CANCEL NOP
Message format:
02(STX)/4/34H/CATEGORY NUMBER/CANCEL BYTE
If the cancel bit is set in the cancel byte, cancel the current
job in the category and all jobs in the category queue. Only
categories 0 and 6 can be canceled. Sending category equal 255
causes both categories to be cancelled. Sending this message
with the cancel bit cleared is a NOP that returns a success
message. Each pending or running job that is canceled sends a
cancel message of its own to the PC. After all are canceled the
control option 4 success message is sent to the PC. All bits
other than the cancel bit of the cancel byte are ignored. This
command will cancel and flush the category job queue even if the
category is in a paused state.
CONTROL OPTION FOUR RETURN MESSAGES AND CODES
All option four return messages use the three byte format:
02(STX)/3/34H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
#35 - UNIMPLEMENTED ERROR will also be sent if the cancel nop
command is sent with a category other than 0, 6, or 255. Sending
the command with an invalid category number, but with the cancel
bit cleared, will result in a success message.
If the category specified has no jobs running, pending, or paused
when this command is received, a success message is sent to the
PC, and the category canceled does not send any message.
OPTION FIVE - SONAR ENABLE/DISABLE
Message format:
02(STX)/3/35H/CANCEL BYTE
If sent with the ON/OFF bit in the cancel byte cleared, the sonar
collision checking when Newton executes a move is turned off.
The sonars themselves still operate, and values returned from the
read external category for the sonars will still be valid.
Sending the command with the ON/OFF bit set will turn sonar
collision checking on. This command turns all sonar checking on
or off, and overrides the individual sonar control. The HPC
startup default is sonar enabled.
CONTROL OPTION FIVE RETURN MESSAGES AND CODES
All option five return messages use the three byte format:
02(STX)/3/35H/1(SUCCESS) OR ABORT CODE
|
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION SIX - SONAR ON/OFF
Message format:
02(STX)/3/36H/CANCEL BYTE
If sent with the ON/OFF bit in the cancel byte cleared, the
sonars are turned off completely, and collision checking when
Newton executes a move is turned off. Zero distance values will
be returned from the read external read sonar commands. Sending
the command with the ON/OFF bit set will turn the sonars back on,
and the sonar enable/disable will be at the same state as when
the sonars were turned off. When the sonars are turned off this
command turns all sonar checking off, and overrides the
individual sonar control. The HPC startup default is sonar on.
CONTROL OPTION SIX RETURN MESSAGES AND CODES
All option six return messages use the three byte format:
02(STX)/3/36H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION SEVEN - REMOTE CONTROL ON/OFF
Message format:
02(STX)/3/37H/CANCEL BYTE
If sent with the ON/OFF bit in the cancel byte cleared, the
key presses from the optional remote control are not sent to the
PC. If the ON/OFF bit is set, the remote control keys are sent
to the PC as directed by the set remote address and set remote
duplicate filter commands' status. The HPC startup default is
remote control on.
CONTROL OPTION SEVEN RETURN MESSAGES AND CODES
All option seven return messages use the three byte format:
02(STX)/3/37H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION EIGHT - SET REMOTE CONTROL ADDRESS
Message format:
02(STX)/4/38H/ADDRESS/CANCEL BYTE
The remote control transmitter can be set to have one of 20
different addresses. If this command is sent with the ON/OFF bit
set, only keystrokes coming from the transmitter with the address
specified will be sent to the PC. If the ON/OFF bit is cleared,
all keystrokes, regardless of the address, will be sent to the
PC as conditioned by the set remote duplicate filter command's
status. The HPC startup default is to send all keystrokes
regardless of address. Valid addresses range from 1 thru 20.
Sending an invalid address will probably cause loss of keystrokes
since address range checking is not done by the HPC.
CONTROL OPTION EIGHT RETURN MESSAGES AND CODES
All option eight return messages use the three byte format:
02(STX)/3/38H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION NINE - SET REMOTE CONTROL DUPLICATE FILTER
Message format:
02(STX)/3/39H/CANCEL BYTE
If a key is continually held down on the remote control
transmitter, an autorepeat feature keeps on sending the key
several times a second. If this command is sent with the ON/OFF
bit set, only the first keystroke of an autorepeat sequence will
will be sent to the PC. If the ON/OFF bit is cleared, all
keystrokes of the autorepeat sequence will be sent to the PC as
conditioned by the set remote address command's status. The HPC
startup default is to send only the first keystroke.
CONTROL OPTION NINE RETURN MESSAGES AND CODES
All option nine return messages use the three byte format:
02(STX)/3/39H/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION TEN - SEND REMOTE CONTROL KEYSTROKE
Message format:
02(STX)/4/3AH/KEYSTROKE LO/KEYSTROKE HI
This is a message only sent from the HPC to the PC. If it is
sent to the HPC an unimplemented error will be returned. It is
sent to the PC when a keystroke has been received from the remote
control transmitter as conditioned by the set remote address and
set remote duplicate filter commands. By default, the HPC will
never send this message until the remote control is enabled using
the remote control on/off option.
CONTROL OPTION TEN ERROR MESSAGES AND CODES
All option ten error messages use the three byte format:
02(STX)/3/3AH/ABORT CODE
Possible abort codes returned are:
#34,#35,#36, & #37 - JOB BUFFER FULL, UNIMPLEMENTED, MSG LENGTH,
& MESSAGE TOO LONG ERRORS. See the communications section of
this document for details.
#127 - NOISE KILL ERROR - If more than 25 remote control
interrupts are detected within 127 seconds without a valid
keystroke being received, the remote control is shut off to
prevent noise from interfering with the HPC operation. If and
when this happens, an error message with the noise kill error is
sent to the PC. After the message is sent, the PC must send
a remote on/off command with the on/off bit set if it wants to
continue to receive remote control keystrokes.
REMOTE CONTROL DATA WORD FORMAT
Bit 15 - Set if keystroke is long (12 bit) format. Cleared
if word is short (11 bit) format.
Long word format:
Bits 14 thru 12 - Always zero.
Bits 11 & 10 - Toggle bits. These bits are incremented 0
thru 3 in a circular manner for each individual keystroke.
During sucessive strokes of an autorepeat sequence they are not
incremented. When the remote duplicate filter is off, these bits
can be used to tell auto repeat keys (which will have identical
successive words) from press-release-press again strokes of the
same key (succeding otherwise identical words will have different
toggle bits).
Bits 9 thru 6 - Long format raw address as received by the
HPC for addresses 8 thru 20. Refer to the SAA3007 transmitter IC
data sheet for conversion of these bits to the corresponding
address 1 thru 20.
Short word format:
Bits 14 thru 11 - Always zero.
Bits 10 & 9 - Toggle bits as described above.
Bits 8 thru 6 - Short format address bits for addresses 1
thru 7.
Both formats:
Bits 5 thru 0 - The actual keystroke code. This is referred
to as the "command code" in the SAA3007 data sheet.
OPTION ELEVEN - INDIVIDUAL SONAR ENABLE/DISABLE
Message format:
02(STX)/3/3BH/CANCEL BYTE
If sent with the ON/OFF bit in the cancel byte cleared, the sonar
collision checking for the individual sonar limit specified in
the cancel byte is turned off when Newton executes a move. The
sonar itself still operates, and values returned from the read
external category for the sonar will still be valid. Sending the
command with the ON/OFF bit set will turn the particular sonar
collision checking on. The HPC startup default is all sonar
limits enabled.
CONTROL OPTION ELEVEN RETURN MESSAGES AND CODES
All option five return messages use the three byte format:
02(STX)/3/3BH/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION ELEVEN CANCEL BYTE FORMAT
Bits 0 & 1 - Number of the sonar whose limit check is
affected.
Bit 2 - If set the far (drop off) limit check is enabled or
disabled. If cleared the near (collision) limit check is enabled
or disabled.
Bit 4 - ON/OFF bit - If set, the limit check is enabled. If
cleared, the limit check is disabled.
All other bits - Ignored, except bit seven must be 0.
OPTION TWELVE - SET SONAR LIMIT
Message format:
02(STX)/5/3CH/FEET LO/FEET HI/CANCEL BYTE
This command sets individual near or far limits for sonar
collision and drop off detection. As in the option 11 individual
sonar control option the cancel byte specifies the sonar and
limit affected by the command. The distance is specified in
tenths of feet. The cancel bit has no effect in this command.
CONTROL OPTION TWELVE RETURN MESSAGES AND CODES
All option five return messages use the three byte format:
02(STX)/3/3CH/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION TWELVE CANCEL BYTE FORMAT
Bits 0 & 1 - Number of the sonar whose limit setpoint is
affected.
Bit 2 - If set the far (drop off) limit set point is set to
the specified distance. If cleared the near (collision) setpoint
check is set to the specified distance.
All other bits - Ignored, except bit seven must be 0.
OPTION THIRTEEN - SET IR REFERENCE
Command format:
02(STX)/4/3DH/REFERENCE BYTE/CANCEL BYTE
This command sets the reference output (0 thru 255) for the
ir sensor. The reference is initialized to 080H on startup. the
reply message format is:
02(STX)/3/3DH/1(SUCCESS) OR ERROR CODE
OPTION THIRTEEN CANCEL BYTE
All bits are ignored, except that bit seven must be zero.
OPTION THIRTEEN ERROR MESSAGES
Error messages are returned to the PC in the usual three
byte format:
02(STX)/3/3DH/ERROR CODE
Possible error codes are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION FOURTEEN - HEAD CALIBRATION ENABLE/DISABLE
Message format:
02(STX)/3/3EH/CANCEL BYTE
If the ON/OFF bith is set in the command cancel byte, the
calibration is enabled. If the ON/OFF bit is cleared,
calibration is disabled. Setting the CANCEL bit and the ON/OFF
bit will force a calibration on the next commanded head move.
CONTROL OPTION FOURTEEN RETURN MESSAGES AND CODES
All option fourteen return messages use the three byte
format:
02(STX)/3/3EH/1(SUCCESS) OR ABORT CODE
Possible abort codes returned are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION FIFTEEN
Control option fifteen is unimplemented.
READ INTERNAL VALUE
(CATEGORY FOUR)
With one exception, option 15, read internal messages are
only sent from the HPC to the PC to keep the PC up to date on
sensor values. The exception allows reading the raw binary value
for any one of the seven A/D converter readings kept current by
the HPC. Sending a command to category 4 with the option set to
other than 15 will result in an unimplemented error message being
sent to the PC. The category four messages will be sent upon any
change in the option's data. Messages from category four are not
sent until after the first full message of any type has been
received from the PC. This allows the PC to initialize its
communication interface before messages are sent from the HPC.
Since these messages are sent only upon change, it is the
responsibility of the PC programming to keep the values available
to application programs. Update of the read internal values (if
different from the defaults) may be forced using the control
category option two.
CATEGORY FOUR RETURN MESSAGES AND CODES
All category four return messages use the three byte format:
02(STX)/3/4nH/DATA OR ABORT CODE
With n being the option number.
Possible abort codes returned are:
#34, #35, & 37 - JOB BUFFER FULL, UNIMPLEMENTED & MSG TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
CATEGORY FOUR DATA BYTE DESCRIPTIONS
OPTION ZERO - READ TEMPERATURE
The data byte contains the current temperature in degrees
Fahrenheit. A data byte of zero indicates detection of an open
sensor. A data byte of 255 indicates detection of a shorted
sensor. PC programming should assume a value of zero (open
sensor) upon startup.
OPTION ONE - READ BATTERY
The data byte contains the current approximate percent of
battery charge. The possible values are 80, 60, 40, 20, 10, 5,
and 0 per cent. If the value is 80, the battery is charged to
somewhere between 80 and 100 per cent. If the value is 60, the
battery is charged somewhere between 60 and 80 per cent, etc..
If the value is zero, Newton had better be on his way to his
charger. PC programming should assume a value of zero upon
startup.
OPTION TWO - READ TILT
A one in the data byte indicates tilted. A zero in the data
byte indicates not tilted. An application program may assume not
tilted, unless the tilted value is sent. The not tilted value
will only be sent upon return from tilted to not tilted.
OPTION THREE - READ SMOKE SENSOR
A one in the data byte indicates smoke detected. A zero in
the data byte indicates no smoke detected. An application
program may assume no smoke, unless the smoke value is sent. The
no smoke value will only be sent upon return from smoke to no
smoke.
OPTIONS FOUR THRU FOURTEEN
Options four thru fourteen are not implemented.
OPTION FIFTEEN - READ RAW VALUE
This is the only read internal command that can be sent to
the HPC without error. The format is:
02(STX)/3/4FH/CANCEL BYTE
The reply message will be in the standard category 5 format
with the data byte being the raw 8 bit binary value A/D
conversion value for the A/D channel specified in the cancel
byte sent. Bits 0 thru 2 of the cancel byte are used to specify
one of the seven A/D converter channels. All other cancel bits
are ignored, except that of course bit 7 must be zero. Note that
it may be impossible to differentiate between a data
communications error message and a valid message that has data
that happens to be the same as an error code.
READ EXTERNAL
(CATEGORY FIVE)
OPTION ZERO - READ HEAD SONAR
Command format:
02(STX)/5/50H/DEGREES LO/DEGREES HI/CANCEL BYTE
This command rotates the head to the specified position, and
then reads the head sonar and returns the sonar reading in tenths
of feet to the PC. If the sonars are turned off, a distance of
zero is returned. The reply message format is:
02(STX)/4/50H/FEET LO/FEET HI
OPTION ZERO CANCEL BYTE
The cancel byte is ignored, except the bit seven must be
zero.
OPTION ZERO ABORT AND ERROR MESSAGES
Abort or error messages are returned to the PC in the
usual three byte format:
02(STX)/3/50H/ABORT OR ERROR CODE
Abort messages do not include any data showing where the command
was when aborted. Possible abort and error codes are:
#4 - CANCEL CODE - Returned if the move head category (category
six) is canceled while rotating the head to the specified
degrees.
#4 - CANCEL ALL CODE - Returned if the move head category is
canceled by the control cancel option while rotating the head to
the specified position.
#10 - HEAD STALL CODE - Returned if the head motor stalls while
attempting to move to the specified position.
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
If the move head category is paused while this command is
executing, this option will be paused automatically without
sending a paused message to the PC. The pause and resume
messages will be sent from category six, move head.
OPTION ONE - READ SONAR
Command format:
02(STX)/3/51H/CANCEL BYTE
This command returns the sonar reading for the sonar
specified in the cancel byte to the PC in tenths of feet to the
PC. If the sonars are turned off, a distance of zero is
returned. The reply message format is:
02(STX)/4/51H/FEET LO/FEET HI
OPTION ONE CANCEL BYTE
Bits 0 & 1 - Number of the sonar to read, 0 thru 3.
All other bits are ignored, except that bit seven must be
zero.
OPTION ONE ERROR MESSAGES
Error messages are returned to the PC in the usual three
byte format:
02(STX)/3/51H/ERROR CODE
Possible error codes are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION TWO - READ INFRA-RED SENSOR
Command format:
02(STX)/3/52H/CANCEL BYTE
This command returns whether or not there has been a change
in the infra-red detector reading since the last time this option
was commanded. The initial (startup) ir bit setting is assumed
to be zero. To ascertain the absolute ir bit setting use the
option six command. This command does not return the setting of
the ir bit, but only whether the bit has changed one or more
times since the last call to this function. The ir reading may
have changed several times, and may even be the same as before
the last call to this function. The reply message format is:
02(STX)/3/52H/DATA
Where the data byte will be zero for no change, and one for
change.
OPTION TWO CANCEL BYTE
All bits are ignored, except that bit seven must be zero.
OPTION TWO ERROR MESSAGES
Error messages are returned to the PC in the usual three
byte format:
02(STX)/3/52H/ERROR CODE
Possible error codes are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION THREE - SCAN HEAD AND INFRA-RED SENSOR
Command format:
02(STX)/3/53H/CANCEL BYTE
This command moves the head to the full left (counter
clockwise) position, and the moves the head clockwise at the
speed specified in the cancel byte until the infra-red sensor
detects a change, then it stops the head move and sends the head
position to the PC. It stops after 360 degrees have been covered
with no changes. The reply message format is:
02(STX)/4/53H/DEGREES LO/DEGREES HI
Degrees will be set to the head position at which the change
was detected. If no change has been detected a value of 999
degrees will be returned.
OPTION THREE CANCEL BYTE
Bits 0 thru 2 - Head move speed. 1 (slowest) thru seven
(fastest).
The rest of the bits are ignored, except the bit seven must
be zero.
OPTION THREE ABORT AND ERROR MESSAGES
Abort or error messages are returned to the PC in the
usual three byte format:
02(STX)/3/53H/ABORT OR ERROR CODE
Abort messages do not include any data showing where the command
was when aborted. Possible abort and error codes are:
#4 - CANCEL CODE - Returned if the move head category (category
six) is canceled while rotating the head.
#4 - CANCEL ALL CODE - Returned if the move head category is
canceled by the control cancel option while rotating the head.
#10 - HEAD STALL CODE - Returned if the head motor stalls while
attempting to move the head.
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
#128 - ZERO HEAD SPEED ERROR - Returned if this option is called
with speed of zero.
If the move head category is paused while this command is
executing, this option will be paused automatically without
sending a paused message to the PC. The pause and resume
messages will be sent from category six, move head.
OPTION FOUR - READ HEAD POSITION
Command format:
02(STX)/3/54H/CANCEL BYTE
This command returns the current head position in degrees.
One degree is full left (CCW), and 347 degrees is full right
(CW). The reply message format is:
02(STX)/4/54H/DEGREES LO/DEGREES HI
OPTION FOUR CANCEL BYTE
All bits are ignored, except that bit seven must be zero.
OPTION FOUR ERROR MESSAGES
Error messages are returned to the PC in the usual three
byte format:
02(STX)/3/54H/ERROR CODE
Possible error codes are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
OPTION FIVE - READ LIGHT INTENSITY
Command format:
02(STX)/3/55H/CANCEL BYTE
This command returns the relative light intensity (0 - 255)
as read by the A/D converter. The reply message format is:
02(STX)/3/55H/DATA
OPTION FIVE CANCEL BYTE
All bits are ignored, except that bit seven must be zero.
OPTION FIVE ERROR MESSAGES
Error messages are returned to the PC in the usual three
byte format:
02(STX)/3/55H/ERROR CODE
Possible error codes are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
Note that there is no way to differentiate between an error
message and a valid return where the data happens to equal an
error code.
OPTION SIX - READ IR STATUS
Command format:
02(STX)/3/56H/CANCEL BYTE
This command returns the current IR bit; one equals on, and
zero equals off. The reply message format is:
02(STX)/3/56H/ON(1) OR OFF(0)
OPTION SIX CANCEL BYTE
All bits are ignored, except that bit seven must be zero.
OPTION SIX ERROR MESSAGES
Error messages are returned to the PC in the usual three
byte format:
02(STX)/3/56H/ERROR CODE
Possible error codes are:
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
No other errors will be sent by this option.
MOVE HEAD
(CATEGORY SIX)
HEAD SPEEDS AND POSITION ACCURACY
The head angular velocities for the command speeds are as
follows:
Speed 1 - 47 +/- 3% degrees per second
Speed 2 - 54 +/- 3%
Speed 3 - 65 +/- 5%
Speed 4 - 80 +/- 5%
Speed 5 - 104 +/- 6%
Speed 6 - 150 +/- 9%
Speed 7 - 165 (approx.)
For speed seven, the motor is simply turned on at maximum
power, and not controlled.
The head position encoder has 480 counts per revolution for
an accuracy of 0.75 degree per count. Backlash in the head gear
train and other tolerances make actual control to this tolerance
impractical. If the head position is within two encoder counts
of the commanded position, the move will be seen as successfully
completed. Thus, the head position accuracy is basically 2
degrees, although readings from the read head position function
of category five are accurate to one degree.
OPTION ZERO - MOVE HEAD
Command format:
02(STX)/5/60H/DEGREES LO/DEGREES HI/CANCEL BYTE
This command rotates the head to the specified position,
zero degrees being full left (CCW) and 359 degrees being full
right (CW). It should be noted that Newton's head will not
actually move to zero degrees. A command sent with zero degrees
actually results in a move that will be to 1 degree. Also, since
the head rotation stop prevents full 360 degree movement, a move
to 359 degrees will actually cause a move to 347 degrees. The
true position will be returned when read back by the read head
position option of category five. The reply message format is:
02(STX)/3/60H/1(SUCCESS) OR ERROR OR ABORT CODE
OPTION ONE - HOME HEAD
Command format:
02(STX)/3/61H/CANCEL BYTE
This command moves the head to the straight ahead (180
degree) position. The reply message format is:
02(STX)/3/61H/1(SUCCESS) OR ERROR OR ABORT CODE
CATEGORY SIX CANCEL BYTE
Bits 0 thru 2 - Speed from 0 thru 7. 1 (slowest) thru 7
(fastest) are valid. Sending 0 with valid data values causes an
abort message to the PC and the command is otherwise ignored.
Bit 3 - Cancel bit. If set, all previous commands
(including the currently executing command), if any, in the
category six job queue are discarded, and the command is executed
immediately. Sending a category six option zero command with
zero data values flushes the command queue and stops Newton's
head, and a success message is returned. Any and all commands
canceled return an abort message indicating that they have been
canceled.
Bit 4 - ON/OFF bit. This bit is ignored in category six.
Bit 5 - LEFT/RIGHT bit. Ignored.
Bit 6 - Continue bit. Newton normally does a controlled
smooth stop at the completion of a head move to "zero in" on the
final position. If the current or any succeding command in the
job queue has the continue bit set, Newton does not stop between
commands, but continues immediately into the next without
stopping. If another command is not in the queue, the head's
momentum may cause overshoot of the commanded position. In this
case, the true position may be determined thru the read head
position option of category five.
Bit 7 - Always reset. See the bit description in the
communication section of this document.
CATEGORY SIX ABORT AND ERROR CODES
Abort messages do not include any data showing where the command
was when aborted, and are sent in the standard three byte format.
Possible abort and error codes are:
#4 - CANCEL CODE - Returned if the move head category (category
six) is canceled while rotating the head to the specified
degrees.
#4 - CANCEL ALL CODE - Returned if the move head category is
canceled by the control cancel option while rotating the head to
the specified position.
#5 - JOB PAUSED - Sent when a head move has been temporarily
suspended using the control category suspend option. Paused jobs
can also be cancelled.
#10 - HEAD STALL CODE - Returned if the head motor stalls while
attempting to move to the specified position.
#34,#36, & #37 - JOB BUFFER FULL, MSG LENGTH, & MESSAGE TOO LONG
ERRORS. See the communications section of this document for
details.
#38 - REJECTED WHILE REMOTE ERROR - Returned if a command is sent
while Newton is being controlled by the hand held remote control.
The command is discarded.
#41 - JOB RESUMED - Sent when a paused job has been resumed using
the control category resume option.
BEACON
(CATEGORY SEVEN)
NO CATEGORY SEVEN OPTIONS ARE IMPLEMENTED AT THIS TIME. Sending
a message to category seven will result in the return of an
unimplemented error message.
LIGHT SHOWS
(CATEGORY EIGHT)
Newton has 7 light shows available numbered 0 thru 6. By
default, upon startup the shows are run continuously, sequencing
zero thru six and then back to zero. The lightshow options
provide ways to manipulate the shows. The use of Newton's lights
in the light shows is overridden by the light commands of
category one. Refer to the category one description for the
interplay between the categories. As in the individual
light commands, reply messages are generated immediately, not
when the command time period has expired. Unlike the individual
light commands, there is no indiviual command queue, and any
command received will override preceding commands even if there
is time remaining from the preceding command's time period.
OPTIONS ZERO THRU SIX - TURN INDIVIDUAL SHOW ON/OFF
This turns off the running of a specified lightshow in the
current sequence (see option 2) for the specified time interval
in seconds if the ON/OFF bit in the cancel byte is cleared. At
the end of the time period the lightshow is turned on again. If
the ON/OFF bit is set, the show is run until the end of the time
period, at which time it is shut off. Sending time equal 65535
or 0 turns on the show forever. As in the individual light
commands, the maximum time interval is limited to 4294 seconds (1
hr 11 min 34 sec), and times sent between 4294 and 65535 will be
truncated to 4294 without notifying the PC. The command message
format is:
02(STX)/5/8nH/TIME LO/TIME HI/CANCEL BYTE
Where n is the lightshow number to be turned on or off.
All bits except the ON/OFF bit in the cancel byte are
ignored, except bit seven must be zero.
OPTIONS SEVEN THRU THIRTEEN
Options seven thru thirteen are unimplemented. Sending a
command to category eight with one of these options will result
in the return of an unimplemented error message.
OPTION FOURTEEN - SET LIGHT SHOW ORDER
Active light shows are run in the sequence specified in an
internal list. The startup order is 0,1,.....,6. After the last
show in the list is run, the sequence starts over at the
beginning. If a show in the list is off, that show is skipped
and the next is run instead. By changing the order of the list
and/or individually turning shows on and off, any combination of
shows, or a single show only, can be set for Newton to run. The
command format is:
02(STX)/5/8EH/SHOW NUMBER/ORDER NUMBER/CANCEL BYTE
If the show number or order number is sent greater than six,
an unimplemented error message will be generated. The cancel
byte is ignored, except bit seven must be zero.
OPTION FIFTEEN - TURN ALL LIGHT SHOWS ON/OFF
This turns off the running of any lightshows in the current
sequence (see option 2) for the specified time interval in
seconds if the ON/OFF bit in the cancel byte is cleared. At the
end of the time period the sequence is turned on again. If the
ON/OFF bit is set, the shows are run until the end of the time
period, at which time they are shut off. Sending time equal
65535 or 0 turns on the shows forever. As in the individual
light commands, the maximum time interval is limited to 4294
seconds (1 hr 11 min 34 sec), and times sent between 4294 and
65535 will be truncated to 4294 without notifying the PC. At the
end of a time on period, the lights will be left in the last
controlled light setting. The command message format is:
02(STX)/5/8FH/TIME LO/TIME HI/CANCEL BYTE
All bits except the ON/OFF bit in the cancel byte are
ignored, except bit seven must be zero.
CATEGORY EIGHT ERROR MESSAGES AND CODES
All category eight error messages use the three byte format:
02(STX)/3/8nH/ERROR CODE
Possible error codes returned are:
#34,#35,#36, & #37 - JOB BUFFER FULL, UNIMPLEMENTED, MSG LENGTH,
& MESSAGE TOO LONG ERRORS. See the communications section of
this document for details.
APPENDIX ONE
SAMPLE PC TO HPC COMMUNICATIONS PSUEDOCODE
IRQ2 HANDLER
Enter interrupt - save all,etc.
Read port 301H
Bit 0 set?
Yes - Process RX from HPC.
Else - Must be ack interrupt - Process TX to HPC.
Exit interrupt - restore all. EOI to PIC.
Process RX from HPC:
Read the char from port 300H
Put in circular RX buffer
Read port 301H
Bit 1 set?
No - HPC is not busy - write 0 to port 301 to ID this as an
ack of the char being received. Write char to port 301.
Yes - HPC is busy. Save char in variable for Hi level program
& set flag to tell Hi level to do ack when HPC not busy.
Done with interrupt process RX from HPC
Process TX to HPC:
Any more to Send?
No - Read port 300H to clear the interrupt for the HPC.
Clear TX busy flag for Hi level.
Done with interrupt process TX to HPC.
YES -
Read port 301H
Bit 1 set?
No - HPC is not busy - write 1 to port 301 to ID this as a
TX to the HPC. Write next char to port 300. Read port 300
to clear interrupt for the HPC.
Done with interrupt process TX to HPC.
Yes - HPC is busy - Clear TX busy flag for Hi level.
Set flag to tell Hi level to send next when HPC not busy.
Read port 300 to clear interrupt for HPC.
Done with interrupt process TX to HPC.
This is the Hi level process loop:
BEGIN LOOP
IF Hi level send next flag set;
disable ints
read port 301.
bit 1 cleared?
HPC not busy - Out 1 to 301 to ID as TX to HPC.
Write next char to 300.
Clear Hi level send next flag.
Set TX busy flag.
enable ints
IF Hi level send ack flag set and TX busy flag cleared:
disable ints
read port 301
bit 1 cleared?
HPC not busy - Out 0 to 301 to ID as ack to HPC.
Get ack char saved by int routine & write to 300.
Clear Hi level send ack flag.
enable ints
IF chars are in buffer to be sent and TX busy flag cleared and
Hi level send next flag cleared:
disable ints
read port 301
bit 1 cleared?
HPC not busy - Out 1 to 301 to ID as TX to HPC.
Write next char to 300.
Clear Hi level send next flag.
Set TX busy flag.
enable ints
IF unprocessed char in RX buffer:
Process char
END LOOP
by : Lynn R. Erickson's
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