PRO4 protocol packet
Declaration Syntax| C# | Visual Basic | Visual C++ |
public class Protocol_PRO4_Packet
Public Class Protocol_PRO4_Packet
public ref class Protocol_PRO4_Packet
Members| All Members | Constructors | Methods | Properties | Fields | |
| Icon | Member | Description |
|---|---|---|
 | Protocol_PRO4_Packet()()() |
Default Constructor
|
| Protocol_PRO4_Packet(array<Byte>[]()[], Boolean) |
Construct a protocol packet from a header buffer
|
| Protocol_PRO4_Packet(array<Byte>[]()[], array<Byte>[]()[]) |
Construct a protocol packet from a header buffer and a payload buffer
|
  | ADDR_CONFIG_DATA | Address for CONFIGURATION DATA special register |
| ADDR_CONFIG_DATA_SIZE | Address for CONFIGURATION DATA size |
| ADDR_CUSTOM_COMMAND | Address for special custom command register |
| ADDR_DEVICE_ID | The device ID returns the factory programmed unique ID for this device |
| ADDR_GROUP_ID | Address for device group id, used for multicast |
| ADDR_NODE_ID | Address for device node id |
| ADDR_REBOOT |
The Reboot register is 16-bit at addresses 0xFE-0xFF
Writing the value 0xDEAD into the reboot register should causes the device
to reboot after a delay. |
| Build_Request(Byte, Byte, Byte, array<Byte>[]()[]) |
Create and populate a request packet
|
| Build_Request_ConfigData(Byte) |
Create and populate a request packet for getting the CONFIGURATION DATA
|
| Build_Request_DeviceID(Byte) |
Create and populate a request packet for getting the DEVICE ID
|
| Build_Response(Byte, Byte, Byte, Byte, array<Byte>[]()[]) |
Create and populate a response packet
|
| CalcHeaderChecksum()()() |
Calculate the header checksum
|
| CalcPayloadChecksum()()() |
Calculate the Payload checksum
|
| CSR_LENGTH | Length of entire CSR including non-device specific region |
| CSR_SAVE_SETTINGS_COMPLETE | Signal data has been saved |
| CSR_SAVE_SETTINGS_PASSWORD | Flag to save parameters when written to th appropriatre register |
 | DeviceType |
Return the DeviceType byte for a Reponse Packet
Note: Packet type and payload length checking is NOT done
|
| Equals(Object) | (Inherited from Object.) |
| Format_Request(Byte, Byte, Byte, array<Byte>[]()[]) |
Fill out the packet header and set the payload bytes.
|
| Format_Response(Byte, Byte, Byte, Byte, array<Byte>[]()[]) |
Fill out the packet header and set the payload bytes.
|
| FormatHeaderFromBuffer(array<Byte>[]()[]) | |
| GetHashCode()()() |
Serves as a hash function for a particular type.
(Inherited from Object.) |
| GetType()()() |
Gets the Type of the current instance.
(Inherited from Object.) |
| header | |
| ID_BROADCAST | Predefined Broadcast ID |
| ID_MULTICAST_FLAG | Flag indicating id is a multicast/broadcast |
| ID_RELAY_REQUEST_FLAG | Flag indicating id is a multicast/broadcast |
| IsBroadcast |
Test to check if ID is a broadcast or not
|
| IsDeviceSpecific |
Test to check if packet is devices specific
|
| IsExtendedLength |
Test to see if this is an extended length packet
|
| IsMulticast |
Test to check if packet id is a broadcast/multicast or not
|
| IsRequest |
Test to check if packet is a request
|
| IsResponse |
Test to check if packet is a response
|
| LENGTH_EXTENDED | Used to designate an extended length packet of > 254 bytes |
| NO_RESPONSE | Indicates no response requested |
| PacketBuffer |
Get the entire packet buffer.
In general it is not a great idea to use the entire buffer since processing will be
dependent upon packet structure.
|
| payload |
Get the data payload bytes
|
| payloadChecksum | |
| PROTOCOL_PRO4_DATA_PAYLOAD_START_INDEX | Index into bit buffer where the data payload starts |
| PROTOCOL_PRO4_EXTENDED_LENGTH_HEADER_SIZE | Explicit size of protocol Header |
| PROTOCOL_PRO4_EXTENDED_LENGTH_REQUEST_DATA_PAYLOAD_START_INDEX | Index into bit buffer where the extended length request packet data payload starts |
| PROTOCOL_PRO4_EXTENDED_LENGTH_RESPONSE_DATA_PAYLOAD_START_INDEX | Index into bit buffer where the extended length response packet data payload starts |
| PROTOCOL_PRO4_HEADER_ADDR_ADDRESS | Address of Address bytes in the header |
| PROTOCOL_PRO4_HEADER_ADDR_FLAGS | Address of Flag bytes in the header |
| PROTOCOL_PRO4_HEADER_ADDR_ID | Address of ID byte in the header |
| PROTOCOL_PRO4_HEADER_ADDR_LENGTH | Address of Length bytes in the header |
| PROTOCOL_PRO4_HEADER_ADDR_SYNC | Address of sync bytes in the header |
| PROTOCOL_PRO4_HEADER_ADDR_XSUM | Address of Checksum bytes in the header |
| PROTOCOL_PRO4_HEADER_SIZE | Explicit size of protocol Header |
| PROTOCOL_PRO4_REQUEST_DATA_PAYLOAD_START_INDEX | Index into bit buffer where the request packet data payload starts |
| PROTOCOL_PRO4_RESPONSE_DATA_PAYLOAD_START_INDEX | Index into bit buffer where the response packet data payload starts |
| REBOOT_CODE | 16-bit code used to command a device reboot sequence, LSB first |
| REBOOT_CODE_1 | Reboot code byte 1 |
| REBOOT_CODE_2 | Reboot code byte 2 |
| RESPONSE_CSR_DUMP | FLAG indicates a CSR dump from address to end of CSR file |
| RESPONSE_LENGTH_MASK | Mask which gives response length from FLAGS byte |
| RESPONSE_LENGTH_MAX | Max length of specified standard response |
| RESPONSE_TYPE_FLAG | FLAG bit to indicate non-device specific response |
| ResponseLength |
Get the requested response length. Returns -1 if flags indicated device specific repsonse
|
| SetData(Byte, UInt32) |
Set a byte in the data payload portion of the packet
|
| SYNC_REQUEST | Start of request packet synchronization bytes |
| SYNC_REQUEST_1 | Start of request packet synchronization byte 1 |
| SYNC_REQUEST_2 | Start of request packet synchronization byte 2 |
| SYNC_RESPONSE | Start of response packet synchronization bytes |
| SYNC_RESPONSE_1 | Start of response packet synchronization byte 1 |
| SYNC_RESPONSE_2 | Start of response packet synchronization byte 2 |
| TOP_OF_CSR | Address for top of CSR file |
| ToString()()() |
Print the packet as a string of hex values
(Overrides Object.ToString()()().) |
Remarks
The PRO4 protocol is a robust packetized communication protocol suitable for
low latency control applications on a multi-party physical layer. Each device
on the physical bus presents a memory mapped CSR (Control Status Register)
interface. The protocol also supports the wrapping of non memory mapped
protocols through writes to a special Custom Command Register.
Responses from devices can either be dumps of consecutive addresses in the
memory map, or device defined specific response packets.
All data packets are composed of a 7 byte header, followed by 0 to 254 data
payload bytes, and ending in a checksum of the total packet.
Request packets may have no data payload.
The first byte in a response packet data payload is ALWAYS a VideoRay
designated device type.
The PRO4 protcol is fully compatible with the Futaba RS301CR/RS302CD servos.
Note: when multibyte data is sent it is recommended the LSB is sent first.
Please see the document PRO4_Communication_Protocol.doc for more details.
Inheritance Hierarchy| Object | |
 | Protocol_PRO4_Packet |