PRO4 protocol packet
Namespace:
VideoRay.CommunicationAssembly: vrLib (in vrLib.dll) Version: 2.0.0.0 (2.0.0.0)
Syntax
C# |
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public class Protocol_PRO4_Packet |
Visual Basic (Declaration) |
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Public Class Protocol_PRO4_Packet |
Visual C++ |
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public ref class Protocol_PRO4_Packet |
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.