CSR Memory Map
In normal operation the device implements a CSR type memory mapped data space. The VideoRay CSR comms protocol is used for communication. See https://github.com/videoray/VRCommsProtocol_doc/raw/master/VR_CSR_Communication_Protocol.doc for more information on the base binary protocol.
| Register | Function | Comments |
|---|
| 0x0 | float rpm_target | rpm (RW) NOT USED YET |
| 0x4 | float pwr_target | -1 to 1 (RW) |
| 0x8 | float rpm | rpm (R) |
| 0xc | float bus_v | volts (R) |
| 0x10 | float bus_i | amps (R) |
| 0x14 | uint32_t fault | fault flags (R) |
| 0x18 | float temp | deg C (R) |
| 0x1c | float pwr_actual | -1 to 1 (R) |
| 0x20 | float rpm_P | 0 to 1 (R) NOT USED YET |
| 0x24 | float rpm_I | 0 to 1 (R) NOT USED YET |
| 0x28 | float rpm_D | 0 to 1 (R) NOT USED YET |
| 0x2c | RESERVED | |
| 0x4c | uint16_t thruster_ID | ordinal (RW) |
| 0x4e | RESERVED | |
| 0x50 | uint8_t operation_flags | |
| 0x51 | RESERVED | |
| 0x54 | uint32_t motor_fault_interlock | password (RW) |
| 0x58 | RESERVED | |
| 0x60 | uint8_t motor_control_flags | Bitfield (RW) |
| 0x61 | uint8_t poles | count (RW) |
| 0x62 | uint8_t pwm_deadband | ticks (RW) |
| 0x63 | RESERVED | |
| 0x64 | float commutation_threshold | 0 to 1 (RW) |
| 0x68 | uint32_t commutation_loss_timeout | ms (RW) |
| 0x6c | float startup_dutycycle | 0 to 1 (RW) |
| 0x70 | uint16_t startup_initial_rpm | rpm (RW) |
| 0x72 | uint16_t startup_final_rpm | rpm (RW) |
| 0x74 | float startup_duration | mS (RW) |
| 0x78 | float deadband_neg | -1 to 0 (RW) |
| 0x7c | float deadband_pos | 0 to 1 (RW) |
| 0x80 | float limit_neg | -1 to 0 (RW) |
| 0x84 | float limit_pos | 0 to 1 (RW) |
| 0x88 | float slew_rate_up | delta/mS (RW) |
| 0x8c | float slew_rate_down | delta/mS (RW) |
| 0x90 | float rpm_kP | -1 to 1 (RW) NOT USED YET |
| 0x94 | float rpm_kI | -1 to 1 (RW) NOT USED YET |
| 0x98 | float rpm_kD | -1 to 1 (RW) NOT USED YET |
| 0x9c | RESERVED | |
| 0xa4 | uint8_t fault_control | flag (RW) |
| 0xa5 | uint8_t undervoltage_trigger | volts (RW) |
| 0xa6 | uint8_t overvoltage_trigger | volts (RW) |
| 0xa7 | uint8_t overcurrent_trigger | amps (RW) |
| 0xa8 | uint8_t temp_trigger | deg C (RW) |
| 0xa9 | uint8_t stall_count_max | count (RW) |
| 0xaa | RESERVED | |
| 0xac | uint32_t undervoltage_err_cnt | count (R) |
| 0xb0 | uint32_t overvoltage_err_cnt | count (R) |
| 0xb4 | uint32_t overcurrent_err_cnt | count (R) |
| 0xb8 | uint32_t temp_err_cnt | count (R) |
| 0xbc | uint32_t stall_err_cnt | count (R) |
| 0xc0 | RESERVED | |
| 0xd8 | uint32_t comms_sync1_err_cnt | count (R) |
| 0xdc | uint32_t comms_sync2_err_cnt | count (R) |
| 0xe0 | uint32_t comms_headerxsum_err_cnt | count (R) |
| 0xe4 | uint32_t comms_overrun_err_cnt | count (R) |
| 0xe8 | uint32_t comms_payloadxsum_err_cnt | count (R) |
| 0xec | uint16_t comms_err_flag |
| 0xee | uint16_t save_settings | code (W) |
| 0xf0 | uint32_t custom_command | (W) Special Register |
| 0xf4 | uint32_t FACTORY_SERVICE_DATA | (R) Device specific service data |
| 0xf8 | uint16_t CONFIG_DATA_SIZE | (R) |
| 0xfa | uint8_t CONFIG_DATA | (R) Special Register |
| 0xfb | uint8_t FIRMWARE_VERSION | (R) Special Register |
| 0xfc | uint8_t NODE_ID | (RW) Special Register |
| 0xfd | uint8_t GROUP_ID | (RW) Special Register |
| 0xfe | uint16_t UTILITY | (W) Special Register |
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