device.yml

%YAML 1.1
---
# yaml-language-server: $schema=https://raw.githubusercontent.com/harp-tech/reflex-generator/main/schema/device.json
device: VestibularH2
whoAmI: 1225
firmwareVersion: "0.5"
hardwareTargets: "1.0"
registers:
  Control:
    address: 32
    type: U8
    description: Control the device modules.
    access: Write
    maskType: ControlFlags
  Pulses:
    address: 33
    type: S32
    description: Sends the number of pulses written in this register and set the direction according to the number's sign.
    access: Write
  NominalPulseInterval:
    address: 34
    type: U16
    description: Sets the motor pulse interval when running at nominal speed.
    access: Write
  InitialPulseInterval:
    address: 35
    type: U16
    description: Sets the motor's maximum pulse interval, used as the first and last pulse interval of a rotation.
    access: Write
  PulseStepInterval:
    address: 36
    type: U16
    description: Sets the acceleration. The pulse's interval is decreased by this value when accelerating and increased when de-accelerating.
    access: Write
  PulsePeriod:
    address: 37
    type: U16
    description: Sets the period of the pulse.
    access: Write
  Encoder:
    address: 38
    type: S16
    description: Contains the reading of the quadrature encoder.
    access: Event
  AnalogInput:
    address: 39
    type: S16
    description: Contains the reading of the analog input.
    access: Event
  StopSwitch:
    address: 40
    type: U8
    description: Contains the state of the stop switch.
    access: Write
    maskType: StopSwitchFlags
  MotorState:
    address: 41
    type: U8
    description: Contains the state of the motor.
    access: Event
    maskType: MotorStateFlags
  ImmediatePulses:
    address: 42
    type: S16
    description: Sets immediately the motor pulse interval. The value's sign defines the direction.
    access: Write
bitMasks:
  ControlFlags:
    description: Available device module configuration flags.
    bits:
      EnableMotor: 0x1
      DisableMotor: 0x2
      EnableAnalogInput: 0x4
      DisableAnalogInput: 0x8
      EnableEncoder: 0x10
      DisableEncoder: 0x20
      ResetEncoder: 0x40
  StopSwitchFlags:
    description: Flags describing the state of the motor stop switch.
    bits:
      StopSwitch: 0x1
  MotorStateFlags:
    description: Flags describing the movement state of the motor.
    bits:
      IsMoving: 0x1