Thank you for still replying and trying with me on this effort.
There was a protocol.h file I found by researching this forum.
#!/usr/bin/python3
# This C header file that defines the constants needed to communicate with the
# Maestro via USB, USB serial, or TTL serial.
# Most of the information here is also in Usc_protocol.cs.
# This file can be included directly in C/C++ programs or used
# as a reference when writing programs in other languages.
# Serial commands, sent on the virtual serial port or over TTL Serial.
# See the user's guide at http://www.pololu.com/docs/0J40 for more info.
import ctypes
from enum import Enum
import os
import sys
class uscCommand(Enum):
COMMAND_SET_TARGET = 0x84, # 3 data bytes
COMMAND_SET_SPEED = 0x87, # 3 data bytes
COMMAND_SET_ACCELERATION = 0x89, # 3 data bytes
COMMAND_GET_POSITION = 0x90, # 0 data
COMMAND_GET_MOVING_STATE = 0x93, # 0 data
COMMAND_GET_ERRORS = 0xA1, # 0 data
COMMAND_GO_HOME = 0xA2, # 0 data
COMMAND_STOP_SCRIPT = 0xA4, # 0 data
COMMAND_RESTART_SCRIPT_AT_SUBROUTINE = 0xA7, # 1 data bytes
COMMAND_RESTART_SCRIPT_AT_SUBROUTINE_WITH_PARAMETER = 0xA8, # 3 data bytes
COMMAND_GET_SCRIPT_STATUS = 0xAE, # 0 data
COMMAND_MINI_SSC = 0xFF # (2 data bytes)
# These are the values to put in to bRequest when making a setup packet
# for a control transfer to the Maestro. See the comments and code in Usc.cs
# for more information about what these requests do and the format of the
# setup packet.
class uscRequest(Enum):
REQUEST_GET_PARAMETER = 0x81,
REQUEST_SET_PARAMETER = 0x82,
REQUEST_GET_VARIABLES = 0x83,
REQUEST_SET_SERVO_VARIABLE = 0x84, # (also clears the serial timeout timer)
REQUEST_SET_TARGET = 0x85, # (also clears the serial timeout timer)
REQUEST_CLEAR_ERRORS = 0x86, # (also clears the serial timeout timer)
REQUEST_REINITIALIZE = 0x90,
REQUEST_ERASE_SCRIPT = 0xA0,
REQUEST_WRITE_SCRIPT = 0xA1,
REQUEST_SET_SCRIPT_DONE = 0xA2, # value.low.b is 0 for go, 1 for stop, 2 for single-step
REQUEST_RESTART_SCRIPT_AT_SUBROUTINE = 0xA3,
REQUEST_RESTART_SCRIPT_AT_SUBROUTINE_WITH_PARAMETER = 0xA4,
REQUEST_RESTART_SCRIPT = 0xA5,
REQUEST_START_BOOTLOADER = 0xFF
# These are the bytes used to refer to the different parameters
# in REQUEST_GET_PARAMETER and REQUEST_SET_PARAMETER. After changing
# any parameter marked as an "Init parameter", you must do REQUEST_REINITIALIZE
# before the new value will be used.
class uscParameter(Enum):
PARAMETER_SERVOS_AVAILABLE = 1, # 1 byte - 0-5. Init parameter.
PARAMETER_SERVO_PERIOD = 2, # 1 byte - instruction cycles allocated to each servo/256, (units of 21.3333 us). Init parameter.
PARAMETER_SERIAL_MODE = 3, # 1 byte unsigned value. Valid values are SERIAL_MODE_*. Init parameter.
PARAMETER_SERIAL_FIXED_BAUD_RATE = 4, # 2-byte unsigned value; 0 means autodetect. Init parameter.
PARAMETER_SERIAL_TIMEOUT = 6, # 2-byte unsigned value (units of 10ms)
PARAMETER_SERIAL_ENABLE_CRC = 8, # 1 byte boolean value
PARAMETER_SERIAL_NEVER_SUSPEND = 9, # 1 byte boolean value
PARAMETER_SERIAL_DEVICE_NUMBER = 10, # 1 byte unsigned value, 0-127
PARAMETER_SERIAL_BAUD_DETECT_TYPE = 11, # 1 byte - reserved
PARAMETER_IO_MASK_A = 12, # 1 byte - reserved, init parameter
PARAMETER_OUTPUT_MASK_A = 13, # 1 byte - reserved, init parameter
PARAMETER_IO_MASK_B = 14, # 1 byte - reserved, init parameter
PARAMETER_OUTPUT_MASK_B = 15, # 1 byte - reserved, init parameter
PARAMETER_IO_MASK_C = 16, # 1 byte - pins used for I/O instead of servo, init parameter
PARAMETER_OUTPUT_MASK_C = 17, # 1 byte - outputs that are enabled, init parameter
PARAMETER_IO_MASK_D = 18, # 1 byte - reserved, init parameter
PARAMETER_OUTPUT_MASK_D = 19, # 1 byte - reserved, init parameter
PARAMETER_IO_MASK_E = 20, # 1 byte - reserved, init parameter
PARAMETER_OUTPUT_MASK_E = 21, # 1 byte - reserved, init parameter
PARAMETER_SCRIPT_CRC = 22, # 2 byte CRC of script
PARAMETER_SCRIPT_DONE = 24, # 1 byte - if 0, run the bytecode on restart, if 1, stop
PARAMETER_SERIAL_MINI_SSC_OFFSET = 25, # 1 byte (0-254)
PARAMETER_SERVO0_HOME = 30, # 2 byte home position (0=off; 1=ignore)
PARAMETER_SERVO0_MIN = 32, # 1 byte min allowed value (x2^6)
PARAMETER_SERVO0_MAX = 33, # 1 byte max allowed value (x2^6)
PARAMETER_SERVO0_NEUTRAL = 34, # 2 byte neutral position
PARAMETER_SERVO0_RANGE = 36, # 1 byte range
PARAMETER_SERVO0_SPEED = 37, # 1 byte (5 mantissa,3 exponent) us per 10ms. Init parameter.
PARAMETER_SERVO0_ACCELERATION = 38, # 1 byte (speed changes that much every 10ms). Init parameter.
PARAMETER_SERVO1_HOME = 39
# The pattern continues. Each servo takes 9 bytes of configuration space.
class servoSetting(ctypes.Structure):
position = [(ctypes.c_uint16)]
target = [(ctypes.c_uint16)]
speed = [(ctypes.c_uint16)]
acceleration = [(ctypes.c_uint8)]
# uscVariables: This struct stores all the variables that can be read via
# REQUEST_GET_VARIABLES.
# There are 12 bytes used per servo setting
class uscVariables(ctypes.Structure):
# Fix bytecode_asm.asm if you change the order or size of
# variables in this struct.
_fields_ = [
# offset: 0
('stackPointer', ctypes.c_uint8),
# offset: 1
('callStackPointer', ctypes.c_uint8),
# offset: 2
('errors', ctypes.c_uint16),
# offset: 4
('programCounter', ctypes.c_uint16),
# offset: 6
('buffer[3]', ctypes.c_int16), # protects other RAM from being corrupted by improper instructions
# offset: 12
('stack[32]', ctypes.c_int16),
# offset: 76
('callStack[10]', ctypes.c_uint16),
# offset: 96
('scriptDone', ctypes.c_uint8), # 1 = done; 2 = about to run a single step then be done - placed here to protect against accidental overwriting of Setting
# offset: 97
('buffer2', ctypes.c_uint8) # protects other RAM from being corrupted by improper instructions
]
# offset: 98
class servoSetting(ctypes.Structure):
_fields_ = [('servoSetting[6]', ctypes.c_uint16)]
# total length 139 bytes
BAUD_DETECT_TYPE_AA = 0 # 0u in C/C++
BAUD_DETECT_TYPE_FF = 1 # 1u in C/C++
# serialMode: Value of PARAMETER_SERIAL_MODE.
class serialMode(Enum):
# On the Command Port, user can send commands and receive responses.
# TTL port/UART are connected to make a USB-to-serial adapter.
SERIAL_MODE_USB_DUAL_PORT = 0,
# On the Command Port, user can send commands to UMC01 and
# simultaneously transmit bytes on the UART TX line, and user
# can receive bytes from the UMC01 and the UART RX line.
# COM2 does not do anything.
SERIAL_MODE_USB_CHAINED = 1,
# On the UART, user can send commands and receive reponses.
# Command Port and TTL Port don't do anything.
SERIAL_MODE_UART_DETECT_BAUD_RATE = 2,
SERIAL_MODE_UART_FIXED_BAUD_RATE = 3
# There are several different errors. Each error is represented by a
# different bit number from 0 to 15.
ERROR_SERIAL_SIGNAL = 0
ERROR_SERIAL_OVERRUN = 1
ERROR_SERIAL_BUFFER_FULL = 2
ERROR_SERIAL_CRC = 3
ERROR_SERIAL_PROTOCOL = 4
ERROR_SERIAL_TIMEOUT = 5
ERROR_SCRIPT_STACK = 6
ERROR_SCRIPT_CALL_STACK = 7
ERROR_SCRIPT_PROGRAM_COUNTER = 8
I just tried to turn it into python3 use cases for future building blocks.
And yes sir about 0x40. Thank you for the clarification.
