device.yml

%YAML 1.1
---
# yaml-language-server: $schema=https://harp-tech.org/draft-02/schema/device.json
device: Behavior
whoAmI: 1216
firmwareVersion: "3.2"
hardwareTargets: "1.1"
registers:
  DigitalInputState:
    address: 32
    access: Event
    type: U8
    maskType: DigitalInputs
    description: Reflects the state of DI digital lines of each Port
  Reserved0: &reserved
    address: 33
    type: U8
    access: Read
    description: Reserved for future use
    visibility: private
  OutputSet: &output
    address: 34
    type: U16
    access: Write
    maskType: DigitalOutputs
    description: Set the specified digital output lines.
  OutputClear:
    <<: *output
    address: 35
    description: Clear the specified digital output lines
  OutputToggle:
    <<: *output
    address: 36
    description: Toggle the specified digital output lines
  OutputState:
    <<: *output
    address: 37
    description: Write the state of all digital output lines
  PortDIOSet: &portDIO
    address: 38
    type: U8
    access: Write
    maskType: PortDigitalIOS
    description: Set the specified port DIO lines
  PortDIOClear:
    <<: *portDIO
    address: 39
    description: Clear the specified port DIO lines
  PortDIOToggle:
    <<: *portDIO
    address: 40
    description: Toggle the specified port DIO lines
  PortDIOState:
    <<: *portDIO
    address: 41
    description: Write the state of all port DIO lines
  PortDIODirection:
    <<: *portDIO
    address: 42
    description: Specifies which of the port DIO lines are outputs
  PortDIOStateEvent:
    <<: *portDIO
    address: 43
    access: Event
    description: Specifies the state of the port DIO lines on a line change
  AnalogData:
    address: 44
    type: S16
    length: 3
    access: Event
    description: Voltage at the ADC input and encoder value on Port 2
    payloadSpec:
      AnalogInput0:
        offset: 0
        description: The voltage at the output of the ADC channel 0.
      Encoder:
        offset: 1
        description: The quadrature counter value on Port 2
      AnalogInput1:
        offset: 2
        description: The voltage at the output of the ADC channel 1.
  OutputPulseEnable:
    <<: *output
    address: 45
    description: Enables the pulse function for the specified output lines
  PulseDOPort0: &pulseDO
    address: 46
    type: U16
    access: Write
    minValue: 1
    description: Specifies the duration of the output pulse in milliseconds.
  PulseDOPort1:
    <<: *pulseDO
    address: 47
  PulseDOPort2:
    <<: *pulseDO
    address: 48
  PulseSupplyPort0:
    <<: *pulseDO
    address: 49
  PulseSupplyPort1:
    <<: *pulseDO
    address: 50
  PulseSupplyPort2:
    <<: *pulseDO
    address: 51
  PulseLed0:
    <<: *pulseDO
    address: 52
  PulseLed1:
    <<: *pulseDO
    address: 53
  PulseRgb0:
    <<: *pulseDO
    address: 54
  PulseRgb1:
    <<: *pulseDO
    address: 55
  PulseDO0:
    <<: *pulseDO
    address: 56
  PulseDO1:
    <<: *pulseDO
    address: 57
  PulseDO2:
    <<: *pulseDO
    address: 58
  PulseDO3:
    <<: *pulseDO
    address: 59
  PwmFrequencyDO0: &pwmFreq
    address: 60
    type: U16
    access: Write
    minValue: 1
    description: Specifies the frequency of the PWM at DO0.
  PwmFrequencyDO1:
    <<: *pwmFreq
    address: 61
    description: Specifies the frequency of the PWM at DO1.
  PwmFrequencyDO2:
    <<: *pwmFreq
    address: 62
    description: Specifies the frequency of the PWM at DO2.
  PwmFrequencyDO3:
    <<: *pwmFreq
    address: 63
    description: Specifies the frequency of the PWM at DO3.
  PwmDutyCycleDO0: &pwmDutyCycle
    address: 64
    type: U8
    access: Write
    minValue: 1
    maxValue: 99
    description: Specifies the duty cycle of the PWM at DO0.
  PwmDutyCycleDO1:
    <<: *pwmDutyCycle
    address: 65
    description: Specifies the duty cycle of the PWM at DO1.
  PwmDutyCycleDO2:
    <<: *pwmDutyCycle
    address: 66
    description: Specifies the duty cycle of the PWM at DO2.
  PwmDutyCycleDO3:
    <<: *pwmDutyCycle
    address: 67
    description: Specifies the duty cycle of the PWM at DO3.
  PwmStart: &pwmStartStop
    address: 68
    type: U8
    access: Write
    maskType: PwmOutputs
    description: Starts the PWM on the selected output lines.
  PwmStop:
    <<: *pwmStartStop
    address: 69
    description: Stops the PWM on the selected output lines.
  RgbAll:
    address: 70
    type: &rgbType U8
    length: 6
    access: &rgbAccess Write
    description: Specifies the state of all RGB LED channels.
    payloadSpec:
      Green0:
        offset: 0
        description: The intensity of the green channel in the RGB0 LED.
      Red0:
        offset: 1
        description: The intensity of the red channel in the RGB0 LED.
      Blue0:
        offset: 2
        description: The intensity of the blue channel in the RGB0 LED.
      Green1:
        offset: 3
        description: The intensity of the green channel in the RGB1 LED.
      Red1:
        offset: 4
        description: The intensity of the red channel in the RGB1 LED.
      Blue1:
        offset: 5
        description: The intensity of the blue channel in the RGB1 LED.
  Rgb0: &rgbRegister
    address: 71
    type: *rgbType
    length: 3
    access: *rgbAccess
    description: Specifies the state of the RGB0 LED channels.
    interfaceType: RgbPayload
    payloadSpec:
      Green:
        offset: 0
        description: The intensity of the green channel in the RGB LED.
      Red:
        offset: 1
        description: The intensity of the red channel in the RGB LED.
      Blue:
        offset: 2
        description: The intensity of the blue channel in the RGB LED.
  Rgb1:
    <<: *rgbRegister
    address: 72
    description: Specifies the state of the RGB1 LED channels.
  Led0Current: &ledCurrent
    address: 73
    type: U8
    access: Write
    minValue: 2
    maxValue: 100
    description: Specifies the configuration of current to drive LED 0.
  Led1Current:
    <<: *ledCurrent
    address: 74
    description: Specifies the configuration of current to drive LED 1.
  Led0MaxCurrent: &ledMaxCurrent
    address: 75
    type: U8
    access: Write
    minValue: 5
    maxValue: 100
    description: Specifies the configuration of current to drive LED 0.
  Led1MaxCurrent:
    <<: *ledMaxCurrent
    address: 76
    description: Specifies the configuration of current to drive LED 1.
  EventEnable:
    address: 77
    type: U8
    access: Write
    maskType: Events
    description: Specifies the active events in the device.
  StartCameras: &cameraControl
    address: 78
    type: U8
    access: Write
    maskType: CameraOutputs
    description: Specifies the camera outputs to enable in the device.
  StopCameras:
    <<: *cameraControl
    access: [Write, Event]
    address: 79
    description: Specifies the camera outputs to disable in the device. An event will be issued when the trigger signal is actually stopped being generated.
  EnableServos: &servoControl
    address: 80
    type: U8
    access: Write
    maskType: ServoOutputs
    description: Specifies the servo outputs to enable in the device.
  DisableServos:
    <<: *servoControl
    address: 81
    description: Specifies the servo outputs to disable in the device.
  EnableEncoders:
    address: 82
    type: U8
    access: Write
    maskType: EncoderInputs
    description: Specifies the port quadrature counters to enable in the device.
  EncoderMode:
    address: 83
    type: U8
    access: Write
    maskType: EncoderModeConfig
    description: Configures the operation mode of the quadrature encoders.
  Reserved2:
    <<: *reserved
    address: 84
  Reserved3:
    <<: *reserved
    address: 85
  Reserved4:
    <<: *reserved
    address: 86
  Reserved5:
    <<: *reserved
    address: 87
  Reserved6:
    <<: *reserved
    address: 88
  Reserved7:
    <<: *reserved
    address: 89
  Reserved8:
    <<: *reserved
    address: 90
  Reserved9:
    <<: *reserved
    address: 91
  Camera0Frame: &frameAcquired
    address: 92
    type: U8
    access: Event
    maskType: FrameAcquired
    description: Specifies that a frame was acquired on camera 0.
  Camera0Frequency: &cameraFreq
    address: 93
    type: U16
    access: Write
    minValue: 1
    maxValue: 600
    description: Specifies the trigger frequency for camera 0.
  Camera1Frame:
    <<: *frameAcquired
    address: 94
    description: Specifies that a frame was acquired on camera 1.
  Camera1Frequency:
    <<: *cameraFreq
    address: 95
    description: Specifies the trigger frequency for camera 1.
  Reserved10:
    <<: *reserved
    address: 96
  Reserved11:
    <<: *reserved
    address: 97
  Reserved12:
    <<: *reserved
    address: 98
  Reserved13:
    <<: *reserved
    address: 99
  ServoMotor2Period: &servoPeriod
    address: 100
    type: U16
    access: Write
    minValue: 2
    maxValue: 65534
    description: Specifies the period of the servo motor in DO2, in microseconds.
  ServoMotor2Pulse: &servoPulse
    address: 101
    type: U16
    access: Write
    minValue: 6
    maxValue: 65530
    description: Specifies the pulse of the servo motor in DO2, in microseconds.
  ServoMotor3Period:
    <<: *servoPeriod
    address: 102
    description: Specifies the period of the servo motor in DO3, in microseconds.
  ServoMotor3Pulse:
    <<: *servoPulse
    address: 103
    description: Specifies the pulse of the servo motor in DO3, in microseconds.
  Reserved14:
    <<: *reserved
    address: 104
  Reserved15:
    <<: *reserved
    address: 105
  Reserved16:
    <<: *reserved
    address: 106
  Reserved17:
    <<: *reserved
    address: 107
  EncoderReset:
    address: 108
    type: U8
    access: Write
    maskType: EncoderInputs
    description: Reset the counter of the specified encoders to zero.
  Reserved18:
    <<: *reserved
    address: 109
  EnableSerialTimestamp:
    address: 110
    type: U8
    access: Write
    description: Enables the timestamp for serial TX.
  MimicPort0IR: &mimic
    address: 111
    type: U8
    access: Write
    maskType: MimicOutput
    description: Specifies the digital output to mimic the Port 0 IR state.
  MimicPort1IR:
    <<: *mimic
    address: 112
    description: Specifies the digital output to mimic the Port 1 IR state.
  MimicPort2IR:
    <<: *mimic
    address: 113
    description: Specifies the digital output to mimic the Port 2 IR state.
  Reserved20:
    <<: *reserved
    address: 114
  Reserved21:
    <<: *reserved
    address: 115
  Reserved22:
    <<: *reserved
    address: 116
  MimicPort0Valve:
    <<: *mimic
    address: 117
    description: Specifies the digital output to mimic the Port 0 valve state.
  MimicPort1Valve:
    <<: *mimic
    address: 118
    description: Specifies the digital output to mimic the Port 1 valve state.
  MimicPort2Valve:
    <<: *mimic
    address: 119
    description: Specifies the digital output to mimic the Port 2 valve state.
  Reserved23:
    <<: *reserved
    address: 120
  Reserved24:
    <<: *reserved
    address: 121
  PokeInputFilter:
    address: 122
    type: U8
    access: Write
    description: Specifies the low pass filter time value for poke inputs, in ms.
bitMasks:
  DigitalInputs:
    description: Specifies the state of port digital input lines.
    bits:
      DIPort0: 0x1
      DIPort1: 0x2
      DIPort2: 0x4
      DI3: 0x8
  DigitalOutputs:
    description: Specifies the state of port digital output lines.
    bits:
      DOPort0: 0x1
      DOPort1: 0x2
      DOPort2: 0x4
      SupplyPort0: 0x8
      SupplyPort1: 0x10
      SupplyPort2: 0x20
      Led0: 0x40
      Led1: 0x80
      Rgb0: 0x100
      Rgb1: 0x200
      DO0: 0x400
      DO1: 0x800
      DO2: 0x1000
      DO3: 0x2000
  PortDigitalIOS:
    description: Specifies the state of the port DIO lines.
    bits:
      DIO0: 0x1
      DIO1: 0x2
      DIO2: 0x4
  PwmOutputs:
    description: Specifies the state of PWM output lines.
    bits:
      PwmDO0: 0x1
      PwmDO1: 0x2
      PwmDO2: 0x4
      PwmDO3: 0x8
  Events:
    description: Specifies the active events in the device.
    bits:
      PortDI: 0x1
      PortDIO: 0x2
      AnalogData: 0x4
      Camera0: 0x8
      Camera1: 0x10
  CameraOutputs:
    description: Specifies camera output enable bits.
    bits:
      CameraOutput0: 0x1
      CameraOutput1: 0x2
  ServoOutputs:
    description: Specifies servo output enable bits.
    bits:
      ServoOutput2: 0x4
      ServoOutput3: 0x8
  EncoderInputs:
    description: Specifies quadrature counter enable bits.
    bits:
      EncoderPort2: 0x4
  FrameAcquired:
    description: Specifies that camera frame was acquired.
    bits:
      FrameAcquired: 0x1
groupMasks:
  MimicOutput:
    description: Specifies the target IO on which to mimic the specified register.
    values:
      None: 0
      DIO0: 1
      DIO1: 2
      DIO2: 3
      DO0: 4
      DO1: 5
      DO2: 6
      DO3: 7
  EncoderModeConfig:
    description: Specifies the type of reading made from the quadrature encoder.
    values:
      Position: 0
      Displacement: 1