Read/write driver parameters

It is possible to read or write most of the driver parameters.

info

All here listed messages are unicast with SID = 24

warning

Payload byte position is not corresponding with byte position in transfer layer (CAN, UART, USB, bluetooth...) Before continuing, read carefully how to create a message for:

• CAN BUS
• UART

Message - read parameter with index

This command is used to obtain parameters of Driver, indexing in array is possible.

Payload byte	Description
0	0x02
1	ID of requested parameter
2	Index of the member of the array. Use 0x00 index for non-array items. Value 0xFF is reserved for error indication and can not be used for array indexing.

Response

Payload byte	Description
0	0x42
1	ID of requested parameter
2	Index of the member of the array. Use 0x00 index for non-array items. If the value is 0xFF, following two bytes contains error code.
3 -6	Data. Length depend on datatype of transfered parameter. (bigendian, MSB first)

Message - write parameter with index

This command is used to change parameters of Driver. Indexing in array is possible.

Payload byte	Description
0	0x03
1	ID of requested parameter
2	Index of the member of the array. Use 0x00 index for non-array items. Value 0xFF is reserved for error indication and can not be used for array indexing.
3 -6	Data. Length depend on datatype of transfered parameter. (bigendian, MSB first)

Response

Payload byte	Description
0	0x43
1	ID of requested parameter
2	Index of the member of the array. Use 0x00 index for non-array items. If the value is 0xFF, following two bytes contains error code.
3 - 4	If succesfull, these bytes are omnited. Or parameter error response.

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Message - read parameter with index and datatype conversion

This command is used to obtain parameters of Driver. The datatype of parameter will be converted and send with requested datatype.

Payload byte	Description
0	0x12
1	ID of requested parameter
2	Requested type code. For value 0x00 will be used native data format, if the data format is specifed, sent parameter will be converted to this format, if possible.

Response

Payload byte	Description
0	0x52
1	ID of requested parameter
2	Index of the member of the array. Use 0x00 index for non-array items. If the value is 0xFF, following two bytes contains error code.
3 -6	Data. Length depend on datatype of transfered parameter. (bigendian, MSB first)

Message - write parameter with index and datatype conversion

This command is used to change parameters of Driver. The datatype of recieved parameter is in given format.

Payload byte	Description
0	0x13
1	ID of requested parameter
2	Requested type code. For value 0x00 will be used native data format, if the data format is specifed, sent parameter will be converted to this format, if possible.
3 -6	Data. Length depend on datatype of transfered parameter. (bigendian, MSB first)

Response

Payload byte	Description
0	0x53
1	ID of requested parameter
2	Index of the member of the array. Use 0x00 index for non-array items. If the value is 0xFF, following two bytes contains error code.
3 - 4	If succesfull, these bytes are omnited. Or parameter error response.

Datatypes code

Datatype code	Datatype
0x00	not specified, use native datatype
0x01	int8
0x02	uint8
0x03	int16
0x04	uint16
0x05	int32
0x06	uint32
0x09	float
0x0B	string

Parameter error response

Response	Description
-1	Parameter id out of range. (invalid value)
-2	Parameter not exist
-3	Variable exists, but it is not parameter (unable to write)
-4	Send value is lower than parameter minimum
-5	Send value is higher than parameter maximum
-6	Parameter is discrete. Wrong value.

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Message - read API version and driver type

Payload byte	Description
0	0x00

Response

Payload byte	Description
0	0x40
1	Driver type. VECTOR = 0x20, BLDC = 0x10
2-5	[uint32] Driver API version

Actual API version is 2