MSG 0x01: coordinated_segment

coordinated_segment - 64 bit coordinated segment command

This message type specifies a move segment to be clocked out of the core. It uses 64bit words to specify the DDA values, and returns 64bit precision encoder readings.

I/O	Word 1 (Control / Status)								Words 2,4,6,etc.								Words 3,5,7,etc.
	B1	B2	B3	B4	B5	B6	B7	B8	B1	B2	B3	B4	B5	B6	B7	B8	B1	B2	B3	B4	B5	B6	B7	B8
CO	0x01	RESERVED	0bPONM_LKJI	0bHGFE_DCBA	dda_ticks				substep_increment_N								substep_increment_increment_N
CI	Status word is TBD								shaft_encoder_N								effector_encoder_N

Notes

• CO is the forward SPI channel from the controller to the peripheral (core). CI is the reverse channel.
• Word1 is the 64bit message header, consisting of 8 bytes, MSbyte = B1, LSbyte = B8
• Word1 from CO is the control word. Word1 back from the CI is the status word
• _N is the number of motor channels configured - making the message length 2xN+1 64bit words
• CO Word1, Byte1 is the message number in the control word
• CO direction bitfield: bit A is direction for motor 0; bit P is direction for motor 15;
  • Direction is arbitrary - 0 is considered Normal, 1 is Reverse
• CO dda_ticks is the segment length in DDA ticks. For example, a value of 16000 at a 16 MHz DDA clock sets a 1 mS segment
• CI shaft_encoder_N is the absolute, unscaled encoder count for the shaft encoder. If no encoder is present it's absolute step count.
• CI effector_encoder_N is the absolute, unscaled encoder count for the effector encoder; or zero if no encoder present