Data Sheet

CoreDeviceInterfaceSpecifications  ModernRobotics Inc
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ModernRoboticsCoreDeviceInterface
30 – 4FH struct I2C port I2C0 buffer r/w
50 – 6FH struct I2C port I2C1 buffer r/w
70 – 8FH struct I2C port I2C2 buffer r/w
90 – AFH struct I2C port I2C3 buffer r/w
B0 – CFH struct I2C port I2C4 buffer r/w
D0 – EFH struct I2C port I2C5 buffer r/w
r/o–readonly.r/w–read/write
TheDeviceversionnumberfieldwillreportarevisionnumberastwo4bitnibbles,thehighnibblebeing
themajorversionnumberandthelowernibblebeingtherevisionlevel.
TheManufacturerCodefieldwillcontain4DH.
TheDeviceid.fieldwillcontain
41H.
TheBufferflagstatusbytefieldreturnssixbitsreflecting thestatusofthesixbufferflags.
D7 D6 D5 D4 D3 D2 D1 D0
- - Buffer
5 flag
Buffer
4 flag
Buffer
3 flag
Buffer
2 flag
Buffer
1 flag
Buffer
0 flag
Thebufferflagbitsreflectthevaluescontainedwithintheportbufferflagbytes.Iftheflagbyteis0,the
correspondingbitwillbesetto0.Iftheflagbyteisnonzero,thecorrespondingbitwillbesetto1.
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