This page documents the HEAD revision of the firmware.
Firmware version: 1.a rev.: 305, resonator: 8MHz, Rocrail: 3181+ |
The firmware is based on CAN-GC2.
Boot mode is not supported.
NMRA Manufacturer ID | 70 |
Product ID | 6 |
# | Description |
---|---|
1 | node configuration |
2 | CAN-ID |
3-22 | 4 x 5 Servo settings |
Bit | Function | Remark |
---|---|---|
0 | save servo positions at power off command | |
1 | use short events |
Byte | Function | Remark/Range |
---|---|---|
0 | config | |
1 | left | 50…250 |
2 | right | 50…250 |
3 | speed left | 1…20 |
4 | speed right | 1…20 |
Bit | Function | Remark |
---|---|---|
0 | Relay polarisation | Swap polarization. |
1 | External switch sensors | |
2 | Bounce |
Event# | Description | Variable |
---|---|---|
0-3 | servo switch 1…4 | not used |
4-7 | servo sensor 1…4 | not used |
8 | SOD | not used |
The servo pulse width must be between 0.5 and 2.5 ms for 180° range:
Every 5 ms a pulse is started for one of the 4 servos. The refresh rate for each servo is 20ms: 50Hz.
Timer0 is used for the 5ms interval and Timer2 for the pulse width which is re-programmed for each servo in every 5ms cycle.
Optional every servo can use two sensor inputs, on connectors Fb1…Fb4, for signalling the switch position.
Straight | Thrown | Status |
---|---|---|
0 | 0 | The switch stand is pending. |
1 | 0 | Straight position. |
0 | 1 | Thrown position. |
1 | 1 | Invalid. |
A position change is only reported on the CBUS if only one of the inputs is high.