Is there an error in docs on "Read Status" cmd 90?
Posted: Wed Apr 13, 2022 3:50 pm
Hi--
i'm trying to implement a c function to read the status of the RC, but i'm confused by the docs, snippit is pasted below. If you look at the receive field, "Status" is defined as one byte, but the mask to decode is a 16bit word.
Which is correct or am I missing something?
Thanks,
Ron
90 - Read Status
Read the current unit status.
Send: [Address, 90]
Receive: [Status, CRC(2 bytes)]
Status Bit Mask
Normal 0x0000
M1 OverCurrent Warning 0x0001
M2 OverCurrent Warning 0x0002
E-Stop 0x0004
Temperature Error 0x0008
Temperature2 Error 0x0010
Main Battery High Error 0x0020
Logic Battery High Error 0x0040
Logic Battery Low Error 0x0080
M1 Driver Fault 0x0100
M2 Driver Fault 0x0200
Main Battery High Warning 0x0400
Main Battery Low Warning 0x0800
Termperature Warning 0x1000
Temperature2 Warning 0x2000
M1 Home 0x4000
M2 Home 0x8000
i'm trying to implement a c function to read the status of the RC, but i'm confused by the docs, snippit is pasted below. If you look at the receive field, "Status" is defined as one byte, but the mask to decode is a 16bit word.
Which is correct or am I missing something?
Thanks,
Ron
90 - Read Status
Read the current unit status.
Send: [Address, 90]
Receive: [Status, CRC(2 bytes)]
Status Bit Mask
Normal 0x0000
M1 OverCurrent Warning 0x0001
M2 OverCurrent Warning 0x0002
E-Stop 0x0004
Temperature Error 0x0008
Temperature2 Error 0x0010
Main Battery High Error 0x0020
Logic Battery High Error 0x0040
Logic Battery Low Error 0x0080
M1 Driver Fault 0x0100
M2 Driver Fault 0x0200
Main Battery High Warning 0x0400
Main Battery Low Warning 0x0800
Termperature Warning 0x1000
Temperature2 Warning 0x2000
M1 Home 0x4000
M2 Home 0x8000