Serial Commands

Special Serial Commands

Through a Serial Terminal, not only motion data as described in can be sent, but also additional control commands and data queries. This allows for controlling the controller. You also can use them for Flypt Mover as start or stop string.

Sending Commands: Syntax:

1. Startbytes: 2 bytes <f9><f9> (hex) or <249><249> (decimal)

2. Command: 2 bytes <0-ffff> (hex) or <0..65535>

3. Value: 2 bytes <0-ffff> (hex) or <0..65535>

4. Stopbytes: 2 bytes <0a><0d> (hex) or <10><13>

Total of 8 bytes.

Receiving Commands: Syntax:

1. Startbytes: 2 bytes <f9><f9> (hex) or <249><249> (decimal)

2. Command: 2 bytes <0-ffff> (hex) or <0..65535>

3. Value: 2 bytes <0-ffff> (hex) or <0..65535>

4. Stopbytes: 2 bytes <0a><0d> (hex) or <10><13>

Total of 8 bytes.

The command part always responds with the requested value.

Commands:

Commands:

1. RIG Status

   • Send: f9f9 0000 0000 0a0d

   • Returns: f9f9 0000 XXXX 0a0d

   • Where XXXX is:

     • Preparing: 0x0000

     • Parking: 0x0001 or 0x0030

     • Emergency: 0x0002 or 0x0004

     • Offline: 0x0008, 0x0010, 0x0020

     • Ready: 0x0031

     • Standby: 0x0032

     • Wait UART: 0x0033, 0x0034

     • Online: 0x0035

2. Port ID

   • Send: f9f9 0100 0000 0a0d

   • Returns: f9f9010001000a0d (motion USB port) or f9f9010002000a0d (native USB port)

3. Firmware Version

   • Send: f9f9 0200 0000 0a0d

   • Returns: f9f9 0002 0002 0a0d (not implemented yet)

4. Request Bootloader Mode

   • Send: f9f9 0300 0000 0a0d

   • Returns: Reboots to bootloader mode

5. Enable Soft Override for Handheld App

   • Send: f9f9 0400 0000 0a0d

   • Returns: f9f9 0004 0002 0a0d

6. Enable Emergency

   • Send: f9f9 0500 0000 0a0d

   • Returns: f9f9 0005 00xx 0a0d (emergency status 0 or 1)

7. Enable Online

   • Send: f9f9 0600 0000 0a0d

   • Returns: f9f9 0006 00xx 0a0d (online status 0 or 1)

8. Factory Reset

   • Send: f9f9 0800 00xx 0a0d (0 for linear, 1 for rotary)

   • Returns: f9f9 0800 0001 0a0d (reboots)

9. Reboot

   • Send: f9f9 0900 0000 0a0d

   • Returns: (no response)

10. Request Actuators Status

    • Send: f9f9 1000 0000 0a0d

    • Returns: f9f9 1000 00xx 0a0d where xx is:

      • 'x': not connected

      • 'C': Calibrating

      • 'P': Preparing

      • '!': Moving

      • 'R': Ready

11. Request Mastergain

    • Send: f9f9 3000 0000 0a0d

    • Return: f9f9 0030 00XX 0a0d (where XX ranges from 1-40*10 in %, where 10 represents 100%)

12. Set Mastergain

    • Send: f9f9 3100 00XX 0a0d (where XX ranges from 1-40)

    • Return: f9f9 0031 0002 0a0d (if set)

13. Set Filter

    • Send: f9f9 4000 XXXX 0a0d (to set filter to XXXX or read if XXXX=0)

    • Return: f9f9 4000 XXXX 0a0d (returns filter size, emalp)

14. Enable/Disable Filter

    • Send: f9f9 4100 XXXX 0a0d (to enable/disable filter, where XXXX = 1 or 0)

    • Return: filterstat if XXXX=2

15. Enable/Disable Spikefilter

    • Send: f9f9 4200 XXXX 0a0d (to enable/disable spikefilter, where XXXX = 1 or 0)

    • Return: f9f9 0042 XXXX 0a0d (returns filterstat if XXXX=2)

16. Set Spikefilter

    • Send: f9f9 4300 XXXX 0a0d (to set spikefilter to XXXX or read if XXXX=0)

    • Return: f9f9 4300 XXXX 0a0d (returns spike filter size)

17. Set Spikefilterwindows

    • Send: f9f9 4400 XXXX 0a0d (to set spikefilterwindows to XXXX or read if XXXX=0)

    • Return: f9f9 0044 XXXX 0a0d (returns spike filter size)

18. Homing

    • Send: f9f9 5000 0000 0a0d

19. Send Display Frame

    • Send: f9f9 0060 0000 0a0d (send display frame back, ask for details)

    • Returns: 38 bytes f9f9, followed by 32 bytes of characters of display 0a0d

20. Encoder Button Pressed

    • Send: f9f9 0070 0000 0a0d

21. Encoder Left Pressed

    • Send: f9f9 0071 0000 0a0d

22. Encoder Right Pressed

    • Send: f9f9 0072 0000 0a0d

23. Go Online After Homing Without Input

    • Send: f9f9 0080 0000 0a0d

These commands provide various functionalities for controlling the controller and interacting with the system.