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MTB-UNIS Module

This specification applies for module types listed below:

Code Module type
0x50 MTB-UNIS with ATmega128 and 6 servo outputs

MTB-UNIS module is like a MTB-UNI module. It contains 16 digital inputs and 16 digital outputs, but it has extra 6 servo outputs. Any of 16 digital outputs is capable of S-COM protocol transmission as well as flickering. Servos are controlled via additional 12 virtual outputs. Thus, MTB-UNIs module has 16 input signals and 28 output signals.

Outputs state

State of each output is encoded in 1 byte:

  • 0b 1xxx xxxx: S-COM code. x's represent specific S-COM code (0-127).
  • 0b 0000 000x: digital outputs + servo outputs.
    • x=0 = open collector,
    • x=1 = output grounded.
  • 0b 0100 xxxx: flicker output. xxxx:
    • 1: 1 Hz
    • 2: 2 Hz
    • 3: 3 Hz
    • 4: 4 Hz
    • 5: 5 Hz
    • 6: 10 Hz
    • 7: 33 tick/min
    • 8: 66 tick/min

Configuration

Configuration consists of 55 bytes.

  1. 28 bytes of safe outputs state (outputs indexed in order 27 to 0).
  2. 8 bytes of input keep delay.
    • Byte 0: 0bBBBBAAAA. A = delay of input 0, B = delay of input 1.
    • Byte 1: delay of input 2, delay of input 3.
    • ... Each input has 16 values of input delay. 0=0.0s, 1=0.1s, 2=0.2s, ..., 15=1.5s.
  3. 1 byte mask indicating which servo outputs are active
    • 0b00654321, 1 = output active, 0 = output disabled
  4. 12 bytes for servo positions
    • 1 byte value for servo 1 position 1
    • 1 byte value for servo 1 position 2
    • 1 byte value for servo 2 position 1
    • ... Valid range is 0-255. 0 = servo pulse is 399 us. 255 = servo pulse 2613 us. 127 = servo pulse 1502 us (center position). Recommended limits for pulse duration is 500 - 2500 us.
  5. 6 bytes for servo speed
    • speed for servo 1
    • speed for servo 2
    • ... Speed 1 is slowest (1.56 positions/second). Speed 255 is fastest (797 positions/second).

When input goes to logical 0, it must remain in this state for input keep delay to consider the input as logical 0. Only after the time input changed event is reported to master board.

Module-specific commands

Master → slave:

  • Set Configuration: n.o. data bytes: 67. Whole configuration is sent.

  • Get Configuration: n.o. data bytes: 0.

  • Get Input: n.o. data bytes: 0.

  • Set Output: n.o. data bytes: variable.

    • State of all outputs is always sent.
    • Data byte 0: full state mask for outputs 0bFEDCBA98.
    • Data byte 1: full state mask for outputs 0b76543210.
    • Data byte 2: binary state of outputs 0 0 0 0 s6p s6l s5p s5l.
    • Data byte 3: binary state of outputs s4p s4l s3p s3l s2p s2l s1p s1l.
    • Data byte 4: binary state of outputs 0bFEDCBA98.
    • Data byte 5: binary state of outputs 0b76543210.
    • Data byte 6–n: state of full-state outputs in order 0–F.
    • Examples (only data bytes are written):
      • Set output 1 as active, other as inactive: 0x00 0x00 0x00 0x00 0x00 0x02.
      • Set output 8 to S-COM code 0x0A, output 10 as flickering with period 2 Hz, output 15 as active, other as inactive: 0x05 0x00 0x00 0x00 0x80 0x00 0x42 0x8A.
      • Set output 4,s1l,s2l active other inactive 0x00 0x00 0x00 0x05 0x00 0x10.
    • Bits in binary state output which are masked by full state mask can contain any value. This value is ignored.

  • Firmware Write Flash

    • Data byte 0: first byte flash address high.
    • Data byte 1: first byte flash address low.
    • Data byte 2–65: 64 bytes of memory data.

  • Module-specific command

    • Data byte 0 = 0x01 = set servo position.
      • Data byte 1 = position identification 0b0000nnnp where p = position, n = servo number
      • Data byte 2 = new position for servo (0-255) (p = position - 0=1st position, 1=2nd position, n = servo number - possible values 1-6)
    • Data byte 0 = 0x02 = set servo speed.
      • Data byte 1 = position identification 0b0000nnnp where p = position, n = servo number
      • Data byte 2: new speed for servo (valid range 1-255). (p = position - 0=1st position, 1=2nd position, n = servo number - possible values 1-6)
    • Data byte 0 = 0x03 = manual servo positioning (changes will not be saved to eeprom).
      • Data byte 1 = position identification 0b0000nnnx where n = servo number (1-6), x = ignored
      • Data byte 2: new position for servo (0-255). servo move to new position using speed from settings, ignore state of virtual outputs for servo after inactivity period (2 minutes), servo move to its original position - defined in eeprom and virtual outputs state
    • Data byte 0 = 0x03.
      • Data byte 1 = 0 - end of manual position setting, all servos restore normal operation

    Manual servo positioning is for testing. No changes will be saved to internal eeprom. Control application can save eeprom values via standard command Set Configuration

Slave → master:

  • Module Configuration: n.o. data bytes: 67. Whole configuration is sent.
  • Input Changed: n.o. data bytes: 2. Full state of inputs is sent.
    • Data byte 0: inputs 0bFEDCBA98.
    • Data byte 1: inputs 0b76543210.
  • Input State: n.o. data bytes: 2. Full state of inputs is sent.
  • Output Set: n.o. data bytes: variable. Same data bytes as in message Set Output is sent.

Firmware upgrade

Data is sent in frames of 64 bytes.

  • Firmware Write Flash

    • Data byte 0: page address.
    • Data byte 1: offset in page.
    • Data byte 2–65: memory data.

  • Firmware Write Flash Status

    • Data byte 1: page address.
    • Data byte 2: offset in page.

Page size is 256 bytes. Thus, for single page write 4 Firmware Write Flash commands must be sent:

  1. 0x01 0x43 0xF1 0x00 0x00 [64 bytes of data] [checksum]
  2. 0x01 0x43 0xF1 0x00 0x40 [64 bytes of data] [checksum]
  3. 0x01 0x43 0xF1 0x00 0x80 [64 bytes of data] [checksum]
  4. 0x01 0x43 0xF1 0x00 0xC0 [64 bytes of data] [checksum]

Upgrade is done page-based. Frames in page need to be received in-order. Page is written when last frame of page is received. It is impossible to write just part of the page. In case when part of the page is supposed to be written, rest of the page must be padded.

Diagnostic information

Module reports no errors.

Module reports common warnings and some additional information:

14: servo voltage - output of power voltage regulator

  • Length: 2 bytes
  • Representation: left justified value from internal ADC