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ssc-32-gcc-2.02GP.tar.bz2 -- new firmware version. New commands:
- BAUD <rate>
- Reprogram the hardware of the SSC32 to use
the specified bit-rate for serial I/O. The
changed rate is not remembered across
reboot. Negative rates use an alternate
bit-rate generator (double speed
mode). The number specified by
RATE is the baud-rate divided by
100. Experimentally the SSC32 works well with
a baud-rate of 125000 bits/second; example:
BAUD -1250.
- Modifier command
-
This version of the firmware understands a
modifier prefix-command. The format is
M<m1>...<mN><SSC32-command>
M1 through MN are
place-holders for single-character
modifiers. There are currently tow modifiers,
a binary modifier, and an asynchronous
group-move modifier:
- binary modifier~
- Numbers are expected in binary
form. Numbers larger than 1 byte are
expected in network byte-orger (AKA
Big-Endian). Servo pulse-width are two-byte
numbers, servo numbers are 1 byte. Example:
M~#<ServoNumber>P<HighByte><LowByte>\r
- asynchronous group-move
modifier+
- If a group-move
command is prefixed by M+ then the
SSC32 waits for the completion of the
current group-move command (if one is
active) before executing the next given
sequence. If an asynchronous group-move
command is completed (i.e. all servos are at
their final position) the SSC32 transfers
the character . to the host.
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