Advanced sercom protocol - Revision history

WikiSysop at 07:21, 6 February 2026

2026-02-06T07:21:04Z

← Older revision		Revision as of 07:21, 6 February 2026
Line 189:		Line 189:
	\|<code>[-U]</code>		\|<code>[-U]</code>
	\|get microphones sampling buffer		\|get microphones sampling buffer
	\|e-puck1.x format:<code>[...buffer of 600 bytes...][SCAN_ID]</code><br/>e-puck2 format: interleaved right, left, back, front microphones; 160 samples (16 bit) for each microphone; 10 ms of data (16 KHz sampling); <code>[R0,L0,B0,F0,...,R159,L159,B159,F159]</code>		\|e-puck1.x format:<code>[...buffer of 600 bytes...][SCAN_ID]</code><br/>e-puck2 format: interleaved right, left, back, front microphones; 160 samples (16 bit) for each microphone; 10 ms of data (16 KHz sampling); <code>[R0,L0,B0,F0,...,R159,L159,B159,F159]</code>. Total buffer size is 1280 bytes.
	\|-		\|-
	\|<code>[-W][MOD][REG][VALUE]</code>		\|<code>[-W][MOD][REG][VALUE]</code>

WikiSysop at 14:41, 5 February 2026

2026-02-05T14:41:39Z

← Older revision		Revision as of 14:41, 5 February 2026
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	\|<code>N</code>		\|<code>N</code>
	\|get proximity sensors values		\|get proximity sensors values
	\|<code>n,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>n,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>O</code>		\|<code>O</code>
	\|get ambient light sensors values		\|get ambient light sensors values
	\|<code>o,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>o,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>P,#,#</code>		\|<code>P,#,#</code>
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	\|<code>[-N]</code>		\|<code>[-N]</code>
	\|get proximity sensors values		\|get proximity sensors values
	\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values (P8, P9) are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values (P8, P9) are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>[-O]</code>		\|<code>[-O]</code>
	\|get ambient light sensors values		\|get ambient light sensors values
	\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>[-P][LEFT_LSB][LEFT_MSB][RIGHT_LSB][RIGHT_MSB]</code>		\|<code>[-P][LEFT_LSB][LEFT_MSB][RIGHT_LSB][RIGHT_MSB]</code>

WikiSysop at 14:40, 5 February 2026

2026-02-05T14:40:45Z

← Older revision		Revision as of 14:40, 5 February 2026
Line 70:		Line 70:
	\|<code>N</code>		\|<code>N</code>
	\|get proximity sensors values		\|get proximity sensors values
	\|<code>n,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>n,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>O</code>		\|<code>O</code>
	\|get ambient light sensors values		\|get ambient light sensors values
	\|<code>o,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>o,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>P,#,#</code>		\|<code>P,#,#</code>
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	\|<code>[-N]</code>		\|<code>[-N]</code>
	\|get proximity sensors values		\|get proximity sensors values
	\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values (P8, P9) are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values (P8, P9) are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>[-O]</code>		\|<code>[-O]</code>
	\|get ambient light sensors values		\|get ambient light sensors values
	\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension		\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values are returned only if using the [http://www.gctronic.com/doc/index.php/Overo_Extension gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>[-P][LEFT_LSB][LEFT_MSB][RIGHT_LSB][RIGHT_MSB]</code>		\|<code>[-P][LEFT_LSB][LEFT_MSB][RIGHT_LSB][RIGHT_MSB]</code>

WikiSysop at 14:39, 5 February 2026

2026-02-05T14:39:50Z

← Older revision		Revision as of 14:39, 5 February 2026
Line 65:		Line 65:
	\|-		\|-
	\|<code>M</code>		\|<code>M</code>
	\|get floor sensors values (only available with [floor sensors extension] and [cliff extension])		\|get floor sensors values (only available with [http://www.gctronic.com/doc/index.php/Others_Extensions#Ground_sensors floor sensors extension] and [cliff extension])
	\|<code>m,#,#,#,#,#</code> <br/>the first 3 values are from floor sensors extension (left, center, right), the last two values are from cliff extension (right, left)		\|<code>m,#,#,#,#,#</code> <br/>the first 3 values are from floor sensors extension (left, center, right), the last two values are from cliff extension (right, left)
	\|-		\|-
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	\|-		\|-
	\|<code>[-M]</code>		\|<code>[-M]</code>
	\|get floor sensors values (only available with [floor sensors extension] and [cliff extension])		\|get floor sensors values (only available with [http://www.gctronic.com/doc/index.php/Others_Extensions#Ground_sensors floor sensors extension] and [cliff extension])
	\|<code>[F0_LSB][F0_MSB][F1_LSB][F1_MSB][F2_LSB][F2_MSB][C0_LSB][C0_MSB][C1_LSB][C1_MSB]</code> <br/>the first 3 values are from floor sensors extension, the last two values are from cliff extension		\|<code>[F0_LSB][F0_MSB][F1_LSB][F1_MSB][F2_LSB][F2_MSB][C0_LSB][C0_MSB][C1_LSB][C1_MSB]</code> <br/>the first 3 values are from floor sensors extension, the last two values are from cliff extension
	\|-		\|-

WikiSysop at 14:37, 5 February 2026

2026-02-05T14:37:21Z

← Older revision		Revision as of 14:37, 5 February 2026
Line 1:		Line 1:
	The ''advanced sercom'' is a serial protocol used to get sensors values from the robot and set its actuators states. There are two modes of communication that are ASCII mode and BINARY mode; the command value identifies the current mode, if it is a positive value then the request is ASCII, otherwise it is BINARY. They differ in that the BINARY mode uses the minimal number of bytes to exchange data, whereas the ASCII mode presents the data in a readable way. Moreover with the BINARY mode many requests can be sent to the robot at the same time, for example by issueing <code>[-'A'][-'N'][0]</code> we can get both the accelerometer and proximity values (sequence terminated by a null character). Beware that the commands are case sensitive.~~<br/>~~ ASCII mode commands are terminated by a newline, BINARY mode commands are terminated by a null ~~characater~~.<br/>		The ''advanced sercom'' is a serial protocol used to get sensors values from the robot and set its actuators states. There are two modes of communication that are ASCII mode and BINARY mode; the command value identifies the current mode, if it is a positive value then the request is ASCII, otherwise it is BINARY. They differ in that the BINARY mode uses the minimal number of bytes to exchange data, whereas the ASCII mode presents the data in a readable way. Moreover with the BINARY mode many requests can be sent to the robot at the same time, for example by issueing <code>[-'A'][-'N'][0]</code> we can get both the accelerometer and proximity values (sequence terminated by a null character). Beware that the commands are case sensitive. ASCII mode commands are terminated by a newline, BINARY mode commands are terminated by a null character.<br/>

	The available commands in ASCII mode are listed below:		The available commands in ASCII mode are listed below:

WikiSysop at 14:36, 5 February 2026

2026-02-05T14:36:53Z

← Older revision		Revision as of 14:36, 5 February 2026
Line 1:		Line 1:
	The ''advanced sercom'' is a serial protocol used to get sensors values from the robot and set its actuators states. There are two modes of communication that are ASCII mode and BINARY mode; the command value identifies the current mode, if it is a positive value then the request is ASCII, otherwise it is BINARY. They differ in that the BINARY mode uses the minimal number of bytes to exchange data, whereas the ASCII mode presents the data in a readable way. Moreover with the BINARY mode many requests can be sent to the robot at the same time, for example by issueing <code>[-'A'][-'N'][0]</code> we can get both the accelerometer and proximity values (sequence terminated by a null character). Beware that the commands are case sensitive.<br/>		The ''advanced sercom'' is a serial protocol used to get sensors values from the robot and set its actuators states. There are two modes of communication that are ASCII mode and BINARY mode; the command value identifies the current mode, if it is a positive value then the request is ASCII, otherwise it is BINARY. They differ in that the BINARY mode uses the minimal number of bytes to exchange data, whereas the ASCII mode presents the data in a readable way. Moreover with the BINARY mode many requests can be sent to the robot at the same time, for example by issueing <code>[-'A'][-'N'][0]</code> we can get both the accelerometer and proximity values (sequence terminated by a null character). Beware that the commands are case sensitive.<br/> ASCII mode commands are terminated by a newline, BINARY mode commands are terminated by a null characater.<br/>

	The available commands in ASCII mode are listed below:		The available commands in ASCII mode are listed below:

WikiSysop at 14:29, 5 February 2026

2026-02-05T14:29:07Z

← Older revision		Revision as of 14:29, 5 February 2026
Line 65:		Line 65:
	\|-		\|-
	\|<code>M</code>		\|<code>M</code>
	\|get floor sensors values (only available with [~~http://www.gctronic.com/doc/index.php/Others_Extensions#Ground_sensors~~ floor sensors extension] and [~~http://www.gctronic.com/doc/index.php/Others_Extensions#Cliff_sensor~~ cliff extension])		\|get floor sensors values (only available with [floor sensors extension] and [cliff extension])
	\|<code>m,#,#,#,#,#</code> <br/>the first 3 values are from floor sensors extension (left, center, right), the last two values are from cliff extension (right, left)		\|<code>m,#,#,#,#,#</code> <br/>the first 3 values are from floor sensors extension (left, center, right), the last two values are from cliff extension (right, left)
	\|-		\|-
	\|<code>N</code>		\|<code>N</code>
	\|get proximity sensors values		\|get proximity sensors values
	\|<code>n,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [~~http://www.gctronic.com/doc/index.php/Overo_Extension~~ gumstix extension] and refer to the two [~~http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors~~ long range proximity sensors] mounted on the extension		\|<code>n,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>O</code>		\|<code>O</code>
	\|get ambient light sensors values		\|get ambient light sensors values
	\|<code>o,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [~~http://www.gctronic.com/doc/index.php/Overo_Extension~~ gumstix extension] and refer to the two [~~http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors~~ long range proximity sensors] mounted on the extension		\|<code>o,#,#,#,#,#,#,#,#,#,#</code> <br/> the last two values are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>P,#,#</code>		\|<code>P,#,#</code>
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	\|-		\|-
	\|<code>[-M]</code>		\|<code>[-M]</code>
	\|get floor sensors values (only available with [~~http://www.gctronic.com/doc/index.php/Others_Extensions#Ground_sensors~~ floor sensors extension] and [~~http://www.gctronic.com/doc/index.php/Others_Extensions#Cliff_sensor~~ cliff extension])		\|get floor sensors values (only available with [floor sensors extension] and [cliff extension])
	\|<code>[F0_LSB][F0_MSB][F1_LSB][F1_MSB][F2_LSB][F2_MSB][C0_LSB][C0_MSB][C1_LSB][C1_MSB]</code> <br/>the first 3 values are from floor sensors extension, the last two values are from cliff extension		\|<code>[F0_LSB][F0_MSB][F1_LSB][F1_MSB][F2_LSB][F2_MSB][C0_LSB][C0_MSB][C1_LSB][C1_MSB]</code> <br/>the first 3 values are from floor sensors extension, the last two values are from cliff extension
	\|-		\|-
	\|<code>[-N]</code>		\|<code>[-N]</code>
	\|get proximity sensors values		\|get proximity sensors values
	\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values (P8, P9) are returned only if using the [~~http://www.gctronic.com/doc/index.php/Overo_Extension~~ gumstix extension] and refer to the two [~~http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors~~ long range proximity sensors] mounted on the extension		\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values (P8, P9) are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>[-O]</code>		\|<code>[-O]</code>
	\|get ambient light sensors values		\|get ambient light sensors values
	\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values are returned only if using the [~~http://www.gctronic.com/doc/index.php/Overo_Extension~~ gumstix extension] and refer to the two [~~http://www.gctronic.com/doc/index.php/Overo_Extension#Long_range_proximity_sensors~~ long range proximity sensors] mounted on the extension		\|<code>[P0_LSB][P0_MSB][P1_LSB][P1_MSB][P2_LSB][P2_MSB][P3_LSB][P3_MSB][P4_LSB][P4_MSB][P5_LSB][P5_MSB][P6_LSB][P6_MSB][P7_LSB][P7_MSB][P8_LSB][P8_MSB][P9_LSB][P9_MSB]</code> <br/> the last two values are returned only if using the [gumstix extension] and refer to the two [long range proximity sensors] mounted on the extension
	\|-		\|-
	\|<code>[-P][LEFT_LSB][LEFT_MSB][RIGHT_LSB][RIGHT_MSB]</code>		\|<code>[-P][LEFT_LSB][LEFT_MSB][RIGHT_LSB][RIGHT_MSB]</code>
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	\|<code>[-U]</code>		\|<code>[-U]</code>
	\|get microphones sampling buffer		\|get microphones sampling buffer
	\|<code>[...buffer of 600 bytes...][SCAN_ID]</code>		\|e-puck1.x format:<code>[...buffer of 600 bytes...][SCAN_ID]</code><br/>e-puck2 format: interleaved right, left, back, front microphones; 160 samples (16 bit) for each microphone; 10 ms of data (16 KHz sampling); <code>[R0,L0,B0,F0,...,R159,L159,B159,F159]</code>
	\|-		\|-
	\|<code>[-W][MOD][REG][VALUE]</code>		\|<code>[-W][MOD][REG][VALUE]</code>
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	\|-		\|-
	\|<code>[-w][R0][R1][R2][R3][R4][R5][R6][R7][B0][B1][B2][B3][B4][B5][B6][B7][G0][G1][G2][G3][G4][G5][G6][G7][R8][B8][G8][IR0][IR1][IR2][IR3][IR4][IR5][IR6][IR7]</code>		\|<code>[-w][R0][R1][R2][R3][R4][R5][R6][R7][B0][B1][B2][B3][B4][B5][B6][B7][G0][G1][G2][G3][G4][G5][G6][G7][R8][B8][G8][IR0][IR1][IR2][IR3][IR4][IR5][IR6][IR7]</code>
	\|set LEDs and IRs state of the [~~http://www.gctronic.com/doc/index.php/RGB_Panel~~ RGB extension]; Rx=Bx=Gx=[0...128]; IRx=[0=off, 1=on]		\|set LEDs and IRs state of the [RGB extension]; Rx=Bx=Gx=[0...128]; IRx=[0=off, 1=on]
	\|		\|
	\|-		\|-

WikiSysop at 05:59, 3 May 2023

2023-05-03T05:59:42Z

← Older revision		Revision as of 05:59, 3 May 2023
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	\|get camera image		\|get camera image
	\|<code>[mode][width][height][...cam data...]</code>		\|<code>[mode][width][height][...cam data...]</code>
	header: <code>mode, width, height</code> are 1 byte each.		header: <code>mode, width, height</code> are 1 byte each.<br/>
	in color mode <code>cam data</code> are in RGB565 format.<br/>		in color mode <code>cam data</code> are in RGB565 format.<br/>
	\|-		\|-

WikiSysop at 05:59, 3 May 2023

2023-05-03T05:59:18Z

← Older revision		Revision as of 05:59, 3 May 2023
Line 152:		Line 152:
	\|get camera image		\|get camera image
	\|<code>[mode][width][height][...cam data...]</code>		\|<code>[mode][width][height][...cam data...]</code>
			header: <code>mode, width, height</code> are 1 byte each.
			in color mode <code>cam data</code> are in RGB565 format.<br/>
	\|-		\|-
	\|<code>[-L][LED_NUM][STATE]</code>		\|<code>[-L][LED_NUM][STATE]</code>

WikiSysop at 08:01, 26 April 2023

2023-04-26T08:01:45Z

← Older revision		Revision as of 08:01, 26 April 2023
Line 196:		Line 196:
	\|set LEDs and IRs state of the [http://www.gctronic.com/doc/index.php/RGB_Panel RGB extension]; Rx=Bx=Gx=[0...128]; IRx=[0=off, 1=on]		\|set LEDs and IRs state of the [http://www.gctronic.com/doc/index.php/RGB_Panel RGB extension]; Rx=Bx=Gx=[0...128]; IRx=[0=off, 1=on]
	\|		\|
			\|-
			\|<code>[-Y][MOD][REG]</code>
			\|read I2C register (mod, regsiter)
			\|<code>[value]</code>
	\|}		\|}