Arduino I2C Register Map

regmap

Proposed I2C Register Map for I2C Slave Gear Motor controller

Address R/W Size Description
0x00    R   1    Status
0x00    R   4    Current Position (mm)
0x00    W   4    Set Position (mm)
0x00    R/W 1    Speed
0x00    R/W 1   
0x00    W   1    Action
0x00    R/W 2    Hall Sensor Pulses per 10mm
0x00    R/W 1    Config


Address: 0x00
Description: Status
Access: Read
Size: 1 Bytes
Additional Information:
0x00  Idle
0x01  Moving Out
0x02  Moving In
0x10  Error (Unspecified)
0x11  Error (Over Temp)


Address: 0x00
Description: Current Position (mm)
Access: Read
Size: 4 Bytes
Additional Information:
Current position in millimeters

Address: 0x00
Description: Action
Access: Write
Size: 1 Byte
Additional Information:
0x00 - Stop
0x01 - Go (Move towards set position)

Address: 0x00
Description: Motor Speed
Access: Read/Write
Size: 1 Byte
Additional Information:
PWM Duty Cycle; values 0-255 equating to 0-100% duty cycle

Address: 0x00
Description: Hall Sensor Pulses per 10mm
Access: Read/Write
Size: 2 Bytes
Additional Information:
Number of hall effect pulses per 10mm of movement (or 10 degrees rotation)


Address: 0x00
Description: Config
Access: Read/Write
Size: 1 Byte
Additional Information:
bit 0: if unset: manual mode (start command must be set)
       if set: Auto Mode Enabled (Move as soon as set position written)