package Kinova.Api.InterconnectConfig

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Service to get and set interface module (interconnect) configuration information, including user expansion

@PROXY_ID=14 @ERROR=Kinova.Api.Error

• rpc GetUARTConfiguration (Common.UARTDeviceIdentification, Common.UARTConfiguration)

  InterconnectConfig.proto:23

  Retrieves user UART configuration

  @RPC_ID=1

• rpc SetUARTConfiguration (Common.UARTConfiguration, Common.Empty)

  InterconnectConfig.proto:26

  Configures user UART

  @RPC_ID=2

• rpc GetEthernetConfiguration (EthernetDeviceIdentification, EthernetConfiguration)

  InterconnectConfig.proto:29

  Retrieves user Ethernet configuration

  @RPC_ID=3

  message EthernetDeviceIdentification

  InterconnectConfig.proto:98

  Ethernet device identification

  • EthernetDevice device = 1

    Ethernet device

• rpc SetEthernetConfiguration (EthernetConfiguration, Common.Empty)

  InterconnectConfig.proto:32

  Configures user Ethernet port

  @RPC_ID=4

• rpc GetGPIOConfiguration (GPIOIdentification, GPIOConfiguration)

  InterconnectConfig.proto:35

  Retrieves user GPIO configuration

  @RPC_ID=5

• rpc SetGPIOConfiguration (GPIOConfiguration, Common.Empty)

  InterconnectConfig.proto:38

  Configures user GPIO

  @RPC_ID=6

• rpc GetGPIOState (GPIOIdentification, GPIOState)

  InterconnectConfig.proto:41

  Retrieves user GPIO state

  @RPC_ID=7

• rpc SetGPIOState (GPIOState, Common.Empty)

  InterconnectConfig.proto:44

  Configures user GPIO state

  @RPC_ID=8

• rpc GetI2CConfiguration (I2CDeviceIdentification, I2CConfiguration)

  InterconnectConfig.proto:47

  Retrieves user I2C configuration

  @RPC_ID=9

  message I2CDeviceIdentification

  InterconnectConfig.proto:182

  I2C device identification

  • I2CDevice device = 1

    I2C device

• rpc SetI2CConfiguration (I2CConfiguration, Common.Empty)

  InterconnectConfig.proto:50

  Configures user I2C

  @RPC_ID=10

• rpc I2CRead (I2CReadParameter, I2CData)

  InterconnectConfig.proto:53

  Performs an I2C read request

  @RPC_ID=11

  message I2CReadParameter

  InterconnectConfig.proto:217

  I2C read request

  • I2CDevice device = 1

    I2C device identification

  • fixed32 device_address = 2

    I2C device address

  • fixed32 size = 5

    I2C number of bytes to read (max 128 bytes)

  • fixed32 timeout = 6

    Request timeout in milliseconds

• rpc I2CReadRegister (I2CReadRegisterParameter, I2CData)

  InterconnectConfig.proto:56

  Performs an I2C read register request

  @RPC_ID=12

  message I2CReadRegisterParameter

  InterconnectConfig.proto:225

  I2C read register request

  • I2CDevice device = 1

    I2C device identification

  • fixed32 device_address = 2

    I2C device address

  • fixed32 register_address = 3

    I2C register address (8 or 16 bits)

  • I2CRegisterAddressSize register_address_size = 4

    I2C register address size

  • fixed32 size = 5

    I2C number of bytes to read (max 128 bytes)

  • fixed32 timeout = 6

    Request timeout in milliseconds

• rpc I2CWrite (I2CWriteParameter, Common.Empty)

  InterconnectConfig.proto:59

  Performs an I2C write request

  @RPC_ID=13

  message I2CWriteParameter

  InterconnectConfig.proto:235

  I2C write request

  • I2CDevice device = 1

    I2C device identification

  • fixed32 device_address = 2

    I2C device address

  • fixed32 timeout = 5

    Request timeout in milliseconds

  • optional I2CData data = 6

    Data to write

• rpc I2CWriteRegister (I2CWriteRegisterParameter, Common.Empty)

  InterconnectConfig.proto:62

  Performs an I2C write register request

  @RPC_ID=14

  message I2CWriteRegisterParameter

  InterconnectConfig.proto:243

  I2C write register request

  • I2CDevice device = 1

    I2C device identification

  • fixed32 device_address = 2

    I2C device address

  • fixed32 register_address = 3

    I2C register address (8 or 16 bits)

  • I2CRegisterAddressSize register_address_size = 4

    I2C register address size

  • fixed32 timeout = 5

    Request timeout in milliseconds

  • optional I2CData data = 6

    Data to write

Ethernet configuration information

Used as request type in: InterconnectConfig.SetEthernetConfiguration

Used as response type in: InterconnectConfig.GetEthernetConfiguration

• EthernetDevice device = 1

  Device identification

• bool enabled = 2

  True if the ethernet device is enabled, false otherwise

• EthernetSpeed speed = 3

  Speed selection

• EthernetDuplex duplex = 4

  Duplex mode

Admissible Ethernet device

Used in: EthernetConfiguration, EthernetDeviceIdentification

• ETHERNET_DEVICE_UNSPECIFIED = 0

  Unspecified ethernet device

• ETHERNET_DEVICE_EXPANSION = 1

  Ethernet port located on the expansion connector

Admissible Ethernet duplex mode

Used in: EthernetConfiguration

• ETHERNET_DUPLEX_UNSPECIFIED = 0

  Unspecified ethernet duplex

• ETHERNET_DUPLEX_HALF = 1

  Half duplex

• ETHERNET_DUPLEX_FULL = 2

  Full duplex

Admissible Ethernet speed

Used in: EthernetConfiguration

• ETHERNET_SPEED_UNSPECIFIED = 0

  Unspecified ethernet speed

• ETHERNET_SPEED_10M = 1

  10 Mbps

• ETHERNET_SPEED_100M = 2

  100 Mbps

GPIO configuration information

Used as request type in: InterconnectConfig.SetGPIOConfiguration

Used as response type in: InterconnectConfig.GetGPIOConfiguration

• GPIOIdentifier identifier = 1

  GPIO identifier

• GPIOMode mode = 2

  Mode

• GPIOPull pull = 3

  Pull mode

• GPIOValue default_value = 4

  Default value at power on

GPIO identification

Used as request type in: InterconnectConfig.GetGPIOConfiguration, InterconnectConfig.GetGPIOState

• GPIOIdentifier identifier = 1

  GPIO identifier

Admissible GPIO identifier

Used in: GPIOConfiguration, GPIOIdentification, GPIOState

• GPIO_IDENTIFIER_UNSPECIFIED = 0

  Unspecified GPIO identifier

• GPIO_IDENTIFIER_1 = 1

  GPIO identifier 1

• GPIO_IDENTIFIER_2 = 2

  GPIO identifier 2

• GPIO_IDENTIFIER_3 = 3

  GPIO identifier 3

• GPIO_IDENTIFIER_4 = 4

  GPIO identifier 4

Admissible GPIO mode

Used in: GPIOConfiguration

• GPIO_MODE_UNSPECIFIED = 0

  Unspecified GPIO mode

• GPIO_MODE_INPUT_FLOATING = 1

  Input floating

• GPIO_MODE_OUTPUT_PUSH_PULL = 2

  Output push-pull

• GPIO_MODE_OUTPUT_OPEN_DRAIN = 3

  Output open drain

Admissible GPIO pull mode

Used in: GPIOConfiguration

• GPIO_PULL_UNSPECIFIED = 0

  Unspecified GPIO pull

• GPIO_PULL_NONE = 1

  Pull none

• GPIO_PULL_UP = 2

  Pull up

• GPIO_PULL_DOWN = 3

  Pull down

GPIO state

Used as request type in: InterconnectConfig.SetGPIOState

Used as response type in: InterconnectConfig.GetGPIOState

• GPIOIdentifier identifier = 1

  GPIO identifier

• GPIOValue value = 2

  Value

Admissible GPIO value

Used in: GPIOConfiguration, GPIOState

• GPIO_VALUE_UNSPECIFIED = 0

  Unspecified GPIO value

• GPIO_VALUE_LOW = 1

  Low

• GPIO_VALUE_HIGH = 2

  High

I2C configuration information

Used as request type in: InterconnectConfig.SetI2CConfiguration

Used as response type in: InterconnectConfig.GetI2CConfiguration

• I2CDevice device = 1

  I2C device identification

• bool enabled = 2

  True if I2C device is enabled, false otherwise

• I2CMode mode = 3

  Mode

• I2CDeviceAddressing addressing = 4

  Addressing mode

I2C data

Used as response type in: InterconnectConfig.I2CRead, InterconnectConfig.I2CReadRegister

Used as field type in: I2CWriteParameter, I2CWriteRegisterParameter

• bytes data = 1

  Data byte(s) array (max 128 bytes)

• fixed32 size = 2

  Data byte(s) array size

Admissible I2C device

Used in: I2CConfiguration, I2CDeviceIdentification, I2CReadParameter, I2CReadRegisterParameter, I2CWriteParameter, I2CWriteRegisterParameter

• I2C_DEVICE_UNSPECIFIED = 0

  Unspecified I2C device

• I2C_DEVICE_EXPANSION = 1

  I2C device located on the expansion connector

I2C device addressing mode

Used in: I2CConfiguration

• I2C_DEVICE_ADDRESSING_UNSPECIFIED = 0

  Unspecified device addressing

• I2C_DEVICE_ADDRESSING_7_BITS = 1

  7 bits device addressing

• I2C_DEVICE_ADDRESSING_10_BITS = 2

  10 bits device addressing

I2C mode

Used in: I2CConfiguration

• I2C_MODE_UNSPECIFIED = 0

  Unspecified I2C mode

• I2C_MODE_STANDARD = 1

  Standard mode

• I2C_MODE_FAST = 2

  Fast mode

• I2C_MODE_FAST_PLUS = 3

  Fast plus mode

I2C register address size

Used in: I2CReadRegisterParameter, I2CWriteRegisterParameter

• I2C_REGISTER_ADDRESS_SIZE_UNSPECIFIED = 0

  Unspecified I2C register address size

• I2C_REGISTER_ADDRESS_SIZE_8_BITS = 1

  8 bits register address size

• I2C_REGISTER_ADDRESS_SIZE_16_BITS = 2

  16 bits register address size

Admissible interface module safeties

• UNSPECIFIED_INTERCONNECT_SAFETY_IDENTIFIER = 0

  0x0 - Unspecified actuator safety

• MAXIMUM_MOTOR_CURRENT = 1

  0x1 - Maximum motor current

• MAXIMUM_VOLTAGE = 2

  0x2 - Maximum voltage

• MINIMUM_VOLTAGE = 4

  0x4 - Minimum voltage

• MAXIMUM_MOTOR_TEMPERATURE = 8

  0x8 - Maximum motor temperature

• MAXIMUM_CORE_TEMPERATURE = 16

  0x10 - Maximum core temperature

• NON_VOLATILE_MEMORY_CORRUPTED = 32

  0x20 - Non-volatile memory corrupted

• EMERGENCY_LINE_ASSERTED = 64

  0x40 - Emergency line asserted

• COMMUNICATION_TICK_LOST = 128

  0x80 - Communication tick lost

• WATCHDOG_TRIGGERED = 256

  0x100 - Watchdog triggered

Identifies InterconnectConfig current version

• RESERVED_0 = 0

  Reserved

• CURRENT_VERSION = 1

  Current version

Admissible UART port

• UART_PORT_UNSPECIFIED = 0

  Unspecified UART port

• UART_PORT_EXPANSION = 1

  UART port located on the expansion connector