From 77972a62d6d04b3a8b1ad2def67fef06a48b4da0 Mon Sep 17 00:00:00 2001 From: Tero Kontkanen Date: Mon, 20 Feb 2017 22:06:14 +0200 Subject: Redefined SMP_SERIAL_ENC_BITS specs --- simplemotion_defs.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 2c7a10a..f85b40f 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -450,7 +450,7 @@ * bits defined as (from LSB): * bits 0-7: single turn bits, accepted value range 4-24 * bits 8-15: multi turn bits, accepted value range 0-16 - * bits 16-17: SSI encoder mode: 00=SSI 01=SPI (SSI with CS) 10=AMS SSI (SSI with CS + with error bit monitoring & parity check) + * bits 16-18: serial encoder mode: 000=BiSS, 001=SSI, 010=AMS SSI (SSI+CS+error monitoring), 011=SPI (SSI+CS) 100=GRAY SSI (i.e. SICK TTK70) * rest: reserved for future use (always 0) */ #define SMP_SERIAL_ENC_BITS 574 -- cgit v1.2.3