Motus Reference Manual
Page 131 of 146
Version 1.1
29/11/2019
16.10 Configuration Packets
Configuration packets can be both read from and written to the device. On many of
the configuration packets the first byte is a permanent flag. A zero in this field
indicates that the settings will be lost on reset, a one indicates that they will be
permanent.
16.10.1
Packet Timer Period Packet
Packet Timer Period Packet
Packet ID
180
Length
4
Field
#
Bytes
Offset
Data
Type
Size
Description
1
0
u8
1
Permanent
2
1
u8
1
UTC synchronisation, see section 16.10.1.1
3
2
u16
2
Packet timer period, see section 16.10.1.2
Table 93: Packet timer period packet
16.10.1.1
UTC Synchronisation
This is a boolean value that determines whether or not the packet timer is
synchronised with UTC time, with zero for disabled and one for enabled. For UTC
Synchronisation to be enabled the packet timer period must multiply into 1000000
evenly. For example if the packet timer period is 10000 (10 ms), 1000000/10000 =
100 which is valid for UTC synchronisation. If the packet timer period is 15000 (15 ms),
1000000/15000 = 66.6666 which is not valid for UTC synchronisation. To get the rate
use the following.
Packet Timer Rate = 1000000/(Packet Timer Period) Hz
16.10.1.2
Packet Timer Period
This is a value in microseconds that sets the master packet timer period. The
minimum value is 1000 (1 ms) or 1000 Hz and the maximum value is 65535 (65.535
ms) or 15.30 Hz.
16.10.2
Packets Period Packet
Packets Period Packet
Packet ID
181
Length
2 + (5 x number of packet periods)
Field
#
Bytes
Offset
Data
Type
Size
Description
1
0
u8
1
Permanent
