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Motus Reference Manual
Page 132 of 146
Version 1.1
29/11/2019
2 1 u8 1 Clear existing packet periods, see section 16.10.2.1
3 2 u8 1 Packet ID
4 3 u32 4 Packet period, see section 16.10.2.2
+ Fields 3-4 repeat for additional packet periods
Table 94: Packets period packet
16.10.2.1 Clear Existing Packets
This is a boolean field, when set to one it deletes any existing packet rates. When set
to zero existing packet rates remain. Only one packet rate can exist per packet ID, so
new packet rates will overwrite existing packet rates for the same packet ID.
16.10.2.2 Packet Period
This indicates the period in units of the packet timer period. The packet rate can be
calculated as follows.
Packet Rate = 1000000/(Packet Period x Packet Timer Period) Hz
For example if the packet timer period is set to 1000 (1 ms). Setting packet ID 20 with
a packet period of 50 will give the following.
Packet 20 Rate = 1000000/(50 x 1000)
Packet 20 Rate = 20 Hz
16.10.3 Baud Rates Packet
Baud Rates Packet
Packet ID 182
Length 17
Field
#
Bytes
Offset
Data
Type
Size Description
1 0 u8 1 Permanent
2 1 u32 4 Primary RS232 and RS422 baud rate (2400 to
2000000)
3 5 u32 4 GPIO 1 & 2 baud rate (2400 to 250000)
4 9 u32 4 Auxiliary RS232 Baud Rate (2400 to 2000000)
5 13 4 Reserved (set to zero)
Table 95: Baud rates packet