Pololu Corporation M2H24v14, Руководство пользователя, Страница: 53 / 67

Set protocol options
Arguments
CRC for commands: true or false
CRC for responses: true or false
I²C general call: true or false
Response None
Arduino library
void setProtocolOptions(uint8_t options)
void enableCrc()
void disableCrc()
void enableCrcForCommands()
void disableCrcForCommands()
void enableCrcForResponses()
void disableCrcForResponses()
void enabeI2cGeneralCall()
void disableI2cGeneralCall()
Command encoding:
0x8B protocol options byte inverted protocol options byte
Description:
This command lets you change the Motoron’s protocol options. Each bit of the protocol options
byte specifies whether to enable a particular feature.
• Bit 0: This bit should be 1 to enable CRC for commands and 0 to disable it. This feature
is enabled by default and documented in Section 10 .
• Bit 1: This bit should be 1 to enable CRC for responses and 0 to disable it. This feature
is enabled by default and documented in Section 10 .
• Bit 2: This bit should be 1 to enable the I²C general call address and 0 to disable it. This
feature is enabled by default and documented in Section 7 .
The other bits are reserved and should be set to 0. The effect of this command only lasts until the
next time the Motoron loses power or its processor is reset, or it receives a Reinitialize command.
The second data byte should be equal to the protocol options byte but with the lower 7 bits all
inverted. If it is some other value, the command fails and the Motoron reports a protocol error.
It is OK to provide a CRC byte at the end of this command even if CRC for commands has been
Pololu Motoron Motor Controller User’s Guide © 2001–2022 Pololu Corporation
9. Command reference Page 53 of 67