| IO Ports for Moto 1.0 Module | Index |
These ports are specific to the BrainStem Moto module. TEA programs may use these ports to access the module's IO devices. The address for a specific port may be calculated using a base address, ID offset, and function offset. Each port also has an equivalent command.
| Address Range | Name | Port Calculation - Equivalent Command | Access | Size |
|---|---|---|---|---|
| 0x0480 - 0x0489 | aPortA2D | 5 Analog to Digital inputs (0x0480+A2DID*2+0) - cmdA2D_RD (0x0480+A2DID*2+1) - reserved | r | int |
| 0x0500 - 0x0529 | aPortDigital | 11 Digital IO pins (0x0500+DigID*4+0) - cmdDIG_CFG (0x0500+DigID*4+1) - cmdDIG_IO (0x0500+DigID*4+2) - reserved (0x0500+DigID*4+3) - reserved | r/w r/w | char char |
| 0x0600 - 0x061F | aPortMoto | 16 Motion Control ports (0x0600+moID*16) - cmdMO_CFG (MODE) (0x0601+moID*16) - cmdMO_CFG (P) (0x0602+moID*16) - cmdMO_CFG (I) (0x0603+moID*16) - cmdMO_CFG (D) (0x0604+moID*16) - cmdMO_CFG (COFFSET) (0x0605+moID*16) - cmdMO_CFG (PWMRAIL) (0x0606+moID*16) - cmdMO_CFG (PERIOD) (0x0607+moID*16) - cmdMO_CFG (LATENCY) (0x0608+moID*16) - cmdMO_CFG (PWMFREQ) (0x0609+moID*16) - cmdMO_SET (0x060A+moID*16) - cmdMO_PEEK (input) (0x060B+moID*16) - cmdMO_RMPCFG (0x060C+moID*16) - cmdMO_RMPENA (0x060D+moID*16) - cmdMO_ENC32 (high) (0x060E+moID*16) - cmdMO_ENC32 (low) (0x060F+moID*16) - cmdMO_PEEK (duty cycle) | r/w r/w r/w r/w r/w r/w r/w r/w r/w r/w r w w r/w r/w r | int* int* int* int* int* int* int* int* int* int* int* char* char* int* int* int* |