device.yml

%YAML 1.1
---
# yaml-language-server: $schema=https://harp-tech.org/draft-02/schema/device.json
device: CameraController
whoAmI: 1168
firmwareVersion: "1.1"
hardwareTargets: "1.0"
registers:
  CameraStart: &cameratarget
    address: 32
    type: U8
    access: Write
    maskType: Cameras
    description: Starts the generation of triggers on the specified camera lines.
  CameraStop:
    <<: *cameratarget
    address: 33
    description: Stops the generation of triggers on the specified camera lines.
  ServoEnable: &servotarget
    address: 34
    type: U8
    access: Write
    maskType: Servos
    description: Enables servo control on the specified camera lines.
  ServoDisable:
    <<: *servotarget
    address: 35
    description: Disables servo control on the specified camera lines.
  OutputSet: &output
    address: 36
    type: U8
    access: Write
    maskType: DigitalOutputs
    description: Set the specified digital output lines.
  OutputClear:
    <<: *output
    address: 37
    description: Clear the specified digital output lines
  OutputState:
    <<: *output
    address: 38
    description: Write the state of all digital output lines
  DigitalInputState:
    address: 39
    type: U8
    access: Event
    maskType: DigitalInputs
    description: Emits an event when the state of the digital input line changes.
  Camera0Trigger: &cameraframeevent
    address: 40
    type: U8
    access: Event
    description: Emits an event when a frame is triggered on camera 0.
  Camera1Trigger:
    <<: *cameraframeevent
    address: 41
    description: Emits an event when a frame is triggered on camera 1.
  Camera0Sync: &syncstateevent
    address: 42
    type: U8
    access: Event
    description: Emits an event when a sync state is toggled on camera 0.
  Camera1Sync:
    <<: *syncstateevent
    address: 43
    description: Emits an event when a sync state is toggled on camera 0.
  ServoState:
    address: 44
    type: U8
    access: Read
    maskType: Servos
    description: Returns the current state of the servo motors.
  Reserved0: &reserved
    address: 45
    type: U8
    access: Read
    description: Reserved for future use.
    visibility: private
  SyncInterval:
    address: 46
    type: U8
    access: Write
    description: Configures the interval in seconds between each sync pulse
  Reserved1:
    <<: *reserved
    address: 47
  DI0Mode:
    address: 48
    type: U8
    access: Write
    maskType: DI0ModeConfig
    description: Configures the mode of the digital input line 0.
  Control0Mode: &controlmode
    address: 49
    type: U8
    access: Write
    maskType: ControlModeConfig
    description: Configures the control mode of Camera/Servo 0.
  Camera0Frequency: &camerafrequency
    address: 50
    maxValue: 600
    minValue: 1
    type: U16
    access: Write
    description: Configures the frequency (Hz) of the trigger pulses on Camera 0 when using Camera mode.
  Servo0Period: &servoperiod
    address: 51
    type: U16
    access: Write
    description: Configures the servo motor period (us) when using Servo mode (sensitive to 2 us)
  Servo0PulseWidth: &servopulsewidth
    address: 52
    type: U16
    access: Write
    description: Configures the servo pulse width (us) when using Servo mode (sensitive to 2 us)
  Control1Mode:
    <<: *controlmode
    address: 53
    description: Configures the control mode of Camera/Servo 1.
  Camera1Frequency:
    <<: *camerafrequency
    address: 54
    description: Configures the frequency (Hz) of the trigger pulses on Camera 1 when using Camera mode.
  Servo1Period:
    <<: *servoperiod
    address: 55
    access: Write
  Servo1PulseWidth:
    <<: *servopulsewidth
    address: 56
    type: U16
    access: Write
  Reserved2:
    <<: *reserved
    address: 57
  Reserved3:
    <<: *reserved
    address: 58
  EnableEvents:
    address: 59
    access: Write
    type: U8
    maskType: CameraControllerEvents
    description: Specifies the active events in the device.
bitMasks:
  Cameras:
    description: Specifies the target camera line.
    bits:
      Camera0: 0x1
      Camera1: 0x2
  Servos:
    description: Specifies the target servo-motor lines.
    bits:
      Servo0: 0x1
      Servo1: 0x2
  DigitalOutputs:
    description: Available digital output lines.
    bits:
      Trigger0: 0x1
      Sync0: 0x2
      Trigger1: 0x4
      Sync1: 0x8
  DigitalInputs:
    description: Available digital input lines.
    bits:
      DI0: 0x1
  CameraControllerEvents:
    description: Specifies the active events in the device.
    bits:
      TriggerAndSynch: {value: 0x1, description: Enables CameraTrigger and CameraSync events.}
      DigitalInputs: {value: 0x2, description: Enables DigitalInputs}
groupMasks:
  DI0ModeConfig:
    description: Specifies the operation mode of digital input line 0.
    values:
      HighEnablesCamera0: {value: 0, description: "When High, enables Camera0 or Servo0."}
      HighEnablesCamera1: {value: 1, description: "When High, enables Camera1 or Servo1."}
      HighEnablesCameraBoth: {value: 2, description: "When High, enables both Cameras or Servos."}
      LowEnablesCamera0: {value: 3, description: "When Low, enables Camera0 or Servo0."}
      LowEnablesCamera1: {value: 4, description: "When Low, enables Camera1 or Servo1."}
      LowEnablesCameraBoth: {value: 5, description: "When Low, enables both Cameras or Servos."}
      Default: {value: 6, description: "The line will function as a passive digital input."}
  ControlModeConfig:
    description: Specifies the operation mode of a specific output line.
    values:
      Camera: {value: 0, description: Enables Camera mode and it will produce the configured trigger.}
      Servo: {value: 1, description: Enables Servo mode and it will produce the configured trigger.}