Modules < Main

Main.Modulesr1.12 - 31 Jan 2008 - 16:00 - ZachSmithtopic end
---+ RepRap SNAP Command Documentation

%TOC%

---++ Communication Protocol

These modules communicate using the [[SNAPComms][SNAP Communications library]].  This is an implementation of the [[http://www.hth.com/snap/][SNAP Protocol]] in a ring network.

---++ Protocol Version 1

   * [[StepperMotorController][Stepper Motor Controller]] - control an individual linear axis
   * [[ExtruderController][Thermoplastic Extruder Controller]] - control an individual heater-based extruder

---+++ Global Commands

These commands should be implemented by every single device with an address.

---++++ [0] Get Version

Returns the version of the module.  This message is the only message universally supported by all devices and is therefore useful as a test.

Parameters:
   * _None_

Returns:
   * 1 byte: Response type (0)
   * 1 byte: major version number
   * 1 byte: minor version number


---++++ [255] Get Module Type

Returns the type of the module.  This message is used to query every device in the network to determine what types of devices are connected.  For example:  the RepRap host software queries all devices for their type, compiles a list of connected devices, then queries each device for its version.  From there, it can easily autoconfigure its internal software and automatically communicate properly with each device in the network.  All this can be done transparently to the end user.

Parameters:
   * _None_

Returns:
   * 1 byte: Response type (255)
   * 1 byte: module type (see table below)
 
Module Types:
| *Id* | *Type* |
| 0 | Linear Axis / Stepper Controller |
| 1 | Thermoplastic Extruder |
| 2 | Support Extruder | 
| 3 | Cartesian Robot |
| 4 | Laser Cutter/Etcher |
| 5 | Cutting Toolhead |

---+++ Allocated addresses

   * 0 PC
   * 1 Master controller (not currently used for ring network)
   * 2 X axis
   * 3 Y axis
   * 4 Z axis
   * 5-7 Reserved for 6 DoF platforms (Stewart platform etc.)
   * 8..27 Extruders 1 to 20
   * 50 IOBox test tool

---++ Next Generation Protocol Ideas

---+++ Protocol Modules

   * [[CartesianBot_SNAP_V1][Cartesian Robot]] - a single device representing 3 linear axes
   * [[Extruder_SNAP_V1][Thermoplastic Extruder]] - a simplified extruder device.
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