INSTRUCTIONSET

PID controller remote interface instruction set



Request: 1 byte, MSB to LSB

           _      _ _ _ _      _ _ _    [optional] FLOAT VALUES
                                                   4 byte each
        opcode   variable/   reserved
                  command


    opcode
        0 - read
        1 - write


    variable/command
        0100 - setpoint

        0101 - Kp
        0110 - Ki
        0111 - Kd

        1000 - Ei

        1001 - EpL
        1010 - EiL


        specials (opcode is always 0)

        0000 - stream stop
        0001 - stream start

        1011 - save to EEPROM



Response: 1 byte, MSB to LSB

           _      _ _ _ _      _          _ _         [optional] FLOAT VALUES
                                                                 4 byte each
        opcode   variable   result     reserved/
                                      stream prefix


    opcode, variable/command
        see above


    result
        0 - success
        1 - error


    stream prefix
        01 (so entire response byte is 0x01, then float values follows)



Notes

    One can define custom commands following specified rules and using vacant values