/*
    Orpp Documemtation
    (C) 2005 Jason Hunt

    File: doc.txt


    This file contains information need to program the 
    Orpp serial interface.
*/


Serial communication command listing.

All commands are sent as plain ASCII text.


Table format:

' ' : Command			Ascii text for the commands
P1  : Parameter 1		The first value after the command
P2  : Parameter 2		The second value after the command
R1  : Return byte 1		The first byte returned by the ORPP
R2  : Return byte 2		The first byte returned by the ORPP


-- Control commands --

'c' Clear everything back to reset values

-- Set value commands --

'l' Sed led state
P1  Led number from 0 to 1
P2  Led State. 0 for off and 1 for on	

'd' Set digital output state
P1  Output number from 0 to 5
P2  Putput state state. 0 for off and 1 for on	

's' Set servo posotion
P1  Servo Numver
P2P3  Position in hex (two bytes)

'o' Set open collector output
P1  Output number
P2  Output State. 0 for off and 1 for on

'p' Set PWM duty
P1 PWN channel
P2P3 Duty encoded in hex (two bytes)

'f' Fast Set. Set all of the outputs at once.
P1-P6 Servo pos 0..5, not encoded, sent as plain binary
P7-P8 PWM 0, PWM 1
P9    All of the digital outputs.
P10   Open collector 0 in bit 0, OC 1 in bit 1

-- Get value commands --

'r' Read Radio value
P1    R radio PWM on this digital input
R1    Radio value in hex (High nibble)
R2    Low nibble

'a' Read analog value
P1    Analog channel
R1-R4 Value in hex. Two byte value encoded in 4 hex bytes

'i' Read digital input
P1    Input number
R1    Value, 0 for low and 1 for high

't' Turbo read. Reads analog inputs and dgital inputs all at once.
    The return values are not encoded into readable chars
    The mode is intended for reading the inputs at a high rate
R1   MSB of analog 0 with digital 0 in the highest bit
R2   LSB of analog 0
R3-R10 Are used the same way for inputs 1-4