Command Code:

cmdPERRATT = 55

The Packet:

0		1		2		3		4		5		6
address		5		cmdPERRATT		MSG		INPUT		SPXREF		SPXATT

MSG -	Base reflex message
INPUT -	Input parameter
SPXREF -	Scratch pad index of Reference Value
SPXATT -	Scratch pad index of Attenuation Factor (factor is power of 2)

Description:

This command compares an input parameter to a reference value and calculates the error.  It attenuates this error by dividing it by a power of 2.  The reference and attenuation factor come from the scratch pad.  It generates a raw input of either MSG+0 or MSG+1 based on the result:

MSG+0 -- error is less than 0

MSG+1 -- error is greater than or equal to 0

The parameter for the new raw input is the absolute value of the attenuated error.

See the discussion of Scratch Pad usage for more details.