| IO Ports for GP 2.0 Module | Index |
These ports are specific to the BrainStem GP 2.0 module. TEA programs may use these ports to access the module's IO devices. The address for a specific port may be calculated using a base address, ID offset, and function offset. Each port also has an equivalent command.
| Address Range | Name | Port Calculation - Equivalent Command | Access | Size |
|---|---|---|---|---|
| 0x0400 - 0x041F | aPortServo | 4 Servo outputs (0x0400+ServoID*8+0) - cmdSRV_CFG (0x0400+ServoID*8+1) - cmdSRV_LMT (0x0400+ServoID*8+2) - cmdSRV_ABS (0x0400+ServoID*8+3) - cmdSRV_REL (0x0400+ServoID*8+4) - cmdSRV_RFLX (0x0400+ServoID*8+5) - cmdSRV_STOP (0x0400+ServoID*8+6) - reserved (0x0400+ServoID*8+7) - reserved | r/w r/w r/w w r/w w | char int* char char int* char |
| 0x0480 - 0x0489 | aPortA2D | 5 Analog to Digital inputs (0x0480+A2DID*2+0) - cmdA2D_RD (0x0480+A2DID*2+1) - reserved | r | int |
| 0x0500 - 0x0513 | aPortDigital | 5 Digital IO pins (0x0500+DigID*4+0) - cmdDIG_CFG (0x0500+DigID*4+1) - cmdDIG_IO (0x0500+DigID*4+2) - cmdPTIME_RD (pins 1,2,3,4 only) (0x0500+DigID*4+3) - cmdDIG_RST | r/w r/w r w | char char int* char |
| 0x0700-0x071F | aPortIRRX | IR receive input 0x0711 | r | int |
| 0x0700-0x071F | aPortIRTX | IR transmit output 0x0716 | w | int |