Storing “1” triggers the canvas to write an array of up to 504 bytes representing up to 126 pixels to the screen. The register is set to 0 when writing is completed.
base+0x02
half
Array size (in bytes).
base+0x04
word
The initial position to write the array on the canvas. The canvas is represented as a 512x512x4-byte one-dimensional array representing 512x512 pixels.
base+0x08tobase+0x200
word
504-byte array representing up to 126 pixels. Each pixel takes 4 bytes, one byte for each value: Red, Green, Blue, and Alpha (in this order).
Storing “1” triggers the GPT device to start reading the current system time. The register is set to 0 when the reading is completed.
base+0x04
word
Stores the time (in milliseconds) at the moment of the last reading by the GPT.
base+0x08
word
Storing v > 0 programs the GPT to generate an external interruption after v milliseconds. It also sets this register to 0 after v milliseconds (immediately before generating the interruption).
Storing “1” triggers the GPS device to start reading the coordinates and rotation of the car. The register is set to 0 when the reading is completed.
base+0x01
byte
Storing “1” triggers the Line Camera device to capture an image. The register is set to 0 when the capture is completed.
base+0x02
byte
Storing “1” triggers the Ultrasonic Sensor device to measure the distance in front of the car. The register is set to 0 when the measurement is completed.
base+0x04
word
Stores the Euler angle X of the car rotation at the moment of the last reading by the GPS.
base+0x08
word
Stores the Euler angle Y of the car rotation at the moment of the last reading by the GPS.
base+0x0C
word
Stores the Euler angle Z of the car rotation at the moment of the last reading by the GPS.
base+0x10
word
Stores the X-axis of the car position at the moment of the last reading by the GPS.
base+0x14
word
Stores the Y-axis of the car position at the moment of the last reading by the GPS.
base+0x18
word
Stores the Z-axis of the car position at the moment of the last reading by the GPS.
base+0x1C
word
Stores the distance (in centimeters) between the Ultrasonic sensor and the nearest obstacle. Returns -1 if there’s no obstacle within 20m.
base+0x20
byte
Sets the steering wheel direction. Negative values indicate steering to the left, positive values indicate steering to the right.
base+0x21
byte
Sets the engine direction.1: forward.0: off.-1: backward.
base+0x22
byte
Sets the hand break. (1 = enabled)
base+0x24
256-byte array
Stores the image captured by the Line Camera. Each byte represents the luminance of a pixel.