Difference between revisions of "Component: API (Arduino Uno) (API Slave Devices)"

Revision as of 15:13, 20 January 2023

Author	Matrix TSL
Version	2.0
Category	API Slave Devices

API (Arduino Uno) component

Connects to an Arduino Uno running the API Firmware allowing the board to become a slave to the Flowcode Embedded simulation or Flowcode App Developer. Supports: Digital IO / ADC / I2C / SPI / PWM See Flowcode Help Wiki for firmware.

Component Source Code

Please click here to view the component source code (Beta): FC_Comp_Source_Arduino_Uno_API_Comp.fcfx

Detailed description

The App Developer (Arduino Uno) component allows an Arduino Uno board to be controlled from within the Flowcode simulation runtime.

To allow Flowcode to communicate and control the Arduino Uno hardware the board must first be pre-programmed with dedicated firmware.

The firmware hex file and Flowcode source project can be downloaded from here.

Arduino Uno App Developer Firmware

More information about the workings of the firmware project can be found on the FiniteStateMachine page.

The COM port to the Arduino hardware is selected via the App Developer_Ard_Uno componennt COM port property.

When building the component into a App Developer project remember to expose the COM port property to allow the end user to select the correct port for the hardware.

The console window can display data in two modes which is set via a component property.

fixed statistics showing IO / ADC inputs / PWM
scrolling log showing all commands and returns

Examples

Pin Mapping

Here is a table showing how the App Developer Slave digital pins are mapped on the device.

App Developer Slave Digital Pin	0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Device Port Pin	D0	D1	D2	D3	D4	D5	D6	D7	B0	B1	B2	B3	B4	B5	C0	C1	C2	C3	C4	C5
Arduino Style Pin	0	1	2	3	4	5	6	7	8	9	10	11	12	13	A0	A1	A2	A3	A4	A5

Here is a table showing how the App Developer Slave analogue pins are mapped on the device.

App Developer Slave Analogue Pin	0	1	2	3	4	5
Device Port Pin	C0	C1	C2	C3	C4	C5
Arduino Style Pin	A0	A1	A2	A3	A4	A5

Here is a table showing how the App Developer Slave peripheral pins are mapped on the device.

App Developer Slave Peripheral Pin	I2C SDA	I2C SCL	SPI MOSI	SPI MISO	SPI SCK	PWM 0	PWM 1	PWM 2	PWM 3	PWM 4	PWM 5	OneWire	Servo 0	Servo 1	Servo 2	Servo 3	Servo 4	Servo 5	Servo 6	Servo 7
Device Port Pin	C4	C5	B3	B4	B5	D6	D5	B1	B2	B3	D3	D2	D2	D3	D4	D5	D6	D7	D8	D9
Arduino Style Pin	A4	A5	11	12	13	6	5	9	10	11	3	2	2	3	4	5	6	7	8	9

Direct Slave Access

Here is a simple demo to switch on and off digital pin 5.

Simple Arduino Uno Demo

Rapid Development - Virtualised SPI

A feature of the App Developer Slave interface is to use the component for rapid development.

The App Developer Slave hardware can be used to take communications from the Flowcode simulation and transfer them to a real world device allowing for easy code generation and test without having to download to a target microcontroller device.

The CS pin and SPI Prescaler are set via the properties of the Injector component.

The SPI Master component is linked to the Injector component via the Injector property.

The Injector component is linked to the App Developer Slave component via the App Developer Slave property.

Arduino Uno App Developer Slave SPI Demo

Rapid Development - Virtualised I2C

A feature of the App Developer Slave interface is to use the component for rapid development.

The App Developer Slave hardware can be used to take communications from the Flowcode simulation and transfer them to a real world device allowing for easy code generation and test without having to download to a target microcontroller device.

The I2C Master component is linked to the Injector component via the Injector property.

The Injector component is linked to the App Developer Slave component via the App Developer Slave property.

Arduino Uno App Developer Slave I2C Demo

Rapid Development - Virtualised UART

A feature of the App Developer Slave interface is to use the component for rapid development.

The App Developer Slave hardware can be used to take communications from the Flowcode simulation and transfer them to a real world device allowing for easy code generation and test without having to download to a target microcontroller device.

The Baud rate and optional RS485 Properties are set via the properties of the Injector component.

The UART component is linked to the Injector component via the Injector property.

The Injector component is linked to the App Developer Slave component via the App Developer Slave property.

Arduino Uno App Developer Slave UART Demo

Macro reference

	I2CInitialise
Initialsie the I2C module ready for communications
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Baud
0=100KHz, 1=400KHz, 2=1MHz
- VOID	Return

	ADCSampleArray8
Reads the voltage present on an Analog pin as an 8-bit value range 0-255 Performs the selected number of samples with the selected time in microseconds in between samples and returns each sample in a single packet
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 32
- UINT	SampleDelay
Delay in us between each sample
- BYTE	Samples
8-bit samples returned from the function
- VOID	Return

	SPITransferTrans
Transfer an array of bytes using the SPI bus
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- UINT	Count
Number of bytes to send and receive
- BYTE	DataOut
Outgoing data
- BYTE	DataIn
Incoming data
- VOID	Return

	OneWireBusReset
Issue a 'ping' on the bus. If there is at least one sensor on the bus then it will generate a presence pulse. Returns 0 if a presense pulse was detected Returns 1 no device was detected
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BOOL	Return

	IOGetInputPin
Sets the selected digital pin to an input and reads the input state.
- BYTE	Pin
Range: 0-19
- BOOL	Return

	OneWireInitialise
Initialise the OneWire module ready for communications
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	OneWireMatchROM
Performs a reset followed by the MatchROM code and then the 8-bit ROM code.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	FamilyCode

- BYTE	SerialNumber

- VOID	Return

	ADCSample8
Reads the voltage present on an Analog pin as an 8-bit value range 0-255
- BYTE	ADCChannel
Range: 0-5
- BYTE	Return

	I2CTransReceive
Receives an I2C Transaction on the selected I2C channel. Returns the number of bytes received.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Data
Data variable to receive into
- UINT	Count
Number of bytes to receive
- UINT	Return

	RegisterWrite
Writes to one of the registers on-board the device
- UINT	RegisterAddress
The address of the register
- BYTE	Data
The data value to assign to the register
- VOID	Return

	RegisterRead
Read one of the registers on-board the device
- UINT	RegisterAddress
The address of the register
- BYTE	Return

	ADCSetPrechargeTime
Specifies the precharge time for the ADC input readings in microseconds. The longer the time the more immune to noise the reading will be.
- BYTE	ChargeTime
Default 10
- VOID	Return

	OneWireTransmitByte
Transmit a byte to the one wire bus a bit at a time
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Data

- VOID	Return

	I2CRestart
Put the I2C Module into Restart mode
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	PWMDisable
Disable a PWM output
- BYTE	Channel
Range: 0-5
- VOID	Return

	I2CStart
Put the I2C Module into Start mode
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	SPITransfer
Transfer a byte using the SPI bus
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- BYTE	DataOut

- BYTE	Return

	I2CReceive
Receive a byte using the I2C bus
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BOOL	Last
Last byte to receive: Range 0-1
- BYTE	Return

	OneWireGetIDByte
Returns a single byte of the 64-Bit lasered ROM code, 255 on error
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Device
Device ID - Range: 0 - NumDevices - 1
- BYTE	ByteIndex
Index of the data byte. 0=FamilyCode, 1-6=Serial, 7=CRC
- BYTE	Return

	I2CStop
Put the I2C Module into Stop mode
- BYTE	Channel

- VOID	Return

	ADCSetReferenceVoltage
Specified the reference setting for ADC reads.
- BYTE	RefType
0=AREF, 1=VCC, 3=Internal 1.1V
- VOID	Return

	OneWireSkipROM
Performs a bus reset and the sends the SkipROM command byte
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	ServoDisable
Disable a Servo output Ch0 to 7 = Pins 2 to 9
- BYTE	Channel
Range: 0-7
- VOID	Return

	SPIPrescaler
Modify the speed of the SPI bus
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- BYTE	Prescaler
Range: 0-2
- VOID	Return

	ServoEnable
Enable a Servo output Ch0 to 7 = Pins 2 to 9
- BYTE	Channel
Range: 0-7
- VOID	Return

	PWMSetDuty
Sets the duty for the PWM output
- BYTE	Channel
Range: 0-5
- BYTE	Duty

- VOID	Return

	ADCSample10
Reads the voltage present on an Analog pin as an 10-bit value range 0-1023
- BYTE	ADCChannel
Range: 0-5
- UINT	Return

	I2CTransSend
Sends an I2C Transaction on the selected I2C channel. Returns the number of bytes sent.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Data
Data to send
- UINT	Count
Number of bytes to send out, MS bit 0x8000 signifies no Stop if set
- UINT	Return

	IOSetOutputPin
Sets the selected digital pin to an output and assigns the output state.
- BYTE	Pin
Range: 0-19
- BOOL	State
Range: 0-1
- VOID	Return

	ADCSampleAverage10
Reads the voltage present on an Analog pin as an 10-bit value range 0-1023. Performs the selected number of samples with the selected time in microseconds in between samples
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 100
- BYTE	SampleDelay
Delay in us between each sample
- UINT	Return

	I2CTransInit
Initialises the I2C Transaction mode with the 7-bit device address
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	DeviceAddress
7-bit Device Address
- BYTE	Baud
0=100KHz, 1=400KHz, 2=1MHz
- VOID	Return

	ServoSetPosition8
Sets the position as an 8-bit value Ch0 to 7 = Pins 2 to 9
- BYTE	Channel
Range: 0-7
- BYTE	Position
Range: 0-255
- VOID	Return

	OneWireScanBus
Scans the one wire bus to detect all connected devices. Returns the number of one wire devices found.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Return

	SPIInitialise
Initialsie the SPI module ready for communications
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- VOID	Return

	OneWireReceiveByte
Receives a byte from the one wire bus a bit at a time
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Return

	I2CSend
Transmit a byte using the I2C bus
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	DataOut

- BOOL	Return

	OneWireGetDeviceCount
Returns the number of devices found by the last ScanBus operation.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Return

	PWMSetPrescaler
Sets the prescaler for the PWM output
- BYTE	Channel
Range: 0-5
- BYTE	Prescaler

- BYTE	Period
Default 255
- VOID	Return

	PWMEnable
Enable a PWM output
- BYTE	Channel
Range: 0-5
- VOID	Return

	ADCSampleAverage8
Reads the voltage present on an Analog pin as an 8-bit value range 0-255 Performs the selected number of samples with the selected time in microseconds in between samples
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 100
- BYTE	SampleDelay
Delay in us between each sample
- BYTE	Return

	ADCSampleArray10
Reads the voltage present on an Analog pin as an 10-bit value range 0-1023 Performs the selected number of samples with the selected time in microseconds in between samples and returns each sample in a single packet
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 32
- UINT	SampleDelay
Delay in us between each sample
- UINT	Samples
10-bit samples returned from the function
- VOID	Return

	Initialise
Initialise the comms to the Arduino board ready for commands to be sent.
- VOID	Return

Property reference

	Properties
	Connection
	COM Port
Lists all the current available COM port hardware on your PC.
	Refresh Ports

	API Peripherals
	Digital IO

	Analog Input

	Analog Output

	PWM Output

	I2C Bus

	SPI Bus

	UART

	OneWire

	SERVO

	Console
	Console Log
Create an automatic console log of the commands sent to the Arduino
	Log Mode
Controls how the console data is formatted. Fixed statistics gives an easy to read overview of the IO, Analog and PWM functionality Command Log gives a more in depth analysis of the outgoing commands and incoming returns

==Macro reference==

	I2CInitialise
Initialsie the I2C module ready for communications
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Baud
0=100KHz, 1=400KHz, 2=1MHz
- VOID	Return

	ADCSampleArray8
Reads the voltage present on an Analog pin as an 8-bit value range 0-255 Performs the selected number of samples with the selected time in microseconds in between samples and returns each sample in a single packet
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 32
- UINT	SampleDelay
Delay in us between each sample
- BYTE	Samples
8-bit samples returned from the function
- VOID	Return

	SPITransferTrans
Transfer an array of bytes using the SPI bus
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- UINT	Count
Number of bytes to send and receive
- BYTE	DataOut
Outgoing data
- BYTE	DataIn
Incoming data
- VOID	Return

	OneWireBusReset
Issue a 'ping' on the bus. If there is at least one sensor on the bus then it will generate a presence pulse. Returns 0 if a presense pulse was detected Returns 1 no device was detected
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BOOL	Return

	IOGetInputPin
Sets the selected digital pin to an input and reads the input state.
- BYTE	Pin
Range: 0-19
- BOOL	Return

	OneWireInitialise
Initialise the OneWire module ready for communications
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	OneWireMatchROM
Performs a reset followed by the MatchROM code and then the 8-bit ROM code.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	FamilyCode

- BYTE	SerialNumber

- VOID	Return

	ADCSample8
Reads the voltage present on an Analog pin as an 8-bit value range 0-255
- BYTE	ADCChannel
Range: 0-5
- BYTE	Return

	I2CTransReceive
Receives an I2C Transaction on the selected I2C channel. Returns the number of bytes received.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Data
Data variable to receive into
- UINT	Count
Number of bytes to receive
- UINT	Return

	RegisterWrite
Writes to one of the registers on-board the device
- UINT	RegisterAddress
The address of the register
- BYTE	Data
The data value to assign to the register
- VOID	Return

	RegisterRead
Read one of the registers on-board the device
- UINT	RegisterAddress
The address of the register
- BYTE	Return

	ADCSetPrechargeTime
Specifies the precharge time for the ADC input readings in microseconds. The longer the time the more immune to noise the reading will be.
- BYTE	ChargeTime
Default 10
- VOID	Return

	OneWireTransmitByte
Transmit a byte to the one wire bus a bit at a time
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Data

- VOID	Return

	I2CRestart
Put the I2C Module into Restart mode
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	PWMDisable
Disable a PWM output
- BYTE	Channel
Range: 0-5
- VOID	Return

	I2CStart
Put the I2C Module into Start mode
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	SPITransfer
Transfer a byte using the SPI bus
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- BYTE	DataOut

- BYTE	Return

	I2CReceive
Receive a byte using the I2C bus
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BOOL	Last
Last byte to receive: Range 0-1
- BYTE	Return

	OneWireGetIDByte
Returns a single byte of the 64-Bit lasered ROM code, 255 on error
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Device
Device ID - Range: 0 - NumDevices - 1
- BYTE	ByteIndex
Index of the data byte. 0=FamilyCode, 1-6=Serial, 7=CRC
- BYTE	Return

	I2CStop
Put the I2C Module into Stop mode
- BYTE	Channel

- VOID	Return

	ADCSetReferenceVoltage
Specified the reference setting for ADC reads.
- BYTE	RefType
0=AREF, 1=VCC, 3=Internal 1.1V
- VOID	Return

	OneWireSkipROM
Performs a bus reset and the sends the SkipROM command byte
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- VOID	Return

	ServoDisable
Disable a Servo output Ch0 to 7 = Pins 2 to 9
- BYTE	Channel
Range: 0-7
- VOID	Return

	SPIPrescaler
Modify the speed of the SPI bus
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- BYTE	Prescaler
Range: 0-2
- VOID	Return

	ServoEnable
Enable a Servo output Ch0 to 7 = Pins 2 to 9
- BYTE	Channel
Range: 0-7
- VOID	Return

	PWMSetDuty
Sets the duty for the PWM output
- BYTE	Channel
Range: 0-5
- BYTE	Duty

- VOID	Return

	ADCSample10
Reads the voltage present on an Analog pin as an 10-bit value range 0-1023
- BYTE	ADCChannel
Range: 0-5
- UINT	Return

	I2CTransSend
Sends an I2C Transaction on the selected I2C channel. Returns the number of bytes sent.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Data
Data to send
- UINT	Count
Number of bytes to send out, MS bit 0x8000 signifies no Stop if set
- UINT	Return

	IOSetOutputPin
Sets the selected digital pin to an output and assigns the output state.
- BYTE	Pin
Range: 0-19
- BOOL	State
Range: 0-1
- VOID	Return

	ADCSampleAverage10
Reads the voltage present on an Analog pin as an 10-bit value range 0-1023. Performs the selected number of samples with the selected time in microseconds in between samples
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 100
- BYTE	SampleDelay
Delay in us between each sample
- UINT	Return

	I2CTransInit
Initialises the I2C Transaction mode with the 7-bit device address
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	DeviceAddress
7-bit Device Address
- BYTE	Baud
0=100KHz, 1=400KHz, 2=1MHz
- VOID	Return

	ServoSetPosition8
Sets the position as an 8-bit value Ch0 to 7 = Pins 2 to 9
- BYTE	Channel
Range: 0-7
- BYTE	Position
Range: 0-255
- VOID	Return

	OneWireScanBus
Scans the one wire bus to detect all connected devices. Returns the number of one wire devices found.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Return

	SPIInitialise
Initialsie the SPI module ready for communications
- BYTE	Channel
Channel Index: Range 0 - SPI Bus Count - 1
- VOID	Return

	OneWireReceiveByte
Receives a byte from the one wire bus a bit at a time
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Return

	I2CSend
Transmit a byte using the I2C bus
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	DataOut

- BOOL	Return

	OneWireGetDeviceCount
Returns the number of devices found by the last ScanBus operation.
- BYTE	Channel
Channel Index: Range 0 - I2C Bus Count - 1
- BYTE	Return

	PWMSetPrescaler
Sets the prescaler for the PWM output
- BYTE	Channel
Range: 0-5
- BYTE	Prescaler

- BYTE	Period
Default 255
- VOID	Return

	PWMEnable
Enable a PWM output
- BYTE	Channel
Range: 0-5
- VOID	Return

	ADCSampleAverage8
Reads the voltage present on an Analog pin as an 8-bit value range 0-255 Performs the selected number of samples with the selected time in microseconds in between samples
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 100
- BYTE	SampleDelay
Delay in us between each sample
- BYTE	Return

	ADCSampleArray10
Reads the voltage present on an Analog pin as an 10-bit value range 0-1023 Performs the selected number of samples with the selected time in microseconds in between samples and returns each sample in a single packet
- BYTE	ADCChannel
Range: 0-5
- BYTE	SampleCount
Range: 1- 32
- UINT	SampleDelay
Delay in us between each sample
- UINT	Samples
10-bit samples returned from the function
- VOID	Return

	Initialise
Initialise the comms to the Arduino board ready for commands to be sent.
- VOID	Return

Property reference

	Properties
	Connection
	COM Port
Lists all the current available COM port hardware on your PC.
	Refresh Ports

	API Peripherals
	Digital IO

	Analog Input

	Analog Output

	PWM Output

	I2C Bus

	SPI Bus

	UART

	OneWire

	SERVO

	Console
	Console Log
Create an automatic console log of the commands sent to the Arduino
	Log Mode
Controls how the console data is formatted. Fixed statistics gives an easy to read overview of the IO, Analog and PWM functionality Command Log gives a more in depth analysis of the outgoing commands and incoming returns

Difference between revisions of "Component: API (Arduino Uno) (API Slave Devices)"

Revision as of 15:13, 20 January 2023

Contents

API (Arduino Uno) component

Component Source Code

Detailed description

Examples

Pin Mapping

Direct Slave Access

Rapid Development - Virtualised SPI

Rapid Development - Virtualised I2C

Rapid Development - Virtualised UART

Macro reference

Property reference

Property reference

Navigation menu

Page actions

Page actions

Personal tools

Navigation

Search

Tools

@@ Line 17: / Line 17: @@
 ==Component Source Code==
-Please click here for the component source code: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_Arduino_Uno_API_Comp.fcfx FC_Comp_Source_Arduino_Uno_API_Comp.fcfx]
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Arduino_Uno_API_Comp.fcfx FC_Comp_Source_Arduino_Uno_API_Comp.fcfx]
 ==Detailed description==
@@ Line 59: / Line 61: @@
 ==Examples==
@@ Line 301: / Line 305: @@
 ==Macro reference==
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CInitialise'''
+|-
+| colspan="2" | Initialsie the I2C module ready for communications&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Baud
+|-
+| colspan="2" | 0=100KHz, 1=400KHz, 2=1MHz&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSampleArray8'''
+|-
+| colspan="2" | Reads the voltage present on an Analog pin as an 8-bit value range 0-255 Performs the selected number of samples with the selected time in microseconds in between samples and returns each sample in a single packet&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ADCChannel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SampleCount
+|-
+| colspan="2" | Range: 1- 32&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | SampleDelay
+|-
+| colspan="2" | Delay in us between each sample&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Samples
+|-
+| colspan="2" | 8-bit samples returned from the function&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SPITransferTrans'''
+|-
+| colspan="2" | Transfer an array of bytes using the SPI bus&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - SPI Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Count
+|-
+| colspan="2" | Number of bytes to send and receive&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | DataOut
+|-
+| colspan="2" | Outgoing data&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | DataIn
+|-
+| colspan="2" | Incoming data&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireBusReset'''
+|-
+| colspan="2" | Issue a 'ping' on the bus. If there is at least one sensor on the bus then it will generate a presence pulse.  Returns 0 if a presense pulse was detected Returns 1 no device was detected&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IOGetInputPin'''
+|-
+| colspan="2" | Sets the selected digital pin to an input and reads the input state.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Pin
+|-
+| colspan="2" | Range: 0-19&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireInitialise'''
+|-
+| colspan="2" | Initialise the OneWire module ready for communications&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireMatchROM'''
+|-
+| colspan="2" | Performs a reset followed by the MatchROM code and then the 8-bit ROM code.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | FamilyCode
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SerialNumber
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSample8'''
+|-
+| colspan="2" | Reads the voltage present on an Analog pin as an 8-bit value range 0-255&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ADCChannel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CTransReceive'''
+|-
+| colspan="2" | Receives an I2C Transaction on the selected I2C channel. Returns the number of bytes received.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Data
+|-
+| colspan="2" | Data variable to receive into&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Count
+|-
+| colspan="2" | Number of bytes to receive&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''RegisterWrite'''
+|-
+| colspan="2" | Writes to one of the registers on-board the device&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | RegisterAddress
+|-
+| colspan="2" | The address of the register&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Data
+|-
+| colspan="2" | The data value to assign to the register&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''RegisterRead'''
+|-
+| colspan="2" | Read one of the registers on-board the device&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | RegisterAddress
+|-
+| colspan="2" | The address of the register&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSetPrechargeTime'''
+|-
+| colspan="2" | Specifies the precharge time for the ADC input readings in microseconds. The longer the time the more immune to noise the reading will be.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ChargeTime
+|-
+| colspan="2" | Default 10&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireTransmitByte'''
+|-
+| colspan="2" | Transmit a byte to the one wire bus a bit at a time&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Data
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CRestart'''
+|-
+| colspan="2" | Put the I2C Module into Restart mode&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PWMDisable'''
+|-
+| colspan="2" | Disable a PWM output&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CStart'''
+|-
+| colspan="2" | Put the I2C Module into Start mode&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SPITransfer'''
+|-
+| colspan="2" | Transfer a byte using the SPI bus&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - SPI Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | DataOut
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CReceive'''
+|-
+| colspan="2" | Receive a byte using the I2C bus&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | Last
+|-
+| colspan="2" | Last byte to receive: Range 0-1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireGetIDByte'''
+|-
+| colspan="2" | Returns a single byte of the 64-Bit lasered ROM code, 255 on error&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Device
+|-
+| colspan="2" | Device ID - Range: 0 - NumDevices - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ByteIndex
+|-
+| colspan="2" | Index of the data byte. 0=FamilyCode, 1-6=Serial, 7=CRC&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CStop'''
+|-
+| colspan="2" | Put the I2C Module into Stop mode&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSetReferenceVoltage'''
+|-
+| colspan="2" | Specified the reference setting for ADC reads.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | RefType
+|-
+| colspan="2" | 0=AREF, 1=VCC, 3=Internal 1.1V&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireSkipROM'''
+|-
+| colspan="2" | Performs a bus reset and the sends the SkipROM command byte&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
+|-
+| colspan="2" | Disable a Servo output Ch0 to 7  = Pins 2 to 9&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-7&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SPIPrescaler'''
+|-
+| colspan="2" | Modify the speed of the SPI bus&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - SPI Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Prescaler
+|-
+| colspan="2" | Range: 0-2&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
+|-
+| colspan="2" | Enable a Servo output Ch0 to 7  = Pins 2 to 9&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-7&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PWMSetDuty'''
+|-
+| colspan="2" | Sets the duty for the PWM output&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Duty
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSample10'''
+|-
+| colspan="2" | Reads the voltage present on an Analog pin as an 10-bit value range 0-1023&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ADCChannel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CTransSend'''
+|-
+| colspan="2" | Sends an I2C Transaction on the selected I2C channel. Returns the number of bytes sent.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Data
+|-
+| colspan="2" | Data to send&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Count
+|-
+| colspan="2" | Number of bytes to send out, MS bit 0x8000 signifies no Stop if set&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IOSetOutputPin'''
+|-
+| colspan="2" | Sets the selected digital pin to an output and assigns the output state.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Pin
+|-
+| colspan="2" | Range: 0-19&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | State
+|-
+| colspan="2" | Range: 0-1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSampleAverage10'''
+|-
+| colspan="2" | Reads the voltage present on an Analog pin as an 10-bit value range 0-1023. Performs the selected number of samples with the selected time in microseconds in between samples&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ADCChannel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SampleCount
+|-
+| colspan="2" | Range: 1- 100&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SampleDelay
+|-
+| colspan="2" | Delay in us between each sample&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CTransInit'''
+|-
+| colspan="2" | Initialises the I2C Transaction mode with the 7-bit device address&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | DeviceAddress
+|-
+| colspan="2" | 7-bit Device Address&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Baud
+|-
+| colspan="2" | 0=100KHz, 1=400KHz, 2=1MHz&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition8'''
+|-
+| colspan="2" | Sets the position as an 8-bit value Ch0 to 7  = Pins 2 to 9&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Position
+|-
+| colspan="2" | Range: 0-255&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireScanBus'''
+|-
+| colspan="2" | Scans the one wire bus to detect all connected devices. Returns the number of one wire devices found.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SPIInitialise'''
+|-
+| colspan="2" | Initialsie the SPI module ready for communications&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - SPI Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireReceiveByte'''
+|-
+| colspan="2" | Receives a byte from the one wire bus a bit at a time&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''I2CSend'''
+|-
+| colspan="2" | Transmit a byte using the I2C bus&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | DataOut
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''OneWireGetDeviceCount'''
+|-
+| colspan="2" | Returns the number of devices found by the last ScanBus operation.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - I2C Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PWMSetPrescaler'''
+|-
+| colspan="2" | Sets the prescaler for the PWM output&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Prescaler
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Period
+|-
+| colspan="2" | Default 255&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PWMEnable'''
+|-
+| colspan="2" | Enable a PWM output&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSampleAverage8'''
+|-
+| colspan="2" | Reads the voltage present on an Analog pin as an 8-bit value range 0-255 Performs the selected number of samples with the selected time in microseconds in between samples&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ADCChannel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SampleCount
+|-
+| colspan="2" | Range: 1- 100&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SampleDelay
+|-
+| colspan="2" | Delay in us between each sample&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ADCSampleArray10'''
+|-
+| colspan="2" | Reads the voltage present on an Analog pin as an 10-bit value range 0-1023 Performs the selected number of samples with the selected time in microseconds in between samples and returns each sample in a single packet&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | ADCChannel
+|-
+| colspan="2" | Range: 0-5&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | SampleCount
+|-
+| colspan="2" | Range: 1- 32&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | SampleDelay
+|-
+| colspan="2" | Delay in us between each sample&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Samples
+|-
+| colspan="2" | 10-bit samples returned from the function&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
+|-
+| colspan="2" | Initialise the comms to the Arduino board ready for commands to be sent.&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+==Property reference==
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
+|-
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connection
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | COM Port
+|-
+| colspan="2" | Lists all the current available COM port hardware on your PC.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
+| width="90%" | Refresh Ports
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | API Peripherals
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | Digital IO
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | Analog Input
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | Analog Output
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | PWM Output
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | I2C Bus
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | SPI Bus
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | UART
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | OneWire
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | SERVO
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Console
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
+| width="90%" | Console Log
+|-
+| colspan="2" | Create an automatic console log of the commands sent to the Arduino&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Log Mode
+|-
+| colspan="2" | Controls how the console data is formatted. Fixed statistics gives an easy to read overview of the IO, Analog and PWM functionality Command Log gives a more in depth analysis of the outgoing commands and incoming returns&nbsp;
+|}==Macro reference==
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"