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

Revision as of 15:24, 20 January 2023

Author	Matrix TSL
Version	2.0
Category	API Slave Devices

API (RPI) component

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

Component Source Code

Please click here to download the component source project: FC_Comp_Source_RPI_API_Comp.fcfx

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

Detailed description

The App Developer (RaspberryPi) component allows an Raspberry Pi to be controlled from within the Flowcode simulation runtime.

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

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

RPI App Developer Firmware

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

The IP Address to the Raspberry Pi hardware is selected via the SCADA_RPI component IP Address property.

When building the component into a App Developer project remember to expose the IP Address property to allow the end user to select the correct address 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	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22	23	24	25	26	27
Device Port Pin	G2	G3	G4	G5	G6	G7	G8	G9	G10	G11	G12	G13	G14	G15	G16	G17	G18	G19	G20	G21	G22	G23	G24	G25	G26	G27

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	UART RX	UART TX	PWM 0	PWM 1
Device Port Pin	G2	G3	G10	G9	G11	G15	G14	G12	G13

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

	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

	IOGetInputPin
Sets the selected digital pin to an input and reads the input state.
- BYTE	Pin
Range: 0-29
- BOOL	Return

	UARTBaud
Control the communications rate of the UART module
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	Rate
0=1200, 1=2400, 2=4800, 3=9600, 4=19200, 5=38400, 6=57600, 7=115200
- VOID	Return

	ADCSample8
Reads the voltage present on an Alanog pin as an 8-bit value range 0-255
- BYTE	ADCChannel
Range: 0-12
- 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

	UARTInitialise
Initialise the UART module ready for communications
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- VOID	Return

	UARTCheckRX
Check to see if the UART module has received any data
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	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: 0-1
- 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

	I2CStop
Put the I2C Module into Stop mode
- BYTE	Channel

- 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

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

- VOID	Return

	ADCSample10
Reads the voltage present on an Alanog pin as an 10-bit value range 0-1023
- BYTE	ADCChannel
Range: 0-12
- 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

	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

	IOSetOutputPin
Sets the selected digital pin to an output and assigns the output state.
- BYTE	Pin
Range: 0-29
- BOOL	State
Range: 0-1
- VOID	Return

	UARTReceive
Receives a data byte from the UART. Recommend calling the UARTCheckRx function first to ensure data is available.
- BYTE	Channel
Channel Index: Range 0 - UART 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

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

- BOOL	Return

	UARTSend
Send a byte via the UART module
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	Data
Data Byte to send. Range: 0-255
- VOID	Return

	PWMSetPrescaler
Sets the prescaler for the PWM output
- BYTE	Channel

- BYTE	Prescaler

- BYTE	Period

- VOID	Return

	PWMEnable
Enable a PWM output
- BYTE	Channel
Range: 0-1
- VOID	Return

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

Property reference

	Properties
	Connection
	RPI IP Address
IP Address of the Raspbery Pi we want to control
	RPI Port
Port number we want to communicate on. Default 1234
	Network Interface
Some computers may have several network interfaces such as ethernet ports and wifi access. Select the correct network interface for the network you wish to connect to. Use the IP address to confirm you are connected to the right network.
	IP Address
IP Address of the selected network interface.
	API Peripherals
	Digital IO

	Analog Input

	Analog Output

	PWM Output

	I2C Bus

	SPI Bus

	UART

	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 ASCII mode allows serial data to be shown in raw text form, other commands are shown as in the Command Log mode

==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

	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

	IOGetInputPin
Sets the selected digital pin to an input and reads the input state.
- BYTE	Pin
Range: 0-29
- BOOL	Return

	UARTBaud
Control the communications rate of the UART module
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	Rate
0=1200, 1=2400, 2=4800, 3=9600, 4=19200, 5=38400, 6=57600, 7=115200
- VOID	Return

	ADCSample8
Reads the voltage present on an Alanog pin as an 8-bit value range 0-255
- BYTE	ADCChannel
Range: 0-12
- 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

	UARTInitialise
Initialise the UART module ready for communications
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- VOID	Return

	UARTCheckRX
Check to see if the UART module has received any data
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	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: 0-1
- 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

	I2CStop
Put the I2C Module into Stop mode
- BYTE	Channel

- 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

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

- VOID	Return

	ADCSample10
Reads the voltage present on an Alanog pin as an 10-bit value range 0-1023
- BYTE	ADCChannel
Range: 0-12
- 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

	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

	IOSetOutputPin
Sets the selected digital pin to an output and assigns the output state.
- BYTE	Pin
Range: 0-29
- BOOL	State
Range: 0-1
- VOID	Return

	UARTReceive
Receives a data byte from the UART. Recommend calling the UARTCheckRx function first to ensure data is available.
- BYTE	Channel
Channel Index: Range 0 - UART 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

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

- BOOL	Return

	UARTSend
Send a byte via the UART module
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	Data
Data Byte to send. Range: 0-255
- VOID	Return

	PWMSetPrescaler
Sets the prescaler for the PWM output
- BYTE	Channel

- BYTE	Prescaler

- BYTE	Period

- VOID	Return

	PWMEnable
Enable a PWM output
- BYTE	Channel
Range: 0-1
- VOID	Return

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

Property reference

	Properties
	Connection
	RPI IP Address
IP Address of the Raspbery Pi we want to control
	RPI Port
Port number we want to communicate on. Default 1234
	Network Interface
Some computers may have several network interfaces such as ethernet ports and wifi access. Select the correct network interface for the network you wish to connect to. Use the IP address to confirm you are connected to the right network.
	IP Address
IP Address of the selected network interface.
	API Peripherals
	Digital IO

	Analog Input

	Analog Output

	PWM Output

	I2C Bus

	SPI Bus

	UART

	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 ASCII mode allows serial data to be shown in raw text form, other commands are shown as in the Command Log mode

==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

	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

	IOGetInputPin
Sets the selected digital pin to an input and reads the input state.
- BYTE	Pin
Range: 0-29
- BOOL	Return

	UARTBaud
Control the communications rate of the UART module
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	Rate
0=1200, 1=2400, 2=4800, 3=9600, 4=19200, 5=38400, 6=57600, 7=115200
- VOID	Return

	ADCSample8
Reads the voltage present on an Alanog pin as an 8-bit value range 0-255
- BYTE	ADCChannel
Range: 0-12
- 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

	UARTInitialise
Initialise the UART module ready for communications
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- VOID	Return

	UARTCheckRX
Check to see if the UART module has received any data
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	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: 0-1
- 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

	I2CStop
Put the I2C Module into Stop mode
- BYTE	Channel

- 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

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

- VOID	Return

	ADCSample10
Reads the voltage present on an Alanog pin as an 10-bit value range 0-1023
- BYTE	ADCChannel
Range: 0-12
- 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

	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

	IOSetOutputPin
Sets the selected digital pin to an output and assigns the output state.
- BYTE	Pin
Range: 0-29
- BOOL	State
Range: 0-1
- VOID	Return

	UARTReceive
Receives a data byte from the UART. Recommend calling the UARTCheckRx function first to ensure data is available.
- BYTE	Channel
Channel Index: Range 0 - UART 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

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

- BOOL	Return

	UARTSend
Send a byte via the UART module
- BYTE	Channel
Channel Index: Range 0 - UART Bus Count - 1
- BYTE	Data
Data Byte to send. Range: 0-255
- VOID	Return

	PWMSetPrescaler
Sets the prescaler for the PWM output
- BYTE	Channel

- BYTE	Prescaler

- BYTE	Period

- VOID	Return

	PWMEnable
Enable a PWM output
- BYTE	Channel
Range: 0-1
- VOID	Return

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

Property reference

	Properties
	Connection
	RPI IP Address
IP Address of the Raspbery Pi we want to control
	RPI Port
Port number we want to communicate on. Default 1234
	Network Interface
Some computers may have several network interfaces such as ethernet ports and wifi access. Select the correct network interface for the network you wish to connect to. Use the IP address to confirm you are connected to the right network.
	IP Address
IP Address of the selected network interface.
	API Peripherals
	Digital IO

	Analog Input

	Analog Output

	PWM Output

	I2C Bus

	SPI Bus

	UART

	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 ASCII mode allows serial data to be shown in raw text form, other commands are shown as in the Command Log mode

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

Revision as of 15:24, 20 January 2023

Contents

API (RPI) component

Component Source Code

Detailed description

Examples

Pin Mapping

Macro reference

Property reference

Property reference

Property reference

Navigation menu

Page actions

Page actions

Personal tools

Navigation

Search

Tools

@@ Line 16: / Line 16: @@
 ==Component Source Code==
+Please click here to download the component source project: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_RPI_API_Comp.fcfx FC_Comp_Source_RPI_API_Comp.fcfx]
 Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_RPI_API_Comp.fcfx FC_Comp_Source_RPI_API_Comp.fcfx]
 ==Detailed description==
@@ Line 62: / Line 66: @@
 ==Examples==
@@ Line 171: / Line 177: @@
 ==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;" | '''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;" | '''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: 0-29&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;" | '''UARTBaud'''
+|-
+| colspan="2" | Control the communications rate of the UART module&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - UART Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Rate
+|-
+| colspan="2" | 0=1200, 1=2400, 2=4800, 3=9600, 4=19200, 5=38400, 6=57600, 7=115200&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 Alanog 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: 0-12&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;" | '''UARTInitialise'''
+|-
+| colspan="2" | Initialise the UART module ready for communications&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - UART 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;" | '''UARTCheckRX'''
+|-
+| colspan="2" | Check to see if the UART module has received any data&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - UART 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;" | '''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: 0-1&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;" | '''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;" | '''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;" | '''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;" | '''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 Alanog 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: 0-12&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;" | '''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;" | '''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: 0-29&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;" | '''UARTReceive'''
+|-
+| colspan="2" | Receives a data byte from the UART. Recommend calling the UARTCheckRx function first to ensure data is available.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - UART 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;" | '''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;" | '''UARTSend'''
+|-
+| colspan="2" | Send a byte via the UART module&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Channel Index: Range 0 - UART Bus Count - 1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Data
+|-
+| colspan="2" | Data Byte to send. 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;" | '''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" | &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" | &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: 0-1&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;" | '''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-10-icon.png]]
+| width="90%" | RPI IP Address
+|-
+| colspan="2" | IP Address of the Raspbery Pi we want to control&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | RPI Port
+|-
+| colspan="2" | Port number we want to communicate on. Default 1234&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Network Interface
+|-
+| colspan="2" | Some computers may have several network interfaces such as ethernet ports and wifi access. Select the correct network interface for the network you wish to connect to. Use the IP address to confirm you are connected to the right network.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
+| width="90%" | IP Address
+|-
+| colspan="2" | IP Address of the selected network interface.&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%" | 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 ASCII mode allows serial data to be shown in raw text form, other commands are shown as in the Command Log mode&nbsp;
+|}==Macro reference==
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"