[[File:ORP-100-PH-10-ORP-10-PH-100.png|center|frameless|345x345px]]

== Datasheet ==

=== 1. Introduction ===
SENSBLUE Monarch ORP Probe POM AT-SB-PROBE-ORP-P can be used for environmental water quality monitoring, acid/alkali/salt solution, chemical reaction process, industrial production process, and can meet the requirements of online ORP measurement for most industrial applications.

=== 2. Features ===

* Signal output: RS-485 (Modbus/RTU protocol).
* Conveniently connect to third-party equipment such as PLC, DCS, industrial control computer, general controller, paperless recording instrument or touch screen.
* Double high impedance differential amplifier, strong anti-interference and fast response speed.
* Durable ORP electrode, the internal reference fluid seeps out from the microporous salt bridge very slowly under a pressure of at least 100KPa (1Bar), and its positive seepage lasts for more than 20 months. Such a reference system is very stable, and the electrode life is doubled compared to ordinary industrial electrodes.
* Easy to install: 3/4NPT pipe thread is convenient for sinking installation or installation in pipelines and tanks.
* IP68protection level.
* R-485 interface, Modbus/RTU protocol.

=== 3. Technical Specifications ===
{| class="wikitable tech-table"
!'''Model'''
!'''AT-SB-PROBE-ORP-P'''
|-
|Measuring Range
| -1500～+1500mV
|-
|Accuracy
|±6mV
|-
|Resolution
|1mV
|-
|Temperature Range
|0 ~65℃
|-
|Work Pressure
|＜0.1MPa
|-
|Output
|RS-485, MODBUS protocol
|-
|Power Supply
|12～24VDC ±10%
|-
|Wetted Part Material
|POM
|-
|Installation
|Immersion mounting, 3/4 NPT thread
|-
|Cable Length
|15m
|-
|Calibration Method
|One-point calibration
|-
|Power Consumption
|＜0.3W@12V
|-
|Ip Grade
|IP68
|}

=== 4. Dimension ===
[[File:ORP Probe dimensions.svg|center|frameless|540x540px]]

=== 5. Installation and Electrical Connection ===

==== 5.1 Install ====
Note: The sensor should not be installed upside down or horizontally when installed, at least at an angle of 15 degrees or more.
[[File:Instalation.svg|center|frameless|600x600px]]

==== 5.2 Electrical connection ====

* Red wire-power cord（12～24 V）
* Black wire-ground wire（GND）
* Blue Line-485 A
* White Line-485 B

Check the wiring sequence carefully before powering on to avoid unnecessary losses caused by wiring errors.

==== 5.3 Wiring instructions ====
Considering that the cables have been immersed in water (including seawater) or exposed to air for a long time, all wiring positions are required to be waterproof, and the cables should have certain corrosion resistance.

=== 6. Maintenance ===

==== 6.1 Use and maintenance ====
When measuring the ORP electrode, it should be cleaned in distilled water (or deionized water) first, and the water should be absorbed with filter paper to prevent impurities from being brought into the test solution. 1/3 of the electrode should be inserted into the test solution. The electrode should be cleaned when not in use and inserted into a protective cover with 3.5mol/L potassium chloride solution or inserted into a container with 3.5mol/L potassium chloride solution. Check whether the terminal is dry, if it is stained, wipe it with absolute alcohol and blow it dry before use. Avoid long-term immersion in distilled water or protein solution and prevent contact with silicone grease. For electrodes that have been used for a long time, its glass membrane may become translucent or attached with sediment. In this case, it can be washed with diluted hydrochloric acid and rinsed with water. The electrode has been used for a long time, and when there is a measurement error, it must be calibrated and corrected with the meter. When the electrode is still unable to be calibrated and measured when the electrode is maintained and maintained by the above method, it means that the electrode has failed. Please replace the electrode.

==== 6.2 ORP standard solution preparation method ====
a) Preparation method of ORP standard solution 256mV Weigh 2.1 g of quinhydroquinone and add it to 200 mL of a standard pH buffer solution with a pH of 4.00 and mix well.

b) Preparation method of ORP standard solution 86mV Weigh 2.1 g of quinhydroquinone and add it to 200 mL of a standard pH buffer solution with a pH of 6.86 and mix well.

c) Preparation method of ORP standard solution-40mV Weigh 2.1 g of quinhydroquinone and add it to 200 mL of a standard pH buffer solution with a pH of 9.18 and mix well.

Please note that when preparing the pH, a total of 250 mL is prepared, and 200 mL is measured for use.

Method of preparing corresponding standard solution for pH:

Measure 250mL of distilled water with a graduated cylinder, pour it into a beaker, add a package of calibration powder with pH=6.86/4.00/9.18, stir with a glass rod until the powder is completely dissolved, and prepare a solution with pH=6.86/4.00/9.18.

==== 6.3 Calibration ====
Put the sensor into the prepared 86mV (or 256mV or-40mV) solution and wait for 3 to 5 minutes. After the value is stable, check whether the displayed value is 86mV (or 256mV or-40mV). If not, you need to calibrate it. See the appendix for calibration instructions.

==== 6.4 Precautions ====

* Avoid exposing the inner surface of the fluorescent film head to sunlight
* Please do not touch the fluorescent film with your hands
* Avoid bubbles adhering to the surface of the fluorescent film during measurement and calibration
* Avoid applying any mechanical stress (pressure, scratches, etc.) directly to the fluorescent film during use

=== 7. Appendix data communication ===

==== 7.1 Data Format ====
The default data format for Modbus communication is: 9600, n, 8, 1 (baud rate 9600bps, 1 start bit, 8 data bits, no parity, 1 stop bit).

==== 7.2 Modbus Frame Format (xx represents a byte) ====
a) Read data instruction frame
{| class="wikitable"
|06
|03
|xx xx
|xx xx
|xx xx
|-
|Address
|FC
|Register start address
|Number of registers
|CRC check code (low bytes in front)
|}
b) Read data response frame
{| class="wikitable"
|06
|03
|xx xx
|xx xx
|xx xx
|-
|Address
|FC
|Number of bytes
|Response data
|CRC check code (low bytes in front)
|}
c) Write data instruction frame
{| class="wikitable"
|06
|06
|xx xx
|xx xx
|xx xx
|-
|Address
|FC
|Register address
|Read-in data
|CRC check code (low bytes in front)
|}
d) Data response frame
{| class="wikitable"
|06
|06
|xx xx
|xx xx
|xx xx
|-
|Address
|FC
|Register address
|Read-in data
|CRC check code (low bytes in front)
|}

==== 7.3 Register Address ====
{| class="wikitable tech-table"
!'''Register Address'''
!'''Name'''
!'''Instruction'''
!'''Number of Registers'''
!'''Access Method'''
|-
|40001 (0x0000)
|Measured value
|Two double-byte integers are the measured value and the number of decimal places of the measured value.
|2 (4 bytes)
|Read
|-
|44097 (0x1000)
|Zero calibration
|Calibrate in the standard solution, the written data is the actual value of the standard solution.
|1 (2 bytes)
|Write
|-
|44103 (0x1006)
|Zero calibration value
|The read data is the zero offset.
|1 (2 bytes)
|Read
|-
|48195 (0x2002)
|Sensor address
|The default is 6, and the write data range is 1-127.
|1 (2 bytes)
|Write/Read
|-
|48225 (0x2020)
|Reset sensor
|The calibration value is restored to the default value, and the write data is 0. Note that the sensor needs to be calibrated again after reset before it can be used.
|1 (2 bytes)
|Write
|-
|44105(0x1008)
|Slope calibration value
|The read data is the slope value x1000
|1 ( 2 bytes)
|Read
|-
|44113(0x1010)
|Temperature calibration
|Calibrated in solution, the data written is the actual temperature value x10 ; the read data is the temperature calibration offset x10 .
|1 ( 2 bytes)
|Write/Read
|-
|48195(0x2002)
|Sensor address
|The default is 6 and the data range is 1-127
|1 ( 2 bytes)
|Write/Read
|-
|48225(0x2020)
|Reset sensor
|The calibration value is restored to the default value and the write data is 0. Note: the sensor needs to be calibrated again after resetting.
|1 ( 2 bytes)
|Write
|}
'''Note:'''

a) The register address is the starting address of the register with register type defined according to the Modbus protocol (the actual starting address of the register represented by the hexadecimal system in parentheses).

b) When changing the sensor address, the sensor address in the return instruction is the new address after the change.

c)The data definition of the measured value returned when reading the data:

xx xx xx xx

2-byte measurement value 2-byte measurement value decimal places

The default data type is: double-byte integer, high byte first; other types such as floating-point numbers are optional

==== 7.4 Command example ====
'''a) Start measurement command'''

Function: Obtain the ORP measured by the sensor, the unit of ORP is mV.

Request frame: 06 03 00 00 00 02 C5 BC

Response frame: 06 03 04 00 78 00 00 0C EA

Examples of readings:
{| class="wikitable mix-table"
!'''ORP value'''
|-
|<code>00 78 00 00</code>
|}
For example, ORP value: 00 78 represents the hexadecimal reading ORP value, 00 00 represents the ORP value without a decimal point and no temperature value, converted to a decimal value of 120.

'''b) Calibration instruction:'''

The ORP sensor only needs one point calibration. Before calibrating with another calibration solution, the electrode must be cleaned with the latter calibration solution, otherwise it will cause a larger test error.

In the prepared 86mV or 256mV standard solution, enter the corresponding calibration instructions.

'''The standard solution is 86mV:'''

Request frame: 06 06 10 00 00 56 0C 83;

Response frame: 06 06 10 00 00 56 0C 83;

'''The standard solution is 256mV:'''

Request frame: 06 06 10 00 01 00 8D 2D;

Response frame: 06 06 10 00 01 00 8D 2D

'''Note:''' The ORP value has a negative value, such as-40mV, its calculation method is:-{FFFF-FFD7 software test value)}=-28; decimal is-40mV.

'''c) Set the device ID address:'''

Function: set the MODBUS device address of the electrode.

Change the device address 06 to 01, with the following example:

Request frame：06 06 20 02 00 01 E3 BD

Response frame：06 06 20 02 00 01 E3 BD

==== 7.5 Error response ====
If the sensor does not execute the upper computer command correctly, the following format information is returned:
{| class="wikitable"
|Definition
|Address
|FC
|CODE
|CRC check
|-
|data
|ADDR
|COM+80H
|xx
|CRC 16
|-
|Number of bytes
|1
|1
|1
|2
|}
a) CODE： 01 – Functional code error

03 – Data error

b) COM: Received function code

=== 8. Applicable Accessories ===
{| class="wikitable"
|
|'''Name'''
|'''Requirements'''
|-
|PA000000076
|SENSBLUE MONARCH Solar Panel 1 Probe
|
|-
|PA000000079
|SENSBLUE MONARCH Solar Panel 2 Probes
|
|-
|PA000000080
|SENSBLUE MONARCH Solar Panel 1 Probe External Antenna
|
|-
|PA000000074
|SENSBLUE MONARCH Solar Panel 2 Probes External Antenna
|
|-
|PA000000081
|SENSBLUE MONARCH Opaque Case 1 Probe
|
|-
|PA000000082
|SENSBLUE MONARCH Opaque Case 2 Probes
|
|-
|PA000000083
|SENSBLUE MONARCH Opaque Case 1 Probe External Antenna
|
|-
|PA000000084
|SENSBLUE MONARCH Opaque Case 2 Probes External Antenna
|
|-
|PA000000020
|SENSBLUE MONARCH RS485 Probe Splitter Box (1 input -> 2 outputs)
|
|}

=== 9. Similar Products ===
{{SimilarProductsTable}}

=== 10. Applicable certifications and standards ===
EMC Directive 2014/30/EU.

* '''EN IEC 61326-1: 2021'''
* '''EN 55011: 2016+A2: 2021'''
* '''EN IEC 61000-3-2: 2019+A1: 2021'''
* '''EN 61000-3-3: 2013+A2: 2021'''

2026-06-30T08:35:28Z

WikiManagement:

SENSBLUE ATLAS/Datasheet

2026-06-30T08:33:23Z

WikiManagement:

{{DISPLAYTITLE:Datasheet}}

<div class="buy-now-container">
<span class="button-buy-now">[https://atronia.eu/product/sensblue-atlas/ Buy Now]</span>
</div>

[[File:SENSBLUE-ATLAS-Gateway.png|center|frameless|360x360px]]

== '''Datasheet''' ==

=== 1. Table of SENSBLUE ATLAS Reference ID Model Number ===
{| class="wikitable"
|'''Reference Number'''
|'''Name'''
|'''Version'''
|'''RAM'''
|'''Modem'''
|'''PiggyBack'''
|-
|PA000000102
|ATLAS IoT SBC V1 CM4. 2GB M2.0 M1 PB0
|V1
|2GB
|Yes
|No
|-
|PA000000103
|ATLAS IoT SBC V1 CM4. 2GB M2.0 M0 PB0
|V1
|2GB
|Yes
|No
|-
|PA000000104
|ATLAS IoT SBC V1 CM4. 4GB M2.0 M1 PB0
|V1
|4GB
|No
|No
|}

=== 2. General Description ===
SENSBLUE ATLAS is a single board computer that connects sensors and assets, runs control logic and ships to production without platform changes.

Designed for industrial teams who need one dependable path from experiments to operations.

==== 2.1 Key Features ====
'''Processor:'''

* Raspberry Pi CM4 (quad-core Cortex-A72)

'''I/O:'''

* 12 DIO (8 Digital Outputs and 4 Digital Input)
* 6 AIO (4 Analog Inputs and 2 Analog Outputs)
* 2 relays

'''Industrial Bus:'''

* RS-485
* CAN
* 2× Ethernet port (Independently managed)

'''Communication:'''

* Integrated LTE
* Wi-Fi
* BLE
* USB

'''Interface & Services:'''

* 1.47″ IPS TFT display + joystick for local setup and feedback.
* Includes 1 GB of data (up to 500 MB LTE + 500 MB DB storage) via sensblue.cloud — no external SIM required.
* EU-hosted servers, TLS, weekly backups, VPN on request.
* Other versions under request.

=== 3. Hardware Specifications ===
{| class="wikitable tech-table" style="width: 100%;"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Platform
|Raspberry Pi Compute Module 4 (CM4)
|-
|Processor
|Broadcom BCM2711 Quad-core Cortex-A72 (ARM v8)
|-
|CPU Frequency
|1.5 GHz
|-
|RAM
|2GB, 4GB LPDDR4
|-
|Storage
|32 GB eMMC
|-
|Selected Variant
|CM4102032-4 GB RAM/ 32 GB eMMC / Wi-Fi / BLE
|-
|PCle
|1 x PCle Gen 2.0 (1 lane)
|-
|HDMI
|1 interfaces
|-
|USB
|2 x USB 2.0
|}

=== 4. Power ===
{| class="wikitable tech-table" style="width: 100%;"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Input voltage
|12-24 VDC ± 5%
|-
|Reverse polarity protection
|Yes
|-
|Overcurrent protection
|Resettable PTC fuse
|-
|Surge protection
|TVS clamp for transient events
|-
|Isolation
|No isolation
|-
|Typical consumption
|< 15 W
|-
|Maximum consumption
|25 W (all peripherals active)
|}

=== 5. Digital Inputs ===
{| class="wikitable tech-table" style="width: 100%;"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Channels
|4
|-
|Input voltage
|0-24 VDC
|-
|Logic LOW
|Acording to EN 61131-2 Type I and Ill
|-
|Logic HIGH
|Acording to EN 61131-2 Type I and Ill
|-
|Input type
|Sourcing (PNP)
|-
|Input current
|Acording to EN 61131-2 Type I and Ill
|-
|Isolation
|Funcional Safety Gavanic isolation
|-
|Isolation Voltage
|Functional isolation between channels on the field side +- 60V
|-
|Isolation Voltage DIN VDE V 0884-11
|Maximum working isolation voltage 400V RMS
|-
|Isolation Voltage DIN VDE V 0884-11
|Maximum surge isolation voltage 1 kV RMS
|-
|Special feature
|Can be used as fast inputs until 100Hz
|}

==== 5.1 Wiring ====
[[File:DIG IN.svg|center|frameless|500x500px]]

=== 6. Digital Outputs (Relay) ===
{| class="wikitable tech-table" style="width: 100%;"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Channels
|2
|-
|Type
|Mechanical relay
|-
|Switching capacity
|2 A@ 30 VDC
|-
|Isolation
|1000 VAC galvanic isolation
|-
|Lifetime (nominal load)
|≥ 100,000 cycles
|-
|Lifetime (no load)
|≥ 100,000,000 cycles
|}

==== 6.1 Wiring ====
[[File:RELAY.svg|center|frameless|500x500px]]

=== 7. Digital Outputs (Transistor/ SSR) ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Channels
|8
|-
|Type
|PNP (sourcing) SSR
|-
|Maximum current
|300 mA per channel
|-
|Maximum voltage
|24 VDC
|-
|Isolation
|Funcional Safety Gavanic isolation
|-
|Isolation Voltage DIN VDE V 0884-17
|Maximum transient isolation voltage 1 kV RMS
|}

==== 7.1 Wiring ====
[[File:DIG OUT.svg|center|frameless|500x500px]]

=== 8. Analog Inputs ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Channels
|4
|-
|Mode
|Voltage or current configurable per channel
|-
|Voltage range
|0-10 V
|-
|Current range
|0/4-20 mA
|-
|ADC resolution
|16 bits
|-
|ADC Sample Rate
|32 samples/sec
|-
|Accuracy
|≤ ±1.0% FSR
|-
|Input impedance (voltage)
|> 100 k'''Ω'''
|-
|Input impedance (current)
|100 '''Ω'''
|-
|Protection
|TVS + analog filtering
|-
|Sampling rate
|≥ 10 Hz per channel
|-
|Isolation
|Funcional Safety Gavanic isolation
|-
|Isolation Voltage
|Maximum transient isolation voltage 1 kV RMS
|}

==== 8.1 Wiring ====
[[File:ANL IN.svg|center|frameless|500x500px]]

=== 9. Analog Outputs ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Channels
|2
|-
|Output type
|Current
|-
|Range
|0-20 mA
|-
|Optional range
|4-20 mA (software configurable)
|-
|Resolution
|12
|-
|Accuracy
|≤ ±1.0% FSR
|-
|Isolation
|Funcional Safety Gavanic isolation
|-
|Isolation Voltage
|Maximum transient isolation voltage 1 kV RMS
|}

==== 9.1 Wiring ====
[[File:ANL OUT.svg|center|frameless|500x500px]]

=== 10. Communication Interfaces ===

==== 10.1 Ethernet ====
{| class="wikitable tech-table"
! style="width: 50%;" | '''Parameter'''
! style="width: 50%;" | '''Specification'''
|-
|Ports
|2 x RJ45
|-
|Port 1
|10/100 Mbps
|-
|Port 2
|0/100/1000 Mbps (native CM4)
|-
|Indicators
|Link + Activity LEDs
|}

==== 10.2 RS-485 ====
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Mode
|Half-duplex
|-
|Control
|TX_EN line
|-
|Protocol
|Transparent/ any
|-
|Isolation
|None
|}

===== 10.2.1 Wiring =====
[[File:RS485.svg|center|frameless|500x500px]]

==== 10.3 USB ====
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Ports
|2
|-
|Type
|USB-A
|-
|Standard
|USB 2.0 Host
|-
|Maximum current
|400 mA per port
|-
|Protection
|Overcurrent protection
|}

==== 10.4 HDMI ====
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification'''
|-
|Ports
|1
|-
|Connector
|HDMI full-size
|-
|Maximum resolution
|Depends on CM4 and OS
|}

=== 11. RF Communications ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Technology'''
!style="width: 50%;"|'''Specification'''
|-
|Wi-Fi
|Integrated in CM4
|-
|BLE
|Integrated in CM4
|-
|LTE
|M.2 NGFF modem SIM7600G
|-
|SIM
|External access
|}

==== 11.1 Antenna Connectors ====
{| class="wikitable tech-table"
!style="width: 50%;"|'''Connector'''
!style="width: 50%;"|'''Usage'''
|-
|RP-SMA
|Wi-Fi / BLE
|-
|SMA
|LTE
|}

=== 12. Local Peripherals ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Peripheral'''
!style="width: 50%;"|'''Description'''
|-
|Temperature sensor
|Internal board temperature monitoring
|-
|Non-volatile memory
|Persistent storage
|-
|Security IC
|Microchip ATECC608A
|-
|RTC
|Real Time Clock with battery backup
|}

=== 13. HDMI ===

==== 13. 1 Display ====
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification '''
|-
|Type
|IPS TFT LCD
|-
|Interface
|SPI
|-
|Size
|1.47"
|-
|Resolution
|≥ 172 X 320
|-
|Backlight
|LED
|-
|Mounting
|Front mounted with transparent window
|}

==== 13. 2 Joystick ====
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification '''
|-
|Positions
|5 (Up/ Down/ Left/ Right/ Enter)
|-
|Type
|Mechanical tactile switch
|-
|Interface
|GPIO Expander
|}

=== 14. Mechanical ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification '''
|-
|Mounting
|DIN rail (EN 60715)
|-
|Enclosure
|MAT0091092 (same as iSense / iCee)
|-
|Protection rating
|IP20
|-
|Mounting method
|DIN rail snap-fit
|}

=== 15. Environmental ===
{| class="wikitable tech-table"
!'''Parameter'''
!'''Specification '''
|-
|Operating temperature
|<nowiki>-10 °C to +60 °C</nowiki>
|-
|Storage temperature
|<nowiki>-20 °C to +80 °C</nowiki>
|-
|Humidity
|5-95% non-condensing
|-
|Vibration
|IEC 60068-2-6
|-
|Shock
|IEC 60068-2-27
|}

=== 16. Certifications ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Certification'''
!style="width: 50%;"|'''Standard '''
|-
|CE
|Yes
|-
|EMC
|2014/30/EU
|-
|Radio
|2014/53/EU (RED)
|-
|Ro HS
|2011/65/EU
|}

=== 17. Connectivity ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Parameter'''
!style="width: 50%;"|'''Specification '''
|-
|Connector type
|Pluggable System Terminal Block
|-
|Pitch
|3.5 mm
|-
|Layout
|Dual-row
|-
|Identification
|Side panel silk screen
|-
|Fixation
|Mechanical locking or spring clamp
|-
|Protection
|Mechanical reverse insertion protection
|}

=== 18. Expansion ===
{| class="wikitable tech-table"
!style="width: 50%;"|'''Feature'''
!style="width: 50%;"|'''Description '''
|-
|Piggyback area
|Reserved PCB area
|-
|Compatibility
|Fully compatible with existing FW
|-
|Power rails available
|Vin, 5 V, 3.3 V
|-
|Interfaces available
|12C, SPI, UART, GPIO
|-
|External 1/0 lines
|32 lines routed to external connectors
|-
|Storage expansion
|M.2 NVMe SSD connector
|}

=== 19. External Interfaces ===

==== Front View ====
[[File:Atlas FrontView.png|center|frameless|670x670px]]

==== Bottom View ====
[[File:Atlas bottomview.png|center|frameless|590x590px]]

=== 20. Pinouts ===

==== Top View ====
[[File:Atlas topview.png|center|frameless|688x688px]]

=== 21. System Type ===
'''Raspian'''

Debian GNU/Linux 13 (trixie) Version 13.2 Linux atlas 6.12.47 +rpt-rpi-v8 #1 SMP PREEMPT

Debian 1 :6.12.47-1 +rpt1 (2025-09-16) aarch64 GNU/Linux.

=== 22. Network Information ===
There is three ways to connect to the device. IP and state of the connection be checked on the LCD Network Interface.

==== 22.1 Eth1 (ethO) ====
Client dynamic IP obtained by DHCP server.

==== 22.2 Eth2 (eth1) ====
Static IP: '''93.48.86.253'''

==== 22.3 Access Point (wlanO) ====
IP: '''192.168.30.1'''

=== 23. Software Information ===
{| class="wikitable"
|
|'''Node-Red'''
|'''Grafana'''
|'''lnfluxDB'''
|-
|Version
|4.1.4
|12.3.1
|2.8.0
|-
|Port
|1880
|3000
|8086
|-
|State
|Clean
|Clean
|Clean
|-
|Authentication
|None
|User/Pass (admin/admin)
|Not defined, configured on first time interface login.
|-
|GUI on
|http://<device-ip>:1880
|http://<device-ip>:3000
|http://<device-ip>:8086
|}

=== 24. MQTT Broker ===
port: 1883

address: AP-> 192.168.30.1

Eth1: '''93.48.86.253'''

user: < not needed>

login <not needed>

==== <big>24.1 Relay Outputs Actor</big> ====

===== 24.1.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credentials.

====== a) Set/reset digital output pin/pins state ======
Both relays '''default''' state is '''open'''.

Req-Topic: relayOutputs/config/in

<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"DO1": {
"state": "open"
},
"DO2": {
"state": "open"
}
}
}
}
</syntaxhighlight>Reply-Topic: relayOutputs/config/out

<syntaxhighlight lang="json" line="1">{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DO1": {
"success": true,
"state": "open"
},
"DO2": {
"success": true,
"state": "open"
}
}
}
}</syntaxhighlight>

====== b) Get all relays state ======

Req-Topic: relayOutputs/runtime/in<syntaxhighlight lang="json" line="1">{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}</syntaxhighlight>Reply-Topic: relayOutputs/runtime/out <syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DO1": {
"success": true,
"state": "open"
},
"DO2": {
"success": true,
"state": "close"
}
}
}
}
</syntaxhighlight>

====== c) Set all relays state ======

Req-Topic: relayOutputs/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET",
"taskParams": {
"DO1": {
"state": "open"
},
"DO2": {
"state": "close"
}
}
}
}
</syntaxhighlight>Reply-Topic: relayOutputs/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DO1": {
"success": true,
"state": "open"
},
"DO2": {
"success": true,
"state": "close"
}
}
}
}
</syntaxhighlight>

==== <big>24.2 RTC Actor</big> ====

===== 24.2.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credencials.

====== a) Set timer/alarm interruption ======
'''mode:''' Timer, alarm or none.

'''alarmSet:''' Date and time for alarm interruption (No effect if mode is timer or none).

'''timerSetSeconds:''' Period in seconds for timer interruption (No effect if mode is alarm or none).

Req-Topic: clock/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"CLOCK_SET_MODE": {
"mode": "timer",
"alarmSet": "[timestamp epoch ms]",
"timerSetSeconds": "<INT>"
}
}
}
}
</syntaxhighlight>Req-Topic: clock/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"CLOCK_SET_MODE": {
"mode": "timer",
"alarmSet": "[timestamp epoch ms]",
"timerSetSeconds": "<INT>"
}
}
}
}
</syntaxhighlight>

====== b) Toggle RTC sync logic (described below) ======
'''tcState:''' State of the synchronization logic of the RTC, this value is '''non-persistent''' so every-time a reboot happens the value return to default (by default the value is '''ON''')

Req-Topic: clock/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "TOGGLE"
}
}
</syntaxhighlight>Req-Topic: clock/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"rtcState": "OFF"
}
}
}

</syntaxhighlight>

====== c) Read clock configs ======
'''mode:''' Timer, alarm or none.

'''alarmSet:''' Date and time for alarm interruption (No effect if mode is timer or none).

'''timerSetSeconds:''' Period in seconds for timer interruption (No effect if mode is alarm or none).

'''rtcState:''' Current state of the synchronization logic of the RTC.

Req-Topic: clock/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}

</syntaxhighlight>Reply-Topic: clock/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"CLOCK_CONFIGS": {
"mode": "timer",
"alarmSet": "[timestamp epoch ms]",
"timerSetSeconds": "<INT>",
"rtcState": "ON"
}
}
}
}

</syntaxhighlight>

====== d) Read clock ======

Req-Topic: clock/runtime/in <syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"timestamp": "[timestamp epoch ms]"
}
}
}

</syntaxhighlight>

===== 24.2.2 Synchronization loop flowchart (every 30 seconds) =====

'''RTC Actor - Overview'''
[[File:RTCActor Overview.svg|center|frameless|903x903px]]

==== <big>24.3 Core System Health Actor</big> ====

===== 24.3.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker.

This interface allows any external App to '''receive system-level metrics''' such as CPU load, RAM usage, disk usage, temperature, core frequency, system throttle status and uptime.

No credentials are required to subscribe to this topic.

The System Health Actor '''does not receive commands'''. It is fully autonomous and publishes its metrics every '''1 second'''.

===== 24.3.2 Runtime Data =====
'''Topic: systemHealth/runtime/out'''

Publish rate: '''1 Hz''' (one message per second, clock-jump safe)

====== a) Metrics Provided ======
{| class="wikitable tech-table"
!'''Key'''
!'''Description'''
!'''Unit'''
|-
|cpu_percent
|Current CPU load
|%
|-
|cpu_tempC
|CPU temperature read from Linux thermal zones
|ºC
|-
|cpu0_freq
|CPU Core O current frequency
|Hz
|-
|cpul_freq
|CPU Core 1 current frequency
|Hz
|-
|cpu2_freq
|CPU Core 2 current frequency
|Hz
|-
|cpu3_freq
|CPU Core 3 current frequency
|Hz
|-
|cpu0_throttle
|System throttle status register
|Hex
|-
|ram_percent
|RAM usage
|%
|-
|disk_percent
|Disk usage for filesystem root /
|%
|-
|uptime_sec
|Time since last reboot
|seconds
|}
Example Payload (systemHealth/runtime/out) <syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "system-health",
"task": {
"taskResult": {
"cpu_percent": 7.1,
"cpu_tempC": 47.3,
"cpu0_freq": 1500000000,
"cpu1_freq": 1500000000,
"cpu2_freq": 1500000000,
"cpu3_freq": 1500000000,
"cpu0_throttle": "0x0",
"ram_percent": 32.9,
"disk_percent": 41.2,
"uptime_sec": 5321
}
}
}

</syntaxhighlight>

===== 24.3.3 Peripherals health =====
In order get the peripherals health we had to implement a SystemHealth actor in each bus manager (busi2cO, busi2c-1, etc. ... ).

[[File:Peripherals health.svg|center|frameless|792x792px]]

====== a) Example ======
'''For busi2c-0:'''

Reply topic: '''systemHealth/busi2c-0/runtime/out'''

Payload:<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "system-health-busi2c-0",
"task": {
"taskResult": {
"ADC": {
"status": "ERROR",
"description": "IRQ Retrying",
"last_report": 1770378753006,
"stats": {
"AI1": {
"samples": 563154,
"retries": 760548,
"discards": 253313
},
"AI2": {
"samples": 563154,
"retries": 760475,
"discards": 253314
},
"AI3": {
"samples": 563154,
"retries": 760528,
"discards": 253313
},
"AI4": {
"samples": 563154,
"retries": 760549,
"discards": 253312
}
}
},
"DAC": {
"status": "OK",
"description": "Running....",
"last_report": 1770378752576,
"stats": {
"AO1": {
"samples": 240755,
"retries": 0,
"discards": 0
},
"AO2": {
"samples": 240755,
"retries": 0,
"discards": 0
}
}
},
"RTC": {
"status": "OK",
"description": "",
"last_report": 1770378752094,
"stats": {
"samples": 248710,
"retries": 0,
"discards": 0
}
},
"TEMP": {
"status": "OK",
"description": "",
"last_report": 1770378752579,
"stats": {
"samples": 240754,
"retries": 0,
"discards": 0
}
}
}
}
}

</syntaxhighlight>'''For busi2c-1:'''

Reply topic: '''systemHealth/busi2c-1/runtime/out'''

Payload:<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "system-health-busi2c-1",
"task": {
"taskResult": {
"JOYSTICK": {
"status": "OK",
"description": "Running....",
"last_report": 1770382405050,
"stats": {
"read_all": {
"samples": 410154,
"retries": 0,
"discards": 0
},
"read_raw": {
"samples": 0,
"retries": 0,
"discards": 0
},
"buttons": {
"JDOWN": {
"reads": 410154,
"last_state": "pressed"
},
"JRIGHT": {
"reads": 410154,
"last_state": "pressed"
},
"JUP": {
"reads": 410154,
"last_state": "pressed"
},
"JLEFT": {
"reads": 410154,
"last_state": "pressed"
},
"JCENTER": {
"reads": 410154,
"last_state": "pressed"
}
}
}
},
"RELAYS": {
"status": "OK",
"description": "Relay Output MQTT connected",
"last_report": 1770298859099,
"stats": {
"read_all": {
"samples": 0,
"retries": 0,
"discards": 0
},
"set": {
"samples": 0,
"retries": 0,
"discards": 0
},
"set_many": {
"samples": 0,
"retries": 0,
"discards": 0
},
"raw_read_all": {
"samples": 0,
"retries": 0,
"discards": 0
}
},
"outputs": {
"DO1": {
"writes": 0,
"last_state": "unknown"
},
"DO2": {
"writes": 0,
"last_state": "unknown"
}
}
},
"DI": {
"status": "OK",
"description": "Running",
"last_report": 1770382404832,
"stats": {
"read_all": {
"samples": 181758,
"retries": 0,
"discards": 0
},
"read_raw": {
"samples": 0,
"retries": 0,
"discards": 0
},
"inputs": {
"DI1": {
"reads": 181758,
"last_state": "low"
},
"DI2": {
"reads": 181758,
"last_state": "low"
},
"DI3": {
"reads": 181758,
"last_state": "low"
},
"DI4": {
"reads": 181758,
"last_state": "low"
}
}
}
}
}
}
}
</syntaxhighlight>

===== 24.3.4 Commands =====

====== a) List usb devices ======
The list_usb_devices action returns a parsed list of USB devices detected on the system using the lsusb command.

'''Req-topic''': systemHealth/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "Dev",
"task": {
"action": "LIST_USB_DEVICES"
}
}
</syntaxhighlight>'''Reply-topic''': systemHealth/runtime/usb/devices/out<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "system-health",
"task": {
"action": "list_usb_devices",
"taskResult": {
"usb_devices": {
"success": true,
"command": "lsusb",
"returncode": 0,
"devices": [
{
"bus": "001",
"device": "001",
"vendor_id": "1d6b",
"product_id": "0002",
"description": "Linux Foundation 2.0 root hub",
"parsed": true
},
{
"bus": "001",
"device": "002",
"vendor_id": "0424",
"product_id": "9514",
"description": "Microchip Technology, Inc. (formerly SMSC) SMC9514 Hub",
"parsed": true
},
{
"bus": "001",
"device": "003",
"vendor_id": "0424",
"product_id": "ec00",
"description": "Microchip Technology, Inc. (formerly SMSC) SMSC9512/9514 Fast Ethernet Adapter",
"parsed": true
},
{
"bus": "001",
"device": "004",
"vendor_id": "1e0e",
"product_id": "9001",
"description": "Qualcomm / Option SimTech, Incorporated",
"parsed": true
}
],
"stderr": ""
}
}
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''JSON Path'''
!'''Type'''
!Example
!'''Description'''
|-
|id
|string /number
|"get-hw-info-001"
|Request identifier echoed back in the response.
|-
|origin
|string
|"system-health"
|Actor/device that generated the response.
|-
|task
|object
|{...}
|Container for the action response.
|-
|task.action
|string
|"list_usb_devices"
|Action executed by the actor.
|-
|task.taskResult
|object
|{...}
|Main result object for the action.
|-
|task.taskResult.usb_devices
|object
|{...}
|Contains the USB device scan result.
|-
|task.taskResult.usb_devices.success
|boolean
|true
|Indicates whether the lsusb
commandexecuted successfully.
|-
|task.taskResult.usb_devices.command
|string
|"lsusb"
|Command used to collect USB information.
|-
|task.taskResult.usb_devices.returncode
|number /null
|0
|Process return code. 0 means success. null
means the command was not executed ortimed out.
|-
|task.taskResult.usb_devices.devices
|array
|[...]
|List of USB devices detected by lsusb.
|-
|task.taskResult.usb_devices.devices[ ].bus
|string
|"001"
|USB bus number where the device wasdetected.
|-
|task.taskResult.usb_devices.devices[ ].device
|string
|"004"
|USB device number assigned on that bus.
|-
|task.taskResult.usb_devices.devices[ ].vendor_id
|string
|"1e0e"
|USB vendor ID in hexadecimal format.
|-
|task.taskResult.usb_devices.devices[ ].product_id
|string
|"9001"
|USB product ID in hexadecimal format.
|-
|task.taskResult.usb_devices.devices[ ].description
|string
|"Qualcomm / Option SimTech,Incorporated"
|Human-readable device description returnedby lsusb.
|-
|task.taskResult.usb_devices.devices[ ].parsed
|boolean
|true
|Indicates whether the lsusb line was parsed successfully.
|-
|task.taskResult.usb_devices.devices[ ].raw
|string
|Optional
|Present only when a device line could not beparsed.
Contains the original raw lsusb line.
|-
|task.taskResult.usb_devices.stderr
|string
|" "
|Error output from the command. Empty stringmeans no error.
|}

====== b) List connectivity specs ======
The list_connectivity_specs action allows the '''SystemHealth''' Actor to return connectivity information for the device, including the status of:

* Wi-Fi
* LTE modem
* eth0
* eth1
* Tunnel interfaces, for possible commissioning use

'''Req-topic''': systemHealth/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "connectivity-001",
"origin": "APP",
"task": {
"action": "list_connectivity_specs"
}
}
</syntaxhighlight>'''Reply-topic''': systemHealth/runtime/connectivity/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "system-health",
"task": {
"action": "list_connectivity_specs",
"taskResult": {
"connectivity": {
"sources": {
"sysfs": "/sys/class/net",
"ip_link": {
"available": true,
"command": "ip -j -d link show",
"error": null
},
"network_manager": {
"available": true,
"command": "nmcli -t -f DEVICE,TYPE,STATE,CONNECTION device status",
"error": null
}
},
"interfaces": {
"wifi": {
"available": true,
"interfaces": [
{
"interface": "wlan0",
"available": true,
"status": "down",
"operstate": "down",
"admin_up": true,
"carrier": false,
"mtu": 1500,
"type": 1,
"link_kind": null,
"mac_address": "2c:cf:67:fd:60:40",
"ipv4": [],
"ipv6": [],
"network_manager": {
"device": "wlan0",
"type": "wifi",
"state": "disconnected",
"connection": null
},
"wifi": {
"available": true,
"command": "iw dev wlan0 link",
"connected": false
}
}
]
},
"lte_modem": {
"available": true,
"tool_available": true,
"command": "mmcli -L",
"modems": [
{
"id": "0",
"success": true,
"command": "mmcli -m 0 --output-json",
"manufacturer": "QUALCOMM INCORPORATED",
"model": "SIMCOM_SIM7600G-H",
"revision": "LE20B04SIM7600G22",
"hardware_revision": "10000",
"device": "/sys/devices/platform/scb/fe9c0000.xhci/usb1/1-1/1-1.4",
"drivers": [
"qmi_wwan",
"option"
],
"plugin": "simtech",
"primary_port": "cdc-wdm0",
"ports": [
{
"name": "cdc-wdm0",
"type": "qmi"
},
{
"name": "ttyUSB0",
"type": "ignored"
},
{
"name": "ttyUSB1",
"type": "gps"
},
{
"name": "ttyUSB2",
"type": "at"
},
{
"name": "ttyUSB3",
"type": "at"
},
{
"name": "ttyUSB4",
"type": "audio"
},
{
"name": "wwan0",
"type": "net"
}
],
"state": "failed",
"power_state": "on",
"access_technologies": [],
"signal_quality": {
"recent": "yes",
"value": "0"
},
"current_capabilities": [
"gsm-umts, lte"
],
"supported_capabilities": [
"gsm-umts, lte"
],
"operator_code": "--",
"operator_name": "--",
"registration_state": "--",
"packet_service_state": "--",
"sim_path": null
}
],
"network_interfaces": [
{
"interface": "wwan0",
"available": true,
"status": "down",
"operstate": "down",
"admin_up": false,
"carrier": null,
"mtu": 1500,
"type": 65534,
"link_kind": null,
"mac_address": null,
"ipv4": [],
"ipv6": [],
"network_manager": null
}
]
},
"eth0": {
"interface": "eth0",
"available": true,
"status": "connected",
"operstate": "up",
"admin_up": true,
"carrier": true,
"mtu": 1500,
"type": 1,
"link_kind": null,
"mac_address": "2c:cf:67:fd:60:3f",
"ipv4": [
{
"address": "172.16.20.57",
"prefixlen": 24,
"scope": "global",
"dynamic": true
}
],
"ipv6": [
{
"address": "fe80::7fc1:f65f:5729:d234",
"prefixlen": 64,
"scope": "link",
"dynamic": false
}
],
"network_manager": {
"device": "eth0",
"type": "ethernet",
"state": "connected",
"connection": "wired-ip-dynamic"
}
},
"eth1": {
"interface": "eth1",
"available": true,
"status": "unavailable",
"operstate": "down",
"admin_up": true,
"carrier": false,
"mtu": 1500,
"type": 1,
"link_kind": null,
"mac_address": "2c:cf:67:fd:60:41",
"ipv4": [],
"ipv6": [],
"network_manager": {
"device": "eth1",
"type": "ethernet",
"state": "unavailable",
"connection": null
}
},
"tunnel": {
"available": false,
"interfaces": []
}
}
}
}
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|id
|string/number
|Request/response identifier used to correlate therequest with the response.
|-
|origin
|string
|Origin of the message. In the response, this is normallythe SystemHealth actor name.
|-
|task.action
|string
|Executed action. For this feature, the value is list_connectivity_specs.
|-
|task.taskResult.connectivity.sources.sysfs
|string
|Linux sysfs path used to discover network interfaces, usually/sys/class/net.
|-
|task.taskResult.connectivity.sources.ip_link.available
|boolean
|Indicates whether the ip command was available andexecuted successfully.
|-
|task.taskResult.connectivity.sources.ip_link.command
|string
|Command used to retrieve detailed link information,for example ip -j -d link show.
|-
|task.taskResult.connectivity.sources.ip_link.error
|string/null
|Error returned by the ip command, or null if no erroroccurred.
|-
|task.taskResult.connectivity.sources.network_manager.available
|boolean
|Indicates whether NetworkManager / nmcli was available and executed successfully.
|-
|task.taskResult.connectivity.sources.network_manager.command
|string
|Command used to retrieve NetworkManager device status.
|-
|task.taskResult.connectivity.sources.network_manager.error
|string/null
|Error returned by nmcli, or null if no error occurred.
|-
|task.taskResult.connectivity.interfaces.wifi.available
|boolean
|Indicates whether at least one Wi-Fi interface was found.
|-
|task.taskResult.connectivity.interfaces.wifi.interfaces[ ]
|array
|List of detected Wi-Fi interfaces, usually including '''wlan0''' when Wi-Fi exists.
|-
|wifi.interfaces[ ].interface
|string
|Linux interface name, for example '''wlan0'''.
|-
|wifi.interfaces[ ].available
|boolean
|Indicates whether the Wi-Fi interface exists in the system.
|-
|wifi.interfaces[ ].status
|string
|Normalized interface status, for example '''connected, down, unavailable, no_carrier,''' or '''not_available'''.
|-
|wifi.interfaces[ ].operstate
|string / null
|Operational state reported by Linux, for example '''up, down,''' or '''unknown'''.
|-
|wifi.interfaces[ ].admin_up
|boolean / null
|Indicates whether the interface is administratively enabled.
|-
|wifi.interfaces[ ].carrier
|boolean / null
|Indicates whether carrier/link is detected.
|-
|wifi.interfaces[ ].mtu
|number / null
|Maximum Transmission Unit of the interface.
|-
|wifi.interfaces[ ].type
|number / null
|Linux interface type.
|-
|wifi.interfaces[ ].link_kind
|string / null
|Special link type, used mainly for virtual/tunnel interfaces. Usually null for normal Wi-Fi.
|-
|wifi.interfaces[ ].mac_address
|string / null
|MAC address of the Wi-Fi interface.
|-
|wifi.interfaces[ ].ipv4[ ]
|array
|List of IPv4 addresses configured on the Wi-Fi interface.
|-
|wifi.interfaces[ ].ipv6[ ]
|array
|List of IPv6 addresses configured on the Wi-Fi interface.
|-
|wifi.interfaces[ ].network_manager.device
|string
|NetworkManager device name.
|-
|wifi.interfaces[ ].network_manager.type
|string
|NetworkManager interface type, usually '''wifi'''.
|-
|wifi.interfaces[ ].network_manager.state
|string
|NetworkManager state, for example '''connected''', '''disconnected''', or '''unavailable'''.
|-
|wifi.interfaces[ ].network_manager.connection
|string / null
|Active NetworkManager profile name, or null if none is active.
|-
|wifi.interfaces[ ].wifi.available
|boolean
|Indicates whether Wi-Fi details could be queried using '''iw'''.
|-
|wifi.interfaces[ ].wifi.command
|string
|Command used to query Wi-Fi link state, for example '''iw dev wlan0 link'''.
|-
|wifi.interfaces[ ].wifi.connected
|boolean / null
|Indicates whether the Wi-Fi interface is associated with a Wi-Fi network.
|-
|wifi.interfaces[ ].wifi.ssid
|string
|SSID of the connected Wi-Fi network, when connected.
|-
|wifi.interfaces[ ].wifi.bssid
|string
|BSSID/MAC address of the connected access point, when connected.
|-
|wifi.interfaces[ ].wifi.frequency_mhz
|number
|Wi-Fi frequency in MHz, when connected.
|-
|wifi.interfaces[ ].wifi.signal_dbm
|number
|Wi-Fi signal strength in dBm, when available.
|-
|wifi.interfaces[ ].wifi.tx_bitrate
|string
|Wi-Fi transmit bitrate, when available.
|-
|wifi.interfaces[ ].wifi.rx_bitrate
|string
|Wi-Fi receive bitrate, when available.
|-
|task.taskResult.connectivity.interfaces.lte_modem.available
|boolean
|Indicates whether at least one LTE modem was detected.
|-
|task.taskResult.connectivity.interfaces.lte_modem.tool_available
|boolean
|Indicates whether '''mmcli''' / ModemManager is available.
|-
|task.taskResult.connectivity.interfaces.lte_modem.command
|string
|Command used to list LTE modems, usually '''mmcli -L'''.
|-
|task.taskResult.connectivity.interfaces.lte_modem.modems[ ]
|array
|List of LTE modems detected by ModemManager.
|-
|lte_modem.modems[ ].id
|string
|Modem ID in ModemManager, for example '''0'''.
|-
|lte_modem.modems[ ].success
|boolean
|Indicates whether detailed modem information wasread successfully.
|-
|lte_modem.modems[ ].command
|string
|Command used to read modem details, for example '''mmcli -m 0 --output-json'''.
|-
|lte_modem.modems[ ].manufacturer
|string / null
|Modem manufacturer.
|-
|lte_modem.modems[ ].model
|string / null
|Modem model.
|-
|lte_modem.modems[ ].revision
|string / null
|Modem firmware/software revision.
|-
|lte_modem.modems[ ].hardware_revision
|string / null
|Modem hardware revision.
|-
|lte_modem.modems[ ].device
|string / null
|Sysfs/USB path of the modem device.
|-
|lte_modem.modems[ ].drivers[ ]
|array
|Linux drivers associated with the modem, for example '''qmi_wwan''' or '''option'''.
|-
|lte_modem.modems[ ].plugin
|string / null
|ModemManager plugin used to manage the modem.
|-
|lte_modem.modems[ ].primary_port
|string / null
|Primary modem control port, for example '''cdc-wdm0'''.
|-
|lte_modem.modems[ ].ports[ ]
|array
|List of ports associated with the modem.
|-
|lte_modem.modems[ ].ports[ ].name
|string
|Port/interface name, for example '''cdc-wdm0''', '''ttyUSB2''', or '''wwan0'''.
|-
|lte_modem.modems[ ].ports[ ].type
|string / null
|Port type, for example '''qmi, at, gps, audio, net''', or '''ignored'''.
|-
|lte_modem.modems[ ].state
|string / null
|General modem state according to ModemManager,for example '''registered''', '''connected''', or '''failed'''.
|-
|lte_modem.modems[ ].power_state
|string / null
|Modem power state, for example '''on, off''', or '''low'''.
|-
|lte_modem.modems[ ].access_technologies[ ]
|array
|Current access technologies in use, for example LTE,UMTS, or GSM.
|-
|lte_modem.modems[ ].signal_quality.recent
|string / null
|Indicates whether the signal quality value is recent.
|-
|lte_modem.modems[ ].signal_quality.value
|string / number / null
|Signal quality value reported by the modem.
|-
|lte_modem.modems[ ].current_capabilities[ ]
|array
|Current modem capabilities.
|-
|lte_modem.modems[ ].supported_capabilities[ ]
|array
|Capabilities supported by the modem.
|-
|lte_modem.modems[ ].operator_code
|string / null
|MCC/MNC operator code.
|-
|lte_modem.modems[ ].operator_name
|string / null
|Operator name.
|-
|lte_modem.modems[ ].registration_state
|string / null
|Mobile network registration state.
|-
|lte_modem.modems[ ].packet_service_state
|string / null
|Mobile packet data service state.
|-
|lte_modem.modems[ ].sim_path
|string / null
|SIM path in ModemManager, when available.
|-
|task.taskResult.connectivity.interfaces.lte_modem.network_interfaces[]
|array
|List of Linux network interfaces associated with the LTE modem, usually '''wwan0'''.
|-
|lte_modem.network_interfaces[ ].interface
|string
|LTE network interface name, for example '''wwan0'''.
|-
|lte_modem.network_interfaces[ ].available
|boolean
|Indicates whether the LTE network interface exists.
|-
|lte_modem.network_interfaces[ ].status
|string
|Normalized LTE network interface status.
|-
|lte_modem.network_interfaces[ ].operstate
|string / null
|Operational state reported by Linux.
|-
|lte_modem.network_interfaces[ ].admin_up
|boolean / null
|Indicates whether the LTE network interface is administratively enabled.
|-
|lte_modem.network_interfaces[ ].carrier
|boolean / null
|Indicates whether carrier/link information is availableand active.
|-
|lte_modem.network_interfaces[ ].mtu
|number / null
|Maximum Transmission Unit of the LTE network interface.
|-
|lte_modem.network_interfaces[ ].type
|number / null
|Linux interface type.
|-
|lte_modem.network_interfaces[ ].link_kind
|string / null
|Link kind, when available.
|-
|lte_modem.network_interfaces[ ].mac_address
|string / null
|MAC address, when available.
|-
|lte_modem.network_interfaces[ ].ipv4[ ]
|array
|IPv4 addresses configured on the LTE network interface.
|-
|lte_modem.network_interfaces[ ].ipv6[ ]
|array
|IPv6 addresses configured on the LTE network interface.
|-
|lte_modem.network_interfaces[ ].network_manager
|object / null
|NetworkManager information for the LTE interface, when available.
|-
|task.taskResult.connectivity.interfaces.eth0.interface
|string
|Ethernet interface name, '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.available
|boolean
|Indicates whether '''eth0''' exists.
|-
|task.taskResult.connectivity.interfaces.eth0.status
|string
|Normalized '''eth0''' status.
|-
|task.taskResult.connectivity.interfaces.eth0.operstate
|string / null
|Operational state of '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.admin_up
|boolean / null
|Indicates whether '''eth0''' is administratively enabled.
|-
|task.taskResult.connectivity.interfaces.eth0.carrier
|boolean / null
|Indicates whether '''eth0''' has physical link.
|-
|task.taskResult.connectivity.interfaces.eth0.mtu
|number / null
|MTU of '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.type
|number / null
|Linux interface type of '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.link_kind
|string / null
|Link kind of '''eth0''', usually '''null'''.
|-
|task.taskResult.connectivity.interfaces.eth0.mac_address
|string / null
|MAC address of '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.ipv4[ ]
|array
|IPv4 addresses configured on '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.ipv6[ ]
|array
|IPv6 addresses configured on '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth0.network_manager
|object / null
|NetworkManager information for '''eth0'''.
|-
|task.taskResult.connectivity.interfaces.eth1.interface
|string
|Ethernet interface name, '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.available
|boolean
|Indicates whether '''eth1''' exists.
|-
|task.taskResult.connectivity.interfaces.eth1.status
|string
|Normalized '''eth1''' status.
|-
|task.taskResult.connectivity.interfaces.eth1.operstate
|string / null
|Operational state of '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.admin_up
|boolean / null
|Indicates whether '''eth1''' is administratively enabled.
|-
|task.taskResult.connectivity.interfaces.eth1.carrier
|boolean / null
|Indicates whether '''eth1''' has physical link.
|-
|task.taskResult.connectivity.interfaces.eth1.mtu
|number / null
|MTU of '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.type
|number / null
|Linux interface type of '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.link_kind
|string / null
|Link kind of '''eth1''', usually '''null'''.
|-
|task.taskResult.connectivity.interfaces.eth1.mac_address
|string / null
|MAC address of '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.ipv4[ ]
|array
|IPv4 addresses configured on '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.ipv6[ ]
|array
|IPv6 addresses configured on '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.eth1.network_manager
|object / null
|NetworkManager information for '''eth1'''.
|-
|task.taskResult.connectivity.interfaces.tunnel.available
|boolean
|Indicates whether at least one tunnel interface was detected.
|-
|task.taskResult.connectivity.interfaces.tunnel.interfaces[ ]
|array
|List of detected tunnel interfaces, for example '''tun0, tap0, wg0''', or '''tailscale0'''.
|-
|tunnel.interfaces[ ].interface
|string
|Tunnel interface name.
|-
|tunnel.interfaces[ ].available
|boolean
|Indicates whether the tunnel interface exists.
|-
|tunnel.interfaces[ ].status
|string
|Normalized tunnel interface status.
|-
|tunnel.interfaces[ ].operstate
|string / null
|Operational state reported by Linux.
|-
|tunnel.interfaces[ ].admin_up
|boolean / null
|Indicates whether the tunnel interface isadministratively enabled.
|-
|tunnel.interfaces[ ].carrier
|boolean / null
|Carrier/link information, when available.
|-
|tunnel.interfaces[ ].mtu
|number / null
|Tunnel interface MTU.
|-
|tunnel.interfaces[ ].type
|number / null
|Linux interface type.
|-
|tunnel.interfaces[ ].link_kind
|string / null
|Tunnel link kind, for example '''tun, tap''', or '''wireguard'''.
|-
|tunnel.interfaces[ ].mac_address
|string / null
|MAC address, when available.
|-
|tunnel.interfaces[ ].ipv4[ ]
|array
|IPv4 addresses configured on the tunnel interface.
|-
|tunnel.interfaces[ ].ipv6[ ]
|array
|IPv6 addresses configured on the tunnel interface.
|-
|tunnel.interfaces[ ].network_manager
|object / null
|NetworkManager information for the tunnel interface, when available.
|-
|ipv4[ ].address
|string
|IPv4 address assigned to the interface.
|-
|ipv4[ ].prefixlen
|number
|IPv4 network prefix length. Example: '''24'''.
|-
|ipv4[ ].scope
|string
|IPv4 scope, for example '''global'''.
|-
|ipv4[ ].dynamic
|boolean
|Indicates whether the IPv4 address was dynamically assigned.
|-
|ipv6[ ].address
|string
|IPv6 address assigned to the interface.
|-
|ipv6[ ].prefixlen
|number
|IPv6 network prefix length.
|-
|ipv6[ ].scope
|string
|IPv6 scope, for example '''link''' or '''global'''.
|-
|ipv6[].dynamic
|boolean
|Indicates whether the IPv6 address was dynamically assigned.
|}

====== c) Get hardware info ======
'''Req-topic''': systemHealth/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "Dev",
"task": {
"action": "GET_HW_INFO"
}
}
</syntaxhighlight>'''Reply-topic''': systemHealth/runtime/hw/info/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "system-health",
"task": {
"action": "get_hw_info",
"taskResult": {
"cpu": {......},
"ram": {......},
"emmc": {......},
"block_devices": {......},
"filesystems": {......},
"mmc_sysfs": {......},
"emmc_extcsd": {......}
}
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
|-
|'''Section'''
|'''Description'''
|-
|'''cpu'''
|CPU and board model information.
|-
|'''ram'''
|RAM total, used, and free memory.
|-
|'''emmc'''
|Filtered eMMC device and partition information.
|-
|'''block_devices'''
|Complete block device list from '''lsblk''', including eMMC, boot partitions, loop devices, zram, NVMe, USB storage, etc.
|-
|'''filesystems'''
|Mounted filesystem usage from '''df -h'''.
|-
|'''mmc_sysfs'''
|Low-level MMC/eMMC identity fields read from '''/sys/block/mmcblk*/device'''.
|-
|'''emmc_extcsd'''
|Parsed eMMC EXT_CSD information from '''mmc extcsd read''', including health, revision, RPMB, boot, and partitioning data.
|}

* '''CPU'''

The '''cpu''' object describes the detected board and CPU.<syntaxhighlight lang="json" line="1">
{
"board_model": "Raspberry Pi Compute Module 4 Rev 1.1",
"cpu": {
"architecture": "aarch64",
"op_modes": "32-bit, 64-bit",
"byte_order": "Little Endian",
"vendor": "ARM",
"model_name": "Cortex-A72",
"model": "3",
"stepping": "r0p3",
"cpu_count": 4,
"online_cpus": "0-3",
"threads_per_core": 1,
"cores_per_cluster": 4,
"clusters": 1,
"frequency": {
"scaling_percent": 60.0,
"min_mhz": 600.0,
"max_mhz": 1500.0,
"bogomips": 108.0
}
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|board_model
|string / null
|Hardware board model read from device-tree.
|-
|cpu.architecture
|string
|CPU architecture, for example '''aarch64'''.
|-
|cpu.op_modes
|string
|Supported CPU operation modes.
|-
|cpu.byte_order
|string
|CPU byte order.
|-
|cpu.vendor
|string
|CPU vendor.
|-
|cpu.model_name
|string
|CPU model name.
|-
|cpu.model
|string / number
|CPU model identifier.
|-
|cpu.stepping
|string
|CPU stepping/revision.
|-
|cpu.cpu_count
|number
|Number of detected CPU cores.
|-
|cpu.online_cpus
|string
|Online CPU list.
|-
|cpu.threads_per_core
|number
|Number of threads per core.
|-
|cpu.cores_per_cluster
|number
|Number of cores per cluster.
|-
|cpu.clusters
|number
|Number of CPU clusters.
|-
|cpu.frequency.scaling_percent
|number / null
|Current CPU frequency scaling percentage.
|-
|cpu.frequency.min_mhz
|number / null
|Minimum CPU frequency in MHz.
|-
|cpu.frequency.max_mhz
|number / null
|Maximum CPU frequency in MHz.
|-
|cpu.frequency.bogomips
|number / null
|BogoMIPS value reported by the system.
|}

* '''RAM'''

The '''ram''' object reports system memory usage.
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|'''total'''
|string
|Total system RAM.
|-
|'''used'''
|string
|Currently used RAM.
|-
|'''free'''
|string
|Currently free RAM.
|}

* '''EMMC'''

The '''emmc''' object is a '''filtered eMMC''' '''view'''. It focuses on the main eMMC disk and its partitions.<syntaxhighlight lang="json" line="1">
{
"devices": [
{
"name": "mmcblk0",
"model": null,
"serial": "0x121b491e",
"size": "29.1G",
"type": "disk",
"transport": "mmc",
"filesystem": null,
"mountpoints": [],
"partitions": [
{
"name": "mmcblk0p1",
"size": "512M",
"type": "part",
"filesystem": "vfat",
"mountpoints": [
"/boot/firmware"
]
},
{
"name": "mmcblk0p2",
"size": "28.6G",
"type": "part",
"filesystem": "ext4",
"mountpoints": [
"/"
]
}
]
}
]
}
</syntaxhighlight>'''Device fields'''
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|devices[ ]
|array
|List of detected main eMMC devices.
|-
|devices[ ].serial
|string / null
|eMMC block device name, for example '''mmcblk0'''.
|-
|devices[ ].size
|string
|Device model, when available.
|-
|devices[ ].type
|string
|Device serial number.
|-
|devices[ ].transport
|string / null
|Device size.
|-
|devices[ ].filesystem
|string / null
|Device type, usually '''disk'''.
|-
|devices[ ].mountpoints
|array
|Transport type, usually '''mmc'''.
|-
|devices[ ].partitions
|array
|Filesystem directly on the disk. Usually null when partitions exist.
|-
|devices[ ].name
|string
|Mountpoints directly associated with the disk.
|-
|devices[ ].model
|string / null
|Partitions belonging to this eMMC disk.
|}
'''Partition fields'''
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|name
|string
|Partition name, for example '''mmcblk0p1'''.
|-
|size
|string
|Partition size.
|-
|type
|string
|Partition type, usually '''part'''.
|-
|filesystem
|string / null
|Filesystem type, for example '''vfat''' or '''ext4'''.
|-
|mountpoints
|array
|Mountpoints for the partition.
|}

====== d) block_devices ======
The '''block_devices''' object is the complete storage/device tree returned by '''lsblk'''.<syntaxhighlight lang="json" line="1">
{
"devices": [
{
"name": "mmcblk0",
"model": null,
"serial": "0x121b491e",
"size": "29.1G",
"type": "disk",
"transport": "mmc",
"filesystem": null,
"mountpoints": [],
"children": [
{
"name": "mmcblk0p1",
"model": null,
"serial": null,
"size": "512M",
"type": "part",
"transport": "mmc",
"filesystem": "vfat",
"mountpoints": [
"/boot/firmware"
],
"children": []
}
]
}
],
"stderr": ""
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|devices
|array
|List of block devices.
|-
|stderr
|string
|Command error output, if any.
|-
|devices[index].name
|string
|Device name.
|-
|devices[index].model
|string / null
|Device model.
|-
|devices[index].serial
|string / null
|Device serial number.
|-
|devices[index].size
|string
|Device size.
|-
|devices[index].type
|string
|Device type, for example '''disk''' , '''part''' , or '''loop'''.
|-
|devices[index].transport
|string / null
|Transport type, for example '''mmc''' , '''nvme''' , or '''usb'''.
|-
|devices[index].filesystem
|string / null
|Filesystem type, for example '''ext4''' , '''vfat''' , or '''swap'''.
|-
|devices[index].mountpoints
|array
|List of mountpoints. Empty if not mounted.
|-
|devices[index].children
|array
|Child block devices, usually partitions.
|}

====== e) file_systems ======
The '''file_systems''' object reports mounted filesystem usage, equivalent to '''df -h'''.<syntaxhighlight lang="json" line="1">
{
"filesystems": [
{
"source": "/dev/mmcblk0p2",
"filesystem": "ext4",
"size": "29G",
"used": "5.8G",
"available": "23G",
"use_percent": "21%",
"mountpoint": "/",
"parsed": true
},
{
"source": "/dev/nvme0n1p1",
"filesystem": "ext4",
"size": "234G",
"used": "2.1M",
"available": "222G",
"use_percent": "1%",
"mountpoint": "/mnt/nvme",
"parsed": true
}
],
"stderr": ""
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|filesystems
|array
|List of mounted filesystems.
|-
|stderr
|string
|Command error output, if any.
|-
|filesystems[index].source
|string
|Filesystem source, for example '''/dev/mmcblk0p2''' , '''tmpfs''' , or '''udev'''.
|-
|filesystems[index].filesystem
|string
|Filesystem type, for example '''ext4''' , '''vfat''' , '''tmpfs''' , or '''devtmpfs'''.
|-
|filesystems[index].size
|string
|Total filesystem size.
|-
|filesystems[index].used
|string
|Used space.
|-
|filesystems[index].available
|string
|Available space.
|-
|filesystems[index].use_percent
|string
|Used percentage.
|-
|filesystems[index].mountpoint
|string
|Mount location.
|-
|filesystems[index].parsed
|boolean
|'''true''' if the parser successfully parsed this filesystem entry.
|}

====== f) mmc_sysfs ======
The '''mmc_sysfs''' object exposes low-level MMC/eMMC identity fields read from:

'''/sys/block/mmcblk*/device/'''

This is useful for production traceability, device identification and diagnostics.<syntaxhighlight lang="json" line="1">
{
"source": "/sys/block",
"fields": [
"name",
"cid",
"csd",
"date",
"manfid",
"oemid",
"serial"
],
"devices": [
{
"device": "mmcblk0",
"base_path": "/sys/block/mmcblk0/device",
"available": true,
"fields": {
"name": "BJTD4R",
"cid": "150100424a5444345203121b491e7b00",
"csd": "d02701320f5903fff6dbffef8e404000",
"date": "07/2024",
"manfid": "0x000015",
"oemid": "0x0100",
"serial": "0x121b491e"
}
}
]
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!'''Description'''
|-
|source
|string
|Base sysfs source path.
|-
|fields
|array
|List of sysfs fields collected.
|-
|devices
|array
|List of detected MMC/eMMC devices.
|-
|devices[index].device
|string
|MMC block device name, for example '''mmcblk0'''.
|-
|devices[index].base_path
|string
|Sysfs path used for this device.
|-
|devices[index].available
|boolean
|Indicates whether the sysfs path exists.
|-
|devices[index].fields.name
|string / null
|eMMC product name.
|-
|devices[index].fields.cid
|string / null
|Card Identification register.
|-
|devices[index].fields.csd
|string / null
|Card Specific Data register.
|-
|devices[index].fields.date
|string / null
|Manufacturing date.
|-
|devices[index].fields.manfid
|string / null
|Manufacturer ID.
|-
|devices[index].fields.oemid
|string / null
|OEM/application ID.
|-
|devices[index].fields.serial
|string / null
|eMMC serial number.
|}

====== e) emmc_extcsd ======
The '''emmc_extcsd''' object contains parsed information from:

'''mmc extcsd read /dev/mmcblk0'''
{| class="wikitable tech-table"
!'''Category'''
!'''Description'''
|-
|revision
|EXT_CSD and MMC version.
|-
|health
|eMMC lifetime and pre-EOL state.
|-
|boot
|Boot partition/protection configuration.
|-
|rpmb
|Replay Protected Memory Block information.
|-
|sector
|Sector count and capacity information, when available.
|-
|partitioning
|Partitioning and enhanced-area information.
|}
'''emmc_extcsd.devices[''' '''].revision'''<syntaxhighlight lang="json" line="1">
{
"ext_csd_revision": "1.8",
"mmc_version": "MMC 5.1"
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!Type
!'''Description'''
|-
|ext_csd_revision
|string
|EXT_CSD revision.
|-
|mmc_version
|string
|MMC/eMMC standard version.
|}
'''emmc_extcsd.devices[ ].health'''<syntaxhighlight lang="json" line="1">
{
"life_time_estimation_a": {
"field": {
"register": "DEVICE_LIFE_TIME_EST_TYP_A",
"index": null,
"description": "eMMC Life Time Estimation A",
"value": "0x01",
"value_int": 1,
"value_hex": "0x1"
},
"decoded": {
"state": "normal",
"used_percent_min": 0,
"used_percent_max": 10
}
},
"life_time_estimation_b": {
"field": {
"register": "DEVICE_LIFE_TIME_EST_TYP_B",
"index": null,
"description": "eMMC Life Time Estimation B",
"value": "0x01",
"value_int": 1,
"value_hex": "0x1"
},
"decoded": {
"state": "normal",
"used_percent_min": 0,
"used_percent_max": 10
}
},
"pre_eol": {
"field": {
"register": "PRE_EOL_INFO",
"index": null,
"description": "eMMC Pre EOL information",
"value": "0x01",
"value_int": 1,
"value_hex": "0x1"
},
"decoded": {
"state": "normal"
}
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Description'''
|-
|life_time_estimation_a
|Wear estimation for eMMC memory type A.
|-
|life_time_estimation_b
|Wear estimation for eMMC memory type B.
|-
|pre_eol
|Pre-end-of-life state.
|}
Lifetime Decoding
{| class="wikitable tech-table"
!'''Raw Value'''
!'''Decoded State'''
!Meaning
|-
|0x00
|not_defined
|Not defined by device.
|-
|0x01
|normal
|0% to 10% estimated lifetime used.
|-
|0x02
|normal
|10% to 20% estimated lifetime used.
|-
|0x03
|normal
|20% to 30% estimated lifetime used.
|-
|0x04
|normal
|30% to 40% estimated lifetime used.
|-
|0x05
|normal
|40% to 50% estimated lifetime used.
|-
|0x06
|normal
|50% to 60% estimated lifetime used
|-
|0x07
|normal
|60% to 70% estimated lifetime used.
|-
|0x08
|normal
|70% to 80% estimated lifetime used.
|-
|0x09
|normal
|80% to 90% estimated lifetime used.
|-
|0x0A
|normal
|90% to 100% estimated lifetime used.
|-
|0x0B
|exceeded
|Estimated maximum lifetime exceeded.
|}
Pre-EOL Decoding
{| class="wikitable tech-table"
!'''Raw Value'''
!'''Decoded State'''
!Meaning
|-
|0x00
|not_defined
|Not defined.
|-
|0x01
|normal
|Normal condition.
|-
|0x02
|warning
|Warning state. Monitor or plan replacement.
|-
|0x03
|urgent
|Urgent state. Replacement recommended.
|}
'''emmc_extcsd.devices[ ].boot'''<syntaxhighlight lang="json" line="1">
{
"partition_config": {
"field": null,
"decoded": null
},
"boot_config_protection": null,
"boot_bus_conditions": null,
"boot_write_protection": {
"register": "BOOT_WP",
"index": null,
"description": "Boot Area Write protection",
"value": "0x00",
"value_int": 0,
"value_hex": "0x0"
},
"boot_size": {
"field": null,
"decoded": null
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!Description
|-
|partition_config
|object / null
|Boot partition configuration, if available.
|-
|boot_config_protection
|object / null
|Boot configuration protection status.
|-
|boot_bus_conditions
|object / null
|Boot bus width/mode conditions.
|-
|boot_write_protection
|object / null
|Boot area write protection status.
|-
|boot_size
|object / null
|Boot partition size, if available.
|}
'''emmc_extcsd.devices[ ].rpmb'''

RPMB means '''Replay Protected Memory Block'''. It is a protected eMMC area often used for secure storage.<syntaxhighlight lang="json" line="1">
{
"size": {
"field": {
"register": "RPMB_SIZE_MULT",
"index": null,
"description": "RPMB Size",
"value": "0x20",
"value_int": 32,
"value_hex": "0x20"
},
"decoded": {
"bytes": 4194304,
"kb": 4194.3,
"mb": 4.19,
"gb": 0.0,
"kib": 4096.0,
"mib": 4.0,
"gib": 0.0
}
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!Description
|-
|size.field
|object / null
|Raw RPMB size register information.
|-
|size.decoded.bytes
|number
|RPMB size in bytes.
|-
|size.decoded.kb
|number
|RPMB size in decimal KB.
|-
|size.decoded.mb
|number
|RPMB size in decimal MB.
|-
|size.decoded.gb
|number
|RPMB size in decimal GB.
|-
|size.decoded.kib
|number
|RPMB size in KiB.
|-
|size.decoded.mib
|number
|RPMB size in MiB.
|-
|size.decoded.gib
|number
|RPMB size in GiB.
|}
'''emmc_extcsd.devices[ ].sector'''<syntaxhighlight lang="json" line="1">
{
"sector_count": null,
"sector_size_bytes": 512,
"user_capacity": null
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!Description
|-
|sector_count
|object / null
|Parsed sector count register, if available.
|-
|sector_size_bytes
|number
|Sector size used for capacity calculation.
|-
|user_capacity
|object / null
|Calculated user capacity, if sector count is available.
|}
'''emmc_extcsd.devices[ ].partitioning'''<syntaxhighlight lang="json" line="1">
{
"partitioning_support": {
"register": "PARTITIONING_SUPPORT",
"index": null,
"description": "Partitioning Support",
"value": "0x07",
"value_int": 7,
"value_hex": "0x7"
},
"partition_setting_completed": {
"register": "PARTITION_SETTING_COMPLETED",
"index": null,
"description": "Partitioning Setting",
"value": "0x00",
"value_int": 0,
"value_hex": "0x0"
},
"partition_attribute": {
"register": "PARTITIONS_ATTRIBUTE",
"index": null,
"description": "Partitions attribute",
"value": "0x00",
"value_int": 0,
"value_hex": "0x0"
},
"max_enhanced_area_size": {
"register": "MAX_ENH_SIZE_MULT",
"index": null,
"description": "Max Enhanced Area Size",
"value": "0x000747",
"value_int": 1863,
"value_hex": "0x747"
},
"enhanced_user_area_start": {
"register": "ENH_START_ADDR",
"index": null,
"description": "Enhanced User Data Start Address",
"value": "0x00000000",
"value_int": 0,
"value_hex": "0x0"
},
"enhanced_user_area_size": {
"register": "ENH_SIZE_MULT",
"index": null,
"description": "Enhanced User Data Area Size",
"value": "0x000000",
"value_int": 0,
"value_hex": "0x0"
}
}
</syntaxhighlight>
{| class="wikitable tech-table"
!'''Field'''
!'''Type'''
!Description
|-
|partitioning_support
|object / null
|Supported partitioning features.
|-
|partition_setting_completed
|object / null
|Indicates whether partition settings were finalized.
|-
|user_capacity
|object / null
|Partition attribute register.
|-
|max_enhanced_area_size
|object / null
|Maximum enhanced area size multiplier.
|-
|enhanced_user_area_start
|object / null
|Enhanced user data area start address.
|-
|enhanced_user_area_size
|object / null
|Enhanced user data area size.
|}
==== <big>24.4 TempSensor Actor</big> ====

===== 24.4.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credencials.

====== a) Set temperature sensor configurations ======
Req-Topic: tempSensor/config/in

ALERT:

* activate: true(active)/false
* templow: alert temperature lower limit
* tempHigh: alert temperature upper limit
<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"ALERT": {
"activate": true,
"tempLow": 0,
"tempHigh": 80
}
}
}
}
</syntaxhighlight>Reply-Topic: tempSensor/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"ALERT": {
"activate": true,
"tempLow": 0,
"tempHigh": 80
}
}
}
}

</syntaxhighlight>

====== b) Read temperature sensor configurations ======
Req-Topic: tempSensor/config/in

ALERT:

* activate: true(active)/false

LIMITS:

* templow: alert temperature lower limit
* tempHigh: alert temperature upper limit
<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}

</syntaxhighlight>Reply-Topic: tempSensor/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"ALERT": {
"activate": true,
"tempLow": 0,
"tempHigh": 80
}
}
}
}

</syntaxhighlight>

====== c) Read temperature and alert status ======
* unit: Temperature unit of measure
* alert: true (triggered) or false

Req-Topic: tempSensor/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}

</syntaxhighlight>Reply-Topic: tempSensor/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true,
"data": {
"temperature": <_FLOAT_>,
"unit": "C",
"alert": true
}
}
}
}

</syntaxhighlight>

==== <big>24.5 TFT Actor</big> ====

===== 24.5.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to control and interact with the TFT display, or frontal panel LCD screen. Connecting to the broker for this Area requires no credentials.

===== 24.5.2 TFT Display Actor =====
The TFT Actor is responsible for:

* Rendering static and informative screens on the TFT display
* Reacting to joystick input (LEFT/ RIGHT/ CENTER/ UP/ DOWN)
* Managing screen navigation and user confirmation flows
* Providing feedback to the application via MQTT

====== a) Screen Carousel Concept ======
The TFT actor maintains an '''ordered list of screens''' (carousel).

* Screens are navigated using the joystick:

- LEFT --> Previous screen

- RIGHT --> Next screen

* The carousel wraps around:

- LEFT on first screen --> last screen

- RIGHT on last screen --> first screen

====== b) Screen Types ======
The TFT actor supports the following screen types:

'''Image Screen'''

* Displays a static JPEG image
* Default screen shown at boot
* No user interaction required

'''Network Information Screen'''

* Display a interface with information about the networks of the device
* Updated on load
* No user interaction required

====== c) Joystick Navigation Logic ======
'''Carousel Navigation:'''
{| class="wikitable"
|'''Joystick Input'''
|'''Action'''
|-
|LEFT
|Previous screen
|-
|RIGHT
|Next screen
|-
|DOWN
|Refresh current screen
|}

====== d) Boot Behavior ======
At system boot:

# TFT actor initializes the display
# Last available carousel is loaded
# First screen is rendered
# Joystick subscriptions are activated
# Actor waits for runtime commands

====== e) Design Notes & Constraints ======
* TFT actor does not expose joystick state
* Joystick actor remains independent
* TFT actor internally consumes joystick events
* Carousel state is local to the TFT actor
* Screen rendering is synchronous; input handling is asynchronous
* Confirmation screens always require explicit CENTER press

===== 24.5.3 User interaction through MQTT =====
Enabling interaction with the carousel using the topic tft/runtime/in . Actions available will be public to the user.

'''Runtime commands'''

'''Go to screen'''

Req-Topic: tft/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_CAROUSEL",
"params": {
"index": 2
}
}
}

</syntaxhighlight>Reply-Topic: tft/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "tft",
"task": {
"taskResult": {
"success": true,
"index": 2
}
}
}

</syntaxhighlight>'''Set TFT Screen Carousel'''

Req-Topic: tft/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "TIMESTAMP",
"origin": "APP",
"task": {
"action": "SET_CAROUSEL",
"params": {
"startIndex": 0,
"screens": [
{
"type": "image",
"image": "default.jpg"
},
{
"type": "image",
"image": "status.jpg"
},
{
"type": "confirm",
"question": "Do you want to continue?"
}
]
}
}
}

</syntaxhighlight>'''Parameters:'''
{| class="wikitable"
|'''Field'''
|'''Description'''
|-
|screens
|Ordered list of screens
|-
|Start lndex
|Initial active screen (optional, default = 0)
|}
'''Reply'''

Reply-Topic: '''tft/runtime/out''' <syntaxhighlight lang="json" line="1">
{
"id": "TIMESTAMP",
"origin": "tft",
"task": {
"taskResult": {
"success": true,
"activeIndex": 0,
"totalScreens": 3
}
}
}

</syntaxhighlight>

==== <big>24.6 AnalogInputs Actor</big> ====

===== 24.6.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credencials.

====== a) Configurations ======
''' Topic: analogInputs/config/in - Set ADC channels configurations'''

'''mode'''

* continuous
* single

'''type'''

* voltage
* current
<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"AI1": {
"mode": "single",
"type": "voltage"
},
"AI2": {
"mode": "single",
"type": "voltage"
},
"AI3": {
"mode": "single",
"type": "current"
},
"AI4": {
"mode": "single",
"type": "current"
}
}
}
}

</syntaxhighlight>Reply-Topic: analogInputs/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"AI1": {
"success": true
},
"AI2": {
"success": true
},
"AI3": {
"success": true
},
"AI4": {
"success": true
}
}
}
}

</syntaxhighlight>

====== b) Runtime Data ======
'''Topic: analogInputs/runtime/in.'''

action:

* READ
* PAUSE (only applicable in continuous mode)
* RESUME (only applicable in continuous mode)
<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"AI1": {
"action": "READ"
},
"AI2": {
"action": "READ"
},
"AI3": {
"action": "READ"
},
"AI4": {
"action": "READ"
}
}
}
}

</syntaxhighlight>Reply-Topic: analogInputs/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"AI1": {
"success": true,
"value": <_FLOAT_>
},
"AI2": {
"success": true,
"value": <_FLOAT_>
},
"AI3": {
"success": true,
"value": <_FLOAT_>
},
"AI4": {
"success": true,
"value": <_FLOAT_>
}
}
}
}

</syntaxhighlight>

===== 24.6.2 Usage Examples =====

==== <big>24.7 Analog Outputs Actor</big> ====

===== 24.7.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credencials.

====== a) Set analog outputs signal ======
Req-Topic: analogOutputs/config/in

'''Output:''' current within 0-20 mA

'''mode:''' on/off<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"mode": "on",
"AO1": {
"current": <_FLOAT_>
},
"AO2": {
"current": <_FLOAT_>
}
}
}
}

</syntaxhighlight>Reply-Topic: analogOutputs/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"mode": "on",
"AO1": {
"success": true,
"current": <_FLOAT_>
},
"AO2": {
"success": true,
"current": <_FLOAT_>
}
}
}
}

</syntaxhighlight>

====== b) Set analog outputs ======
Req-Topic: analogOutputs/runtime/in

'''current:''' current within 0-20 mA<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"AO1": {
"action": "SET",
"current": <_FLOAT_>
},
"AO2": {
"action": "SET",
"current": <_FLOAT_>
}
}
}
}

</syntaxhighlight>Reply-Topic: analoigOutputs/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"AO1": {
"success": true,
"current": <_FLOAT_>
},
"AO2": {
"success": true,
"current": <_FLOAT_>
}
}
}
}

</syntaxhighlight>

====== c) Read analog outputs settings ======
Req-Topic: analogOutputs/runtime/in

'''current''': current within 0-20 mA<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"AO1": {
"action": "READ"
},
"AO2": {
"action": "READ"
}
}
}
}

</syntaxhighlight>Reply-Topic: analogOutputs/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"AO1": {
"success": true,
"current": <_FLOAT_>
},
"AO2": {
"success": true,
"current": <_FLOAT_>
}
}
}
}

</syntaxhighlight>

==== <big>24.8 Digital Inputs Actor</big> ====

===== 24.8.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credentials.

====== a) Set digital input pin/pins speed fast/slow ======
The '''fast''' speed setting supports edge detection speed up to 100 Hz and the '''slow''' speed settings supports up to 10 Hz.

'''Fast Mode''' generates a message on every I/O state change, which may result in a '''high message payload''' during operation. Fast Mode should therefore only be enabled when '''strictly required'''.

Req-Topic: digitalInputs/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"DI1": {
"speed": "fast"
},
"DI2": {
"speed": "slow"
},
"DI3": {
"speed": "fast"
},
"DI4": {
"speed": "fast"
}
}
}
}
</syntaxhighlight>Reply-Topic: digitalInputs/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DI1": {
"success": true,
"speed": "fast"
},
"DI2": {
"success": true,
"speed": "slow"
},
"DI3": {
"success": true,
"speed": "fast"
},
"DI4": {
"success": true,
"speed": "fast"
}
}
}
}
</syntaxhighlight>

====== b) Get all digital input pins state ======

Req-Topic: digitalInputs/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}

</syntaxhighlight>Reply-Topic: digitalInputs/runtime/out

state: high/low<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DI1": {
"success": true,
"state": "high"
},
"DI2": {
"success": true,
"state": "low"
},
"DI3": {
"success": true,
"state": "high"
},
"DI4": {
"success": true,
"state": "low"
}
}
}
}

</syntaxhighlight>

==== <big>24.9 Digital Outputs Actor</big> ====

===== 24.9.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this area requires no credencials.

====== a) Get all digital output pins state ======

Req-Topic: digitalOutputs/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}

</syntaxhighlight>Reply-Topic: digitalOutputs/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DO1": {
"success": true,
"state": "low"
},
"DO2": {
"success": true,
"state": "high"
},
"DO3": {
"success": true,
"state": "high"
},
"DO4": {
"success": true,
"state": "low"
},
"DO5": {
"success": true,
"state": "low"
},
"DO6": {
"success": true,
"state": "low"
},
"DO7": {
"success": true,
"state": "low"
},
"DO8": {
"success": true,
"state": "low"
}
}
}
}
</syntaxhighlight>

====== b) Set all digital output pins state ======

Req-Topic: digitalOutputs/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskParams": {
"DO1": {
"action": "SET",
"state": "low"
},
"DO2": {
"action": "SET",
"state": "high"
},
"DO3": {
"action": "SET",
"state": "high"
},
"DO4": {
"action": "SET",
"state": "low"
},
"DO5": {
"action": "SET",
"state": "low"
},
"DO6": {
"action": "SET",
"state": "low"
},
"DO7": {
"action": "SET",
"state": "low"
},
"DO8": {
"action": "SET",
"state": "low"
}
}
}
}
</syntaxhighlight>Reply-Topic: digitalOutputs/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DO1": {
"success": true,
"state": "low"
},
"DO2": {
"success": true,
"state": "high"
},
"DO3": {
"success": true,
"state": "high"
},
"DO4": {
"success": true,
"state": "high"
},
"DO5": {
"success": true,
"state": "high"
},
"DO6": {
"success": true,
"state": "low"
},
"DO7": {
"success": true,
"state": "low"
},
"DO8": {
"success": true,
"state": "low"
}
}
}
}

</syntaxhighlight>

===== 24.9.2 Notes =====
If the busi2c-3 is not powered, we will get this:

Topic: '''digit a lOutputs/runtime/ out''' <syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"DO1": {
"success": false,
"state": "DO_not_powered"
},
"DO2": {
"success": false,
"state": "DO_not_powered"
},
"DO3": {
"success": false,
"state": "DO_not_powered"
},
"DO4": {
"success": false,
"state": "DO_not_powered"
},
"DO5": {
"success": false,
"state": "DO_not_powered"
},
"DO6": {
"success": false,
"state": "DO_not_powered"
},
"DO7": {
"success": false,
"state": "DO_not_powered"
},
"DO8": {
"success": false,
"state": "DO_not_powered"
}
}
}
}

</syntaxhighlight>

==== <big>24.10 Joystick Actor</big> ====

===== 24.10.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtain peripherals data. Connecting to the broker for this Area requires no credencials.

====== a) Get all joystick pins state ======

Req-Topic: joystick/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "READ"
}
}

</syntaxhighlight>Reply-Topic: joystick//runtime/out

state: pressed/released<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"JLEFT": {
"success": true,
"state": "pressed"
},
"JRIGHT": {
"success": true,
"state": "released"
},
"JUP": {
"success": true,
"state": "released"
},
"JDOWN": {
"success": true,
"state": "released"
},
"JCENTER": {
"success": true,
"state": "released"
}
}
}
}

</syntaxhighlight>

==== <big>24.11 Buzzer Actor</big> ====

===== 24.11.1 Overview =====
The '''Buzzer Actor''' is responsible for controlling the onboard buzzer through MQTT commands. It receives runtime commands on an MQTT input topic, validates the requested buzzer operation, drives the buzzerthrough GPIO using '''libgpiod''', and publishes status/final responses on an MQTT output topic.

The actor currently controls '''GPIO line 25''' on '''/dev/gpiochip0''', with '''ACTIVE_LOW = False'''. It creates a

'''GpiodBuzzerDriver''' instance and routes incoming MQTT actions to runtime handlers.

The supported runtime actions are:
{| class="wikitable"
|'''Action'''
|'''Description'''
|-
|BEEP
|Plays a finite beep sequence, an infinite beep sequence, or a continuous tone
|-
|STOP
|Stops the currently active buzzer playback
|}

===== 24.11.2 MQTT Topics =====
{| class="wikitable"
|'''Topic'''
|'''Direction'''
|'''Description'''
|-
|buzzer/runtime/in
|Input
|Receives buzzer commands
|-
|buzzer/runtime/out
|Output
|Publishes status messages and final command responses
|}
The actor subscribes to '''buzzer/runtime/in''' and publishes all status/final replies to '''buzzer/runtime/out'''.

===== 24.11.3 Hardware and Datasheet Notes =====
The buzzer used is the '''MLT-8530 electro-magnetic SMD buzzer.'''

According to the datasheet:
{| class="wikitable"
|'''Parameter'''
|'''Value'''
|-
|Rated voltage
|3.6 Vo-p
|-
|Operating voltage
|2.5 ~ 4.5 Vo-p
|-
|Rated current
|Max. 95 mA
|-
|Rated test frequency
|2700 Hz
|-
|Duty cycle
|50% square wave
|-
|Sound output
|Min. 80 dB at 10 cm
|-
|Coil resistance
|16 ± 3 Ω
|-
|Resonant frequency
|2700 Hz
|}

===== 24.11.4 BEEP =====
The BEEP action supports two modes:
{| class="wikitable"
|'''Mode'''
|'''Description'''
|-
|sequence
|Plays one or more beeps with gaps between them
|-
|continuous
|Plays one continuous tone until '''STOP''' is received
|}
If no mode is provided, the default mode is: '''sequence'''

All messages should be sent to the topic '''buzzer/runtime/in'''

====== a) Default Datasheet-Aligned Beep ======
<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "APP",
"task": {
"action": "BEEP"
}
}

</syntaxhighlight>

====== b) N Beeps ======
Play '''<BEEPS_QUANTITY>''' beeps at '''<FREQUENCY>''' Hz. Each beep lasts '''<BEEP_DURATION>''' seconds, with

'''<GAP_BETWEEN_BEEPS>''' seconds of silence between beeps.<syntaxhighlight lang="json" line="1">{
"id": <TIMESTAMP>,
"origin": "APP",
"task": {
"action": "BEEP",
"params": {
"frequency_hz": <FREQUENCY>,
"duration_s": <BEEP_DURATION>,
"count": <BEEPS_QUANTITY>,
"gap_s": <GAP_BETWEEN_BEEPS>
}
}
}</syntaxhighlight>If you want to play repeated beeps forever until a '''STOP''' command arrives then you only need to pass the '''count: 0'''

====== c) Continuous Tone ======
Play one continuous <FREQUENCY> Hz tone until '''STOP'''.<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "APP",
"task": {
"action": "BEEP",
"params": {
"mode": "continuous",
"frequency_hz": <FREQUENCY>
}
}
}
</syntaxhighlight>If '''frequency_hz''' is omitted, the handler uses the configured default frequency.

====== d) Stop Buzzer ======
If you want to stop the beep sequence, just send this payload to the '''buzzer/runtime/in'''<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "APP",
"task": {
"action": "STOP",
}
}
</syntaxhighlight>

====== e) Buzzer payload parameters table ======
{| class="wikitable"
!Field
!Required
!Type
!Default
!Applies to
!Description
|-
|task
|Yes
|object
| -
|All requests
|Main task object. Contains the requested action and
optional parameters.
|-
|task.action
|Yes
|string
| -
|All requests
|Action to execute. Supported values: "BEEP" and
"STOP".
|-
|task.params
|No
|object
|{}
|BEEP
|Optional parameters for configuring the buzzer
behavior. Not needed for STOP.
|-
|task.params.mode
|No
|string
|"sequence"
|BEEP
|Playback mode. Supported values: "sequence" and
"continuous".
|-
|task.params.frequency_hz
|No
|number
|2700.0
|BEEP
|Buzzer frequency in Hz. Recommended/default value
is 2700 Hz , matching the buzzer resonant frequency.
|-
|task.params.duration_s
|No
|number
|0.2
|BEEP with
mode="sequence"
|Duration of each beep, in seconds.
|-
|task.params.count
|No
|integer
|1
|BEEP with
mode="sequence"
|Number of beeps to play. 0 means repeat forever
until STOP.
|-
|task.params.gap_s
|No
|number
|0.15
|BEEP with
mode="sequence"
|Silence gap between beeps, in seconds.
|-
|task.params.mode ="continuous"
|No
|string
| -
|BEEP
|Plays one continuous tone until STOP . In this mode,
duration_s , count , and gap_s are ignored.
|}

===== 24.11.5 Buzzer - diagram =====
[[File:Buzzer - diagram.svg|center|frameless|901x901px]]

===== 24.11.6 Buzzer Command timing charts - Examples =====
The following charts represent the command-level buzzer state over time.

They do not show the internal 2700 Hz switching frequency.

Instead, they show when the buzzer is logically:
{| class="wikitable"
|'''State'''
|'''Meaning'''
|-
|1
|Buzzer active / sound ON
|-
|0
|Buzzer inactive / silence
|}

====== a) Default BEEP command ======
<syntaxhighlight lang="json" line="1">
{
"id": <TIMESTAMP>,
"origin": "APP",
"task": {
"action": "BEEP",
}
}
</syntaxhighlight>Default values used:
{| class="wikitable"
|'''Parameter'''
|'''Value'''
|-
|duration_s
|0.2 s
|-
|count
|1
|-
|gap_s
|0.15 s
|}
'''Buzzer State'''

[[File:Default_Beep.svg|frameless]]

duration_s = 0.2 s

count = 1

====== b) BEEP Sequence - 5 beeps ======
<syntaxhighlight lang="json" line="1">
{
"id": 1779789836000,
"origin": "APP",
"task": {
"action": "BEEP",
"params": {
"duration_s": 1,
"count": 5,
"gap_s": <GAP_BETWEEN_BEEPS>
}
}
}
</syntaxhighlight>'''Buzzer State'''
[[File:5_beeps.svg|frameless|700x700px]]
duration_s = 1.0s

gap_s = 0.5s

count = 5

====== c) Infinite BEEP Sequence ======

This happens when: "count": 0<syntaxhighlight lang="json" line="1">
{
"id": 1779789836000,
"origin": "APP",
"task": {
"action": "BEEP",
"params": {
"duration_s": 1,
"count": 0,
"gap_s": 0.5
}
}
}
</syntaxhighlight>'''Buzzer State'''
[[File:Infinite_Beeps.svg|frameless|606x606px]]

duration_s = 1.0
gap_s = 0.5

count = 0

====== d) Continuous BEEP ======
In continuous mode, the buzzer remains ON until a STOP command is received.<syntaxhighlight lang="json" line="1">
{
"id": 1779789836000,
"origin": "APP",
"task": {
"action": "BEEP",
"params": {
"mode": "continuous",
}
}
}
</syntaxhighlight>'''Buzzer State'''

[[File:Continous beep.svg|frameless|600x600px]]

mode = continuous

====== e) STOP ======
The STOP command immediately forces the buzzer to OFF.

'''Buzzer State'''

[[File:Stop beep.svg|frameless|600x600px]]

After STOP, the buzzer is forced to OFF.

==== 24.12 INA232 actor ====

===== 24.12.1 Overview =====
The '''INA Actor''' is responsible for reading the ATLAS INA232 power monitor and publishing the measuredelectrical values through MQTT.

The actor publishes:
{| class="wikitable"
|'''Value'''
|'''Unit'''
|'''Description'''
|-
|voltage_v
|V
|Measured bus/input voltage
|-
|current_a
|A
|Measured current
|-
|power_w
|W
|Measured/calculated power
|}
The INA232 is a current, voltage, and power monitor with an I²C/SMBus interface. It reports current, busvoltage, and power values through internal registers. The calibration register must be configured to obtainvalid current and power results.

===== 24.12.2 Actor Behaviour =====
The INA Actor shall:

1. Start with a valid INA configuration.

2. Configure the INA232 device.

3. Read voltage, current and power once per second.

4. Publish the values to: '''ina/runtime/out'''

The actor does '''not''' need a request every second.

The publication is automatic and periodic.

===== 24.12.3 Required Configuration =====
The actor requires a small configuration to correctly read and convert the INA232 measurements.
{| class="wikitable"
|'''Field'''
|'''Type'''
|'''Required'''
|'''Description'''
|-
|enabled
|boolean
|Yes
|Enables or disables the INA actor
|-
|address
|string /integer
|Yes
|I²C address of the INA232 device
|-
|shunt_ohm
|number
|Yes
|Value of the shunt resistor in ohms
|-
|max_current_a
|number
|Yes
|Maximum expected current, used forcalibration
|-
|adcrange
|integer
|No
|INA232 shunt voltage range selection
|-
|publish_interval_ms
|integer
|Yes
|Runtime publish interval in milliseconds
|-
|rail_name
|string
|No
|Logical name of the monitored power rail
|}

* '''Default configuration'''
<syntaxhighlight lang="json" line="1">
{
"enabled": true,
"address": "0x40",
"shunt_ohm": 0.020,
"publish_interval_ms": 1000,
"rail_name": "atlas_input_power"
}
</syntaxhighlight>

===== 24.12.4 Configuration domain =====
Configuration messages are sent to:

'''ina/config/in'''

Configuration replies are published on:

'''ina/config/out'''

'''- GET_CONFIG'''

Returns the current INA Actor configuration

'''Request'''<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "GET_CONFIG"
}
}
</syntaxhighlight>'''Response'''<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "INA",
"task": {
"action": "GET_CONFIG",
"taskResult": {
"success": true,
"configured": true,
"enabled": true,
"address": "0x40",
"shunt_ohm": 0.020,
"publish_interval_ms": 1000
}
}
}
</syntaxhighlight>

===== 24.12.5 Runtime domain =====
Runtime messages are sent to:

'''ina/runtime/in'''

Runtime replies are published on:

'''ina/runtime/out'''

'''- Manual Runtime read'''

'''Request'''<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "GET_POWER"
}
}
</syntaxhighlight>'''Response'''<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "INA",
"task": {
"action": "GET_POWER",
"taskResult": {
"success": true,
"voltage_v": 24.12,
"current_a": 0.481,
"power_w": 11.6
}
}
}
</syntaxhighlight>'''- Automatic Runtime Publication'''

Publish topic:

'''ina/runtime/out'''

Period: 1000 ms === 1s

'''Response payload'''<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "INA",
"task": {
"action": "PUBLISH_POWER",
"taskResult": {
"success": true,
"voltage_v": 24.12,
"current_a": 0.481,
"power_w": 11.6
}
}
}
</syntaxhighlight>
{| class="wikitable"
|'''Field'''
|'''Type'''
|'''Required'''
|'''Description'''
|-
|success
|boolean
| -
|Indicates whether the read operation succeeded
|-
|voltage_v
|number
|V
|Measured bus/input voltage
|-
|current_a
|number
|A
|Measured current
|-
|power_w
|number
|W
|Measured power
|}

==== <big>24.13 Modem Actor</big> ====

===== 24.13.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker. Simplified interface to configure and obtainmodem (LTE) data. Connecting to the broker for this area requires no credentials.

===== 24.13.2 Mobile (LTE Modem) =====
The Mobile actor manages the LTE modem using ModemManager ('''mmcli'''). It allows monitoring modem status, configuring connectivity (APN, operator,network mode), and performing diagnostics.

===== 24.13.3 Scan Operators =====
Scans available network operators (requires SIM and modem enabled).

'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SCAN_OPERATORS"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"operators": [
{
"id": "26801",
"name": "vodafone P",
"status": "available"
},
{
"id": "26806",
"name": "MEO",
"status": "available"
}
]
}
}
}
</syntaxhighlight>

===== 24.13.4 Set Operator =====
The supported modes are:

* auto → modem selects de operator automatically ('''default''').
* manual→ user forces a specific operator using '''operator_id'''.

- Operators are identified using '''MCC + MNC codes''':
{| class="wikitable"
|'''Operator'''
|'''Code'''
|'''Country'''
|-
|Vodafone PT
|26801
|Portugal
|-
|MEO
|26806
|Portugal
|-
|NOS
|26803
|Portugal
|}
These values are obtained dynamically via SCAN_OPERATORS

* '''Recommendations:'''

Default should always be '''auto'''

Use '''manual''' only when:

- You need to force roaming behavior

- You want to lock to a specific network for stability/testing

====== '''Auto Selection''' ======
'''Req-Topic''': modem/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_OPERATOR",
"taskParams": {
"mode": "auto"
}
}
}
</syntaxhighlight>'''Reply-Topic''': modem/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true
}
}
}
</syntaxhighlight>

====== Manual Selection ======
'''Req-Topic''': modem/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_OPERATOR",
"taskParams": {
"mode": "manual",
"operator_id": "26801"
}
}
}
</syntaxhighlight>'''Reply-Topic''': modem/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true
}
}
}
</syntaxhighlight>

===== 24.13.5 Set APN Configuration =====
Supports automatic (predefined APN) or custom configuration.

====== Actual Behavior ======
When '''SET_APN''' is executed, the system performs the following sequence:

# '''Disconnects the current data connection''' (if connected)
# Applies the new APN configuration
# Initiates a new connection using the provided APN
# Waits until the modem reaches '''connected state'''

This means a '''full reconnection is automatically performed'''.

No additional RESET or manual reconnection is required.

====== Impact & Considerations ======

* Active data connection is '''interrupted'''
* Ongoing communications (MQTT, HTTP, VPN, etc.) will be '''dropped'''
* IP address may change after reconnection
* Operation may take '''several seconds (typically 5–20s)'''
* If connection fails, the modem may remain '''disconnected'''

====== Known APNs ======
{| class="wikitable"
|'''Operator'''
|'''APN CONF'''
'''NAME'''
|'''APN'''
|'''PROXY'''
|'''PORT'''
|'''MCC'''
|'''MNC'''
|'''AUTH'''
'''TYPE'''
|'''APN'''
'''TYPE'''
|'''CARRIER'''
|'''OBS.'''
|-
|MEO, UZO
| --
|internet
| --
| --
| --
| --
| --
| --
| --
| --
|-
|1nce
| --
|iot.1nce.net
| --
| --
| --
| --
| --
| --
| --
| --
|-
|Vodafone
|Vodafone
Internet
|net2.vodafone.pt
|iproxy.vodafone.pt
|80
|268
|01
|PAP
|default
|unspecified
|[https://ajuda.vodafone.pt/manuais/vodafone/smart-4g/explorar/configure-o-telefone-para-internet Docs]
|}

====== Supported Modes ======

* auto
* custom

{| class="wikitable"
|'''Mode'''
|'''Description'''
|-
|auto
|Uses modem default / SIM-provided APN
|-
|custom
|Uses user-defined APN credentials
|}
'''- Auto APN (e.g. 1NCE)'''

Uses the default APN embedded in the modem or provided by the SIM.

'''Req-Topic''': modem/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_APN",
"taskParams": {
"mode": "auto"
}
}
}
</syntaxhighlight>'''Reply-Topic''': modem/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"apn": "internet",
"success": true
}
}
}
</syntaxhighlight>'''- Custom APN'''

Allows full control over APN configuration.

'''Req-Topic''': modem/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_APN",
"taskParams": {
"mode": "custom",
"apn": "internet",
"user": "user",
"password": "pass"
}
}
}
</syntaxhighlight>'''Reply-Topic''': modem/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"apn": "internet",
"success": true
}
}
}
</syntaxhighlight>

===== 24.13.6 Get Modem Status =====
'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "GET_STATUS"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"modem": {
"present": true,
"enabled": true,
"state": "registered",
"signal": 34,
"access_tech": "lte",
"operator": "vodafone P",
"sim": "ready"
}
}
}
}
</syntaxhighlight>

===== 24.13.7 Enable / Disable Modem =====
'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_MODEM_STATE",
"taskParams": {
"enabled": true
}
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"enabled": true,
"success": true
}
}
}
</syntaxhighlight>

===== 24.13.8 Reset Modem =====
Performs a full modem reset and recovery sequence.

'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "RESET"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"success": true
}
}
}
</syntaxhighlight>

====== Actual Behavior ======
When RESET is executed, the system performs a '''complete modem restart flow''':

# Executes system-level reset: '''ltectl reset-modem'''
# The modem '''disappears from the system (USB re-enumeration)'''
# The system waits for the modem to '''reappear'''
# Re-discovers the modem path
# Waits until the modem becomes '''ready'''
# Waits until the modem is '''connected again'''

This is a '''full recovery sequence''', including automatic reconnection.

====== Impact on active connection ======

* Active data connection is '''immediately terminated'''
* All ongoing communications (MQTT, VPN, HTTP, etc.) will be '''interrupted'''
* Modem temporarily '''disappears from the system'''
* A new network registration is performed
* IP address will '''likely change'''
* Total recovery time may take '''10–120 seconds'''

====== When to use ======
Use '''RESET''' only when:

* Modem is stuck in '''searching''' or not registering
* Connected but no data traffic is possible
* APN/operator changes are not taking effect
* Modem becomes unresponsive or unstable

====== When NOT to Use ======
Avoid using RESET :

* During OTA updates or file uploads
* During critical real-time operations
* If a simple reconnect ( SET_MODEM_STATE ) is sufficient

====== Application Considerations ======
'''Before RESET'''

* Ensure no critical operations are ongoing
* Persist any unsent or buffered data
* Expect loss of connectivity

'''After RESET'''

* Wait for modem to fully recover (can take up to ~2 minutes)
* Re-check modem status using: '''GET_STATUS'''
* Re-establish application-level connections: '''MQTT'''; '''VPN''' an '''Cloud sessions'''

===== 24.13.9 Set Network Mode =====
Configures allowed radio technologies

Supported values:

* 2g
* 3g
* 4g
* auto

'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SET_NETWORK_MODE",
"taskParams": {
"mode": "4g"
}
}
}</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"mode": "4g",
"success": true
}
}
}
</syntaxhighlight>

===== 24.13.10 Get Signal Strength =====
'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "GET_SIGNAL"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"signal": 34,
"unit": "%"
}
}
}
</syntaxhighlight>

===== 24.13.11 Get SIM card info =====
'''GET_SIM_INFO''' is a '''runtime action''' used to read SIM card information from the modem through ModemManager.

This action is '''read-only'''. It does not change the modem state, APN, operator, bearer, or NetworkManager configuration.

'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "GET_SIM_INFO"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "modem-actor",
"task": {
"taskResult": {
"success": true,
"sim": {
"id": "0",
"path": "/org/freedesktop/ModemManager1/SIM/0",
"active": true,
"iccid": "8935101234567890123",
"imsi": "268060123456789",
"operator_id": "26806",
"operator_name": "MEO",
"emergency_numbers": [
"112"
],
"preferred_networks": [
"operator-code: 42507, access-technologies: gsm, umts, lte",
"operator-code: 20810, access-technologies: gsm, umts, lte",
"operator-code: 64710, access-technologies: gsm, umts, lte",
"operator-code: 37001, access-technologies: gsm, umts, lte",
"operator-code: 34002, access-technologies: gsm, umts, lte"
]
}
}
}
}
</syntaxhighlight>
{| class="wikitable"
|'''Field'''
|'''Type'''
|'''Description'''
|-
|id
| number / string
|Same request ID received in the input payload.
|-
|origin
| string
|Actor name, usually '''modem-actor'''.
|-
|task.taskResult.success
|boolean
|Indicates if the SIM information was read successfully.
|-
|task.taskResult.sim.id
|string
|SIM object ID used by ModemManager. Usually 0.
|-
|task.taskResult.sim.path
|string
|ModemManager DBus path for the SIM object.
|-
|task.taskResult.sim.active
|boolean / null
|Indicates if the SIM is active, when available.
|-
|task.taskResult.sim.iccid
|string / null
|SIM ICCID / SIM identifier. This is the physical SIM card identifier.
|-
|task.taskResult.sim.imsi
|string / null
|IMSI associated with the SIM subscription.
|-
|task.taskResult.sim.operator_id
|string / null
|Mobile operator identifier from the SIM, when available.
|-
|task.taskResult.sim.operator_name
|string / null
|Operator name from the SIM, when available.
|-
|task.taskResult.sim.emergency_numbers
|array
|Emergency numbers reported by the SIM/modem.
|-
|task.taskResult.sim.preferred_networks
|array
|Preferred networks stored on the SIM, when available.
|}

===== 24.13.12 Test Modem =====
Performs a basic diagnostic test:

* Modem detection
* SIM presence
* Network registration
* Data connectivity

'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "TEST"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"hw": true,
"sim": true,
"network": true,
"data": true
}
}
}
</syntaxhighlight>

===== 24.13.13 Speed Test =====
Performs a '''low-data network speed test''' over the modem interface.

This command does '''not''' run a full bandwidth benchmark.

Instead, it performs a '''short and capped download burst''' on interface '''wwan0''' , measures the number of received bytes during a fixed time window, and

returns an '''estimated download speed''' together with '''latency''' and a '''confidence level'''.

This approach is designed for IoT / field devices using '''capped cellular SIM cards''', where a classic speed test would consume too much data.

'''Req-Topic''': modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"action": "SPEED_TEST"
}
}
</syntaxhighlight>'''Reply-Topic''': modem/runtime/out

'''Success reply''':<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"download_mbps": 12.4,
"success": true
}
}
}
</syntaxhighlight>'''Error reply'''

Example when the modem is not connected:<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"download_mbps": 12.4,
"success": true
}
}
}
</syntaxhighlight>Example when an unexpected internal error occurs:<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "modem-actor",
"task": {
"taskResult": {
"success": false,
"reason": "unexpected_exception"
}
}
}
</syntaxhighlight>

====== '''Reply parameters''' ======
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Description'''
|-
|success
| boolean
|Indicates whether the speed test completed successfully. true = test executed, false = failed (see reason ).
|-
|download_mbps
| number
|Estimated download speed in '''megabits per second (Mbps)'''. Calculated from the number of bytes received on interface
'''wwan0''' during the measurement window.
|-
|bytes_sampled
|number
|Total number of '''received bytes''' measured on the modem interface ( '''wwan0''' ) during the test window. Used as the raw input
for speed calculation.
|-
|duration_s
|number
|Measurement window duration in seconds. Current implementation uses '''5 seconds'''.
|-
|latency_ms
|number
|null
|-
|confidence
|string
|Qualitative indicator of measurement reliability based on sampled bytes:• '''low''' → < 50,000 bytes• '''medium''' → 50,000–
299,999 bytes• '''high''' → ≥ 300,000 bytes
|-
|reason
|string
|Present only when '''success=false''' . Provides failure reason (e.g., '''not_connected (<state>)''' , '''unexpected_exception''' ).
|}

====== Data consumption notice ======
This command performs a '''real network download''' and therefore consumes mobile data.

Although the test is designed to be '''low-data''', it still generates traffic:

* Typical consumption per test: '''~100 KB to ~500 KB'''
* Latency measurement adds a negligible amount (ICMP ping)

'''Estimated data usage'''
{| class="wikitable"
|'''Frequency'''
|'''Estimated consumption'''
|-
|1 test/day (~100 KB)
| ~3 MB/month
|-
|1 test/day (~250 KB)
| ~7.5 MB/month
|-
|1 test/day (~500 KB)
|~15 MB/month
|}

====== Recommendation ======
For devices using '''capped SIM cards''', it is recommended to:

* Avoid running this test at high frequency
* Use signal and modem status ( '''mmcli''' ) for regular monitoring
* Reserve speed tests for:

- commissioning

- troubleshooting

- periodic health checks

'''Running frequent or extended tests may significantly impact the data allowance.'''

===== 24.13.14 Get Raw Modem Info (Reserved) =====
'''Req-Topic''': reserved/modem/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "modem-actor",
"task": {
"taskResult": {
"success": false,
"reason": "not_connected (registered)"
}
}
}
</syntaxhighlight>'''Reply-Topic''': reserved/modem/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "DEV",
"task": {
"taskResult": {
"raw": "mmcli -m 0 output..."
}
}
}
</syntaxhighlight>

===== 24.13.15 Example: Raw Modem Output ( mmcli ) =====
Command:

mmcli -m 0 --output-json

Example output:<syntaxhighlight lang="json" line="1">
{
"modem": {
"3gpp": {
"5gnr": {
"registration-settings": {
"drx-cycle": "--",
"mico-mode": "--"
}
},
"enabled-locks": [],
"eps": {
"initial-bearer": {
"dbus-path": "--",
"settings": {
"apn": "--",
"ip-type": "--",
"password": "--",
"user": "--"
}
},
"ue-mode-operation": "--"
},
"imei": "862636056280785",
"network-rejection-access-technology": "--",
"network-rejection-error": "--",
"network-rejection-operator-id": "--",
"network-rejection-operator-name": "--",
"operator-code": "--",
"operator-name": "--",
"packet-service-state": "--",
"pco": "--",
"registration-state": "--"
},
"cdma": {
"activation-state": "--",
"cdma1x-registration-state": "--",
"esn": "--",
"evdo-registration-state": "--",
"meid": "--",
"nid": "--",
"sid": "--"
},
"dbus-path": "/org/freedesktop/ModemManager1/Modem/0",
"generic": {
"access-technologies": [],
"bearers": [],
"carrier-configuration": "ROW_Gen_VoLTE",
"carrier-configuration-revision": "05010822",
"current-bands": [
"egsm",
"dcs",
"pcs",
"g850",
"utran-1",
"utran-4",
"utran-6",
"utran-5",
"utran-8",
"utran-2",
"eutran-1",
"eutran-2",
"eutran-3",
"eutran-4",
"eutran-5",
"eutran-7",
"eutran-8",
"eutran-12",
"eutran-13",
"eutran-18",
"eutran-19",
"eutran-20",
"eutran-25",
"eutran-26",
"eutran-28",
"eutran-34",
"eutran-38",
"eutran-39",
"eutran-40",
"eutran-41",
"eutran-66",
"utran-19"
],
"current-capabilities": [
"gsm-umts, lte"
],
"current-modes": "allowed: 4g; preferred: none",
"device": "/sys/devices/platform/scb/fe9c0000.xhci/usb1/1-1/1-1.4",
"device-identifier": "2c759b7021f62d2e26973150063ea040b3662a65",
"drivers": [
"option",
"qmi_wwan"
],
"equipment-identifier": "862636056280785",
"hardware-revision": "10000",
"manufacturer": "QUALCOMM INCORPORATED",
"model": "SIMCOM_SIM7600G-H",
"own-numbers": [],
"physdev": "/sys/devices/platform/scb/fe9c0000.xhci/usb1/1-1/1-1.4",
"plugin": "simtech",
"ports": [
"cdc-wdm0 (qmi)",
"ttyUSB0 (ignored)",
"ttyUSB1 (gps)",
"ttyUSB2 (at)",
"ttyUSB3 (at)",
"ttyUSB4 (audio)",
"wwan0 (net)"
],
"power-state": "on",
"primary-port": "cdc-wdm0",
"primary-sim-slot": "1",
"revision": "LE20B04SIM7600G22",
"signal-quality": {
"recent": "yes",
"value": "0"
},
"sim": "/org/freedesktop/ModemManager1/SIM/0",
"sim-slots": [
"/org/freedesktop/ModemManager1/SIM/0",
"/"
],
"state": "failed",
"state-failed-reason": "sim-missing",
"supported-bands": [
"egsm",
"dcs",
"pcs",
"g850",
"utran-1",
"utran-4",
"utran-6",
"utran-5",
"utran-8",
"utran-2",
"eutran-1",
"eutran-2",
"eutran-3",
"eutran-4",
"eutran-5",
"eutran-7",
"eutran-8",
"eutran-12",
"eutran-13",
"eutran-18",
"eutran-19",
"eutran-20",
"eutran-25",
"eutran-26",
"eutran-28",
"eutran-34",
"eutran-38",
"eutran-39",
"eutran-40",
"eutran-41",
"eutran-66",
"utran-19"
],
"supported-capabilities": [
"gsm-umts, lte"
],
"supported-ip-families": [
"ipv4",
"ipv6",
"ipv4v6"
],
"supported-modes": [
"allowed: 2g; preferred: none",
"allowed: 3g; preferred: none",
"allowed: 4g; preferred: none",
"allowed: 2g, 3g; preferred: 3g",
"allowed: 2g, 3g; preferred: 2g",
"allowed: 2g, 4g; preferred: 4g",
"allowed: 2g, 4g; preferred: 2g",
"allowed: 3g, 4g; preferred: 4g",
"allowed: 3g, 4g; preferred: 3g",
"allowed: 2g, 3g, 4g; preferred: 4g",
"allowed: 2g, 3g, 4g; preferred: 3g",
"allowed: 2g, 3g, 4g; preferred: 2g"
],
"unlock-required": "--",
"unlock-retries": []
}
}
}
</syntaxhighlight>

====== Field Reference - mmcli -m 0 --output-json ======
{| class="wikitable"
|'''JSON Path'''
|'''Meaning'''
|'''Example Value'''
|'''Notes / Interpretation'''
|-
|modem.dbus-path
| Internal modem path
|/org/.../Modem/0
|Used by mmcli ( -m 0 )
|-
|modem.generic.manufacturer
| Modem vendor
|QUALCOMM INCORPORATED
|Hardware info
|-
|modem.generic.model
|Modem model
|SIM7600G-H
|
|-
|modem.generic.revision
|Firmware version
|LE20B04SIM7600G22
|Useful for debugging
|-
|modem.generic.device
|Linux device path
|/sys/devices/...
|USB device
|-
|modem.generic.drivers
|Kernel drivers
|option, qmi_wwan
|Must be present
|-
|modem.generic.primary-port
|Control interface
|cdc-wdm0
|Critical (QMI control)
|-
|modem.generic.ports
|Available interfaces
|ttyUSB*, wwan0
|Data + AT + GPS
|-
|modem.generic.power-state
|Power status
|on
|
|-
|modem.generic.state
|Modem state
|failed
|Main status field
|-
|modem.generic.state-failed-reason
|Failure reason
|sim-missing
|Root cause of failure
|-
|modem.generic.signal-quality.value
|Signal strength (%)
|0
|0 = no signal
|-
|modem.generic.current-capabilities
|Active radio tech
|gsm-umts, lte
|
|-
|modem.generic.current-modes
|Active mode
|allowed: 4g
|Controlled via API
|-
|modem.generic.current-bands
|Active frequency bands
|[eutran-1, ...]
|Coverage related
|-
|modem.generic.supported-bands
|Supported bands
|[eutran-*, utran-*]
|Hardware capability
|-
|modem.generic.supported-ip-families
|IP support
|ipv4, ipv6, ipv4v6
|
|-
|modem.generic.sim
|SIM path
|/org/.../SIM/0
|
|-
|modem.generic.sim-slots
|SIM slots
|[slot1, slot2]
|Slot 2 empty here
|-
|modem.generic.primary-sim-slot
|Active SIM slot
|1
|
|-
|modem.generic.bearers
|Active data sessions
|[ ]
|Empty = no connection
|-
|modem.3gpp.imei
|Device IMEI
|862636056280785
|Unique identifier
|-
|modem.3gpp.operator-name
|Network name
| --
|Not available (no SIM)
|-
|modem.3gpp.operator-code
|MCC/MNC
| --
|Not available
|-
|modem.3gpp.registration-state
|Network state
| --
|Not registered
|-
|modem.3gpp.packet-service-state
|Data service state
| --
|No data session
|-
|modem.3gpp.eps.initial-bearer.settings.apn
|APN
| --
|Not set / no connection
|}

===== 24.13.16 Notes: =====

* If no modem is detected: '''Reply-Topic''': modem/runtime/out
<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"modem": {
"present": false
}
}
}
}
</syntaxhighlight>

* If SIM is locked or missing: '''Reply-Topic''': modem/runtime/out
<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"taskResult": {
"modem": {
"sim": "locked"
}
}
}
}
</syntaxhighlight>

* Operator scan may take several seconds and should be handled asynchronously.
* Some actions require:

- SIM card inserted

- Modem enabled

- '''cdc-wdm0''' interface available

* Signal strength is reported as percentage and may be cached by ModemActor.

==== <big>24.14 CANopen Actor</big> ====

===== 24.14.1 App Interfacing =====
User App interface and functionalities exposed to the open part of the MQTT broker.

The CANopen Actor provides a generic protocol interface to CANopen devices.

The actor does NOT interpret device-specific meaning (Object Dictionary semantics).

It only handles communication (HOW to talk).

===== 24.14.2 Configuration =====

====== '''Configure CANopen Nodes''' ======
'''Req-Topic''': canopenRM8007/config/in

Stores CANopen defaults and logical node configuration inside the actor.<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "CONFIG_CANOPEN",
"taskParams": {
"defaults": {
"sdo_timeout": "<SDO_TIMEOUT>"
},
"nodes": {
"<NODE_NAME>": {
"node_id": "<NODE_ID>",
"steps_per_rev": "<STEPS_PER_REV>"
}
}
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/config/out<syntaxhighlight lang="json">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "CONFIG_CANOPEN",
"taskResult": {
"defaults": {
"success": true
},
"motor_1": {
"success": true
}
}
}
}
</syntaxhighlight>'''Request Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"1777041089180"
|Unique request identifier. The same value isreturned in the response, allowing the applicationto match requests and responses.
|-
|origin
| string
|No
|"APP"
|Identifies who sent the request. Common values canbe
'''APP''', '''NodeRED''', '''CLI''', or '''TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the CANopencommand alias and parameters.
|-
|task.alias
|string
|Yes
|"CONFIG_CANOPEN"
|Defines the command to execute. For this section,the alias must be
'''CONFIG_CANOPEN'''.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the configuration data to store inside theCANopen actor.
|-
|task.taskParams.defaults
|object
|No
|{ "sdo_timeout":2.0 }
|Defines default CANopen settings used by the actorwhen no command-specific value is provided.
|-
|task.taskParams.defaults.sdo_timeout
|number
|No
|2.0
|Default timeout, in seconds, used for SDOoperations. For example, '''2.0'''
means the actor waitsup to 2 seconds for an SDO response.
|-
|task.taskParams.nodes
|object
|Yes
|<nowiki>{ "motor_1": {...}}</nowiki>
|List of logical CANopen nodes known by the actor.Each key is a user-defined node name.
|-
|task.taskParams.nodes.<NODE_NAME>
|object
|Yes
|"motor_1"
|Logical name used to reference a node later withoutrepeatedly sending its
'''node_id'''.
|-
|task.taskParams.nodes.<NODE_NAME>.node_id
|integer
|Yes
|5
|CANopen node ID on the CAN bus. Valid CANopennode IDs are normally in the range
'''1..127'''.
|-
|task.taskParams.nodes.<NODE_NAME>.steps_per_rev
|integer
|Recommended
|4096
|Number of raw position counts corresponding toone full mechanical revolution, 360°. The actor usesthis later to convert raw position into revolutions and angle_deg.
|}
'''Response Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"1777041089180"
|Same request identifier received in the request. Used to correlate the
response with the original command.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response. For successful
handler replies, this is canopen-actor.
|-
|task
|object
|{...}
|Main response object containing the executed alias and the command
result.
|-
|task.alias
|string
|"CONFIG_CANOPEN"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object containing the configuration outcome.
|-
|task.taskResult.defaults.success
|boolean
|true
|Indicates that the '''defaults''' configuration was successfully stored. This
field is present only if '''defaults''' was included in the request.
|-
|task.taskResult.<NODE_NAME>.success
|boolean
|true
|Indicates that the logical node configuration was successfully stored.
Example: '''taskResult.motor_1.success = true'''.
|-
|task.taskResult.success
|boolean
|true
|Generic success field. This appears when no specific '''defaults''' or '''nodes'''
result is generated.
|-
|task.taskResult.error
|string
|"unknown alias
CONFIG_X"
|Error description. This field is present only when the command fails.
|}
'''CONFIG_CANOPEN''' does not communicate with the CANopen device directly. It stores logical node configuration inside the actor so that later runtime

commands can refer to nodes by name instead of always sending the numeric '''node_id'''.

====== Configure one CANopen Transmit PDO ======
Configures a TPDO to transmit position data.

The handler validates '''pdo_num''' as '''1..4''', defaults '''map_index''' to '''0x6004''', '''map_subindex''' to '''0x00''', '''map_bits''' to '''32''', '''transmission_type''' to '''255''' , '''event_timer_ms'''

to '''20''', and '''inhibit_time_100us''' to '''0'''.

'''Req-Topic''': canopenRM8007/config/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "CONFIG_POSITION_TPDO",
"taskParams": {
"node_id": 5,
"pdo_num": 1,
"map_index": "0x6004",
"map_subindex": "0x00",
"map_bits": 32,
"transmission_type": 255,
"event_timer_ms": 2,
"inhibit_time_100us": 20,
"offset": 0,
"size": 4,
"signed": false,
"steps_per_rev": 4096,
"timeout": 2.0
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/config/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "CONFIG_POSITION_TPDO",
"taskResult": {
"success": true,
"node_id": 5,
"pdo_num": 1,
"comm_index": 6144,
"map_index": 6656,
"mapped_object": "0x6004:00/32",
"transmission_type": 255,
"event_timer_ms": 2,
"inhibit_time_100us": 20,
"cob_id": 389
}
}
}
</syntaxhighlight>

====== Parameter description ======
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Default'''
|'''Description'''
|-
|node_id
| int
|Yes*
|—
|CANopen node ID.
|-
|node
| string
|Yes*
|—
|Logical node name configured previously with '''CONFIG_CANOPEN'''.
|-
|pdo_num
|int
|No
|1
|TPDO number. Valid range: '''1..4'''.
|-
|map_index
|int/string
|No
|0x6004
|Object dictionary index to map. Hex strings such as "'''0x6004'''" are
supported.
|-
|map_subindex
|int/string
|No
|0x00
|Object dictionary subindex.
|-
|map_bits
|int
|No
|32
|Number of mapped bits.
|-
|transmission_type
|int
|No
|255
|CANopen TPDO transmission type.
|-
|event_timer_ms
|int
|No
|20
|TPDO event timer in milliseconds.
|-
|inhibit_time_100us
|int
|No
|0
|Inhibit time in 100 μs units.
|-
|offset
|int
|No
|0
|Byte offset used later when decoding PDO position.
|-
|size
|int
|No
|4
|Number of bytes used later when decoding PDO position.
|-
|signed
|bool
|No
|false
|Whether decoded raw position should be interpreted as signed.
|-
|steps_per_rev
|int
|Recommended
|'''4096''' if saved into node

config
|Encoder steps per revolution.
|-
|timeout
|float
|No
|actor default
|SDO/NMT operation timeout.
|}

===== 24.14.3 Runtime Operations =====
Supported runtime aliases include <small>'''READ, READ_CONTINUOUS, STOP_READ_CONTINUOUS, READ_PDO_CONTINUOUS, STOP_READ_PDO_CONTINUOUS, PING, NMT_COMMAND, SDO_READ, SDO_WRITE, READ_HEARTBEAT, RECV_PDO, RECV_EMCY'''</small>, and <small>'''QUERY_NODE_INFO'''</small><small>'''.'''</small>

====== NMT Control ======
'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "CONFIG_CANOPEN",
"taskParams": {
"defaults": {
"sdo_timeout": "<SDO_TIMEOUT>"
},
"nodes": {
"<NODE_NAME>": {
"node_id": "<NODE_ID>",
"steps_per_rev": "<STEPS_PER_REV>"
}
}
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "NMT_COMMAND",
"taskResult": {
"success": true,
"id": "nmt-start-node5",
"node_id": 5,
"command": "START",
"confirmed": true,
"state": null
}
}
}
</syntaxhighlight>

* '''Supported NMT Commands'''

{| class="wikitable"
|'''Command'''
|'''Meaning'''
|'''Notes'''
|-
|START
| Puts the node into Operational state.
|If '''wait''' = '''true''', the actor waits for heartbeat state '''OPERATIONAL'''.
|-
|STOP
| Puts the node into Stopped state.
|If '''wait''' = '''true''', the actor waits for heartbeat state '''STOPPED'''.
|-
|PRE_OP
|Puts the node into Pre-Operational state.
|Used before operations such as PDO remapping.
|-
|PRE-OP
|Same as '''PRE_OP'''.
|Alternative accepted spelling.
|-
|PREOP
|Same as '''PRE_OP'''.
|Alternative accepted spelling.
|-
|PRE_OPERATIONAL
|Same as '''PRE_OP'''.
|Alternative accepted spelling.
|-
|RESET_NODE
|Resets the CANopen node application.
|If '''wait''' = '''true''', the actor waits for boot-up heartbeat.
|-
|RESET
|Same as '''RESET_NODE'''.
|Alternative accepted spelling.
|-
|RESET_COMM
|Resets CANopen communication.
|Sends NMT reset communication command.
|}

* '''Request Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"<TIMESTAMP>"
|Unique request identifier. The same value is returned in the response.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request, for example '''APP''' , '''NodeRED''' , '''CLI''' , or
'''TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the command alias and parameters.
|-
|task.alias
|string
|Yes
|"NMT_COMMAND"
|Defines the command to execute. For this operation, it must be
'''NMT_COMMAND'''.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the NMT command parameters.
|-
|task.taskParams.node_id
|integer
|Yes
|5
|Numeric CANopen node ID that will receive the NMT command.
|-
|task.taskParams.nodeId
|integer
|Yes
|5
|Alternative spelling for '''node_id'''.
|-
|task.taskParams.node
|string
|Yes
|"motor_1"
|Logical node name previously configured with '''CONFIG_CANOPEN'''.
|-
|task.taskParams.command
|string
|No
|"START"
|NMT command to send. If omitted, the actor defaults to '''START'''.
|-
|task.taskParams.wait
|boolean
|No
|false
|If '''true''', the actor waits for heartbeat/state confirmation when supported. If
'''false''', the command is sent without waiting for confirmation.
|-
|task.taskParams.timeout
|number
|No
|5.0
|Timeout, in seconds, used when waiting for NMT confirmation.
Default is '''5.0'''.
|-
|task.taskParams.sdo_timeout
|number
|No
|2.0
|Internal timeout used when creating/updating the CANopen node wrapper.
Usually not required for basic NMT usage.
|}

* '''Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the request. Used to correlate request and
response.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"NMT_COMMAND"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object containing the NMT command result.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the actor successfully executed the NMT command.
|-
|task.taskResult.id
|string
|"nmt-start-node5"
|Internal/request ID returned by the CANopen RPC call. Usually matches the
original request '''id'''.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that received the NMT command.
|-
|task.taskResult.command
|string
|"START"
|NMT command that was executed. For aliases such as '''RESET''' , the response may
normalize the command to '''RESET_NODE'''.
|-
|task.taskResult.confirmed
|boolean
|true
|Indicates whether the command was considered successful. If '''wait''' = '''false''' , this
usually means the command was sent successfully. If '''wait''' = '''true''' , this means

the expected heartbeat/state confirmation was received.
|-
|task.taskResult.state
|string/null
|null
|Confirmed NMT state when '''wait''' = '''true''' and state confirmation is available.
Otherwise it is '''null''' . Possible values include '''OPERATIONAL''' , '''STOPPED''' , and '''PRE_OP'''.
|-
|task.taskResult.error
|string
|"unsupported NMT
command X"
|Error description. Present only when the command fails.
|}

====== SDO Read ======
Reads an object dictionary value using SDO upload.

'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "SDO_READ",
"taskParams": {
"node_id": 5,
"index": "0x6004",
"subindex": "0x00",
"timeout": 2.0
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "SDO_READ",
"taskResult": {
"success": true,
"id": "sdo-read-position-node5",
"node_id": 5,
"index": 24580,
"subindex": 0,
"value": 123456
}
}
}
</syntaxhighlight>

* '''Request Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"<TIMESTAMP>"
|Unique request identifier. The same value is returned in the response.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request, for example '''APP''' , '''NodeRED''' , '''CLI''' , or
'''TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the command alias and parameters.
|-
|task.alias
|string
|Yes
|"SDO_READ"
|Defines the command to execute. For this operation, it must be '''SDO_READ'''.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the SDO read parameters.
|-
|task.taskParams.node_id
|integer
|Yes
|5
|Numeric CANopen node ID to read from.
|-
|task.taskParams.nodeId
|integer
|Yes
|5
|Alternative spelling for '''node_id'''.
|-
|task.taskParams.node
|string
|Yes
|"motor_1"
|Logical node name previously configured with '''CONFIG_CANOPEN'''.
|-
|task.taskParams.index
|integer/string
|Yes
|"0x6004"
|CANopen object dictionary index to read. Hex strings such as "'''0x6004'''"
are supported.
|-
|task.taskParams.subindex
|integer/string
|No
|"0x00"
|CANopen object dictionary subindex to read. If omitted, defaults to '''0'''.
|-
|task.taskParams.timeout
|number
|No
|2.0
|Timeout, in seconds, used for the SDO read operation. If omitted, the
actor default SDO timeout is used.
|}

* '''Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the request. Used to correlate request and
response.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"SDO_READ"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object containing the SDO read result.
task
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the SDO read was successful.
|-
|task.taskResult.id
|string
|"sdo-read-positionnode5"
|Internal/request ID returned by the CANopen RPC call. Usually matches the
original request '''id'''.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that was read.
|-
|task.taskResult.index
|integer
|24580
|Object dictionary index that was read, returned as decimal. Example: '''24580''' =
'''0x6004'''.
|-
|task.taskResult.subindex
|integer
|0
|Object dictionary subindex that was read.
|-
|task.taskResult.value
|integer
|123456
|Raw value returned by the SDO read operation.
task.
|-
|task.taskResult.error
|string
|"SDO timeout
0x6004:00"
|Error description. Present only when the command fails.
SDO
|}

* SDO Write

Writes an object dictionary value using SDO download.

'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "SDO_WRITE",
"taskParams": {
"node_id": 5,
"index": "0x6003",
"subindex": "0x00",
"value": 0,
"size": 4,
"timeout": 2.0
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "SDO_WRITE",
"taskResult": {
"success": true,
"id": "sdo-write-node5",
"node_id": 5,
"index": 24579,
"subindex": 0,
"value": 0,
"size": 4
}
}
}
</syntaxhighlight>

* '''Parameter descirption'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Default'''
|'''Description'''
|-
|node_id / nodeId / node
| int/string
|Yes
|—
|CANopen node reference.
|-
|index
| int/string
|Yes
|—
|Object dictionary index.
|-
|subindex
|int/string
|No
|0
|Object dictionary subindex.
|-
|value
|int/string
|Yes
|—
|Value to write.
|-
|size
|int
|No
|4
|Number of bytes: usually '''1''' , '''2''' , or '''4.'''
|-
|timeout
|float
|No
|actor default
|SDO timeout in seconds.
|}

* '''Request Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"<TIMESTAMP>"
|Unique request identifier. The same value is returned in the response.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request, for example '''APP''' , '''NodeRED''' , '''CLI''' , or

'''TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the command alias and parameters.
|-
|task.alias
|string
|Yes
|"SDO_WRITE"
|Defines the command to execute. For this operation, it must be

'''SDO_WRITE'''.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the SDO write parameters.
|-
|task.taskParams.node_id
|integer
|Yes*
|5
|Numeric CANopen node ID to write to.
|-
|task.taskParams.nodeId
|integer
|Yes*
|5
|Alternative spelling for '''node_id'''.
|-
|task.taskParams.node
|string
|Yes*
|"motor_1"
|Logical node name previously configured with '''CONFIG_CANOPEN.'''
|-
|task.taskParams.index
|integer/string
|Yes
|"0x6003"
|CANopen object dictionary index to write. Hex strings such as "'''0x6003'''"

are supported.
|-
|task.taskParams.subindex
|integer/string
|No
|"0x00"
|CANopen object dictionary subindex to write. If omitted, defaults to '''0'''.
|-
|task.taskParams.value
|integer/string
|Yes
|0
|Value to write into the selected object dictionary entry. Hex strings are

also supported.
|-
|task.taskParams.size
|integer
|No
|4
|Number of bytes to write. Valid values are normally '''1''' , '''2''' , '''3''' , or '''4''' . If

omitted, defaults to '''4'''.
|-
|task.taskParams.timeout
|number
|No
|2.0
|Timeout, in seconds, used for the SDO write operation. If omitted, the

actor default SDO timeout is used.
|}

* '''Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the request. Used to correlate request andresponse.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"SDO_WRITE"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object containing the SDO write result.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the SDO write was successful.
|-
|task.taskResult.id
|string
|"sdo-write-node5"
|Internal/request ID returned by the CANopen RPC call.

Usually matches theoriginal request '''id'''.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that was written to.
|-
|task.taskResult.index
|integer
|24579
|Object dictionary index that was written, returned as decimal.

Example: '''24579 =0x6003'''.
|-
|task.taskResult.subindex
|integer
|0
|Object dictionary subindex that was written.
|-
|task.taskResult.value
|integer
|0
|Value that was written.
|-
|task.taskResult.size
|integer
|4
|Number of bytes written.
|-
|task.taskResult.error
|string
|"SDO abort 0x6003:00 ->..."
|Error description. Present only when the command fails.
|}

====== Read Node State ======
Reads position and returns raw value, revolutions, and angle. Internally, this reads the configured position object, defaulting to

'''0x6004:00'''. '''If''' '''steps_per_rev''' is not provided, the owner reads '''0x6501:00''' to obtain it.

'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "READ",
"taskParams": {
"node_id": 5,
"index": "0x6004",
"subindex": "0x00",
"steps_per_rev": 4096,
"timeout": 2.0
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "READ",
"taskResult": {
"success": true,
"id": "read-node5",
"node_id": 5,
"raw": 1024,
"steps_per_rev": 4096,
"revolutions": 0.25,
"angle_deg": 90.0,
"index": 24580,
"subindex": 0
}
}
}
</syntaxhighlight>

* '''Request Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"<TIMESTAMP>"
|Unique request identifier. The same value is returned in theresponse.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request, for example '''APP, NodeRED, CLI''', or '''TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the command alias andparameters.
|-
|task.alias
|string
|Yes
|"READ"
|Defines the command to execute. For this operation, it must be '''READ'''.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the position read parameters.
|-
|task.taskParams.node_id
|integer
|Yes*
|5
|Numeric CANopen node ID to read from.
|-
|task.taskParams.nodeId
|integer
|Yes*
|5
|Alternative spelling for '''node_id'''.
|-
|task.taskParams.node
|string
|Yes*
|"motor_1"
|Logical node name previously configured with '''CONFIG_CANOPEN'''.
|-
|task.taskParams.index
|integer/string
|No
|"0x6004"
|CANopen object dictionary index used as the raw positionsource. If omitted, defaults to '''0x6004'''.
|-
|task.taskParams.subindex
|integer/string
|No
|"0x00"
|CANopen object dictionary subindex used as the raw positionsource. If omitted, defaults to '''0x00'''.
|-
|task.taskParams.steps_per_rev
|integer
|Recommended
|4096
|Number of raw counts per mechanical revolution. Used tocalculate

'''revolutions''' and '''angle_deg'''. If omitted, the ownerattempts to read '''0x6501:00'''.
|-
|task.taskParams.timeout
|number
|No
|2.0
|Timeout, in seconds, used for the internal SDO reads. Ifomitted, the actor default SDO timeout is used.
|-
|task.taskParams.sdo_timeout
|number
|No
|2.0
|Internal SDO timeout used when creating/updating the nodewrapper. Usually not required.
|}

* '''Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the request. Used to correlate request andresponse.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object containing the position read result.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the position read was successful.
|-
|task.taskResult.id
|string
|"read-node5"
|Internal/request ID returned by the CANopen RPC call. Usually matches theoriginal request '''id'''.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that was read.
|-
|task.taskResult.raw
|integer
|1024
|Raw position value read from the selected object dictionary entry.
|-
|task.taskResult.steps_per_rev
|integer
|4096
|Number of raw counts per revolution used for the conversion.
|-
|task.taskResult.revolutions
|number
|0.25
|Raw position converted into revolutions. Example: '''1024 / 4096 = 0.25'''.
|-
|task.taskResult.angle_deg
|number
|90.0
|Position inside one revolution, in degrees. Example: '''0.25 × 360 = 90°'''.
|-
|task.taskResult.index
|integer
|24580
|Object dictionary index read as the raw position source. Example: '''24580 =0x6004'''.
|-
|task.taskResult.subindex
|integer
|0
|Object dictionary subindex read as the raw position source.
|-
|task.taskResult.error
|string
|"SDO timeout0x6004:00"
|Error description. Present only when the command fails.
|}

====== READ SDO Continuous ======
Starts continuous SDO-based position reading.

The initial command returns an acknowledgement. After that, continuous samples are published repeatedly to '''canopen/runtime/out'''

The continuous loop requires a single node reference and requires '''steps_per_rev'''.

* '''Start request'''

'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "READ_CONTINUOUS",
"taskParams": {
"node_id": 5,
"steps_per_rev": 4096,
"index": "0x6004",
"subindex": "0x00",
"timeout": 0.2,
"interval_ms": 20
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
// Start acknowledgement
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "READ_CONTINUOUS",
"taskResult": {
"success": true,
"running": true,
"mode": "single",
"interval_ms": 20
}
}
}
</syntaxhighlight><syntaxhighlight lang="json" line="1">
// Continuous sample response
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "READ_CONTINUOUS",
"taskResult": {
"success": true,
"node_id": 5,
"angle_deg": 90.0,
"steps_per_rev": 4096,
"revolutions": 0.25,
"raw": 1024,
"index": 24580,
"subindex": 0,
"continuous": true,
"request_id": "read-cont-node5"
}
}
}
</syntaxhighlight>

* '''Start Request Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"<TIMESTAMP>"
|Unique request identifier. Continuous sample responses include

this value as '''request_id'''.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request, for example '''APP''', '''NodeRED''',

'''CLI''', or '''TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the command alias and

parameters.
|-
|task.alias
|string
|Yes
|"READ_CONTINUOUS"
|Defines the command to execute. For this operation, it must be

'''READ_CONTINUOUS'''.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the continuous read parameters.
|-
|task.taskParams.node_id
|integer
|Yes*
|5
|Numeric CANopen node ID to read continuously.
|-
|task.taskParams.nodeId
|integer
|Yes*
|5
|Alternative spelling for '''node_id'''.
|-
|task.taskParams.node
|string
|Yes*
|"motor_1"
|Logical node name previously configured with '''CONFIG_CANOPEN'''.
|-
|task.taskParams.steps_per_rev
|integer
|Yes**
|4096
|Number of raw counts per mechanical revolution. Required by

the fast continuous read loop to calculate '''revolutions''' and

'''angle_deg'''.
|-
|task.taskParams.index
|integer/string
|No
|"0x6004"
|CANopen object dictionary index used as the raw position

source. If omitted, defaults to '''0x6004'''.
|-
|task.taskParams.subindex
|integer/string
|No
|"0x00"
|CANopen object dictionary subindex used as the raw position

source. If omitted, defaults to '''0x00'''.
|-
|task.taskParams.timeout
|number
|No
|0.2
|Timeout, in seconds, used for each fast SDO read cycle. If

omitted, defaults to '''0.2'''.
|-
|task.taskParams.interval_ms
|integer
|No
|20
|Delay between continuous read cycles, in milliseconds. If '''0''' , the

loop runs again immediately after each cycle yields control.
|-
|task.taskParams.action
|string
|No
|"START"
|Optional action. If set to '''STOP''' , '''OFF''' , '''CANCEL''' , or '''DISABLE''' , the

actor stops the continuous read loop instead of starting it.
|}

* '''Start Acknowledgement Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the start request.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ_CONTINUOUS"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object confirming that continuous reading was started.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the start command was accepted.
|-
|task.taskResult.running
|boolean
|true
|Indicates that the continuous read loop is running.
|-
|task.taskResult.mode
|string
|"single"
|Read mode. In this fast continuous path, a single node is used when '''node_id''' ,

'''nodeId''' , or '''node''' is provided.
|-
|task.taskResult.interval_ms
|integer
|20
|Configured delay between continuous read cycles, in milliseconds.
|-
|task.taskResult.error
|string
|"no configured nodes"
|Error description. Present only when the start command fails.
|}

* '''Continuous Sample Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| integer/string
|1777041089180
|Sample response ID generated by the actor for each read cycle.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the sample response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ_CONTINUOUS"
|Alias of the running continuous command.
|-
|task.taskResult
|object
|{...}
|Result object containing one continuous position sample.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether this specific read cycle was successful.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that was read.
|-
|task.taskResult.angle_deg
|number
|90.0
|Position inside one revolution, in degrees.
|-
|task.taskResult.steps_per_rev
|integer
|4096
|Number of raw counts per revolution used for conversion.
|-
|task.taskResult.revolutions
|number
|0.25
|Raw position converted into revolutions.
|-
|task.taskResult.raw
|integer
|1024
|Raw position value read from the node.
|-
|task.taskResult.index
|integer
|24580
|Object dictionary index read as the raw position source. Example: '''24580 ='''

'''0x6004'''.
|-
|task.taskResult.subindex
|integer
|0
|Object dictionary subindex read as the raw position source.
|-
|task.taskResult.continuous
|boolean
|true
|Marks this response as a continuous sample, not just the initial

acknowledgement.
|-
|task.taskResult.request_id
|string
|"read-cont-node5"
|Original request '''id''' that started the continuous loop. Useful to correlate

samples with the start command.
|-
|task.taskResult.error
|string
|"operation failed"
|Error description for a failed sample. Present only when a read cycle fails.
|}

====== Stop request ======
You can stop using either '''STOP_READ_CONTINUOUS''' :

'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "STOP_READ_CONTINUOUS",
"taskParams": {}
}
}
</syntaxhighlight>Or by sending '''READ_CONTINUOUS''' with '''action: "STOP"''' :<syntaxhighlight lang="json" line="1">
{
"id": "stop-read-cont",
"origin": "APP",
"task": {
"alias": "READ_CONTINUOUS",
"taskParams": {
"action": "STOP"
}
}
}
</syntaxhighlight>'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "stop-read-cont",
"origin": "canopen-actor",
"task": {
"alias": "READ_CONTINUOUS",
"taskResult": {
"success": true,
"running": false,
"stopped": true
}
}
}
</syntaxhighlight>

* '''Stop Request Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"stop-read-cont"
|Unique request identifier.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request.
|-
|task.alias
|string
|Yes
|"READ_CONTINUOUS" or

"STOP_READ_CONTINUOUS"
|Command used to stop the continuous read loop.
|-
|task.taskParams.action
|string
|No
|"STOP"
|When using '''READ_CONTINUOUS''' , set '''action''' to '''STOP''' , '''OFF''' , '''CANCEL''' ,

or '''DISABLE''' to stop the loop. Not required when using

'''STOP_READ_CONTINUOUS'''.
|}

* '''Stop Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"stop-read-cont"
|Same request identifier received in the stop request.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task.alias
|string
|"READ_CONTINUOUS"
|Alias returned by the stop handler.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the stop request was processed successfully.
|-
|task.taskResult.running
|boolean
|false
|Indicates that the continuous read loop is no longer running.
|-
|task.taskResult.stopped
|boolean
|true
|Indicates whether there was an active task that was actually stopped. If no continuous

task was running, this may be '''false'''.
|}

====== Continuous PDO Reading ======
Starts continuous PDO-based position reading.

This command does not perform repeated SDO reads. Instead, it waits for TPDO frames already being transmitted by the CANopen node.

Normally, the TPDO should be configured first using '''CONFIG_POSITION_TPDO'''.

The initial command returns an acknowledgement. After that, continuous sample responses are published repeatedly to: '''canopenRM8007/runtime/out'''

* '''Start Request'''

'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "APP",
"task": {
"alias": "READ_PDO_CONTINUOUS",
"taskParams": {
"node_id": 5,
"pdo_num": 1,
"steps_per_rev": 4096,
"offset": 0,
"size": 4,
"signed": false,
"timeout": 1.0,
"interval_ms": 20
}
}
}
</syntaxhighlight>

* '''Start Acknowledgement'''

'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "READ_PDO_CONTINUOUS",
"taskResult": {
"success": true,
"running": true,
"mode": "pdo",
"pdo_num": 1,
"interval_ms": 20
}
}
}
</syntaxhighlight>

* '''Continuous Sample Response'''

'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "<TIMESTAMP>",
"origin": "canopen-actor",
"task": {
"alias": "READ_PDO_CONTINUOUS",
"taskResult": {
"success": true,
"node_id": 5,
"pdo_num": 1,
"angle_deg": 90.0,
"steps_per_rev": 4096,
"revolutions": 0.25,
"raw": 1024,
"data": [0, 4, 0, 0],
"offset": 0,
"size": 4,
"signed": false,
"continuous": true,
"request_id": "read-pdo-cont-node5"
}
}
}
</syntaxhighlight>'''Start Request Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Required'''
|'''Example'''
|'''Description'''
|-
|id
| string
|Yes
|"<TIMESTAMP>"
|Unique request identifier. Continuous sample responses include

this value as '''request_id'''.
|-
|origin
| string
|No
|"APP"
|Identifies the sender of the request, for example '''APP , NodeRED ,'''

'''CLI , or TestClient'''.
|-
|task
|object
|Yes
|{...}
|Main command object containing the command alias and

parameters.
|-
|task.alias
|string
|Yes
|"READ_PDO_CONTINUOUS"
|Defines the command to execute.
|-
|task.taskParams
|object
|Yes
|{...}
|Contains the PDO continuous read parameters.
|-
|task.taskParams.node_id
|integer
|Yes*
|5
|Numeric CANopen node ID to read from.
|-
|task.taskParams.nodeId
|integer
|Yes*
|5
|Alternative spelling for '''node_id'''.
|-
|task.taskParams.node
|string
|Yes*
|"motor_1"
|Logical node name previously configured with '''CONFIG_CANOPEN'''. If

used, the actor can reuse saved '''steps_per_rev , pdo_num ,'''

'''offset , size''' , and '''signed''' values from the node configuration.
|-
|task.taskParams.pdo_num
|integer
|No
|1
|TPDO number to listen to. If omitted, defaults to '''1'''.
|-
|task.taskParams.steps_per_rev
|integer
|Yes**
|4096
|Number of raw position counts per mechanical revolution. Used

to convert '''raw''' into '''revolutions''' and '''angle_deg'''.
|-
|task.taskParams.offset
|integer
|No
|0
|Byte offset inside the PDO payload where the position value

starts.
|-
|task.taskParams.size
|integer
|No
|4
|Number of bytes to decode from the PDO payload. For a 32-bit

position value, use '''4'''.
|-
|task.taskParams.signed
|boolean
|No
|false
|Defines whether the raw value should be decoded as signed or

unsigned.
|-
|task.taskParams.timeout
|number
|No
|1.0
|Timeout, in seconds, while waiting for each TPDO frame. If no

TPDO is received within this time, the cycle fails.
|-
|task.taskParams.interval_ms
|integer
|No
|20
|Delay between read cycles, in milliseconds. If '''0''' , the loop

immediately starts the next cycle after yielding control.
|-
|task.taskParams.action
|string
|No
|"START"
|Optional action. If set to '''STOP , OFF , CANCEL , or DISABLE''' , the

actor stops the continuous loop instead of starting it.
|}

* '''Start Acknowledgement Response Parameters'''
{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"<TIMESTAMP>"
|Same request identifier received in the start request.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ_PDO_CONTINUOUS"
|Alias of the command that was executed.
|-
|task.taskResult
|object
|{...}
|Result object confirming whether the continuous PDO read

was started.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the start command was accepted.
|-
|task.taskResult.running
|boolean
|true
|Indicates that the continuous PDO read loop is running.
|-
|task.taskResult.mode
|string
|"pdo"
|Indicates that the loop is using PDO reception mode.
|-
|task.taskResult.pdo_num
|integer
|1
|TPDO number being listened to.
|-
|task.taskResult.interval_ms
|integer
|20
|Configured delay between read cycles, in milliseconds.
|-
|task.taskResult.error
|string
|"'''READ_PDO_CONTINUOUS''' requires a single

node"
|Error description. Present only when the start command

fails.
|}

* '''Continuous Sample Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| integer/string
|1777041089180
|Sample response ID generated by the actor for each PDO read cycle.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the sample.
|-
|task
|object
|{...}
|Main response object.
|-
|task.alias
|string
|"READ_PDO_CONTINUOUS"
|Alias of the running continuous command.

task.
|-
|task.taskResult
|object
|{...}
|Result object containing one decoded PDO position sample.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether this specific PDO read cycle was successful.
|-
|task.taskResult.node_id
|integer
|5
|CANopen node ID that produced the TPDO.
|-
|task.taskResult.pdo_num
|integer
|1
|TPDO number received and decoded.
|-
|task.taskResult.angle_deg
|number
|90.0
|Position inside one revolution, in degrees.
|-
|task.taskResult.steps_per_rev
|integer
|4096
|Number of raw counts per revolution used for conversion.
|-
|task.taskResult.revolutions
|number
|0.25
|Raw position converted into revolutions. Example: '''1024 / 4096 = 0.25''' .
|-
|task.taskResult.raw
|integer
|1024
|Decoded raw position value from the PDO payload.
|-
|task.taskResult.data
|array
|[0, 4, 0, 0]
|Raw PDO payload bytes received from the CANopen node.
|-
|task.taskResult.offset
|integer
|0
|Byte offset used to extract the raw position value from '''data.'''
|-
|task.taskResult.size
|integer
|4
|Number of bytes decoded from '''data'''.
|-
|task.taskResult.signed
|boolean
|false
|Indicates whether the raw value was decoded as signed or unsigned.
|-
|task.taskResult.continuous
|boolean
|true
|Marks this response as a continuous sample.
|-
|task.taskResult.request_id
|string
|"read-pdo-cont-node5"
|Original request '''id''' that started the continuous loop. Useful to

correlate samples with the start command.
|-
|task.taskResult.error
|string
|"pdo operation failed"
|Error description. Present only when a sample fails.
|}

====== Stop Request ======
'''Req-Topic''': canopenRM8007/runtime/in<syntaxhighlight lang="json" line="1">
{
"id": "stop-pdo-cont",
"origin": "APP",
"task": {
"alias": "STOP_READ_PDO_CONTINUOUS",
"taskParams": {}
}
}
</syntaxhighlight>Alternative stop request using '''READ_PDO_CONTINUOUS''':<syntaxhighlight lang="json" line="1">
{
"id": "stop-pdo-cont",
"origin": "APP",
"task": {
"alias": "READ_PDO_CONTINUOUS",
"taskParams": {
"action": "STOP"
}
}
}
</syntaxhighlight>

====== '''Stop Response''' ======
'''Reply-Topic''': canopenRM8007/runtime/out<syntaxhighlight lang="json" line="1">
{
"id": "stop-pdo-cont",
"origin": "canopen-actor",
"task": {
"alias": "READ_PDO_CONTINUOUS",
"taskResult": {
"success": true,
"running": false,
"stopped": true
}
}
}
</syntaxhighlight>

* '''Stop Response Parameters'''

{| class="wikitable"
|'''Parameter'''
|'''Type'''
|'''Example'''
|'''Description'''
|-
|id
| string
|"stop-pdo-cont"
|Same request identifier received in the stop request.
|-
|origin
| string
|"canopen-actor"
|Identifies the component that generated the response.
|-
|task.alias
|string
|"READ_PDO_CONTINUOUS"
|Alias returned by the stop handler.
|-
|task.taskResult.success
|boolean
|true
|Indicates whether the stop request was processed successfully.
|-
|task.taskResult.running
|boolean
|false
|Indicates that the continuous PDO loop is no longer running.
|-
|task.taskResult.stopped
|boolean
|true
|Indicates whether there was an active continuous task that was actually stopped. If

no task was running, this may be '''false'''.
|}

====== Decode Logic ======
The received PDO payload is decoded using:

* '''offset''': first byte to read from the PDO payload;
* '''size''': number of bytes to read;
* '''signed''': whether the value is signed or unsigned;
* '''steps_per_rev''': scaling factor used to calculate revolutions and angle.

The raw value is decoded as little-endian:

'''raw = int.from_bytes(data[offset : offset + size], byteorder="little", signed=signed)'''

Then:

'''revolutions = raw / steps_per_rev'''

'''angle_deg = ((raw % steps_per_rev) / steps_per_rev) * 360.0'''

===== 24.14.4 Design Principles =====

* '''Protocol-Only Actor'''

The CANopen Actor is responsible for:

- CAN frame encoding/decoding;

- SDO communication;

- PDO reception (raw);

- NMT control;

- Heartbeat monitoring.

* '''No Device Semantics'''

The actor:

'''Does NOT know''':

- What 0x6004 represents;

- Units (RPM, mm, °C, etc.);

- Device-specific logic.

'''Only returns''':

- Raw values;

- Protocol-level responses.

* '''Node Management'''

- Nodes must be defined via configuration;

- Actor maintains node state internally;

- Supports multiple nodes simultaneously.

===== Summary =====
The CANopen Actor:

- Implements '''CANopen protocol communication;'''

- Provides '''generic MQTT interface;'''

- Supports '''multi-node networks;'''

- Keeps '''strict separation between transport and semantics.'''

=== 25. Included Software Stack ===
<br>
[[File:AtlasCode.svg|center|frameless|583x583px]]

<br>

=== 26. Software Stack and IPC Architecture ===
<br>
[[File:Hardware Peripherals Library Architecture.svg|center|frameless|1934x1934px]]

=== 27. Related Products ===
{| class="wikitable"
|'''PA'''
|'''Name'''
|'''Requirements'''
|-
|PA000000074
|[[SENSBLUE MONARCH|SENSBLUE MONARCH Gateway]]
|
|-
|}
{{SimilarProductsTable}}

=== 28. Accessories ===
{| class="wikitable"
|'''PA'''
|'''Name'''
|'''Requirements'''
|-
|
|
|
|-
|
|
|
|-
|
|
|
|-
|
|
|
|-
|
|
|
|}

=== 29. Document History ===
{| class="wikitable"
|'''Version'''
|'''Description'''
|'''Date'''
|-
|SBADATAv0.1
|First version of SENSBLUE ATLAS Datasheet
|11/03/2026
|-
|
|
|
|-
|
|
|
|}

=== 30. SENSBLUE ATLAS in-the-field ===
[IMAGE PLACEHOLDER]