device.yml

%YAML 1.1
---
# yaml-language-server: $schema=https://harp-tech.org/draft-02/schema/device.json
device: StepperDriver
whoAmI: 1130
firmwareVersion: "0.7"
hardwareTargets: "1.0"
registers:
  ##################################
  # Enable and disable
  ##################################
  EnableDriver:
    address: 32
    type: U8
    access: Write
    maskType: StepperMotors
    description: Enables the driver for a specific motor. If the driver is already enabled, the driver remains enabled.
  DisableDriver:
    address: 33
    type: U8
    access: Write
    maskType: StepperMotors
    description: Disables the driver for a specific stepper motor, which prevents current from being sent to the motor or load. If the driver is already disabled, the driver remains disabled.
  EnableEncoders:
    address: 34
    type: U8
    access: Write
    maskType: QuadratureEncoders
    description: Specifies a set of port quadrature counters to enable in the device.
  DisableEncoders:
    address: 35
    type: U8
    access: Write
    maskType: QuadratureEncoders
    description: Specifies a set of port quadrature counters to disable in the device.
  EnableDigitalInputs:
    address: 36
    type: U8
    access: Write
    maskType: DigitalInputs
    description: Specifies a set of digital inputs to enable in the device.
  DisableDigitalInputs:
    address: 37
    type: U8
    access: Write
    maskType: DigitalInputs
    description: Specifies a set of digital inputs to disable in the device.

  ##################################
  # Configuration
  ##################################
  Motor0OperationMode: &opmode
    address: 38
    type: U8
    access: Write
    maskType: MotorOperationMode
    description: Configures the operation mode for motor 0.
  Motor1OperationMode:
    <<: *opmode
    address: 39
    description: Configures the operation mode for motor 1.
  Motor2OperationMode:
    <<: *opmode
    address: 40
    description: Configures the operation mode for motor 2.
  Motor3OperationMode:
    <<: *opmode
    address: 41
    description: Configures the operation mode for motor 3.
  Motor0MicrostepResolution: &microstep_resolution
    address: 42
    type: U8
    access: Write
    maskType: MicrostepResolution
    description: Configures the microstep resolution for motor 0.
  Motor1MicrostepResolution:
    <<: *microstep_resolution
    address: 43
    description: Configures the microstep resolution for motor 1.
  Motor2MicrostepResolution:
    <<: *microstep_resolution
    address: 44
    description: Configures the microstep resolution for motor 2.
  Motor3MicrostepResolution:
    <<: *microstep_resolution
    address: 45
    description: Configures the microstep resolution for motor 3.

  Motor0MaximumRunCurrent: &maxcurrent
    address: 46
    minValue: 0.139
    maxValue: 2.1
    defaultValue: 0.2
    type: Float
    access: Write
    description: Configures the maximum run RMS current per phase for motor 0.
  Motor1MaximumRunCurrent:
    <<: *maxcurrent
    address: 47
    description: Configures the maximum run RMS current per phase for motor 1.
  Motor2MaximumRunCurrent:
    <<: *maxcurrent
    address: 48
    description: Configures the maximum run RMS current per phase for motor 2.
  Motor3MaximumRunCurrent:
    <<: *maxcurrent
    address: 49
    description: Configures the maximum run RMS current per phase for motor 3.

  Motor0HoldCurrentReduction: &currentreduction
    address: 50
    type: U8
    access: Write
    maskType: HoldCurrentReduction
    description: Configures the hold current reduction for motor 0.
  Motor1HoldCurrentReduction:
    <<: *currentreduction
    address: 51
    description: Configures the hold current reduction for motor 1.
  Motor2HoldCurrentReduction:
    <<: *currentreduction
    address: 52
    description: Configures the hold current reduction for motor 2.
  Motor3HoldCurrentReduction:
    <<: *currentreduction
    address: 53
    description: Configures the hold current reduction for motor 3.

  Motor0StepInterval: &nominalinterval
    address: 54
    minValue: 100
    maxValue: 20000
    defaultValue: 250
    type: U16
    access: Write
    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 0.
  Motor1StepInterval:
    <<: *nominalinterval
    address: 55
    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 1.
  Motor2StepInterval:
    <<: *nominalinterval
    address: 56
    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 2.
  Motor3StepInterval:
    <<: *nominalinterval
    address: 57
    description: Configures the time between step motor pulses (us) when running at nominal speed for motor 3.

  Motor0MaximumStepInterval: &maxinterval
    address: 58
    minValue: 100
    maxValue: 20000
    defaultValue: 2000
    type: U16
    access: Write
    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 0.
  Motor1MaximumStepInterval:
    <<: *maxinterval
    address: 59
    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 1.
  Motor2MaximumStepInterval:
    <<: *maxinterval
    address: 60
    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 2.
  Motor3MaximumStepInterval:
    <<: *maxinterval
    address: 61
    description: Configures the time between step motor pulses (us) used when starting or stopping a movement for motor 3.

  Motor0StepAccelerationInterval: &accperiod
    address: 62
    minValue: 2
    maxValue: 2000
    defaultValue: 10
    type: U16
    access: Write
    description: Configures the acceleration for motor 0. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
  Motor1StepAccelerationInterval:
    <<: *accperiod
    address: 63
    description: Configures the acceleration for motor 1. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
  Motor2StepAccelerationInterval:
    <<: *accperiod
    address: 64
    description: Configures the acceleration for motor 2. The time between step pulses is decreased by this value when accelerating and increased when decelerating.
  Motor3StepAccelerationInterval:
    <<: *accperiod
    address: 65
    description: Configures the acceleration for motor 3. The time between step pulses is decreased by this value when accelerating and increased when decelerating.

  EncoderMode:
    address: 66
    type: U8
    access: Write
    maskType: EncoderModeConfig
    description: Configures the operation mode of the quadrature encoder.
  EncoderSamplingRate:
    address: 67
    type: U8
    access: Write
    maskType: EncoderSamplingRateConfig
    description: Configures the sampling rate of the quadrature encoder event.

  Input0OpMode: &input_mode
    address: 68
    type: U8
    access: Write
    maskType: InputOpModeConfig
    description: Configures the operation mode for digital input 0.
  Input1OpMode:
    <<: *input_mode
    address: 69
    description: Configures the operation mode for digital input 1.
  Input2OpMode:
    <<: *input_mode
    address: 70
    description: Configures the operation mode for digital input 2.
  Input3OpMode:
    <<: *input_mode
    address: 71
    description: Configures the operation mode for digital input 3.

  InterlockEnabled:
    address: 72
    type: U8
    access: Write
    maskType: InterlockEnabledConfig
    description: Configures the external interlock connector state required for the device to be enabled.

  AccumulatedStepsSamplingRate:
    address: 73
    type: U8
    access: Write
    maskType: AccumulatedStepsSamplingRateConfig
    description: Configures the dispatch rate of the accumulated steps event.

  ##################################
  # Events
  ##################################
  MotorStopped:
    address: 74
    type: U8
    access: Event
    description: Emitted when any of the motors stops.
    payloadSpec:
      State:
        description: Specifies which motors are currently stopped.
        maskType: StepperMotors
        mask: 0x0F
      Changed:
        description: Specifies which motor just stopped.
        maskType: StepperMotors
        mask: 0xF0
  MotorOverVoltageDetection:
    address: 75
    type: U8
    access: Event
    maskType: StepperMotors
    description: Contains a bit mask specifying the motor where the over voltage detection and protection mechanism occurred, which can happen when the there's a quick deceleration from a high velocity or when the motor stalls (not implemented).
  MotorRaisedError:
    address: 76
    type: U8
    access: Event
    maskType: StepperMotors
    description: Contains a bit mask specifying the motor that triggered the error which can be happen in case of short-circuit or driver temperature above 165 degrees celsius.

  Encoders:
    address: 77
    type: S16
    length: 3
    access: [Event, Write]
    description: Contains the quadrature encoder readings.
    payloadSpec:
      Encoder0:
        offset: 0
        description: The quadrature counter on port ENC 0.
      Encoder1:
        offset: 1
        description: The quadrature counter on port ENC 1.
      Encoder2:
        offset: 2
        description: The quadrature counter on port ENC 2.

  DigitalInputState:
    address: 78
    access: Event
    type: U8
    maskType: DigitalInputStates
    description: Reflects the state of the digital input lines.

  DeviceState:
    address: 79
    type: U8
    access: Event
    maskType: DeviceStateMode
    description: Contains the state of the device.

  ##################################
  # Movement control
  ##################################

  MoveRelative:
    address: 80
    type: S32
    length: 4
    access: Write
    description: Moves all motors by the number of steps written in this array register and set the direction according to the value's signal. If a motor is disable, the user should set the value to 0.
    payloadSpec:
      Motor0:
        offset: 0
        description: Contains the number of steps used to move motor 0.
      Motor1:
        offset: 1
        description: Contains the number of steps used to move motor 1.
      Motor2:
        offset: 2
        description: Contains the number of steps used to move motor 2.
      Motor3:
        offset: 3
        description: Contains the number of steps used to move motor 3.

  Motor0MoveRelative: &motorsteps
    address: 81
    type: S32
    access: Write
    description: Moves motor 0 by the number of steps written in this register and set the direction according to the value's signal.
  Motor1MoveRelative:
    <<: *motorsteps
    address: 82
    description: Moves motor 1 by the number of steps written in this register and set the direction according to the value's signal.
  Motor2MoveRelative:
    <<: *motorsteps
    address: 83
    description: Moves motor 2 by the number of steps written in this register and set the direction according to the value's signal.
  Motor3MoveRelative:
    <<: *motorsteps
    address: 84
    description: Moves motor 3 by the number of steps written in this register and set the direction according to the value's signal.

  MoveAbsolute:
    address: 85
    type: S32
    length: 4
    access: Write
    description: Moves all motors to the absolute position written in this array register. If a motor is disable, the user should set the value to 0.
    payloadSpec:
      Motor0:
        offset: 0
        description: Contains the absolute position to move motor 0.
      Motor1:
        offset: 1
        description: Contains the absolute position to move motor 1.
      Motor2:
        offset: 2
        description: Contains the absolute position to move motor 2.
      Motor3:
        offset: 3
        description: Contains the absolute position to move motor 3.

  Motor0MoveAbsolute: &motorabsolutesteps
    address: 86
    type: S32
    access: Write
    description: Moves motor 0 to the absolute position written in this register.
  Motor1MoveAbsolute:
    <<: *motorabsolutesteps
    address: 87
    description: Moves motor 1 to the absolute position written in this register.
  Motor2MoveAbsolute:
    <<: *motorabsolutesteps
    address: 88
    description: Moves motor 2 to the absolute position written in this register.
  Motor3MoveAbsolute:
    <<: *motorabsolutesteps
    address: 89
    description: Moves motor 3 to the absolute position written in this register.

  AccumulatedSteps:
    address: 90
    type: S32
    length: 4
    access: [Event, Write]
    description: Contains the accumulated steps of all motors. Write a value to set the accumulated steps. An event will be emitted with a dispatch rate defined in AccumulatedStepsSamplingRate.
    payloadSpec:
      Motor0:
        offset: 0
        description: Contains the accumulated steps of motor 0.
      Motor1:
        offset: 1
        description: Contains the accumulated steps of motor 1.
      Motor2:
        offset: 2
        description: Contains the accumulated steps of motor 2.
      Motor3:
        offset: 3
        description: Contains the accumulated steps of motor 3.

  Mortor0AccumulatedSteps: &motorsaccumulatedsteps
    address: 91
    type: S32
    access: Write
    description: Contains the accumulated number of steps of motor 0. Write a value to set the current number of accumulated steps.
  Mortor1AccumulatedSteps:
    <<: *motorsaccumulatedsteps
    address: 92
    description: Contains the accumulated number of steps of motor 1. Write a value to set the current number of accumulated steps.
  Mortor2AccumulatedSteps:
    <<: *motorsaccumulatedsteps
    address: 93
    description: Contains the accumulated number of steps of motor 2. Write a value to set the current number of accumulated steps.
  Mortor3AccumulatedSteps:
    <<: *motorsaccumulatedsteps
    address: 94
    description: Contains the accumulated number of steps of motor 3. Write a value to set the current number of accumulated steps.

  MaxPosition:
    address: 95
    type: S32
    length: 4
    access: Write
    description: Defines the limit of the accumulated steps for the positive movement of all motors. The device will not let the motors move further than this value. A value equal to 0 will disable the limits.
    payloadSpec:
      Motor0:
        offset: 0
        description: Defines the limit of the accumulated steps for the positive movement of motor 0. The device will not let the motor move further than this value.
      Motor1:
        offset: 1
        description: Defines the limit of the accumulated steps for the positive movement of motor 1. The device will not let the motor move further than this value.
      Motor2:
        offset: 2
        description: Defines the limit of the accumulated steps for the positive movement of motor 2. The device will not let the motor move further than this value.
      Motor3:
        offset: 3
        description: Defines the limit of the accumulated steps for the positive movement of motor 3. The device will not let the motor move further than this value.

  Motor0MaxPosition: &motorsmaxsteps
    address: 96
    type: S32
    access: Write
    description: Specifies the limit of the accumulated steps for the positive movement of motor 0. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
  Motor1MaxPosition:
    <<: *motorsmaxsteps
    address: 97
    description: Specifies the limit of the accumulated steps for the positive movement of motor 1. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
  Motor2MaxPosition:
    <<: *motorsmaxsteps
    address: 98
    description: Specifies the limit of the accumulated steps for the positive movement of motor 2. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
  Motor3MaxPosition:
    <<: *motorsmaxsteps
    address: 99
    description: Specifies the limit of the accumulated steps for the positive movement of motor 3. The device will not let the motor move further than this value. A value equal to 0 disables the feature.

  MinPosition:
    address: 100
    type: S32
    length: 4
    access: Write
    description: Defines the limit of the accumulated steps for the negative movement of all motors. The device will not let the motors move further than this value. A value equal to 0 will disable the limits.
    payloadSpec:
      Motor0:
        offset: 0
        description: Defines the limit of the accumulated steps for the negative movement of motor 0. The device will not let the motor move further than this value.
      Motor1:
        offset: 1
        description: Defines the limit of the accumulated steps for the negative movement of motor 1. The device will not let the motor move further than this value.
      Motor2:
        offset: 2
        description: Defines the limit of the accumulated steps for the negative movement of motor 2. The device will not let the motor move further than this value.
      Motor3:
        offset: 3
        description: Defines the limit of the accumulated steps for the negative movement of motor 3. The device will not let the motor move further than this value.

  Motor0MinPosition: &motorsminsteps
    address: 101
    type: S32
    access: Write
    description: Specifies the limit of the accumulated steps for the negative movement of motor 0. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
  Motor1MinPosition:
    <<: *motorsminsteps
    address: 102
    description: Specifies the limit of the accumulated steps for the negative movement of motor 1. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
  Motor2MinPosition:
    <<: *motorsminsteps
    address: 103
    description: Specifies the limit of the accumulated steps for the negative movement of motor 2. The device will not let the motor move further than this value. A value equal to 0 disables the feature.
  Motor3MinPosition:
    <<: *motorsminsteps
    address: 104
    description: Specifies the limit of the accumulated steps for the negative movement of motor 3. The device will not let the motor move further than this value. A value equal to 0 disables the feature.

  StepRelative:
    address: 105
    type: S32
    length: 4
    access: Write
    description: Starts the movement of all motors with the step interval defined by this array. The value's signal defines the direction.
    payloadSpec:
      Motor0:
        offset: 0
        description: Starts the movement of motor 0 with the step interval defined by this register. The value's signal defines the direction.
      Motor1:
        offset: 1
        description: Starts the movement of motor 1 with the step interval defined by this register. The value's signal defines the direction.
      Motor2:
        offset: 2
        description: Starts the movement of motor 2 with the step interval defined by this register. The value's signal defines the direction.
      Motor3:
        offset: 3
        description: Starts the movement of motor 3 with the step interval defined by this register. The value's signal defines the direction.

  Motor0StepRelative: &immediatesteps
    address: 106
    type: S32
    access: Write
    description: Starts the movement of motor 0 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
  Motor1StepRelative:
    <<: *immediatesteps
    address: 107
    description: Starts the movement of motor 1 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
  Motor2StepRelative:
    <<: *immediatesteps
    address: 108
    description: Starts the movement of motor 2 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.
  Motor3StepRelative:
    <<: *immediatesteps
    address: 109
    description: Starts the movement of motor 3 with the step interval defined by this register, disregarding the acceleration protocol. The sign of the value specifies the direction.

  ##################################
  # Actions
  ##################################
  StopMotors:
    address: 110
    type: U8
    access: Write
    maskType: StepperMotors
    description: Stops the motors selected in the bit-mask immediately.
  ResetMotors:
    address: 111
    type: U8
    access: Write
    visibility: private
    maskType: StepperMotors
    description: Resets the internal motor driver which also clears any eventual error (not implemented).
  ResetEncoders:
    address: 112
    type: U8
    access: Write
    maskType: QuadratureEncoders
    description: Resets the encoder.

  ##################################
  # Reserved
  ##################################
  Reserved0: &reserved
    address: 113
    type: U8
    access: Write
    visibility: private
    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 0.
  Reserved1:
    <<: *reserved
    address: 114
    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 1.
  Reserved2:
    <<: *reserved
    address: 115
    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 2.
  Reserved3:
    <<: *reserved
    address: 116
    description: Contains the CFG configuration pins of the TMC2210 driver that controls motor 3.
  Reserved4:
    <<: *reserved
    address: 117
    visibility: private
    description: Contains the raw data of the digital potentiometer that controls current limit of motor 0.
  Reserved5:
    <<: *reserved
    address: 118
    visibility: private
    description: Contains the raw data of the digital potentiometer that controls current limit of motor 1.
  Reserved6:
    <<: *reserved
    address: 119
    visibility: private
    description: Contains the raw data of the digital potentiometer that controls current limit of motor 2.
  Reserved7:
    <<: *reserved
    address: 120
    visibility: private
    description: Contains the raw data of the digital potentiometer that controls current limit of motor 3.

  ##################################
  # Reserved block
  ##################################
  Reserved8: &reserved_unused
    address: 121
    visibility: private
    type: U8
    access: Read
    description: Reserved register.
  Reserved9:
    <<: *reserved_unused
    address: 122
  Reserved10:
    <<: *reserved_unused
    address: 123
  Reserved11:
    <<: *reserved_unused
    address: 124
  Reserved12:
    <<: *reserved_unused
    address: 125
  Reserved13:
    <<: *reserved_unused
    address: 126
  Reserved14:
    <<: *reserved_unused
    address: 127
  Reserved15:
    <<: *reserved_unused
    address: 128
  Reserved16:
    <<: *reserved_unused
    address: 129

  ##################################
  # Quick movement
  ##################################
  TriggerQuickMovement:
    address: 130
    type: U8
    access: Write
    maskType: StepperMotors
    description: Triggers the quick movement in the correspondent motor with the currently configured settings.
  Motor1QuickMovementPulseDistance: &quickmovement_pulsedistance
    address: 131
    type: Float
    access: Write
    description: Sets the single pulse distance for a quick movement, in millimeters, for the Motor 1.
  Motor2QuickMovementPulseDistance:
    <<: *quickmovement_pulsedistance
    address: 132
    description: Sets the single pulse distance for a quick movement, in millimeters, for the Motor 2.
  Motor1QuickMovementNominalSpeed: &quickmovement_nominalspeed
    address: 133
    type: Float
    access: Write
    description: Sets the target speed for a quick movement, in millimeters per second, for the Motor 1.
  Motor2QuickMovementNominalSpeed:
    <<: *quickmovement_nominalspeed
    address: 134
    description: Sets the target speed for a quick movement, in millimeters per second, for the Motor 2.
  Motor1QuickMovementInitialSpeed: &quickmovement_initialspeed
    address: 135
    type: Float
    access: Write
    description: Sets the initial speed for a quick movement, in millimeters per second, for the Motor 1.
  Motor2QuickMovementInitialSpeed:
    <<: *quickmovement_initialspeed
    address: 136
    description: Sets the initial speed for a quick movement, in millimeters per second, for the Motor 2.
  Motor1QuickMovementAcceleration: &quickmovement_acceleration
    address: 137
    type: Float
    access: Write
    description: Sets the acceleration for a quick movement, in millimeters per second^2, for the Motor 1.
  Motor2QuickMovementAcceleration:
    <<: *quickmovement_acceleration
    address: 138
    description: Sets the acceleration for a quick movement, in millimeters per second^2, for the Motor 2.
  Motor1QuickMovementDistance: &quickmovement_distance
    address: 139
    type: Float
    access: Write
    description: Sets the travel distance of a quick movement, in millimeters, for the Motor 1.
  Motor2QuickMovementDistance:
    <<: *quickmovement_distance
    address: 140
    description: Sets the travel distance of a quick movement, in millimeters, for the Motor 1.

##################################
# Bit masks
##################################
bitMasks:
  StepperMotors:
    description: Specifies the index of each motor.
    bits:
      Motor0: 0x01
      Motor1: 0x02
      Motor2: 0x04
      Motor3: 0x08
  QuadratureEncoders:
    description: Specifies the index of each motor.
    bits:
      Encoder0: 0x01
      Encoder1: 0x02
      Encoder2: 0x04
  DigitalInputs:
    description: Specifies the available digital input lines.
    bits:
      Input0: 0x1
      Input1: 0x2
      Input2: 0x4
      Input3: 0x8
  DigitalInputStates:
    description: Specifies the state of the port and digital input line that changed.
    bits:
      Input0: 0x1
      Input1: 0x2
      Input2: 0x4
      Input3: 0x8
      Input0Changed: 0x10
      Input1Changed: 0x20
      Input2Changed: 0x40
      Input3Changed: 0x80
##################################
# Group masks
##################################
groupMasks:
  EncoderModeConfig:
    description: Specifies the type of reading made from the quadrature QuadratureEncoders.
    values:
      Position: 0
      Displacement: 1
  EncoderSamplingRateConfig:
    description: Specifies the rate of the events from the quadrature QuadratureEncoders.
    values:
      Rate100Hz: 0
      Rate200Hz: 1
      Rate250Hz: 2
      Rate500Hz: 3
  MotorOperationMode:
    description: Specifies the motor operation mode.
    values:
      QuietMode: 0
      DynamicMovements: 1
  MicrostepResolution:
    description: Specifies the microstep resolution for each step pulse.
    values:
      Microstep8: 0
      Microstep16: 1
      Microstep32: 2
      Microstep64: 3
  HoldCurrentReduction:
    description: Specifies the hold current reduction.
    values:
      ReductionTo50Percent: 0
      ReductionTo25Percent: 1
      ReductionTo12Percent: 2
      NoReduction: 3
  InputOpModeConfig:
    description: Specifies the inputs operation mode.
    values:
      EventOnly: 0x0
      StopMotor0OnRising: 0x10
      StopMotor1OnRising: 0x11
      StopMotor2OnRising: 0x12
      StopMotor3OnRising: 0x13
      StopMotor0OnFalling: 0x20
      StopMotor1OnFalling: 0x21
      StopMotor2OnFalling: 0x22
      StopMotor3OnFalling: 0x23
  TriggerConfig:
    description: Specifies the input trigger configuration.
    values:
      FallingEdge: 0
      RisingEdge: 1
  InterlockEnabledConfig:
    description: Specifies the external connector state that enables the device.
    values:
      Closed: 0
      Open: 1
  AccumulatedStepsSamplingRateConfig:
    description: Specifies the rate of the accumulated steps events.
    values:
      Disabled: 0
      Rate10Hz: 1
      Rate50Hz: 2
      Rate100Hz: 3
  DeviceStateMode:
    description: Specifies the current state of the device.
    values:
      Disabled: 0
      Enabled: 1