cia402.h File Reference

Pure CiA402 (CANopen drive profile, ETG.6010) vocabulary — object indices, control/status word bit layout, the device state machine, and operation modes. More...

#include <cstdint>
#include <string_view>

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Namespaces
namespace	mm
namespace	mm::node
namespace	mm::node::cia402

Enumerations
enum	mm::node::cia402::Object : uint16_t {   mm::node::cia402::kControlword = 0x6040 , mm::node::cia402::kStatusword = 0x6041 , mm::node::cia402::kModeOfOperation = 0x6060 , mm::node::cia402::kModeOfOperationDisplay = 0x6061 ,   mm::node::cia402::kTargetPosition = 0x607A , mm::node::cia402::kTargetVelocity = 0x60FF , mm::node::cia402::kTargetTorque = 0x6071 , mm::node::cia402::kPositionActualValue = 0x6064 ,   mm::node::cia402::kVelocityActualValue = 0x606C , mm::node::cia402::kTorqueActualValue = 0x6077 }
	Standard CiA402 object dictionary indices used by the drive profile. More...
enum class	mm::node::cia402::OperationMode : int8_t {   mm::node::cia402::kNoMode = 0 , mm::node::cia402::kProfilePosition = 1 , mm::node::cia402::kProfileVelocity = 3 , mm::node::cia402::kProfileTorque = 4 ,   mm::node::cia402::kHoming = 6 , mm::node::cia402::kCyclicSyncPosition = 8 , mm::node::cia402::kCyclicSyncVelocity = 9 , mm::node::cia402::kCyclicSyncTorque = 10 }
	CiA402 operation modes (object 0x6060 / 0x6061 values). More...
enum class	mm::node::cia402::State : uint8_t {   mm::node::cia402::kNotReadyToSwitchOn , mm::node::cia402::kSwitchOnDisabled , mm::node::cia402::kReadyToSwitchOn , mm::node::cia402::kSwitchedOn ,   mm::node::cia402::kOperationEnabled , mm::node::cia402::kQuickStopActive , mm::node::cia402::kFaultReactionActive , mm::node::cia402::kFault }
	States of the CiA402 device control state machine (decoded from the statusword). More...
enum	mm::node::cia402::Command : uint16_t {   mm::node::cia402::kCmdShutdown = 0x0006 , mm::node::cia402::kCmdSwitchOn = 0x0007 , mm::node::cia402::kCmdEnableOperation = 0x000F , mm::node::cia402::kCmdDisableVoltage = 0x0000 ,   mm::node::cia402::kCmdQuickStop = 0x0002 , mm::node::cia402::kCmdFaultReset = 0x0080 }
	Canonical controlword command-bit patterns (the value of the bits in kCommandMask). More...

Functions
constexpr State	mm::node::cia402::decodeState (uint16_t statusword)
	Decodes the CiA402 state machine state from a statusword (0x6041) value.
constexpr bool	mm::node::cia402::isFaulted (uint16_t statusword)
	Whether the statusword's fault bit (bit 3) is set, gated to the faulted states.
constexpr std::string_view	mm::node::cia402::toString (State state)
	Human-readable name of a state (for logging / JSON). Never returns nullptr.
constexpr std::string_view	mm::node::cia402::toString (OperationMode mode)
	Human-readable name of an operation mode (for logging / JSON). Never nullptr.

Variables
constexpr uint16_t	mm::node::cia402::kCommandMask = 0x008F
	Controlword (0x6040) command-bit mask — the state-machine bits a transition touches.

Detailed Description

Pure CiA402 (CANopen drive profile, ETG.6010) vocabulary — object indices, control/status word bit layout, the device state machine, and operation modes.

This header is deliberately free of any dependency on Device: it is the protocol definition, decoupled from the transport, so the bit-twiddling can be unit-tested in isolation and reused by both Cia402Drive (the borrowed view) and any cyclic task that composes a controlword by hand. The behaviour that actually touches the bus lives in cia402_drive.h.