cia402.h

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#pragma once
 
#include <cstdint>
#include <string_view>
 
 
namespace mm::node::cia402 {
 
enum Object : uint16_t {
  kControlword = 0x6040,             
  kStatusword = 0x6041,              
  kModeOfOperation = 0x6060,         
  kModeOfOperationDisplay = 0x6061,  
  kTargetPosition = 0x607A,          
  kTargetVelocity = 0x60FF,          
  kTargetTorque = 0x6071,            
  kPositionActualValue = 0x6064,     
  kVelocityActualValue = 0x606C,     
  kTorqueActualValue = 0x6077,       
};
 
enum class OperationMode : int8_t {
  kNoMode = 0,              
  kProfilePosition = 1,     
  kProfileVelocity = 3,     
  kProfileTorque = 4,       
  kHoming = 6,              
  kCyclicSyncPosition = 8,  
  kCyclicSyncVelocity = 9,  
  kCyclicSyncTorque = 10,   
};
 
enum class State : uint8_t {
  kNotReadyToSwitchOn,   
  kSwitchOnDisabled,     
  kReadyToSwitchOn,      
  kSwitchedOn,           
  kOperationEnabled,     
  kQuickStopActive,      
  kFaultReactionActive,  
  kFault,                
};
 
constexpr uint16_t kCommandMask = 0x008F;
 
enum Command : uint16_t {
  kCmdShutdown = 0x0006,         
  kCmdSwitchOn = 0x0007,         
  kCmdEnableOperation = 0x000F,  
  kCmdDisableVoltage = 0x0000,   
  kCmdQuickStop = 0x0002,        
  kCmdFaultReset = 0x0080,       
};
 
constexpr State decodeState(uint16_t statusword) {
  // The two masks the standard uses: 0x4F distinguishes the states that ignore bit 5
  // (quick stop), 0x6F the rest.
  if ((statusword & 0x4F) == 0x40) {
    return State::kSwitchOnDisabled;
  }
  if ((statusword & 0x6F) == 0x21) {
    return State::kReadyToSwitchOn;
  }
  if ((statusword & 0x6F) == 0x23) {
    return State::kSwitchedOn;
  }
  if ((statusword & 0x6F) == 0x27) {
    return State::kOperationEnabled;
  }
  if ((statusword & 0x6F) == 0x07) {
    return State::kQuickStopActive;
  }
  if ((statusword & 0x4F) == 0x0F) {
    return State::kFaultReactionActive;
  }
  if ((statusword & 0x4F) == 0x08) {
    return State::kFault;
  }
  return State::kNotReadyToSwitchOn;
}
 
constexpr bool isFaulted(uint16_t statusword) {
  const State s = decodeState(statusword);
  return s == State::kFault || s == State::kFaultReactionActive;
}
 
constexpr std::string_view toString(State state) {
  switch (state) {
    case State::kNotReadyToSwitchOn:
      return "NotReadyToSwitchOn";
    case State::kSwitchOnDisabled:
      return "SwitchOnDisabled";
    case State::kReadyToSwitchOn:
      return "ReadyToSwitchOn";
    case State::kSwitchedOn:
      return "SwitchedOn";
    case State::kOperationEnabled:
      return "OperationEnabled";
    case State::kQuickStopActive:
      return "QuickStopActive";
    case State::kFaultReactionActive:
      return "FaultReactionActive";
    case State::kFault:
      return "Fault";
  }
  return "Unknown";
}
 
constexpr std::string_view toString(OperationMode mode) {
  switch (mode) {
    case OperationMode::kNoMode:
      return "NoMode";
    case OperationMode::kProfilePosition:
      return "ProfilePosition";
    case OperationMode::kProfileVelocity:
      return "ProfileVelocity";
    case OperationMode::kProfileTorque:
      return "ProfileTorque";
    case OperationMode::kHoming:
      return "Homing";
    case OperationMode::kCyclicSyncPosition:
      return "CyclicSyncPosition";
    case OperationMode::kCyclicSyncVelocity:
      return "CyclicSyncVelocity";
    case OperationMode::kCyclicSyncTorque:
      return "CyclicSyncTorque";
  }
  return "Unknown";
}
 
}  // namespace mm::node::cia402