kuebler_registers.h

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#pragma once
 
#include <algorithm>
#include <array>
#include <cstdint>
#include <nlohmann/json_fwd.hpp>
#include <optional>
#include <string_view>
 
namespace mm::node::somanet {
 
 
enum class KueblerFormat : uint8_t {
  kUnsigned,  
  kSigned,    
  kBitField,  
  kSignedHalves,
};
 
enum class KueblerAccess : uint8_t { kReadOnly, kWriteOnly, kReadWrite };
 
struct KueblerRegister {
  uint8_t address = 0;    
  uint8_t bits = 0;       
  std::string_view name;  
  KueblerAccess access{KueblerAccess::kReadOnly};
 
  bool implemented = false;
 
  KueblerFormat format{KueblerFormat::kUnsigned};
 
  std::string_view definition;
};
 
void to_json(nlohmann::json& j, const KueblerRegister& r);
 
inline constexpr auto kKueblerRegisters = std::to_array<KueblerRegister>({
    {0x00, 32, "Identification pattern", KueblerAccess::kReadOnly, false, KueblerFormat::kUnsigned,
     "TBD"},
    // 32 bit, not the draft's 64: the encoder calibration sequence reads four bytes here and parses
    // a version out of them. The draft's own format line describes 18 decimal digits, which those
    // four bytes cannot hold, so the line below and the width disagree. The vendor specification is
    // what settles it, and nobody has it yet.
    {0x04, 32, "Firmware-version", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Major(3 digit).Minor(3 digit).Timestamp(12 digits); 001.002.2023.09.18.14.25 --> Version "
     "1.2.202309181425"},
    {0x10, 16, "POA start offset A", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "Bit 15 - 0: signed 16 bit integer"},
    {0x12, 16, "POA start offset B", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "Bit 15 - 0: signed 16 bit integer"},
    {0x14, 16, "POA start amplitude A", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Bit 15 - 0: unsigned 16 bit integer"},
    {0x16, 16, "POA start amplitude B", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Bit 15 - 0: unsigned 16 bit integer"},
    {0x18, 16, "POA start phase", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "Bit 15 - 0: signed 16 bit integer"},
    {0x1A, 16, "POA current offset A", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "Bit 15 - 0: signed 16 bit integer"},
    {0x1C, 16, "POA current offset B", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "Bit 15 - 0: signed 16 bit integer"},
    {0x1E, 16, "POA current amplitude A", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Bit 15 - 0: unsigned 16 bit integer"},
    {0x20, 16, "POA current amplitude B", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Bit 15 - 0: unsigned 16 bit integer"},
    {0x22, 16, "POA current phase", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "Bit 15 - 0: signed 16 bit integer"},
    {0x24, 8, "POA status", KueblerAccess::kReadOnly, true, KueblerFormat::kBitField,
     "Bit 7 - 3: Reserved; Bit 2: POA saving active (1 = saving active / 0 = saving not active); "
     "Bit 1: POA fast mode (1 = fast mode active / 0 = fast mode inactive); Bit 0: POA active (1 = "
     "POA active / 0 = POA inactive)"},
    {0x25, 8, "POA control", KueblerAccess::kWriteOnly, true, KueblerFormat::kBitField,
     "Bit 7 - 3: Reserved; Bit 2: POA save values as startup; Bit 1: POA enable/disable fast mode "
     "(1 = enable / 0 = disable); Bit 0: POA set active/inactive (1 = set active / 0 = set "
     "inactive)"},
    {0x30, 32, "Absolute position ST", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Left aligned 32 bit singleturn position"},
    {0x34, 32, "Absolute position MT", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Right aligned 32 bit multiturn position"},
    {0x38, 32, "Velocity", KueblerAccess::kReadOnly, true, KueblerFormat::kSigned,
     "32 bit integer value (+/- FS --> +/- 125000 Hz)"},
    {0x3C, 32, "Analog value A & B", KueblerAccess::kReadOnly, true, KueblerFormat::kSignedHalves,
     "Bit 31 - 16: signed 16 bit integer (A); Bit 15 - 0: signed 16 bit integer (B)"},
    {0x40, 32, "Magnitude", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "sin^2+cos^2 adc values"},
    {0x50, 16, "Correction control", KueblerAccess::kReadWrite, true, KueblerFormat::kBitField,
     "Bit 15 - 8: Reserved; Bit 7: Wiegand compensation active; Bit 6: Correction table active; "
     "Bit 5: Direct output; Bit 4: Save correction table; Bit 3: Erase current correction table; "
     "Bit 2: Clear current correction table; Bit 1: start linear learn; Bit 0: start automatic "
     "calibration"},
    {0x52, 16, "Correction status", KueblerAccess::kReadOnly, true, KueblerFormat::kBitField,
     "Bit 15 - 11: Reserved; Bit 10: learning direction; Bit 9: Processing active; Bit 8: Sampling "
     "active; Bit 7: Wiegand compensation active; Bit 6: Correction table active; Bit 5: Direct "
     "output active; Bit 4: Save correction table active; Bit 3: Erase current correction table "
     "active; Bit 2: Reserved; Bit 1: linear learn active; Bit 0: automatic calibration active"},
    {0x54, 8, "Configuration control", KueblerAccess::kWriteOnly, true, KueblerFormat::kBitField,
     "Bit 7 - 2: Reserved; Bit 1: Load default configuration; Bit 0: Save current configuration"},
    // Not in the vendor's draft. The encoder calibration sequence reads all four, two bytes each,
    // around the correction table learning it does in each direction.
    {0x56, 16, "CW start speed", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Not documented in the vendor's draft. The encoder calibration sequence reads it as an "
     "unsigned 16-bit value. Write access is unknown."},
    {0x58, 16, "CW end speed", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Not documented in the vendor's draft. The encoder calibration sequence reads it as an "
     "unsigned 16-bit value. Write access is unknown."},
    {0x5A, 16, "CCW start speed", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Not documented in the vendor's draft. The encoder calibration sequence reads it as an "
     "unsigned 16-bit value. Write access is unknown."},
    {0x5C, 16, "CCW end speed", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned,
     "Not documented in the vendor's draft. The encoder calibration sequence reads it as an "
     "unsigned 16-bit value. Write access is unknown."},
    {0x60, 8, "Error status", KueblerAccess::kReadOnly, false, KueblerFormat::kBitField,
     "Bit 7 - 3: Reserved; Bit 2: Command execution error; Bit 1: signal error; Bit 0: "
     "Initialization error"},
    {0x61, 8, "Error control", KueblerAccess::kWriteOnly, true, KueblerFormat::kBitField,
     "Bit 7 - 2: Reserved; Bit 1: Clear all errors; Bit 0: Clear single error"},
    {0x62, 32, "Error code 1", KueblerAccess::kReadOnly, false, KueblerFormat::kUnsigned, "TBD"},
    {0x66, 32, "Error code 2", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned, "TBD"},
    {0x6A, 32, "Error code 3", KueblerAccess::kReadOnly, true, KueblerFormat::kUnsigned, "TBD"},
});
 
constexpr std::optional<KueblerRegister> findKueblerRegister(uint8_t address) {
  const auto entry = std::ranges::find(kKueblerRegisters, address, &KueblerRegister::address);
  if (entry == kKueblerRegisters.end()) {
    return std::nullopt;
  }
  return *entry;
}
 
inline constexpr uint8_t kMaxKueblerRegisterBytes = 4;
 
}  // namespace mm::node::somanet