mm::comm::spoe Namespace Reference

Classes
struct	ConnectionError
struct	Frame
struct	FrameHeader
struct	ParameterEntry
	One entry of the parameter list. More...
class	SpoeConnection
class	SpoeFieldbusDriver
struct	SpoeFieldbusDriverConfig
class	SpoeFrameAssembler
class	SpoeInputQueue
class	SpoeOutputSlot

Enumerations
enum class	PdoMode : uint8_t { kNone = 0x00 , kMonitor = 0x01 , kControl = 0x02 }
	ETHERNET_PDO_MODE_* in the firmware. More...
enum class	SpoeMode : uint8_t { kMonitor , kControl }
enum class	MessageType : uint8_t {   kSdoRead = 0x01 , kSdoWrite = 0x02 , kPdoFrame = 0x03 , kPdoControl = 0x04 ,   kSdoBatchRead = 0x06 , kFirmwareUpdate = 0x0B , kFileRead = 0x0C , kFileWrite = 0x0D ,   kStateControl = 0x0E , kStateRead = 0x0F , kParamList = 0x10 , kParamDesc = 0x11 ,   kParamSubDesc = 0x12 , kParamFullDesc = 0x13 , kServerInfo = 0x20 , kDeviceLocate = 0x21 ,   kWatchdogTimeout = 0x22 }
	The message types the firmware handles. A reply carries the type of its request. More...

Functions
std::vector< ParameterEntry >	decodeParameterEntries (std::span< const uint8_t > bytes)
std::string	sdoStatusName (uint16_t status)
	Names an SPoE SDO status, which is one of the firmware's SDO_REQUEST_ERROR_* codes.
std::expected< std::vector< uint8_t >, std::string >	encodeFrame (const Frame &frame)
	Encodes frame. Fails when the data part is larger than kMaxDataSize.
std::optional< FrameHeader >	decodeHeader (std::span< const uint8_t > bytes)

Variables
constexpr std::size_t	kInputQueueLimit = 30
constexpr uint16_t	kProtocolVersion100 = 0x0100
constexpr uint16_t	kProtocolVersion102 = 0x0102
constexpr std::size_t	kParameterEntrySize = 68
constexpr std::size_t	kHeaderSize = 7
	Message type u8, sequence id u16, status u16, data length u16.
constexpr std::size_t	kMaxDataSize = 512
	MAX_FRAME_SIZE in the firmware: the size of its buffer for the data part.
constexpr std::size_t	kInputPopLimit = 500
	pop_from_pdo_fifo_buffer in the firmware returns at most this many bytes of inputs at once.

Enumeration Type Documentation

MessageType

enum class mm::comm::spoe::MessageType : uint8_t

strong

The message types the firmware handles. A reply carries the type of its request.

Enumerator
kSdoRead
kSdoWrite
kPdoFrame
kPdoControl
kSdoBatchRead
kFirmwareUpdate
kFileRead
kFileWrite
kStateControl
kStateRead
kParamList
kParamDesc
kParamSubDesc
kParamFullDesc
kServerInfo
kDeviceLocate
kWatchdogTimeout

PdoMode

enum class mm::comm::spoe::PdoMode : uint8_t

strong

ETHERNET_PDO_MODE_* in the firmware.

Enumerator
kNone
kMonitor
kControl

SpoeMode

enum class mm::comm::spoe::SpoeMode : uint8_t

strong

Who owns the drive's state. In Monitor mode a PLC or another master owns it, and Motion Master only parametrises and observes. In Control mode Motion Master owns it.

Enumerator
kMonitor
kControl

Function Documentation

decodeHeader()

std::optional< FrameHeader > mm::comm::spoe::decodeHeader

(

std::span< const uint8_t >

bytes

)

Decodes the header at the start of bytes, or nullopt when fewer than kHeaderSize bytes are there.

decodeParameterEntries()

std::vector< ParameterEntry > mm::comm::spoe::decodeParameterEntries

(

std::span< const uint8_t >

bytes

)

Decodes whole parameter-list entries and ignores a short tail. An entry whose index is zero is skipped, because the firmware clears a description before it fills it, and sends it whether the entry exists or not.

encodeFrame()

std::expected< std::vector< uint8_t >, std::string > mm::comm::spoe::encodeFrame

(

const Frame &

frame

)

Encodes frame. Fails when the data part is larger than kMaxDataSize.

sdoStatusName()

std::string mm::comm::spoe::sdoStatusName

(

uint16_t

status

)

Names an SPoE SDO status, which is one of the firmware's SDO_REQUEST_ERROR_* codes.

Variable Documentation

kHeaderSize

constexpr std::size_t mm::comm::spoe::kHeaderSize = 7

constexpr

Message type u8, sequence id u16, status u16, data length u16.

kInputPopLimit

constexpr std::size_t mm::comm::spoe::kInputPopLimit = 500

constexpr

pop_from_pdo_fifo_buffer in the firmware returns at most this many bytes of inputs at once.

kInputQueueLimit

constexpr std::size_t mm::comm::spoe::kInputQueueLimit = 30

constexpr

The most input frames one drive's queue holds for the RT thread. Older frames are dropped, so the inputs never lag the drive by more than this many RT cycles.

kMaxDataSize

constexpr std::size_t mm::comm::spoe::kMaxDataSize = 512

constexpr

MAX_FRAME_SIZE in the firmware: the size of its buffer for the data part.

kParameterEntrySize

constexpr std::size_t mm::comm::spoe::kParameterEntrySize = 68

constexpr

The size of one parameter-list entry, the firmware's struct _sdoinfo_entry_description as it lies in memory. The layout follows the natural alignment of its members, which is not confirmed on hardware.

kProtocolVersion100

constexpr uint16_t mm::comm::spoe::kProtocolVersion100 = 0x0100

constexpr

The SPoE protocol versions this driver speaks. Version 1.0 reports no PDO mode in its server information and has no WATCHDOG_TIMEOUT message, so its Control-mode watchdog is fixed in the firmware.

kProtocolVersion102

constexpr uint16_t mm::comm::spoe::kProtocolVersion102 = 0x0102

constexpr