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Vortex Driver
API reference
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CiA 301/402 and HardFOC vendor index placeholders for Vortex over CAN. More...
#include <cstdint>Go to the source code of this file.
Namespaces | |
| namespace | hf |
| namespace | hf::vortex |
Enumerations | |
| enum class | hf::vortex::NmtCommand : std::uint8_t { hf::vortex::Start = 0x01U , hf::vortex::Stop = 0x02U , hf::vortex::PreOperational = 0x80U , hf::vortex::ResetNode = 0x81U , hf::vortex::ResetCommunication = 0x82U } |
| NMT command bytes (CANopen CiA 301) More... | |
Variables | |
| constexpr std::uint16_t | hf::vortex::kIdxErrorRegister = 0x1001U |
| CiA 301 — Error register (0x1001) subindex 0. | |
| constexpr std::uint16_t | hf::vortex::kIdxPredefError = 0x1003U |
| CiA 301 — Pre-defined error field (0x1003) sub 0 = number of errors. | |
| constexpr std::uint16_t | hf::vortex::kIdxErrorBehavior = 0x1029U |
| CiA 301 — Error behavior (0x1029); sub 1 = communication error. | |
| constexpr std::uint16_t | hf::vortex::kIdxControlword = 0x6040U |
| CiA 402 — Controlword (0x6040) — used for drive state machine. | |
| constexpr std::uint16_t | hf::vortex::kIdxStatusword = 0x6041U |
| CiA 402 — Statusword (0x6041) | |
| constexpr std::uint16_t | hf::vortex::kIdxModesOfOperation = 0x6060U |
| CiA 402 — Modes of operation (0x6060) | |
| constexpr std::uint16_t | hf::vortex::kIdxModesDisplay = 0x6061U |
| CiA 402 — Modes of operation display (0x6061) | |
| constexpr std::uint16_t | hf::vortex::kIdxPosActual = 0x6064U |
| CiA 402 — Position actual value (0x6064) | |
| constexpr std::uint16_t | hf::vortex::kIdxVelActual = 0x606CU |
| CiA 402 — Velocity actual value (0x606C) | |
| constexpr std::uint16_t | hf::vortex::kIdxVendorBase = 0x2000U |
| Proposed HardFOC vendor range 0x2000–0x2FFF, inside the CiA 301 manufacturer-specific area (0x2000–0x5FFF). Reserve sub-ranges as products solidify. | |
| constexpr std::uint16_t | hf::vortex::kIdxVendorDeviceId = 0x2000U |
| Example: 0x2000:01 — u32 build id / device magic (placeholder) | |
| constexpr std::uint8_t | hf::vortex::kSubVendorDeviceId = 0x01U |
CiA 301/402 and HardFOC vendor index placeholders for Vortex over CAN.
Values are documentation and compile-time defaults; the final Object Dictionary (CANopenNode or product EDS) is authoritative. This header keeps host and device firmware aligned on named constants without pulling in CANopenNode.
1.9.8