VortexProtocol.hpp

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#pragma once
 
#include <cstdint>
 
namespace hf::vortex {
 
inline constexpr std::uint16_t kIdxErrorRegister = 0x1001U;
inline constexpr std::uint16_t kIdxPredefError = 0x1003U;
inline constexpr std::uint16_t kIdxErrorBehavior = 0x1029U;
 
inline constexpr std::uint16_t kIdxControlword = 0x6040U;
inline constexpr std::uint16_t kIdxStatusword = 0x6041U;
inline constexpr std::uint16_t kIdxModesOfOperation = 0x6060U;
inline constexpr std::uint16_t kIdxModesDisplay = 0x6061U;
inline constexpr std::uint16_t kIdxPosActual = 0x6064U;
inline constexpr std::uint16_t kIdxVelActual = 0x606CU;
 
inline constexpr std::uint16_t kIdxVendorBase = 0x2000U;
inline constexpr std::uint16_t kIdxVendorDeviceId = 0x2000U;
inline constexpr std::uint8_t kSubVendorDeviceId = 0x01U;
 
enum class NmtCommand : std::uint8_t {
  Start = 0x01U,
  Stop = 0x02U,
  PreOperational = 0x80U,
  ResetNode = 0x81U,
  ResetCommunication = 0x82U,
};
 
}  // namespace hf::vortex