hf::vortex Namespace Reference

Namespaces
namespace	anonymous_namespace{VortexHostSession.cpp}

Classes
struct	VortexCanFrame
	Classic CAN 2.0A frame (11-bit ID, RTR, up to 8 data bytes). More...
class	VortexCanTransport
	User-provided link to a CAN bus (one controller). More...
class	VortexHostSession
	Small host-side session: sends NMT and expedited SDO download frames. More...

Enumerations
enum class	NmtCommand : std::uint8_t {   Start = 0x01U , Stop = 0x02U , PreOperational = 0x80U , ResetNode = 0x81U ,   ResetCommunication = 0x82U }
	NMT command bytes (CANopen CiA 301) More...

Variables
constexpr std::uint16_t	kIdxErrorRegister = 0x1001U
	CiA 301 — Error register (0x1001) subindex 0.
constexpr std::uint16_t	kIdxPredefError = 0x1003U
	CiA 301 — Pre-defined error field (0x1003) sub 0 = number of errors.
constexpr std::uint16_t	kIdxErrorBehavior = 0x1029U
	CiA 301 — Error behavior (0x1029); sub 1 = communication error.
constexpr std::uint16_t	kIdxControlword = 0x6040U
	CiA 402 — Controlword (0x6040) — used for drive state machine.
constexpr std::uint16_t	kIdxStatusword = 0x6041U
	CiA 402 — Statusword (0x6041)
constexpr std::uint16_t	kIdxModesOfOperation = 0x6060U
	CiA 402 — Modes of operation (0x6060)
constexpr std::uint16_t	kIdxModesDisplay = 0x6061U
	CiA 402 — Modes of operation display (0x6061)
constexpr std::uint16_t	kIdxPosActual = 0x6064U
	CiA 402 — Position actual value (0x6064)
constexpr std::uint16_t	kIdxVelActual = 0x606CU
	CiA 402 — Velocity actual value (0x606C)
constexpr std::uint16_t	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	kIdxVendorDeviceId = 0x2000U
	Example: 0x2000:01 — u32 build id / device magic (placeholder)
constexpr std::uint8_t	kSubVendorDeviceId = 0x01U

Enumeration Type Documentation

NmtCommand

enum class hf::vortex::NmtCommand : std::uint8_t

strong

NMT command bytes (CANopen CiA 301)

Enumerator
Start
Stop
PreOperational
ResetNode
ResetCommunication

Variable Documentation

kIdxControlword

constexpr std::uint16_t hf::vortex::kIdxControlword = 0x6040U

inlineconstexpr

CiA 402 — Controlword (0x6040) — used for drive state machine.

kIdxErrorBehavior

constexpr std::uint16_t hf::vortex::kIdxErrorBehavior = 0x1029U

inlineconstexpr

CiA 301 — Error behavior (0x1029); sub 1 = communication error.

kIdxErrorRegister

constexpr std::uint16_t hf::vortex::kIdxErrorRegister = 0x1001U

inlineconstexpr

CiA 301 — Error register (0x1001) subindex 0.

kIdxModesDisplay

constexpr std::uint16_t hf::vortex::kIdxModesDisplay = 0x6061U

inlineconstexpr

CiA 402 — Modes of operation display (0x6061)

kIdxModesOfOperation

constexpr std::uint16_t hf::vortex::kIdxModesOfOperation = 0x6060U

inlineconstexpr

CiA 402 — Modes of operation (0x6060)

kIdxPosActual

constexpr std::uint16_t hf::vortex::kIdxPosActual = 0x6064U

inlineconstexpr

CiA 402 — Position actual value (0x6064)

kIdxPredefError

constexpr std::uint16_t hf::vortex::kIdxPredefError = 0x1003U

inlineconstexpr

CiA 301 — Pre-defined error field (0x1003) sub 0 = number of errors.

kIdxStatusword

constexpr std::uint16_t hf::vortex::kIdxStatusword = 0x6041U

inlineconstexpr

CiA 402 — Statusword (0x6041)

kIdxVelActual

constexpr std::uint16_t hf::vortex::kIdxVelActual = 0x606CU

inlineconstexpr

CiA 402 — Velocity actual value (0x606C)

kIdxVendorBase

constexpr std::uint16_t hf::vortex::kIdxVendorBase = 0x2000U

inlineconstexpr

Proposed HardFOC vendor range 0x2000–0x2FFF, inside the CiA 301 manufacturer-specific area (0x2000–0x5FFF). Reserve sub-ranges as products solidify.

kIdxVendorDeviceId

constexpr std::uint16_t hf::vortex::kIdxVendorDeviceId = 0x2000U

inlineconstexpr

Example: 0x2000:01 — u32 build id / device magic (placeholder)

kSubVendorDeviceId

constexpr std::uint8_t hf::vortex::kSubVendorDeviceId = 0x01U

inlineconstexpr