76 lines
3.0 KiB
C
76 lines
3.0 KiB
C
#ifndef __CIA402_DEFS_H__
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#define __CIA402_DEFS_H__
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#include "stdint.h"
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/* CiA402 Object Dictionary indices */
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#define CIA402_INDEX_CONTROLWORD 0x6040
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#define CIA402_INDEX_STATUSWORD 0x6041
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#define CIA402_INDEX_OP_MODE 0x6060
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#define CIA402_INDEX_OP_MODE_DISPLAY 0x6061
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#define CIA402_INDEX_POS_ACTUAL 0x6064
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#define CIA402_INDEX_FOLLOWING_ERROR_WINDOW 0x6065
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#define CIA402_INDEX_VEL_ACTUAL 0x606C
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#define CIA402_INDEX_TARGET_POS 0x607A
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#define CIA402_INDEX_PROFILE_ACC 0x6083
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#define CIA402_INDEX_PROFILE_DEC 0x6084
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#define CIA402_INDEX_FOLLOWING_ERROR_ACTUAL 0x60F4
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#define CIA402_INDEX_TARGET_VEL 0x60FF
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/* Statusword bits (0x6041) */
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#define CIA402_STATUS_READY_TO_SWITCH_ON (1 << 0)
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#define CIA402_STATUS_SWITCHED_ON (1 << 1)
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#define CIA402_STATUS_OPERATION_ENABLED (1 << 2)
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#define CIA402_STATUS_FAULT (1 << 3)
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#define CIA402_STATUS_VOLTAGE_ENABLED (1 << 4)
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#define CIA402_STATUS_QUICK_STOP (1 << 5)
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#define CIA402_STATUS_SWITCH_ON_DISABLED (1 << 6)
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#define CIA402_STATUS_WARNING (1 << 7)
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#define CIA402_STATUS_REMOTE (1 << 9)
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#define CIA402_STATUS_TARGET_REACHED (1 << 10)
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#define CIA402_STATUS_INTERNAL_LIMIT_ACTIVE (1 << 11)
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#define CIA402_STATUS_OMS_12 (1 << 12)
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#define CIA402_STATUS_OMS_13 (1 << 13)
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/* Controlword bits (0x6040) */
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#define CIA402_CONTROL_SWITCH_ON (1 << 0)
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#define CIA402_CONTROL_ENABLE_VOLTAGE (1 << 1)
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#define CIA402_CONTROL_QUICK_STOP (1 << 2)
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#define CIA402_CONTROL_ENABLE_OPERATION (1 << 3)
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#define CIA402_CONTROL_FAULT_RESET (1 << 7)
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#define CIA402_CONTROL_HALT (1 << 8)
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/* Mode specific control bits */
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#define CIA402_CONTROL_PP_NEW_SET_POINT (1 << 4)
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#define CIA402_CONTROL_PP_CHANGE_IMM (1 << 5)
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#define CIA402_CONTROL_PP_ABS_REL (1 << 6)
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#define CIA402_CONTROL_HM_START (1 << 4)
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#define CIA402_STATUS_MASK_OP_ENABLE (0x0027)
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#define CIA402_CMD_SHUTDOWN (CIA402_CONTROL_ENABLE_VOLTAGE | CIA402_CONTROL_QUICK_STOP)
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#define CIA402_CMD_SWITCH_ON (CIA402_CONTROL_SWITCH_ON | CIA402_CONTROL_ENABLE_VOLTAGE | CIA402_CONTROL_QUICK_STOP)
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#define CIA402_CMD_ENABLE_OP (CIA402_CMD_SWITCH_ON | CIA402_CONTROL_ENABLE_VOLTAGE | \
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CIA402_CONTROL_QUICK_STOP | CIA402_CONTROL_ENABLE_OPERATION)
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typedef enum
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{
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STATE_NOT_READY_TO_SWITCH_ON,
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STATE_SWITCH_ON_DISABLED,
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STATE_READY_TO_SWITCH_ON,
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STATE_SWITCHED_ON,
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STATE_OPERATION_ENABLED,
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STATE_FAULT,
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STATE_QUICK_STOP_ACTIVE
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} Motor_State_t;
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typedef enum
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{
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HOMING_IDLE,
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HOMING_START,
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HOMING_MOVING,
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HOMING_DONE
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} Homing_State_t;
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#endif
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