profiles.cpp

/*
 * Copyright (c) 2016, Thomas Keh
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "profiles.h"
#include "logger.h"

namespace kaco {

    const std::map<uint16_t,std::map<std::string, const Profiles::Operation>> Profiles::operations {
        {
            (uint16_t) 402,
            {
                {
                    "enable_operation",
                    [](Device& device,const Value&) -> Value {
                        device.set_entry("controlword", (uint16_t) 0x0006); // shutdown
                        device.set_entry("controlword", (uint16_t) 0x0007); // switch on
                        device.set_entry("controlword", (uint16_t) 0x000F); // enable operation
                        return Value(); // invalid value (return value not needed)
                    }
                },
                {
                    "set_controlword_flag",
                    [](Device& device,const Value& flag_name) -> Value {
                        DEBUG_LOG("Set controlword flag "<<flag_name);
                        const uint16_t cw = device.get_entry("controlword");
                        const uint16_t flag = device.get_constant(flag_name);
                        device.set_entry("controlword", static_cast<uint16_t>(cw | flag));
                        return Value();
                    }
                },
                {
                    "unset_controlword_flag",
                    [](Device& device,const Value& flag_name) -> Value {
                        DEBUG_LOG("Unset controlword flag "<<flag_name);
                        const uint16_t cw = device.get_entry("controlword");
                        const uint16_t flag = device.get_constant(flag_name);
                        device.set_entry("controlword", static_cast<uint16_t>(cw & ~flag));
                        return Value();
                    }
                },
                {
                    "set_target_position",
                    [](Device& device,const Value& target_position) -> Value {
                        DEBUG_LOG("Set target pos to "<<target_position);
                        device.set_entry("Target position", target_position);
                        device.execute("set_controlword_flag","controlword_pp_new_set_point");
                        device.execute("unset_controlword_flag","controlword_pp_new_set_point");
                        return Value();
                    }
                }
            }
        }
    };

    const std::map<uint16_t,std::map<std::string, const Value>> Profiles::constants {
        {
            (uint16_t) 402,
            {
                // profiles
                { "profile_position_mode",      static_cast<int8_t>(1) },
                { "velocity_mode",              static_cast<int8_t>(2) },
                { "profile_velocity_mode",      static_cast<int8_t>(3) },
                { "torque_profile_mode",        static_cast<int8_t>(4) },
                { "homing_mode",                static_cast<int8_t>(6) },
                { "interpolated_position_mode", static_cast<int8_t>(7) },

                // control word flags general
                { "controlword_switch_on",          static_cast<uint16_t>(1<<0) },
                { "controlword_enable_voltage",     static_cast<uint16_t>(1<<1) },
                { "controlword_quick_stop",         static_cast<uint16_t>(1<<2) },
                { "controlword_enable_operation",   static_cast<uint16_t>(1<<3) },
                { "controlword_fault_reset",        static_cast<uint16_t>(1<<7) },
                { "controlword_halt",               static_cast<uint16_t>(1<<8) },

                // control word flags manufacturer specific
                { "controlword_manufacturer_11",    static_cast<uint16_t>(1<<11) },
                { "controlword_manufacturer_12",    static_cast<uint16_t>(1<<12) },
                { "controlword_manufacturer_13",    static_cast<uint16_t>(1<<13) },
                { "controlword_manufacturer_14",    static_cast<uint16_t>(1<<14) },
                { "controlword_manufacturer_15",    static_cast<uint16_t>(1<<15) },

                // control word flags velocity mode specific
                { "controlword_vl_rfg_enable",  static_cast<uint16_t>(1<<4) },
                { "controlword_vl_rfg_unlock",  static_cast<uint16_t>(1<<5) },
                { "controlword_vl_use_ref",     static_cast<uint16_t>(1<<6) },
                
                // control word flags profile position mode specific
                { "controlword_pp_new_set_point",               static_cast<uint16_t>(1<<4) },
                { "controlword_pp_change_set_immediately",      static_cast<uint16_t>(1<<5) },
                { "controlword_pp_abs_rel",                     static_cast<uint16_t>(1<<6) },
                
                // control word flags homing mode specific
                { "controlword_hm_operation_start", static_cast<uint16_t>(1<<4) },
                
                // control word flags interpolated position mode specific
                { "controlword_ip_enable_ip_mode",  static_cast<uint16_t>(1<<4) },

                // status word flags general
                { "statusword_ready_to_switch_on",      static_cast<uint16_t>(1<<0) },
                { "statusword_switched_on",             static_cast<uint16_t>(1<<1) },
                { "statusword_operation_enabled",       static_cast<uint16_t>(1<<2) },
                { "statusword_fault",                   static_cast<uint16_t>(1<<3) },
                { "statusword_voltage_enabled",         static_cast<uint16_t>(1<<4) },
                { "statusword_quick_stop",              static_cast<uint16_t>(1<<5) },
                { "statusword_switch_on_disabled",      static_cast<uint16_t>(1<<6) },
                { "statusword_warning",                 static_cast<uint16_t>(1<<7) },
                { "statusword_remote",                  static_cast<uint16_t>(1<<9) },
                { "statusword_target_reached",          static_cast<uint16_t>(1<<10) },
                { "statusword_internal_limit_active",   static_cast<uint16_t>(1<<11) },

                // status word flags manufacturer specific
                { "statusword_manufacturer_8",  static_cast<uint16_t>(1<<8) },
                { "statusword_manufacturer_14", static_cast<uint16_t>(1<<14) },
                { "statusword_manufacturer_15", static_cast<uint16_t>(1<<15) },

                // status word flags profile position mode specific
                { "statusword_pp_set_point_acknowledge",    static_cast<uint16_t>(1<<12) },
                { "statusword_pp_following_error",          static_cast<uint16_t>(1<<13) },
                
                // status word flags profile velocity mode specific
                { "statusword_pv_speed",                static_cast<uint16_t>(1<<12) },
                { "statusword_pv_max_slippage_error",   static_cast<uint16_t>(1<<13) },
                
                // status word flags homing mode specific
                { "statusword_hm_homing_attained",  static_cast<uint16_t>(1<<12) },
                { "statusword_hm_homing_error",     static_cast<uint16_t>(1<<13) },
                
                // status word flags interpolated position mode specific
                { "statusword_ip_ip_mode_active",   static_cast<uint16_t>(1<<12) }
            }
        }
    };

} // end namespace kaco