@synapticon/motion-master-client 6.0.0-alpha.77 → 6.0.0-alpha.81

package/dist/generated/Api.d.ts

@@ -336,7 +336,7 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
         error: string;
     }>>;
     /**
-     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised).
+     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised). A scan does not wait for work already in flight. A procedure that is running keeps running against the devices it started on, and fails at its next bus transfer. Retained procedure snapshots are discarded, because a position may name different hardware after a scan. A scan frees the recording, the retained process images and the previous device set, so it first waits up to 200 ms for the real-time loop to leave the cycle it is in. If the loop is stalled — a cyclic task that overruns, or severe CPU contention — the scan fails with 500 and changes nothing, rather than freeing memory the loop is still reading. `GET /api/game-loop` shows the stall. The same applies to `POST /api/process-data`, which re-allocates the recorder. `POST /api/reset` never fails this way: it holds the memory back instead and reclaims it later.
      *
      * @name Scan
      * @summary Scan the bus for slaves
@@ -406,6 +406,66 @@ export declare class Api<SecurityDataType = unknown> extends HttpClient<Security
      * @request GET:/api/meta/sdo-abort-codes
      */
     getSdoAbortCodes: (params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<SdoAbortCode[], any>>;
+    /**
+     * @description The register maps of the two iC-Haus chips inside a Circulo's internal encoder — the reference tables for POST /api/devices/{slavePosition}/procedures/encoder-register-communication, and documentation in their own right. Static: they describe the chips, not any connected device, so no bus and no scan are needed. Two chips, and the iC-MU is the one in charge. The iC-MU is the position encoder proper, a magnetic off-axis absolute chip speaking BiSS-C to the drive. The iC-PVL is a battery-buffered Hall multiturn counter behind it, reached over I2C through the iC-MU rather than directly. The response is a list of register *spaces*, not of registers, because an address alone names nothing: the same iC-PVL address 0x00 is a configuration register in one space and the status register in another, depending on which I2C device id addressed it. Each space says which chip it belongs to and how it is reached. A row is one address, or the range the datasheet prints as one row — `address` and `lastAddress` are equal in the ordinary case. `fields` lists the named pieces of the register, most significant bit first, each with the datasheet's own one-line description; it is empty exactly when `reserved` is true. `layout` is those same fields rendered as the datasheet prints the row, e.g. `GC_M(1:0) | GF_M(5:0)`, derived rather than stored so it cannot disagree with them. `spiOnly` marks the iC-MU's 0x80-0xAF, which is reachable over SPI only and so beyond the drive's register communication service. A field's `bits` is its own bit slice as the register map prints it, not its position within the byte: `GC_M(1:0)` occupies bits 7:6 of address 0x00 and reads "1:0" because those are the field's two bits. A value wider than one register is spread across several, which is why `RESABZ` reads "7:0" at 0x13 and "15:8" at 0x14. Granularity follows each datasheet's own register map. The iC-PVL prints its status registers bit by bit, so those arrive as eight fields; the iC-MU prints its own as `STATUS0(7:0)`, so that is one field. Transcribed from the vendors' datasheets: iC-MU Series Rev B1 (Tables 90 and 91) and iC-PVL Rev F2 (Tables 5, 6 and 7), with descriptions from their CONFIGURATION PARAMETERS indexes and, for the iC-PVL status bytes, its status tables. The prose behind those one-liners is not reproduced.
+     *
+     * @name GetIcHausRegisters
+     * @summary The Circulo internal encoder's register maps
+     * @request GET:/api/meta/ic-haus-registers
+     */
+    getIcHausRegisters: (params?: RequestParams) => Promise<import("./http-client.js").HttpResponse<{
+        /** @example "iC-MU" */
+        chip: "iC-MU" | "iC-PVL";
+        /**
+         * The datasheet's own name for the space.
+         * @example "CONF, bank 0, addresses 0x00-0x3F"
+         */
+        name: string;
+        /** How the space is reached, which is what decides whether the register communication service can read it at all. */
+        addressing: string;
+        registers: {
+            /**
+             * The address, or the first of a printed range.
+             * @example 15
+             */
+            address: number;
+            /**
+             * The last address of the range; equal to address for a single-address row.
+             * @example 15
+             */
+            lastAddress: number;
+            /**
+             * The fields rendered as the datasheet prints the row. "RESERVED" for a reserved row.
+             * @example "SPO_MT(3:0) | MPC(3:0)"
+             */
+            layout: string;
+            /** The named pieces of this register, most significant bit first. Empty when reserved. */
+            fields: {
+                /**
+                 * The datasheet's own name for the field.
+                 * @example "SPO_MT"
+                 */
+                name: string;
+                /**
+                 * The field's own bit slice as the register map prints it, empty where it prints a bare name. Not the position within the byte.
+                 * @example "3:0"
+                 */
+                bits: string;
+                /**
+                 * The datasheet's one-line description of the field.
+                 * @example "Offset external multiturn"
+                 */
+                description: string;
+            }[];
+            /** @example false */
+            reserved: boolean;
+            /**
+             * Reachable over SPI only, so the register communication service cannot touch it.
+             * @example false
+             */
+            spiOnly: boolean;
+        }[];
+    }[], any>>;
     /**
      * @description The register map of the Integro's internal (Kübler) encoder — the reference table for POST /api/devices/{slavePosition}/procedures/kuebler-register-communication, and documentation in its own right. Static: it describes the encoder type, not any connected device, so it needs no bus and no scan. Transcribed from the vendor's own draft table. Each entry carries the width, the access type, whether the encoder actually implements it — seven are documented but not implemented — and the vendor's bit definitions verbatim, which for a bit-field register is the only place its meaning is recorded. `format` says how to read the assembled value, because signedness is not uniform and one register is not a single number at all: `unsigned`, `signed`, `bitField` (the number means nothing on its own), or `signedHalves` — two signed 16-bit values packed into 32 bits, which register 0x3C is the only case of. `readableInOneCommand` is false for the one 64-bit register, since the command's length byte caps at 4 bytes.
      *

package/dist/generated/Api.js

@@ -130,7 +130,7 @@ export class Api extends HttpClient {
         ...params,
     });
     /**
-     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised).
+     * @description Scans the fieldbus for slaves and configures their sync managers and FMMUs. Must be called after a successful POST /api/init. Slaves remain in INIT state after this call; state transitions are driven by subsequent API calls. An empty bus is a successful scan returning 0 slaves, not an error: the master cannot distinguish a bus with no devices powered from a disconnected one, and the user recovers by powering devices on and scanning again. A 500 is returned only on a genuine driver failure (e.g. no driver initialised). A scan does not wait for work already in flight. A procedure that is running keeps running against the devices it started on, and fails at its next bus transfer. Retained procedure snapshots are discarded, because a position may name different hardware after a scan. A scan frees the recording, the retained process images and the previous device set, so it first waits up to 200 ms for the real-time loop to leave the cycle it is in. If the loop is stalled — a cyclic task that overruns, or severe CPU contention — the scan fails with 500 and changes nothing, rather than freeing memory the loop is still reading. `GET /api/game-loop` shows the stall. The same applies to `POST /api/process-data`, which re-allocates the recorder. `POST /api/reset` never fails this way: it holds the memory back instead and reclaims it later.
      *
      * @name Scan
      * @summary Scan the bus for slaves
@@ -219,6 +219,19 @@ export class Api extends HttpClient {
         format: "json",
         ...params,
     });
+    /**
+     * @description The register maps of the two iC-Haus chips inside a Circulo's internal encoder — the reference tables for POST /api/devices/{slavePosition}/procedures/encoder-register-communication, and documentation in their own right. Static: they describe the chips, not any connected device, so no bus and no scan are needed. Two chips, and the iC-MU is the one in charge. The iC-MU is the position encoder proper, a magnetic off-axis absolute chip speaking BiSS-C to the drive. The iC-PVL is a battery-buffered Hall multiturn counter behind it, reached over I2C through the iC-MU rather than directly. The response is a list of register *spaces*, not of registers, because an address alone names nothing: the same iC-PVL address 0x00 is a configuration register in one space and the status register in another, depending on which I2C device id addressed it. Each space says which chip it belongs to and how it is reached. A row is one address, or the range the datasheet prints as one row — `address` and `lastAddress` are equal in the ordinary case. `fields` lists the named pieces of the register, most significant bit first, each with the datasheet's own one-line description; it is empty exactly when `reserved` is true. `layout` is those same fields rendered as the datasheet prints the row, e.g. `GC_M(1:0) | GF_M(5:0)`, derived rather than stored so it cannot disagree with them. `spiOnly` marks the iC-MU's 0x80-0xAF, which is reachable over SPI only and so beyond the drive's register communication service. A field's `bits` is its own bit slice as the register map prints it, not its position within the byte: `GC_M(1:0)` occupies bits 7:6 of address 0x00 and reads "1:0" because those are the field's two bits. A value wider than one register is spread across several, which is why `RESABZ` reads "7:0" at 0x13 and "15:8" at 0x14. Granularity follows each datasheet's own register map. The iC-PVL prints its status registers bit by bit, so those arrive as eight fields; the iC-MU prints its own as `STATUS0(7:0)`, so that is one field. Transcribed from the vendors' datasheets: iC-MU Series Rev B1 (Tables 90 and 91) and iC-PVL Rev F2 (Tables 5, 6 and 7), with descriptions from their CONFIGURATION PARAMETERS indexes and, for the iC-PVL status bytes, its status tables. The prose behind those one-liners is not reproduced.
+     *
+     * @name GetIcHausRegisters
+     * @summary The Circulo internal encoder's register maps
+     * @request GET:/api/meta/ic-haus-registers
+     */
+    getIcHausRegisters = (params = {}) => this.request({
+        path: `/api/meta/ic-haus-registers`,
+        method: "GET",
+        format: "json",
+        ...params,
+    });
     /**
      * @description The register map of the Integro's internal (Kübler) encoder — the reference table for POST /api/devices/{slavePosition}/procedures/kuebler-register-communication, and documentation in its own right. Static: it describes the encoder type, not any connected device, so it needs no bus and no scan. Transcribed from the vendor's own draft table. Each entry carries the width, the access type, whether the encoder actually implements it — seven are documented but not implemented — and the vendor's bit definitions verbatim, which for a bit-field register is the only place its meaning is recorded. `format` says how to read the assembled value, because signedness is not uniform and one register is not a single number at all: `unsigned`, `signed`, `bitField` (the number means nothing on its own), or `signedHalves` — two signed 16-bit values packed into 32 bits, which register 0x3C is the only case of. `readableInOneCommand` is false for the one 64-bit register, since the command's length byte caps at 4 bytes.
      *

package/dist/generated/data-contracts.d.ts

@@ -898,7 +898,7 @@ export interface ProcedureRequest {
      */
     pollIntervalMs?: number;
     /**
-     * `encoder-register-communication` and `ic-mu-calibration-mode`: which of the drive's encoders to address. Encoder 1 is whatever 0x2110 configures and encoder 2 whatever 0x2112 does, so the ordinal picks a configured slot rather than a kind of encoder.
+     * `encoder-register-communication` and `ic-mu-calibration-mode`: which of the drive's encoders to address. Encoder 1 is the encoder configured in 0x2110 and encoder 2 the one configured in 0x2112, so the ordinal picks a configuration object rather than a kind of encoder.
      * @default 1
      * @example 1
      */

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@synapticon/motion-master-client",
-  "version": "6.0.0-alpha.77",
+  "version": "6.0.0-alpha.81",
   "description": "Isomorphic TypeScript client for Motion Master: the generated HTTP API client, the WebSocket connection, and helpers.",
   "license": "MIT",
   "repository": {