motion-master-client 0.0.245 → 0.0.247

package/src/lib/os-command.d.ts

@@ -1,4 +1,5 @@
-import { RequestStatus } from "./types";
+import { RequestStatus } from './types';
+import { DataType } from 'python-struct';
 /**
  * Type guard to determine if the provided value is a OS Command Response object.
  */
@@ -40,7 +41,7 @@ export interface OsCommandResponse {
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -108,7 +109,8 @@ export declare enum SmmAcyclicHandlerSubcommandId {
     TRANSMIT_SOFTWARE = 11,
     FINALIZE_SOFTWARE_UPDATE = 12,
     READ_SMM_PARAMETER = 13,
-    IO_FAILURE_ACKNOWLEDGE = 14
+    IO_FAILURE_ACKNOWLEDGE = 14,
+    TRIGGER_RESTART = 15
 }
 export declare const osCommandErrorCode: {
     [key: number]: string;
@@ -373,10 +375,14 @@ export interface TorqueConstantMeasurementOsCommandResponse extends OsCommandRes
     torqueConstant: number;
 }
 export declare function createSmmAcyclicHandlerOsCommand(subcommandId: SmmAcyclicHandlerSubcommandId): Uint8Array;
-export declare function createSmmAcyclicHandlerReadSmmParameterOsCommand(index: number, subindex: number): Uint8Array;
+export declare function createSmmAcyclicHandlerReadSmmParameterOsCommand(index: number, subindex?: number): Uint8Array;
+export declare function createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand(fileSize: number): Uint8Array;
 export interface SmmAcyclicHandlerOsCommandResponse extends OsCommandResponse {
     parameterValueUpdated?: boolean;
 }
+export interface SmmAcyclicHandlerLoadParametersForVerificationOsCommandResponse extends OsCommandResponse {
+    values: DataType[];
+}
 export declare function createSkippedCyclesCounterOsCommand(firmwareService?: number): Uint8Array;
 export interface SkippedCyclesCounterOsCommandResponse extends OsCommandResponse {
     skippedCycles: number;
@@ -483,7 +489,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -537,7 +543,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -591,7 +597,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -645,7 +651,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -699,7 +705,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -753,7 +759,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -807,7 +813,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -861,7 +867,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -915,7 +921,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -969,7 +975,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1023,7 +1029,61 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
+    /**
+     * Reported progress during the OS command execution.
+     *
+     * The progress can be in the range from 0 to 100 and is computed from the command status.
+     * A status value between 100 and 200 indicates that the command is executing with a percentage (100 = 0%, 200 = 100%).
+     */
+    progress?: number | undefined;
+    /**
+     * Status of the request.
+     */
+    request: RequestStatus;
+    /**
+     * Raw response as sent by the device.
+     */
+    response: Uint8Array;
+} | {
+    values: DataType[];
+    /**
+     * The command that was sent to the device through the 0x1023:01 OS Command.
+     */
+    command?: Uint8Array | undefined;
+    /**
+     * Array of numbers representing the received data.
+     *
+     * The length of data depends on the response type.
+     * If the response number is 3 (Command completed with error and with response),
+     * the length can be up to 5 numbers; otherwise, it can be up to 6 numbers.
+     */
+    data?: number[] | undefined;
+    /**
+     * The error code is only set when the response number is 3 (Command completed with error and with response).
+     *
+     * The meaning of the error code can be general or command specific.
+     * General error codes start at 254 and go downwards:
+     * - 254: Unsupported command
+     * - 253: Command timeout
+     * - 252: Command aborted
+     * - 251: Command not allowed
+     * OS command specific error codes start at 0 and go upwards.
+     */
+    errorCode?: number | undefined;
+    /**
+     * The error name is derived from the OS command number and error code number.
+     */
+    errorName?: string | undefined;
+    /**
+     * The error description is derived from the OS command number and error code number.
+     * The purpose of the error description is to provide more information about the error than the name can.
+     */
+    errorDescription?: string | undefined;
+    /**
+     * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
+     */
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1077,7 +1137,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1131,7 +1191,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1185,7 +1245,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1239,7 +1299,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1294,7 +1354,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1348,7 +1408,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *
@@ -1402,7 +1462,7 @@ export declare function mapOsCommandResponse(): import("rxjs").UnaryFunction<imp
     /**
      * Stores the content of the fs-buffer file if accessed during the execution of the OS command.
      */
-    fsBuffer?: Uint8Array | null | undefined;
+    fsBuffer?: Uint8Array | number[] | null | undefined;
     /**
      * Reported progress during the OS command execution.
      *

package/src/lib/os-command.js

@@ -1,7 +1,8 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.mapOsCommandResponse = exports.kublerEncoderSubcommands = exports.smmAcyclicHandlerSubcommands = exports.osCommands = exports.kublerEncoderRegisterValueMeaning = exports.kublerEncoderRegisterCommunicationWriteOsCommandErrors = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors = exports.createKublerEncoderRegisterCommunicationOsCommand = exports.createUseInternalEncoderVelocityOsCommand = exports.kublerEncoderCommandOsCommandErrors = exports.createKublerEncoderCommandWriteFirmwareOsCommand = exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = exports.createKublerEncoderOsCommand = exports.KublerEncoderSubcommandId = exports.triggerErrorTypes = exports.createTriggerErrorOsCommand = exports.systemIdentificationParameters = exports.createSystemIdentificationOsCommand = exports.createIgnoreBissStatusBitsOsCommand = exports.createSkippedCyclesCounterOsCommand = exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = exports.createSmmAcyclicHandlerOsCommand = exports.createTorqueConstantMeasurementOsCommand = exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.hrdStreamingOsCommandErrors = exports.createHrdStreamingOsCommand = exports.HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandAction = exports.openLoopFieldModeParameters = exports.createOpenLoopFieldModeOsCommand = exports.createIcMuCalibrationModeOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.SmmAcyclicHandlerSubcommandId = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = exports.isOsCommandResponse = void 0;
+exports.mapOsCommandResponse = exports.kublerEncoderSubcommands = exports.smmAcyclicHandlerSubcommands = exports.osCommands = exports.kublerEncoderRegisterValueMeaning = exports.kublerEncoderRegisterCommunicationWriteOsCommandErrors = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors = exports.createKublerEncoderRegisterCommunicationOsCommand = exports.createUseInternalEncoderVelocityOsCommand = exports.kublerEncoderCommandOsCommandErrors = exports.createKublerEncoderCommandWriteFirmwareOsCommand = exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = exports.createKublerEncoderOsCommand = exports.KublerEncoderSubcommandId = exports.triggerErrorTypes = exports.createTriggerErrorOsCommand = exports.systemIdentificationParameters = exports.createSystemIdentificationOsCommand = exports.createIgnoreBissStatusBitsOsCommand = exports.createSkippedCyclesCounterOsCommand = exports.createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand = exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = exports.createSmmAcyclicHandlerOsCommand = exports.createTorqueConstantMeasurementOsCommand = exports.createPhaseInductanceMeasurementOsCommand = exports.createPhaseResistanceMeasurementOsCommand = exports.createPolePairDetectionOsCommand = exports.openPhaseDetectionErrors = exports.createOpenPhaseDetectionOsCommand = exports.createCommutationOffsetMeasurementOsCommand = exports.createMotorPhaseOrderDetectionOsCommand = exports.hrdStreamingOsCommandErrors = exports.createHrdStreamingOsCommand = exports.HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandAction = exports.openLoopFieldModeParameters = exports.createOpenLoopFieldModeOsCommand = exports.createIcMuCalibrationModeOsCommand = exports.createEncoderRegisterCommunicationOsCommand = exports.createOsCommandTypedArray = exports.osCommandErrorCode = exports.SmmAcyclicHandlerSubcommandId = exports.OsCommandId = exports.OsCommandMode = exports.parseOsCommandResponse = exports.isOsCommandResponse = void 0;
 const rxjs_1 = require("rxjs");
+const smm_1 = require("./smm");
 /**
  * Type guard to determine if the provided value is a OS Command Response object.
  */
@@ -9,7 +10,6 @@ function isOsCommandResponse(value) {
     return (value === null || value === void 0 ? void 0 : value.command) instanceof Uint8Array;
 }
 exports.isOsCommandResponse = isOsCommandResponse;
-;
 function parseOsCommandResponse(response, command) {
     const status = response.at(0);
     if (status === undefined) {
@@ -61,7 +61,6 @@ var OsCommandMode;
     OsCommandMode[OsCommandMode["EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY"] = 0] = "EXECUTE_THE_NEXT_COMMAND_IMMEDIATELY";
     OsCommandMode[OsCommandMode["ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER"] = 3] = "ABORT_THE_CURRENT_COMMAND_AND_ALL_COMMANDS_IN_THE_BUFFER";
 })(OsCommandMode = exports.OsCommandMode || (exports.OsCommandMode = {}));
-;
 var OsCommandId;
 (function (OsCommandId) {
     OsCommandId[OsCommandId["CUSTOM_OS_COMMAND"] = -1] = "CUSTOM_OS_COMMAND";
@@ -85,7 +84,6 @@ var OsCommandId;
     OsCommandId[OsCommandId["USE_INTERNAL_ENCODER_VELOCITY"] = 18] = "USE_INTERNAL_ENCODER_VELOCITY";
     OsCommandId[OsCommandId["KUBLER_ENCODER_REGISTER_COMMUNICATION"] = 19] = "KUBLER_ENCODER_REGISTER_COMMUNICATION";
 })(OsCommandId = exports.OsCommandId || (exports.OsCommandId = {}));
-;
 var SmmAcyclicHandlerSubcommandId;
 (function (SmmAcyclicHandlerSubcommandId) {
     SmmAcyclicHandlerSubcommandId[SmmAcyclicHandlerSubcommandId["PARAMETER_DOWNLOAD_LOGIN"] = 1] = "PARAMETER_DOWNLOAD_LOGIN";
@@ -102,8 +100,8 @@ var SmmAcyclicHandlerSubcommandId;
     SmmAcyclicHandlerSubcommandId[SmmAcyclicHandlerSubcommandId["FINALIZE_SOFTWARE_UPDATE"] = 12] = "FINALIZE_SOFTWARE_UPDATE";
     SmmAcyclicHandlerSubcommandId[SmmAcyclicHandlerSubcommandId["READ_SMM_PARAMETER"] = 13] = "READ_SMM_PARAMETER";
     SmmAcyclicHandlerSubcommandId[SmmAcyclicHandlerSubcommandId["IO_FAILURE_ACKNOWLEDGE"] = 14] = "IO_FAILURE_ACKNOWLEDGE";
+    SmmAcyclicHandlerSubcommandId[SmmAcyclicHandlerSubcommandId["TRIGGER_RESTART"] = 15] = "TRIGGER_RESTART";
 })(SmmAcyclicHandlerSubcommandId = exports.SmmAcyclicHandlerSubcommandId || (exports.SmmAcyclicHandlerSubcommandId = {}));
-;
 exports.osCommandErrorCode = {
     251: 'Command not allowed',
     252: 'Command aborted',
@@ -140,11 +138,16 @@ exports.createOsCommandTypedArray = createOsCommandTypedArray;
  */
 function createEncoderRegisterCommunicationOsCommand(encoderOrdinal = 1, slaveAddress = 0, rw = 0, registerAddress = 0, registerWriteValue = 0) {
     const byte2 = (slaveAddress << 1) | rw;
-    const elements = [OsCommandId.ENCODER_REGISTER_COMMUNICATION, encoderOrdinal, byte2, registerAddress, registerWriteValue];
+    const elements = [
+        OsCommandId.ENCODER_REGISTER_COMMUNICATION,
+        encoderOrdinal,
+        byte2,
+        registerAddress,
+        registerWriteValue,
+    ];
     return createOsCommandTypedArray(elements);
 }
 exports.createEncoderRegisterCommunicationOsCommand = createEncoderRegisterCommunicationOsCommand;
-;
 /**
  * OS command 1: iC-MU calibration mode
  *
@@ -219,12 +222,11 @@ function createIcMuCalibrationModeOsCommand(encoderOrdinal = 1, modeEnable = 0)
     return createOsCommandTypedArray(elements);
 }
 exports.createIcMuCalibrationModeOsCommand = createIcMuCalibrationModeOsCommand;
-;
 function createOpenLoopFieldModeOsCommand(parameterIndex = 0, parameterValue = 0) {
-    let msb = (parameterValue >> 24) & 0xFF;
-    let msb1 = (parameterValue >> 16) & 0xFF;
-    let msb2 = (parameterValue >> 8) & 0xFF;
-    let lsb = parameterValue & 0xFF;
+    let msb = (parameterValue >> 24) & 0xff;
+    let msb1 = (parameterValue >> 16) & 0xff;
+    let msb2 = (parameterValue >> 8) & 0xff;
+    let lsb = parameterValue & 0xff;
     const elements = [OsCommandId.OPEN_LOOP_FIELD_MODE, parameterIndex, msb, msb1, msb2, lsb];
     return createOsCommandTypedArray(elements);
 }
@@ -238,7 +240,6 @@ exports.openLoopFieldModeParameters = [
     { parameterIndex: 5, parameterName: 'Ending length [per thousand rated current]' },
     { parameterIndex: 6, parameterName: 'Increasing length rate [per thousand rated current / s]' },
 ];
-;
 /**
  * Enum for selecting the action to perform in HRD streaming.
  */
@@ -255,7 +256,6 @@ var HrdStreamingOsCommandAction;
      */
     HrdStreamingOsCommandAction[HrdStreamingOsCommandAction["START_STREAM"] = 1] = "START_STREAM";
 })(HrdStreamingOsCommandAction = exports.HrdStreamingOsCommandAction || (exports.HrdStreamingOsCommandAction = {}));
-;
 /**
  * Enum for selecting the data to stream.
  *
@@ -276,10 +276,9 @@ var HrdStreamingOsCommandDataIndex;
      */
     HrdStreamingOsCommandDataIndex[HrdStreamingOsCommandDataIndex["SYSTEM_IDENTIFICATION_DATA"] = 1] = "SYSTEM_IDENTIFICATION_DATA";
 })(HrdStreamingOsCommandDataIndex = exports.HrdStreamingOsCommandDataIndex || (exports.HrdStreamingOsCommandDataIndex = {}));
-;
 function createHrdStreamingOsCommand(action = 0, dataIndex = 0, duration = 10000) {
-    let msb = (duration >> 8) & 0xFF;
-    let lsb = duration & 0xFF;
+    let msb = (duration >> 8) & 0xff;
+    let lsb = duration & 0xff;
     const elements = [OsCommandId.HRD_STREAMING, action, dataIndex, msb, lsb];
     return createOsCommandTypedArray(elements);
 }
@@ -330,7 +329,6 @@ function createMotorPhaseOrderDetectionOsCommand() {
     return createOsCommandTypedArray(elements);
 }
 exports.createMotorPhaseOrderDetectionOsCommand = createMotorPhaseOrderDetectionOsCommand;
-;
 /**
  * Command 5: Commutation offset measurement
  *
@@ -357,7 +355,6 @@ function createCommutationOffsetMeasurementOsCommand() {
     return createOsCommandTypedArray(elements);
 }
 exports.createCommutationOffsetMeasurementOsCommand = createCommutationOffsetMeasurementOsCommand;
-;
 /**
  * Command 6: Open phase detection
  *
@@ -375,7 +372,6 @@ function createOpenPhaseDetectionOsCommand() {
     return createOsCommandTypedArray(elements);
 }
 exports.createOpenPhaseDetectionOsCommand = createOpenPhaseDetectionOsCommand;
-;
 exports.openPhaseDetectionErrors = {
     0: {
         errorName: 'Open terminal A',
@@ -429,7 +425,6 @@ function createPolePairDetectionOsCommand() {
     return createOsCommandTypedArray(elements);
 }
 exports.createPolePairDetectionOsCommand = createPolePairDetectionOsCommand;
-;
 /**
  * Command 8: Phase resistance measurement
  *
@@ -445,7 +440,6 @@ function createPhaseResistanceMeasurementOsCommand() {
     return createOsCommandTypedArray(elements);
 }
 exports.createPhaseResistanceMeasurementOsCommand = createPhaseResistanceMeasurementOsCommand;
-;
 /**
  * Command 9: Phase inductance measurement
  *
@@ -461,7 +455,6 @@ function createPhaseInductanceMeasurementOsCommand() {
     return createOsCommandTypedArray(elements);
 }
 exports.createPhaseInductanceMeasurementOsCommand = createPhaseInductanceMeasurementOsCommand;
-;
 function createTorqueConstantMeasurementOsCommand() {
     const elements = [OsCommandId.TORQUE_CONSTANT_MEASUREMENT];
     return createOsCommandTypedArray(elements);
@@ -472,13 +465,36 @@ function createSmmAcyclicHandlerOsCommand(subcommandId) {
     return createOsCommandTypedArray(elements);
 }
 exports.createSmmAcyclicHandlerOsCommand = createSmmAcyclicHandlerOsCommand;
-function createSmmAcyclicHandlerReadSmmParameterOsCommand(index, subindex) {
-    let indexMsb = (index >> 8) & 0xFF;
-    let indexLsb = index & 0xFF;
-    const elements = [OsCommandId.SMM_ACYCLIC_HANDLER, SmmAcyclicHandlerSubcommandId.READ_SMM_PARAMETER, indexLsb, indexMsb, subindex];
+function createSmmAcyclicHandlerReadSmmParameterOsCommand(index, subindex = 0) {
+    let indexMsb = (index >> 8) & 0xff;
+    let indexLsb = index & 0xff;
+    const subindexByte = subindex & 0xff;
+    const elements = [
+        OsCommandId.SMM_ACYCLIC_HANDLER,
+        SmmAcyclicHandlerSubcommandId.READ_SMM_PARAMETER,
+        indexLsb,
+        indexMsb,
+        subindexByte,
+    ];
     return createOsCommandTypedArray(elements);
 }
 exports.createSmmAcyclicHandlerReadSmmParameterOsCommand = createSmmAcyclicHandlerReadSmmParameterOsCommand;
+function createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand(fileSize) {
+    const b2 = (fileSize >> 0) & 0xff;
+    const b3 = (fileSize >> 8) & 0xff;
+    const b4 = (fileSize >> 16) & 0xff;
+    const b5 = (fileSize >> 24) & 0xff;
+    const elements = [
+        OsCommandId.SMM_ACYCLIC_HANDLER,
+        SmmAcyclicHandlerSubcommandId.CONFIGURE_SOFTWARE_UPDATE,
+        b2,
+        b3,
+        b4,
+        b5,
+    ];
+    return createOsCommandTypedArray(elements);
+}
+exports.createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand = createSmmAcyclicHandlerConfigureSoftwareUpdateOsCommand;
 function createSkippedCyclesCounterOsCommand(firmwareService = 0) {
     const elements = [OsCommandId.SKIPPED_CYCLED_COUNTER, firmwareService];
     return createOsCommandTypedArray(elements);
@@ -491,10 +507,10 @@ function createIgnoreBissStatusBitsOsCommand(trigger = 1, encoderOrdinal = 1) {
 }
 exports.createIgnoreBissStatusBitsOsCommand = createIgnoreBissStatusBitsOsCommand;
 function createSystemIdentificationOsCommand(parameterIndex = 0, parameterValue = 0) {
-    let msb = (parameterValue >> 24) & 0xFF;
-    let msb1 = (parameterValue >> 16) & 0xFF;
-    let msb2 = (parameterValue >> 8) & 0xFF;
-    let lsb = parameterValue & 0xFF;
+    let msb = (parameterValue >> 24) & 0xff;
+    let msb1 = (parameterValue >> 16) & 0xff;
+    let msb2 = (parameterValue >> 8) & 0xff;
+    let lsb = parameterValue & 0xff;
     const elements = [OsCommandId.SYSTEM_IDENTIFICATION, parameterIndex, msb, msb1, msb2, lsb];
     return createOsCommandTypedArray(elements);
 }
@@ -528,26 +544,32 @@ var KublerEncoderSubcommandId;
     KublerEncoderSubcommandId[KublerEncoderSubcommandId["EXIT_BOOTLOADER_MODE"] = 6] = "EXIT_BOOTLOADER_MODE";
     KublerEncoderSubcommandId[KublerEncoderSubcommandId["READ_CORRECTION_TABLE"] = 7] = "READ_CORRECTION_TABLE";
 })(KublerEncoderSubcommandId = exports.KublerEncoderSubcommandId || (exports.KublerEncoderSubcommandId = {}));
-;
 function createKublerEncoderOsCommand(subcommandId) {
     const elements = [OsCommandId.KUBLER_ENCODER_COMMAND, subcommandId];
     return createOsCommandTypedArray(elements);
 }
 exports.createKublerEncoderOsCommand = createKublerEncoderOsCommand;
 function createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand(firmwareSize) {
-    let lsb = firmwareSize & 0xFF;
-    let lsb1 = (firmwareSize >> 8) & 0xFF;
-    let lsb2 = (firmwareSize >> 16) & 0xFF;
-    let msb = (firmwareSize >> 24) & 0xFF;
-    const elements = [OsCommandId.KUBLER_ENCODER_COMMAND, KublerEncoderSubcommandId.CHECK_FIRMWARE_UPDATE_SIZE, lsb, lsb1, lsb2, msb];
+    let lsb = firmwareSize & 0xff;
+    let lsb1 = (firmwareSize >> 8) & 0xff;
+    let lsb2 = (firmwareSize >> 16) & 0xff;
+    let msb = (firmwareSize >> 24) & 0xff;
+    const elements = [
+        OsCommandId.KUBLER_ENCODER_COMMAND,
+        KublerEncoderSubcommandId.CHECK_FIRMWARE_UPDATE_SIZE,
+        lsb,
+        lsb1,
+        lsb2,
+        msb,
+    ];
     return createOsCommandTypedArray(elements);
 }
 exports.createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand = createKublerEncoderCommandCheckFirmwareUpdateSizeOsCommand;
 function createKublerEncoderCommandWriteFirmwareOsCommand(firmwareSize) {
-    let lsb = firmwareSize & 0xFF;
-    let lsb1 = (firmwareSize >> 8) & 0xFF;
-    let lsb2 = (firmwareSize >> 16) & 0xFF;
-    let msb = (firmwareSize >> 24) & 0xFF;
+    let lsb = firmwareSize & 0xff;
+    let lsb1 = (firmwareSize >> 8) & 0xff;
+    let lsb2 = (firmwareSize >> 16) & 0xff;
+    let msb = (firmwareSize >> 24) & 0xff;
     const elements = [OsCommandId.KUBLER_ENCODER_COMMAND, KublerEncoderSubcommandId.WRITE_FIRMWARE, lsb, lsb1, lsb2, msb];
     return createOsCommandTypedArray(elements);
 }
@@ -571,7 +593,7 @@ exports.kublerEncoderCommandOsCommandErrors = {
     },
     4: {
         errorName: 'Timeout',
-        errorDescription: 'The encoder didn\'t respond to the request after 10 ms.',
+        errorDescription: "The encoder didn't respond to the request after 10 ms.",
     },
     5: {
         errorName: 'Command not acknowledged',
@@ -592,11 +614,20 @@ function createUseInternalEncoderVelocityOsCommand(trigger = 0) {
 }
 exports.createUseInternalEncoderVelocityOsCommand = createUseInternalEncoderVelocityOsCommand;
 function createKublerEncoderRegisterCommunicationOsCommand(rw = 0, registerAddress = 0, registerLength = 0, registerWriteValue = 0) {
-    let msb = (registerWriteValue >> 24) & 0xFF;
-    let msb1 = (registerWriteValue >> 16) & 0xFF;
-    let msb2 = (registerWriteValue >> 8) & 0xFF;
-    let lsb = registerWriteValue & 0xFF;
-    const elements = [OsCommandId.KUBLER_ENCODER_REGISTER_COMMUNICATION, rw, registerAddress, registerLength, lsb, msb2, msb1, msb];
+    let msb = (registerWriteValue >> 24) & 0xff;
+    let msb1 = (registerWriteValue >> 16) & 0xff;
+    let msb2 = (registerWriteValue >> 8) & 0xff;
+    let lsb = registerWriteValue & 0xff;
+    const elements = [
+        OsCommandId.KUBLER_ENCODER_REGISTER_COMMUNICATION,
+        rw,
+        registerAddress,
+        registerLength,
+        lsb,
+        msb2,
+        msb1,
+        msb,
+    ];
     return createOsCommandTypedArray(elements);
 }
 exports.createKublerEncoderRegisterCommunicationOsCommand = createKublerEncoderRegisterCommunicationOsCommand;
@@ -634,7 +665,7 @@ exports.kublerEncoderRegisterValueMeaning = {
         25: 'POA auto-calibration reached good results but is still running at the moment.',
         17: 'POA auto-calibration reached good results and is finished, obtained values are saved automatically.',
         9: 'POA auto-calibration did not reach good results yet and is still running.',
-    }
+    },
 };
 exports.osCommands = [
     { id: OsCommandId.CUSTOM_OS_COMMAND, name: 'Custom OS command' },
@@ -712,7 +743,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { hrdStreamingComplete: true });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode <= 250) {
+                    if (typeof response.errorCode === 'number' && response.errorCode <= 250) {
                         const { errorName, errorDescription } = exports.hrdStreamingOsCommandErrors[response.errorCode];
                         return Object.assign(Object.assign({}, response), { hrdStreamingComplete: false, errorName, errorDescription });
                     }
@@ -736,7 +767,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { phaseOpened: false });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode <= 250) {
+                    if (typeof response.errorCode === 'number' && response.errorCode <= 250) {
                         const { errorName, errorDescription } = exports.openPhaseDetectionErrors[response.errorCode];
                         return Object.assign(Object.assign({}, response), { phaseOpened: true, errorName, errorDescription });
                     }
@@ -748,7 +779,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { numberOfPolePairs: response.data[0] });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode === 0) {
+                    if (typeof response.errorCode === 'number' && response.errorCode === 0) {
                         return Object.assign(Object.assign({}, response), { errorName: 'Current amplitude error', errorDescription: 'The drive is not able to increase the amplitude of motor phase currents to the required value. This problem can occur due to limited Vdc or high motor phase impedances.' });
                     }
                 }
@@ -760,7 +791,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { phaseResistance });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode === 0) {
+                    if (typeof response.errorCode === 'number' && response.errorCode === 0) {
                         return Object.assign(Object.assign({}, response), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
                     }
                 }
@@ -772,7 +803,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { phaseInductance });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode === 0) {
+                    if (typeof response.errorCode === 'number' && response.errorCode === 0) {
                         return Object.assign(Object.assign({}, response), { errorName: 'Current amplitude error', errorDescription: 'Unable to increase the current amplitude.' });
                     }
                 }
@@ -784,6 +815,15 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { torqueConstant });
                 }
             }
+            if (osCommandId === OsCommandId.SMM_ACYCLIC_HANDLER) {
+                if (response.command[1] === SmmAcyclicHandlerSubcommandId.LOAD_PARAMETERS_FOR_VERIFICATION) {
+                    if (response.request === 'succeeded' && response.fsBuffer) {
+                        const bytes = Uint8Array.from(response.fsBuffer).map((byte) => byte ^ 0xff);
+                        const values = (0, smm_1.unpackSmmParameterValues)(bytes);
+                        return Object.assign(Object.assign({}, response), { values });
+                    }
+                }
+            }
             if (osCommandId === OsCommandId.SKIPPED_CYCLED_COUNTER) {
                 if (response.request === 'succeeded' && response.data) {
                     const [b0, b1, b2, b3] = response.data;
@@ -813,7 +853,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { numberOfBytesWritten, responseInFoeBuffer });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode <= 250) {
+                    if (typeof response.errorCode === 'number' && response.errorCode <= 250) {
                         const { errorName, errorDescription } = exports.kublerEncoderCommandOsCommandErrors[response.errorCode];
                         return Object.assign(Object.assign({}, response), { errorName, errorDescription });
                     }
@@ -831,7 +871,7 @@ function mapOsCommandResponse() {
                     return Object.assign(Object.assign({}, response), { kublerRegisterValue });
                 }
                 if (response.request === 'failed') {
-                    if (typeof (response.errorCode) === 'number' && response.errorCode <= 250) {
+                    if (typeof response.errorCode === 'number' && response.errorCode <= 250) {
                         const { errorName, errorDescription } = exports.kublerEncoderRegisterCommunicationReadOsCommandErrors[response.errorCode];
                         return Object.assign(Object.assign({}, response), { errorName, errorDescription });
                     }