motion-master-client 0.0.270 → 0.0.272

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Files changed (10) hide show
  1. package/package.json +1 -1
  2. package/src/index.d.ts +1 -0
  3. package/src/index.js +1 -0
  4. package/src/index.js.map +1 -1
  5. package/src/lib/circulo.d.ts +1440 -0
  6. package/src/lib/circulo.js +433 -0
  7. package/src/lib/circulo.js.map +1 -0
  8. package/src/lib/motion-master-req-res-client.d.ts +52 -0
  9. package/src/lib/motion-master-req-res-client.js +60 -0
  10. package/src/lib/motion-master-req-res-client.js.map +1 -1
package/src/lib/circulo.js ADDED
@@ -0,0 +1,433 @@
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+ "use strict";
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+ // https://github.com/synapticon/somanet_software/blob/32edf5ef572ea7d840aabe4a26e0f3d31f05caab/sw_applications/app_motion_drive/test/pytest/somanet_icmu_helpers.py
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+ Object.defineProperty(exports, "__esModule", { value: true });
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+ exports.CirculoIntegratedEncoderIcpvlCommands = exports.CirculoIntegratedEncoderIcmuCommands = exports.CirculoIntegratedEncoderEepromParameters = exports.CirculoIntegratedEncoderIcpvlParameters = exports.CirculoIntegratedEncoderIcmuParameters = exports.circuloIntegratedEncoderI2CDeviceIdOptions = exports.CirculoIntegratedEncoderI2CDeviceId = exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = void 0;
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+ /**
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+ * Mapping of key configuration register addresses for Circulo Integrated Encoders (e.g., iC-MU, iC-PVL).
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+ *
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+ * Each entry maps a configuration register's address in EEPROM to its corresponding
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+ * address in RAM. This mapping allows read/write access to configuration data via
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+ * either persistent storage (EEPROM) or volatile memory (RAM).
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+ */
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+ exports.circuloIntegratedEncoderKeyConfigurationRegisterAddresses = [
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+ { eeprom: 0x00, ram: 0x00 },
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+ { eeprom: 0x01, ram: 0x01 },
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+ { eeprom: 0x02, ram: 0x02 },
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+ { eeprom: 0x03, ram: 0x03 },
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+ { eeprom: 0x04, ram: 0x04 },
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+ { eeprom: 0x05, ram: 0x05 },
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+ { eeprom: 0x06, ram: 0x06 },
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+ { eeprom: 0x07, ram: 0x07 },
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+ { eeprom: 0x08, ram: 0x08 },
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+ { eeprom: 0x09, ram: 0x09 },
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+ { eeprom: 0x0a, ram: 0x0a },
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+ { eeprom: 0x0b, ram: 0x0b },
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+ { eeprom: 0x0c, ram: 0x0c },
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+ { eeprom: 0x0d, ram: 0x0d },
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+ { eeprom: 0x0e, ram: 0x0e },
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+ { eeprom: 0x0f, ram: 0x0f },
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+ { eeprom: 0x10, ram: 0x10 },
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+ { eeprom: 0x11, ram: 0x11 },
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+ { eeprom: 0x12, ram: 0x12 },
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+ { eeprom: 0x13, ram: 0x13 },
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+ { eeprom: 0x14, ram: 0x14 },
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+ { eeprom: 0x15, ram: 0x15 },
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+ { eeprom: 0x16, ram: 0x16 },
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+ { eeprom: 0x17, ram: 0x17 },
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+ { eeprom: 0x18, ram: 0x18 },
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+ { eeprom: 0x19, ram: 0x52 },
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+ { eeprom: 0x1a, ram: 0x53 },
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+ { eeprom: 0x1b, ram: 0x54 },
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+ { eeprom: 0x1c, ram: 0x55 },
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+ { eeprom: 0x1d, ram: 0x56 },
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+ { eeprom: 0x1e, ram: 0x57 },
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+ { eeprom: 0x1f, ram: 0x58 },
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+ { eeprom: 0x20, ram: 0x59 },
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+ ];
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+ /**
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+ * I²C device IDs (addresses) used to access specific memory areas and registers
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+ * of Circulo Integrated Encoders such as iC-MU and iC-PVL.
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+ *
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+ * These values are used as the 7-bit device address (plus R/W bit) in I²C transactions,
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+ * defining whether the access targets EEPROM or RAM, and whether full or limited access is allowed.
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+ *
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+ * EEPROM access allows for reading and writing of persistent configuration data,
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+ * while iC-PVL access allows interaction with runtime registers. Limited access
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+ * typically restricts operations to a subset of available registers.
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+ */
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+ var CirculoIntegratedEncoderI2CDeviceId;
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+ (function (CirculoIntegratedEncoderI2CDeviceId) {
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+ /** I²C address for writing to EEPROM memory. */
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+ CirculoIntegratedEncoderI2CDeviceId[CirculoIntegratedEncoderI2CDeviceId["WRITE_EEPROM"] = 160] = "WRITE_EEPROM";
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+ /** I²C address for reading from EEPROM memory. */
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+ CirculoIntegratedEncoderI2CDeviceId[CirculoIntegratedEncoderI2CDeviceId["READ_EEPROM"] = 161] = "READ_EEPROM";
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+ /** I²C address for limited write access to iC-PVL registers. */
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+ CirculoIntegratedEncoderI2CDeviceId[CirculoIntegratedEncoderI2CDeviceId["WRITE_ICPVL_LIMITED"] = 192] = "WRITE_ICPVL_LIMITED";
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+ /** I²C address for limited read access to iC-PVL registers. */
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+ CirculoIntegratedEncoderI2CDeviceId[CirculoIntegratedEncoderI2CDeviceId["READ_ICPVL_LIMITED"] = 193] = "READ_ICPVL_LIMITED";
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+ /** I²C address for full write access to iC-PVL registers. */
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+ CirculoIntegratedEncoderI2CDeviceId[CirculoIntegratedEncoderI2CDeviceId["WRITE_ICPVL"] = 194] = "WRITE_ICPVL";
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+ /** I²C address for full read access to iC-PVL registers. */
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+ CirculoIntegratedEncoderI2CDeviceId[CirculoIntegratedEncoderI2CDeviceId["READ_ICPVL"] = 195] = "READ_ICPVL";
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+ })(CirculoIntegratedEncoderI2CDeviceId = exports.CirculoIntegratedEncoderI2CDeviceId || (exports.CirculoIntegratedEncoderI2CDeviceId = {}));
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+ /**
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+ * A key-value object representing the `CirculoIntegratedEncoderI2CDeviceId` enum,
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+ * where each key is the string name of an I²C device ID, and each value is its
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+ * corresponding numeric address.
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+ *
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+ * This object is generated by filtering out the reverse mappings from the enum
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+ * (numeric keys), leaving only the name-to-value entries for use in things like
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+ * dropdowns or selection lists.
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+ *
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+ * @example
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+ * {
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+ * READ_EEPROM: 161,
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+ * READ_ICPVL: 195
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+ * READ_ICPVL_LIMITED: 193,
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+ * WRITE_EEPROM: 160,
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+ * WRITE_ICPVL: 194,
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+ * WRITE_ICPVL_LIMITED: 192,
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+ * }
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+ */
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+ exports.circuloIntegratedEncoderI2CDeviceIdOptions = Object.entries(CirculoIntegratedEncoderI2CDeviceId)
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+ .filter(([key]) => isNaN(Number(key))) // exclude numeric keys (value-to-name)
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+ .reduce((acc, [key, value]) => {
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+ acc[key] = value;
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+ return acc;
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+ }, {});
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+ class CirculoIntegratedEncoderIcmuParameters {
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+ }
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+ exports.CirculoIntegratedEncoderIcmuParameters = CirculoIntegratedEncoderIcmuParameters;
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+ CirculoIntegratedEncoderIcmuParameters.GC_M = { address: 0x00, lsb: 6, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.GF_M = { address: 0x00, lsb: 0, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.GX_M = { address: 0x01, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.VOSS_M = { address: 0x02, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.VOSC_M = { address: 0x03, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.PH_M = { address: 0x04, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.ENAC = { address: 0x05, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.CIBM = { address: 0x05, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.GC_N = { address: 0x06, lsb: 6, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.GF_N = { address: 0x06, lsb: 0, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.GX_N = { address: 0x07, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.VOSS_N = { address: 0x08, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.VOSC_N = { address: 0x09, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.PH_N = { address: 0x0a, lsb: 0, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.MODEB = { address: 0x0b, lsb: 4, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.MODEA = { address: 0x0b, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.CFGEW = { address: 0x0c, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.ACC_STAT = { address: 0x0d, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.NCHK_CRC = { address: 0x0d, lsb: 6, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.NCHK_NON = { address: 0x0d, lsb: 5, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.ACRM_RES = { address: 0x0d, lsb: 4, msb: 4 };
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+ CirculoIntegratedEncoderIcmuParameters.EMTD = { address: 0x0d, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.ESSI_MT = { address: 0x0e, lsb: 6, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.ROT_MT = { address: 0x0e, lsb: 5, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.LIN = { address: 0x0e, lsb: 4, msb: 4 };
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+ CirculoIntegratedEncoderIcmuParameters.FILT = { address: 0x0e, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_MT = { address: 0x0f, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.MPC = { address: 0x0f, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.GET_MT = { address: 0x10, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.CHK_MT = { address: 0x10, lsb: 6, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.SBL_MT = { address: 0x10, lsb: 4, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.MODE_MT = { address: 0x10, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.OUT_ZERO = { address: 0x11, lsb: 5, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.OUT_MSB = { address: 0x11, lsb: 0, msb: 4 };
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+ CirculoIntegratedEncoderIcmuParameters.GSSI = { address: 0x12, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.RSSI = { address: 0x12, lsb: 6, msb: 6 };
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+ CirculoIntegratedEncoderIcmuParameters.MODE_ST = { address: 0x12, lsb: 4, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.OUT_LSB = { address: 0x12, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.RESABZ = { address: 0x13, lsb: 0, msb: 15 };
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+ CirculoIntegratedEncoderIcmuParameters.ROT = { address: 0x015, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SS_AB = { address: 0x15, lsb: 4, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.ENIF_AUTO = { address: 0x15, lsb: 3, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.FRQAB = { address: 0x15, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.LENZ = { address: 0x16, lsb: 6, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.CHYS_AB = { address: 0x16, lsb: 4, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.PP60UVW = { address: 0x16, lsb: 3, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.INV_A = { address: 0x16, lsb: 2, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.INV_B = { address: 0x16, lsb: 1, msb: 1 };
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+ CirculoIntegratedEncoderIcmuParameters.INV_Z = { address: 0x16, lsb: 0, msb: 0 };
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+ CirculoIntegratedEncoderIcmuParameters.RPL = { address: 0x17, lsb: 6, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.PPUVW = { address: 0x17, lsb: 0, msb: 5 };
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+ CirculoIntegratedEncoderIcmuParameters.TEST = { address: 0x18, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.OFF_ABZ_1 = { address: 0x1e, lsb: 4, msb: 15 };
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+ CirculoIntegratedEncoderIcmuParameters.OFF_POS = { address: 0x20, lsb: 0, msb: 23 };
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+ CirculoIntegratedEncoderIcmuParameters.OFF_COM = { address: 0x23, lsb: 4, msb: 15 };
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+ CirculoIntegratedEncoderIcmuParameters.PA0_CONF = { address: 0x25, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.ACGAIN_M = { address: 0x2b, lsb: 3, msb: 4 };
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+ CirculoIntegratedEncoderIcmuParameters.AFGAIN_M = { address: 0x2b, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.ACGAIN_N = { address: 0x2f, lsb: 3, msb: 4 };
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+ CirculoIntegratedEncoderIcmuParameters.AFGAIN_N = { address: 0x2f, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcmuParameters.BANKSEL = { address: 0x40, lsb: 0, msb: 4 };
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+ CirculoIntegratedEncoderIcmuParameters.EDSBANK = { address: 0x41, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.PROFILE_ID = { address: 0x42, lsb: 0, msb: 15 };
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+ CirculoIntegratedEncoderIcmuParameters.SERIAL = { address: 0x44, lsb: 0, msb: 31 };
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+ CirculoIntegratedEncoderIcmuParameters.OFF_ABZ_2 = { address: 0x48, lsb: 0, msb: 23 };
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+ CirculoIntegratedEncoderIcmuParameters.OFF_UVW = { address: 0x4b, lsb: 4, msb: 15 };
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+ CirculoIntegratedEncoderIcmuParameters.PRES_POS = { address: 0x4d, lsb: 4, msb: 39 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_0 = { address: 0x52, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_BASE = { address: 0x52, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_2 = { address: 0x53, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_1 = { address: 0x53, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_4 = { address: 0x54, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_3 = { address: 0x54, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_6 = { address: 0x55, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_5 = { address: 0x55, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_8 = { address: 0x56, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_7 = { address: 0x56, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_10 = { address: 0x57, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_9 = { address: 0x57, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_12 = { address: 0x58, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_11 = { address: 0x58, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_14 = { address: 0x59, lsb: 4, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.SPO_13 = { address: 0x59, lsb: 0, msb: 3 };
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+ CirculoIntegratedEncoderIcmuParameters.RPL_RESET = { address: 0x5a, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.I2C_DEV_START = { address: 0x5b, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.I2C_RAM_START = { address: 0x5c, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.I2C_RAM_END = { address: 0x5d, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.I2C_DEVID = { address: 0x5e, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.I2C_RETRY = { address: 0x5f, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_1 = { address: 0x60, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_2 = { address: 0x61, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_3 = { address: 0x62, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_4 = { address: 0x63, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_5 = { address: 0x64, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_6 = { address: 0x65, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_7 = { address: 0x66, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_8 = { address: 0x67, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_9 = { address: 0x68, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_10 = { address: 0x69, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_11 = { address: 0x6a, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_12 = { address: 0x6b, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_13 = { address: 0x6c, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_14 = { address: 0x6d, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_15 = { address: 0x6e, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.USER_EXCHANGE_REGISTERS_16 = { address: 0x6f, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.EVENT_COUNT = { address: 0x73, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.HARD_REV = { address: 0x74, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.CMD_MU = { address: 0x75, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.STATUS0 = { address: 0x76, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.STATUS1 = { address: 0x77, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcmuParameters.DEV_ID = { address: 0x78, lsb: 0, msb: 47 };
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+ CirculoIntegratedEncoderIcmuParameters.MFG_ID = { address: 0x7e, lsb: 0, msb: 15 };
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+ class CirculoIntegratedEncoderIcpvlParameters {
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+ }
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+ exports.CirculoIntegratedEncoderIcpvlParameters = CirculoIntegratedEncoderIcpvlParameters;
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+ CirculoIntegratedEncoderIcpvlParameters.EN_PAR = { address: 0x00, lsb: 6, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.EN_ERR = { address: 0x00, lsb: 4, msb: 5 };
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+ CirculoIntegratedEncoderIcpvlParameters.DIR = { address: 0x00, lsb: 3, msb: 3 };
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+ CirculoIntegratedEncoderIcpvlParameters.ST_GRAY = { address: 0x00, lsb: 2, msb: 2 };
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+ CirculoIntegratedEncoderIcpvlParameters.MT_GRAY = { address: 0x00, lsb: 1, msb: 1 };
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+ CirculoIntegratedEncoderIcpvlParameters.INT_MODE = { address: 0x00, lsb: 0, msb: 0 };
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+ CirculoIntegratedEncoderIcpvlParameters.OS = { address: 0x01, lsb: 5, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.MT_BW = { address: 0x01, lsb: 0, msb: 4 };
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+ CirculoIntegratedEncoderIcpvlParameters.PCR = { address: 0x02, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.EN_WRN = { address: 0x03, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.BAT_MON = { address: 0x03, lsb: 6, msb: 6 };
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+ CirculoIntegratedEncoderIcpvlParameters.A_MAX = { address: 0x03, lsb: 3, msb: 5 };
228
+ CirculoIntegratedEncoderIcpvlParameters.IBIAS = { address: 0x03, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcpvlParameters.FIXED_ZERO_1 = { address: 0x04, lsb: 7, msb: 7 };
230
+ CirculoIntegratedEncoderIcpvlParameters.NOMAG = { address: 0x04, lsb: 5, msb: 6 };
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+ CirculoIntegratedEncoderIcpvlParameters.ATHR = { address: 0x04, lsb: 3, msb: 4 };
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+ CirculoIntegratedEncoderIcpvlParameters.ONAX = { address: 0x04, lsb: 2, msb: 2 };
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+ CirculoIntegratedEncoderIcpvlParameters.POLEWID = { address: 0x04, lsb: 0, msb: 1 };
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+ CirculoIntegratedEncoderIcpvlParameters.I2C_POS = { address: 0x05, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.PCR_OUT = { address: 0x05, lsb: 6, msb: 6 };
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+ CirculoIntegratedEncoderIcpvlParameters.SYNC_BW = { address: 0x05, lsb: 4, msb: 5 };
237
+ CirculoIntegratedEncoderIcpvlParameters.BAT_THR = { address: 0x05, lsb: 2, msb: 3 };
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+ CirculoIntegratedEncoderIcpvlParameters.HYS = { address: 0x05, lsb: 1, msb: 1 };
239
+ CirculoIntegratedEncoderIcpvlParameters.ABQUAD = { address: 0x05, lsb: 0, msb: 0 };
240
+ CirculoIntegratedEncoderIcpvlParameters.CRC_CFG = { address: 0x06, lsb: 0, msb: 7 };
241
+ CirculoIntegratedEncoderIcpvlParameters.MT_COUNT = { address: 0x07, lsb: 0, msb: 39 };
242
+ CirculoIntegratedEncoderIcpvlParameters.CRC_CTR = { address: 0x0c, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.FIXED_ZERO_2 = { address: 0x0d, lsb: 3, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.SYNC = { address: 0x0d, lsb: 0, msb: 2 };
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+ CirculoIntegratedEncoderIcpvlParameters.CHIP_REL = { address: 0x0f, lsb: 0, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.PRESET = { address: 0x10, lsb: 7, msb: 7 };
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+ CirculoIntegratedEncoderIcpvlParameters.PDR = { address: 0x10, lsb: 6, msb: 6 };
248
+ CirculoIntegratedEncoderIcpvlParameters.BAT_WRN = { address: 0x10, lsb: 5, msb: 5 };
249
+ CirculoIntegratedEncoderIcpvlParameters.BAT_ERR = { address: 0x10, lsb: 4, msb: 4 };
250
+ CirculoIntegratedEncoderIcpvlParameters.POS_ERR = { address: 0x10, lsb: 3, msb: 3 };
251
+ CirculoIntegratedEncoderIcpvlParameters.CTR_ERR = { address: 0x10, lsb: 2, msb: 2 };
252
+ CirculoIntegratedEncoderIcpvlParameters.CFG_ERR = { address: 0x10, lsb: 1, msb: 1 };
253
+ CirculoIntegratedEncoderIcpvlParameters.STUP_ERR = { address: 0x10, lsb: 0, msb: 0 };
254
+ CirculoIntegratedEncoderIcpvlParameters.CMD = { address: 0x11, lsb: 0, msb: 7 };
255
+ CirculoIntegratedEncoderIcpvlParameters.SLEEP_ST = { address: 0x12, lsb: 7, msb: 7 };
256
+ CirculoIntegratedEncoderIcpvlParameters.NOMAG_ST = { address: 0x12, lsb: 6, msb: 6 };
257
+ CirculoIntegratedEncoderIcpvlParameters.ACTIVE_ST = { address: 0x12, lsb: 5, msb: 5 };
258
+ CirculoIntegratedEncoderIcpvlParameters.POWON_ST = { address: 0x12, lsb: 4, msb: 4 };
259
+ CirculoIntegratedEncoderIcpvlParameters.NOMAG_L = { address: 0x12, lsb: 2, msb: 2 };
260
+ CirculoIntegratedEncoderIcpvlParameters.MAG_ERR = { address: 0x12, lsb: 1, msb: 1 };
261
+ CirculoIntegratedEncoderIcpvlParameters.AMPL_ERR = { address: 0x12, lsb: 0, msb: 0 };
262
+ class CirculoIntegratedEncoderEepromParameters {
263
+ }
264
+ exports.CirculoIntegratedEncoderEepromParameters = CirculoIntegratedEncoderEepromParameters;
265
+ // iC-MU registers
266
+ CirculoIntegratedEncoderEepromParameters.GC_M = { address: 0x00, lsb: 6, msb: 7 };
267
+ CirculoIntegratedEncoderEepromParameters.GF_M = { address: 0x00, lsb: 0, msb: 5 };
268
+ CirculoIntegratedEncoderEepromParameters.GX_M = { address: 0x01, lsb: 0, msb: 6 };
269
+ CirculoIntegratedEncoderEepromParameters.VOSS_M = { address: 0x02, lsb: 0, msb: 6 };
270
+ CirculoIntegratedEncoderEepromParameters.VOSC_M = { address: 0x03, lsb: 0, msb: 6 };
271
+ CirculoIntegratedEncoderEepromParameters.PH_M = { address: 0x04, lsb: 0, msb: 6 };
272
+ CirculoIntegratedEncoderEepromParameters.ENAC = { address: 0x05, lsb: 7, msb: 7 };
273
+ CirculoIntegratedEncoderEepromParameters.CIBM = { address: 0x05, lsb: 0, msb: 3 };
274
+ CirculoIntegratedEncoderEepromParameters.GC_N = { address: 0x06, lsb: 6, msb: 7 };
275
+ CirculoIntegratedEncoderEepromParameters.GF_N = { address: 0x06, lsb: 0, msb: 5 };
276
+ CirculoIntegratedEncoderEepromParameters.GX_N = { address: 0x07, lsb: 0, msb: 6 };
277
+ CirculoIntegratedEncoderEepromParameters.VOSS_N = { address: 0x08, lsb: 0, msb: 6 };
278
+ CirculoIntegratedEncoderEepromParameters.VOSC_N = { address: 0x09, lsb: 0, msb: 6 };
279
+ CirculoIntegratedEncoderEepromParameters.PH_N = { address: 0x0a, lsb: 0, msb: 6 };
280
+ CirculoIntegratedEncoderEepromParameters.MODEB = { address: 0x0b, lsb: 4, msb: 6 };
281
+ CirculoIntegratedEncoderEepromParameters.MODEA = { address: 0x0b, lsb: 0, msb: 2 };
282
+ CirculoIntegratedEncoderEepromParameters.CFGEW = { address: 0x0c, lsb: 0, msb: 7 };
283
+ CirculoIntegratedEncoderEepromParameters.ACC_STAT = { address: 0x0d, lsb: 7, msb: 7 };
284
+ CirculoIntegratedEncoderEepromParameters.NCHK_CRC = { address: 0x0d, lsb: 6, msb: 6 };
285
+ CirculoIntegratedEncoderEepromParameters.NCHK_NON = { address: 0x0d, lsb: 5, msb: 5 };
286
+ CirculoIntegratedEncoderEepromParameters.ACRM_RES = { address: 0x0d, lsb: 4, msb: 4 };
287
+ CirculoIntegratedEncoderEepromParameters.EMTD = { address: 0x0d, lsb: 0, msb: 2 };
288
+ CirculoIntegratedEncoderEepromParameters.ESSI_MT = { address: 0x0e, lsb: 6, msb: 7 };
289
+ CirculoIntegratedEncoderEepromParameters.ROT_MT = { address: 0x0e, lsb: 5, msb: 5 };
290
+ CirculoIntegratedEncoderEepromParameters.LIN = { address: 0x0e, lsb: 4, msb: 4 };
291
+ CirculoIntegratedEncoderEepromParameters.FILT = { address: 0x0e, lsb: 0, msb: 2 };
292
+ CirculoIntegratedEncoderEepromParameters.SPO_MT = { address: 0x0f, lsb: 4, msb: 7 };
293
+ CirculoIntegratedEncoderEepromParameters.MPC = { address: 0x0f, lsb: 0, msb: 3 };
294
+ CirculoIntegratedEncoderEepromParameters.GET_MT = { address: 0x10, lsb: 7, msb: 7 };
295
+ CirculoIntegratedEncoderEepromParameters.CHK_MT = { address: 0x10, lsb: 6, msb: 6 };
296
+ CirculoIntegratedEncoderEepromParameters.SBL_MT = { address: 0x10, lsb: 4, msb: 5 };
297
+ CirculoIntegratedEncoderEepromParameters.MODE_MT = { address: 0x10, lsb: 0, msb: 3 };
298
+ CirculoIntegratedEncoderEepromParameters.OUT_ZERO = { address: 0x11, lsb: 5, msb: 7 };
299
+ CirculoIntegratedEncoderEepromParameters.OUT_MSB = { address: 0x11, lsb: 0, msb: 4 };
300
+ CirculoIntegratedEncoderEepromParameters.GSSI = { address: 0x12, lsb: 7, msb: 7 };
301
+ CirculoIntegratedEncoderEepromParameters.RSSI = { address: 0x12, lsb: 6, msb: 6 };
302
+ CirculoIntegratedEncoderEepromParameters.MODE_ST = { address: 0x12, lsb: 4, msb: 5 };
303
+ CirculoIntegratedEncoderEepromParameters.OUT_LSB = { address: 0x12, lsb: 0, msb: 3 };
304
+ CirculoIntegratedEncoderEepromParameters.RESABZ = { address: 0x13, lsb: 0, msb: 15 };
305
+ CirculoIntegratedEncoderEepromParameters.ROT = { address: 0x015, lsb: 7, msb: 7 };
306
+ CirculoIntegratedEncoderEepromParameters.SS_AB = { address: 0x15, lsb: 4, msb: 5 };
307
+ CirculoIntegratedEncoderEepromParameters.ENIF_AUTO = { address: 0x15, lsb: 3, msb: 3 };
308
+ CirculoIntegratedEncoderEepromParameters.FRQAB = { address: 0x15, lsb: 0, msb: 2 };
309
+ CirculoIntegratedEncoderEepromParameters.LENZ = { address: 0x16, lsb: 6, msb: 7 };
310
+ CirculoIntegratedEncoderEepromParameters.CHYS_AB = { address: 0x16, lsb: 4, msb: 5 };
311
+ CirculoIntegratedEncoderEepromParameters.PP60UVW = { address: 0x16, lsb: 3, msb: 3 };
312
+ CirculoIntegratedEncoderEepromParameters.INV_A = { address: 0x16, lsb: 2, msb: 2 };
313
+ CirculoIntegratedEncoderEepromParameters.INV_B = { address: 0x16, lsb: 1, msb: 1 };
314
+ CirculoIntegratedEncoderEepromParameters.INV_Z = { address: 0x16, lsb: 0, msb: 0 };
315
+ CirculoIntegratedEncoderEepromParameters.RPL = { address: 0x17, lsb: 6, msb: 7 };
316
+ CirculoIntegratedEncoderEepromParameters.PPUVW = { address: 0x17, lsb: 0, msb: 5 };
317
+ CirculoIntegratedEncoderEepromParameters.TEST = { address: 0x18, lsb: 0, msb: 7 };
318
+ CirculoIntegratedEncoderEepromParameters.SPO_0 = { address: 0x19, lsb: 4, msb: 7 };
319
+ CirculoIntegratedEncoderEepromParameters.SPO_BASE = { address: 0x19, lsb: 0, msb: 3 };
320
+ CirculoIntegratedEncoderEepromParameters.SPO_2 = { address: 0x1a, lsb: 4, msb: 7 };
321
+ CirculoIntegratedEncoderEepromParameters.SPO_1 = { address: 0x1a, lsb: 0, msb: 3 };
322
+ CirculoIntegratedEncoderEepromParameters.SPO_4 = { address: 0x1b, lsb: 4, msb: 7 };
323
+ CirculoIntegratedEncoderEepromParameters.SPO_3 = { address: 0x1b, lsb: 0, msb: 3 };
324
+ CirculoIntegratedEncoderEepromParameters.SPO_6 = { address: 0x1c, lsb: 4, msb: 7 };
325
+ CirculoIntegratedEncoderEepromParameters.SPO_5 = { address: 0x1c, lsb: 0, msb: 3 };
326
+ CirculoIntegratedEncoderEepromParameters.SPO_8 = { address: 0x1d, lsb: 4, msb: 7 };
327
+ CirculoIntegratedEncoderEepromParameters.SPO_7 = { address: 0x1d, lsb: 0, msb: 3 };
328
+ CirculoIntegratedEncoderEepromParameters.SPO_10 = { address: 0x1e, lsb: 4, msb: 7 };
329
+ CirculoIntegratedEncoderEepromParameters.SPO_9 = { address: 0x1e, lsb: 0, msb: 3 };
330
+ CirculoIntegratedEncoderEepromParameters.SPO_12 = { address: 0x1f, lsb: 4, msb: 7 };
331
+ CirculoIntegratedEncoderEepromParameters.SPO_11 = { address: 0x1f, lsb: 0, msb: 3 };
332
+ CirculoIntegratedEncoderEepromParameters.SPO_14 = { address: 0x20, lsb: 4, msb: 7 };
333
+ CirculoIntegratedEncoderEepromParameters.SPO_13 = { address: 0x20, lsb: 0, msb: 3 };
334
+ CirculoIntegratedEncoderEepromParameters.CRC16 = { address: 0x21, lsb: 0, msb: 15 };
335
+ CirculoIntegratedEncoderEepromParameters.OFF_ABZ = { address: 0x23, lsb: 4, msb: 39 };
336
+ CirculoIntegratedEncoderEepromParameters.OFF_UVW = { address: 0x28, lsb: 4, msb: 15 };
337
+ CirculoIntegratedEncoderEepromParameters.PRES_POS = { address: 0x2a, lsb: 4, msb: 39 };
338
+ CirculoIntegratedEncoderEepromParameters.CRC8 = { address: 0x2f, lsb: 0, msb: 7 };
339
+ CirculoIntegratedEncoderEepromParameters.PA0_CONF = { address: 0x30, lsb: 0, msb: 7 };
340
+ CirculoIntegratedEncoderEepromParameters.EDSBANK = { address: 0x31, lsb: 0, msb: 7 };
341
+ CirculoIntegratedEncoderEepromParameters.PROFILE_ID = { address: 0x32, lsb: 0, msb: 15 };
342
+ CirculoIntegratedEncoderEepromParameters.SERIAL = { address: 0x34, lsb: 0, msb: 31 };
343
+ CirculoIntegratedEncoderEepromParameters.DEV_ID = { address: 0x38, lsb: 0, msb: 47 };
344
+ CirculoIntegratedEncoderEepromParameters.MFG_ID = { address: 0x3e, lsb: 0, msb: 15 };
345
+ // iC-PVL registers
346
+ CirculoIntegratedEncoderEepromParameters.EN_PAR = { address: 0x40, lsb: 6, msb: 7 };
347
+ CirculoIntegratedEncoderEepromParameters.EN_ERR = { address: 0x40, lsb: 4, msb: 5 };
348
+ CirculoIntegratedEncoderEepromParameters.DIR = { address: 0x40, lsb: 3, msb: 3 };
349
+ CirculoIntegratedEncoderEepromParameters.ST_GRAY = { address: 0x40, lsb: 2, msb: 2 };
350
+ CirculoIntegratedEncoderEepromParameters.MT_GRAY = { address: 0x40, lsb: 1, msb: 1 };
351
+ CirculoIntegratedEncoderEepromParameters.INT_MODE = { address: 0x40, lsb: 0, msb: 0 };
352
+ CirculoIntegratedEncoderEepromParameters.OS = { address: 0x41, lsb: 5, msb: 7 };
353
+ CirculoIntegratedEncoderEepromParameters.MT_BW = { address: 0x41, lsb: 0, msb: 4 };
354
+ CirculoIntegratedEncoderEepromParameters.PCR = { address: 0x42, lsb: 0, msb: 7 };
355
+ CirculoIntegratedEncoderEepromParameters.EN_WRN = { address: 0x43, lsb: 7, msb: 7 };
356
+ CirculoIntegratedEncoderEepromParameters.BAT_MON = { address: 0x43, lsb: 6, msb: 6 };
357
+ CirculoIntegratedEncoderEepromParameters.A_MAX = { address: 0x43, lsb: 3, msb: 5 };
358
+ CirculoIntegratedEncoderEepromParameters.IBIAS = { address: 0x43, lsb: 0, msb: 2 };
359
+ CirculoIntegratedEncoderEepromParameters.FIXED_ZERO_1 = { address: 0x44, lsb: 7, msb: 7 };
360
+ CirculoIntegratedEncoderEepromParameters.NOMAG = { address: 0x44, lsb: 5, msb: 6 };
361
+ CirculoIntegratedEncoderEepromParameters.ATHR = { address: 0x44, lsb: 3, msb: 4 };
362
+ CirculoIntegratedEncoderEepromParameters.ONAX = { address: 0x44, lsb: 2, msb: 2 };
363
+ CirculoIntegratedEncoderEepromParameters.POLEWID = { address: 0x44, lsb: 0, msb: 1 };
364
+ CirculoIntegratedEncoderEepromParameters.I2C_POS = { address: 0x45, lsb: 7, msb: 7 };
365
+ CirculoIntegratedEncoderEepromParameters.PCR_OUT = { address: 0x45, lsb: 6, msb: 6 };
366
+ CirculoIntegratedEncoderEepromParameters.SYNC_BW = { address: 0x45, lsb: 4, msb: 5 };
367
+ CirculoIntegratedEncoderEepromParameters.BAT_THR = { address: 0x45, lsb: 2, msb: 3 };
368
+ CirculoIntegratedEncoderEepromParameters.HYS = { address: 0x45, lsb: 1, msb: 1 };
369
+ CirculoIntegratedEncoderEepromParameters.ABQUAD = { address: 0x45, lsb: 0, msb: 0 };
370
+ CirculoIntegratedEncoderEepromParameters.CRC_CFG = { address: 0x46, lsb: 0, msb: 7 };
371
+ CirculoIntegratedEncoderEepromParameters.MT_PREL = { address: 0x47, lsb: 0, msb: 39 };
372
+ CirculoIntegratedEncoderEepromParameters.CRC_CTR = { address: 0x4c, lsb: 0, msb: 7 };
373
+ /**
374
+ * Commands for the iC-MU encoder's `CMD_MU` register (address 0x75).
375
+ *
376
+ * These command codes control various internal operations of the iC-MU encoder,
377
+ * such as memory writes, resets, communication settings, and maintenance counters.
378
+ */
379
+ class CirculoIntegratedEncoderIcmuCommands {
380
+ }
381
+ exports.CirculoIntegratedEncoderIcmuCommands = CirculoIntegratedEncoderIcmuCommands;
382
+ /** Write all configuration settings to EEPROM. */
383
+ CirculoIntegratedEncoderIcmuCommands.WRITE_ALL = 0x01;
384
+ /** Disable EEPROM write access. */
385
+ CirculoIntegratedEncoderIcmuCommands.WRITE_OFF = 0x02;
386
+ /** Reset absolute position data. */
387
+ CirculoIntegratedEncoderIcmuCommands.ABS_RESET = 0x03;
388
+ /** Start non-volatile memory verification. */
389
+ CirculoIntegratedEncoderIcmuCommands.NON_VER = 0x04;
390
+ /** Reset multiturn counter. */
391
+ CirculoIntegratedEncoderIcmuCommands.MT_RESET = 0x05;
392
+ /** Verify multiturn counter value. */
393
+ CirculoIntegratedEncoderIcmuCommands.MT_VER = 0x06;
394
+ /** Perform a software reset of the device. */
395
+ CirculoIntegratedEncoderIcmuCommands.SOFT_RESET = 0x07;
396
+ /** Perform a software presence check. */
397
+ CirculoIntegratedEncoderIcmuCommands.SOFT_PRES = 0x08;
398
+ /** Perform a software + EEPROM presence check. */
399
+ CirculoIntegratedEncoderIcmuCommands.SOFT_E2P_PRES = 0x09;
400
+ /** Set or test I²C communication path. */
401
+ CirculoIntegratedEncoderIcmuCommands.I2C_COM = 0x0a;
402
+ /** Trigger an event counter update. */
403
+ CirculoIntegratedEncoderIcmuCommands.EVENT_COUNT = 0x0b;
404
+ /** Toggle or test switch functionality. */
405
+ CirculoIntegratedEncoderIcmuCommands.SWITCH = 0x0c;
406
+ /** Verify stored CRC against calculated CRC. */
407
+ CirculoIntegratedEncoderIcmuCommands.CRC_VER = 0x0d;
408
+ /** Trigger CRC calculation. */
409
+ CirculoIntegratedEncoderIcmuCommands.CRC_CALC = 0x0e;
410
+ /** Set multiturn counter (manual value assignment). */
411
+ CirculoIntegratedEncoderIcmuCommands.SET_MTC = 0x0f;
412
+ /** Reset multiturn counter to zero. */
413
+ CirculoIntegratedEncoderIcmuCommands.RES_MTC = 0x10;
414
+ /**
415
+ * Commands for the iC-PVL encoder's `CMD` register (address 0x11).
416
+ *
417
+ * These command values are written to the `CMD` register to control
418
+ * the behavior of the encoder, including reset, sleep mode, and clearing status.
419
+ */
420
+ class CirculoIntegratedEncoderIcpvlCommands {
421
+ }
422
+ exports.CirculoIntegratedEncoderIcpvlCommands = CirculoIntegratedEncoderIcpvlCommands;
423
+ /** Perform a software reset of the device. */
424
+ CirculoIntegratedEncoderIcpvlCommands.RESET = 0x02;
425
+ /** Reboot the device, similar to power cycling. */
426
+ CirculoIntegratedEncoderIcpvlCommands.REBOOT = 0x03;
427
+ /** Enable sleep mode to reduce power consumption. */
428
+ CirculoIntegratedEncoderIcpvlCommands.SLEEP_ENABLE = 0x04;
429
+ /** Clear internal status flags or errors (software clear). */
430
+ CirculoIntegratedEncoderIcpvlCommands.SCLR = 0x05;
431
+ /** Disable sleep mode and resume normal operation. */
432
+ CirculoIntegratedEncoderIcpvlCommands.SLEEP_DISABLE = 0x07;
433
+ //# sourceMappingURL=circulo.js.map
package/src/lib/circulo.js.map ADDED
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1
+ 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package/src/lib/motion-master-req-res-client.d.ts CHANGED
@@ -14,6 +14,7 @@ import { ConfigParameter } from './config-file';
14
14
  import { MotionMasterClientIndexedDB } from './mmcidb';
15
15
  import { SmmParameter } from './smm';
16
16
  import { DataType } from 'python-struct';
17
+ import { CirculoIntegratedEncoderI2CDeviceId } from './circulo';
17
18
  /**
18
19
  * This class contains methods for making requests to Motion Master using the injected request/response socket.
19
20
  *
@@ -1744,4 +1745,55 @@ export declare class MotionMasterReqResClient {
1744
1745
  * and transmits them to the device.
1745
1746
  */
1746
1747
  factoryResetSmm(deviceRef: DeviceRef, parameterStructureVersion?: number | undefined): Observable<boolean>;
1748
+ /**
1749
+ * Reads a value from an external I²C register of a Circulo Integrated Encoder device (e.g., iC-PVL or EEPROM),
1750
+ * by configuring the iC-MU's I²C bridging mechanism via command sequencing.
1751
+ *
1752
+ * This method writes the required configuration parameters to the iC-MU registers in a specific order
1753
+ * to trigger an I²C read transaction from the specified external device and register.
1754
+ *
1755
+ * The communication sequence is based on configuring the I²C device ID, retry parameters,
1756
+ * and transfer region (RAM/EEPROM), and finally triggering the `I2C_COM` command.
1757
+ *
1758
+ * @param deviceRef - Reference to the connected device used for communication.
1759
+ * @param encoderOrdinal - Index of the encoder on the bus (typically 1 if only one encoder is present).
1760
+ * @param i2cDeviceId - I²C device ID to access (EEPROM, PVL limited, PVL full).
1761
+ * @param registerAddress - Target register address on the external I²C device to read from.
1762
+ * @param commandTimeout - Optional timeout in milliseconds for each command (default: 2000 ms).
1763
+ *
1764
+ * @returns An `Observable<EncoderRegisterCommunicationOsCommandResponse>` that emits the final response
1765
+ * from the OS command sequence, containing the value read from the specified external I²C register.
1766
+ */
1767
+ readCirculoEncoderExternalRegister(deviceRef: DeviceRef, encoderOrdinal: number, i2cDeviceId: CirculoIntegratedEncoderI2CDeviceId, registerAddress: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse>;
1768
+ /**
1769
+ * Writes a value to an external I²C register of a Circulo Integrated Encoder device (e.g., iC-PVL or EEPROM),
1770
+ * by issuing a series of register configuration commands through the iC-MU I²C communication bridge.
1771
+ *
1772
+ * The function sets up the I²C device ID, retry count, target register, and data value to be written,
1773
+ * and then triggers the `I2C_COM` command to initiate the write transaction over the external I²C bus.
1774
+ *
1775
+ * This is typically used to write configuration or operational parameters to EEPROM or iC-PVL RAM registers.
1776
+ *
1777
+ * @param deviceRef - Reference to the connected device used for communication.
1778
+ * @param encoderOrdinal - Index of the encoder on the bus (typically 1 if only one encoder is present).
1779
+ * @param i2cDeviceId - I²C device ID specifying the target external device (EEPROM, PVL limited, or PVL full).
1780
+ * @param registerAddress - Target register address on the external I²C device.
1781
+ * @param registerValue - Value to write to the specified register.
1782
+ * @param commandTimeout - Optional timeout in milliseconds for each command (default: 2000 ms).
1783
+ *
1784
+ * @returns An `Observable<EncoderRegisterCommunicationOsCommandResponse>` that emits the final response
1785
+ * from the OS command sequence, confirming the write operation.
1786
+ */
1787
+ writeCirculoEncoderExternalRegister(deviceRef: DeviceRef, encoderOrdinal: number, i2cDeviceId: CirculoIntegratedEncoderI2CDeviceId, registerAddress: number, registerValue: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse>;
1788
+ /**
1789
+ * This is a special function that reads the key configuration registers of a Circulo integrated encoder.
1790
+ * It sends a series of commands to the device to read the registers and returns the responses as an array.
1791
+ * It was added as part of a fix for the EEPROM issue in Circulo integrated encoders.
1792
+ *
1793
+ * @param deviceRef - The reference to the device to which the command will be sent.
1794
+ * @param encoderOrdinal - The ordinal number of the encoder.
1795
+ * @param commandTimeout - The timeout in milliseconds for the command to complete.
1796
+ * @returns An observable that emits an array of `EncoderRegisterCommunicationOsCommandResponse` objects.
1797
+ */
1798
+ readCirculoIntegratedEncoderKeyConfigurationRegisters(deviceRef: DeviceRef, encoderOrdinal: number, commandTimeout?: number): Observable<EncoderRegisterCommunicationOsCommandResponse[]>;
1747
1799
  }