motion-master-client 0.0.360 → 0.0.362

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "motion-master-client",
-  "version": "0.0.360",
+  "version": "0.0.362",
   "type": "commonjs",
   "description": "A library and CLI program used for communicating with Motion Master.",
   "dependencies": {

package/src/index.d.ts

@@ -1,3 +1,4 @@
+export * from './lib/bits';
 export * from './lib/cia402';
 export * from './lib/circulo';
 export * from './lib/config-file';
@@ -14,6 +15,7 @@ export * from './lib/firmware';
 export * from './lib/hardware-description';
 export * from './lib/homing';
 export * from './lib/integro-encoder-calibration';
+export * from './lib/integro';
 export * from './lib/integro-variant';
 export * from './lib/is-online';
 export * from './lib/limited-range-system-identification';

package/src/index.js

@@ -1,6 +1,7 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
 const tslib_1 = require("tslib");
+tslib_1.__exportStar(require("./lib/bits"), exports);
 tslib_1.__exportStar(require("./lib/cia402"), exports);
 tslib_1.__exportStar(require("./lib/circulo"), exports);
 tslib_1.__exportStar(require("./lib/config-file"), exports);
@@ -17,6 +18,7 @@ tslib_1.__exportStar(require("./lib/firmware"), exports);
 tslib_1.__exportStar(require("./lib/hardware-description"), exports);
 tslib_1.__exportStar(require("./lib/homing"), exports);
 tslib_1.__exportStar(require("./lib/integro-encoder-calibration"), exports);
+tslib_1.__exportStar(require("./lib/integro"), exports);
 tslib_1.__exportStar(require("./lib/integro-variant"), exports);
 tslib_1.__exportStar(require("./lib/is-online"), exports);
 tslib_1.__exportStar(require("./lib/limited-range-system-identification"), exports);

package/src/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../libs/motion-master-client/src/index.ts"],"names":[],"mappings":";;;AAAA,qDAA2B;AAC3B,uDAA6B;AAC7B,wDAA8B;AAC9B,4DAAkC;AAClC,gEAAsC;AACtC,uDAA6B;AAC7B,iEAAuC;AACvC,gEAAsC;AACtC,wDAA8B;AAC9B,8DAAoC;AACpC,yDAA+B;AAC/B,yDAA+B;AAC/B,sDAA4B;AAC5B,yDAA+B;AAC/B,qEAA2C;AAC3C,uDAA6B;AAC7B,4EAAkD;AAClD,wDAA8B;AAC9B,gEAAsC;AACtC,0DAAgC;AAChC,oFAA0D;AAC1D,uDAA6B;AAC7B,kEAAwC;AACxC,iEAAuC;AACvC,gEAAsC;AACtC,qEAA2C;AAC3C,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,6EAAmD;AACnD,6EAAmD;AACnD,iFAAuD;AACvD,oFAA0D;AAC1D,qEAA2C;AAC3C,uDAA6B;AAC7B,0DAAgC;AAChC,wDAA8B;AAC9B,2DAAiC;AACjC,0DAAgC;AAChC,oDAA0B;AAC1B,wDAA8B;AAC9B,wEAA8C;AAC9C,oDAA0B;AAC1B,uDAA6B;AAC7B,oDAA0B;AAC1B,gEAAsC;AACtC,sDAA4B;AAC5B,sDAA4B;AAC5B,8DAAoC;AACpC,qDAA2B;AAC3B,kFAAwD"}

package/src/lib/bits.d.ts

@@ -0,0 +1,130 @@
+export declare const statuswordBitNames: string[];
+export declare const controlwordBitNames: string[];
+export declare const supportedDriveModesBitNames: string[];
+/**
+ * An array of status bit names for the Circulo feedback encoder, ordered according to the specific
+ * register sequence required by the firmware. Each entry corresponds to a bit in the encoder's status
+ * registers, with the name and description of the error if available, or 'r = reserved' if not defined.
+ * The array is padded with 'r = reserved' entries to ensure a total length of 32 bits.
+ *
+ * The bit names are constructed by iterating over the registers in the order specified by `registerOrder`
+ * ([1, 2, 0]), and for each register, iterating through its bits. If a bit has an associated error with a
+ * name and description in `circuloEncoderRegisterErrors`, it is included in the format `${error.name} = ${error.description}`.
+ * Otherwise, 'r = reserved' is used.
+ *
+ * @remarks
+ * - The ordering of registers and bits is critical to match the firmware's expected bit order.
+ * - The source of error names and descriptions is the `circuloEncoderRegisterErrors` mapping.
+ * - The final array always contains exactly 32 entries.
+ */
+export declare const circuloFeedbackEncoderStatusBitNames: string[];
+export declare const safetyStatuswordBitsV1Array: string[];
+export declare const safetyStatuswordBitsV2Array: string[];
+export declare const digitalInputsBitNames: string[];
+export declare const digitalOutputsBitNames: string[];
+/**
+ * Creates an array of {@link BitsViewEntry} objects describing the Safety Statusword
+ * object (0x6621) byte-wise bit fields.
+ *
+ * Each entry represents one byte (8 bits) of the Safety Statusword and contains:
+ * - CANopen object index (0x6621)
+ * - Subindex corresponding to the byte position (1-based)
+ * - Bit size (8)
+ * - Bit names for that byte
+ * - Optional SMM Launchwave version information
+ * - A generated label in the format:
+ *   "Safety Statusword Byte X" or
+ *   "Safety Statusword V<version> Byte X"
+ *
+ * If `parameterStructureVersion` is provided, it is converted to the corresponding
+ * Launchwave version using `smmParameterStructureVersionToLaunchwaveVersion()`.
+ * The resulting version is included in the returned entries and in the generated labels.
+ *
+ * If `parameterStructureVersion` is not provided, the entries are generated
+ * for non-SMM devices and no Launchwave version is associated with them.
+ *
+ * @param parameterStructureVersion - Optional SMM parameter structure version.
+ * If provided, version-specific bit names and labels are generated.
+ *
+ * @returns Array of {@link BitsViewEntry} objects representing the Safety Statusword bytes.
+ */
+export declare function createSafetyStatuswordBitsViewEntries(parameterStructureVersion?: number): BitsViewEntry[];
+/**
+ * Collection of {@link BitsViewEntry} definitions describing commonly used
+ * parameter bit fields for the motion master client.
+ *
+ * Each entry specifies:
+ * - CANopen object index and subindex
+ * - Bit size (in bits)
+ * - Associated bit name array
+ * - Human-readable label used in the UI
+ *
+ * The collection includes:
+ * - Encoder feedback status objects
+ * - Safety module input diagnostics
+ * - CiA 402 Controlword (0x6040) and Statusword (0x6041)
+ * - Digital inputs and outputs (0x60FD, 0x60FE)
+ * - Supported drive modes (0x6502)
+ * - Safety Statusword (0x6621) entries
+ *
+ * Safety Statusword entries are generated dynamically using
+ * {@link createSafetyStatuswordBitsViewEntries}:
+ * - `undefined` → Non-SMM devices
+ * - `0x0041` → SMM Launchwave V1
+ * - `0x0203` → SMM Launchwave V2
+ *
+ * This array is intended to serve as the central registry of bit-field
+ * definitions used for parameter bit visualization.
+ */
+export declare const parameterBitsViewEntries: BitsViewEntry[];
+/**
+ * Describes a bit-field view definition for a specific CANopen object entry.
+ *
+ * A {@link BitsViewEntry} defines how a parameter should be interpreted and
+ * visualized as individual bits in the UI.
+ *
+ * Properties:
+ * - `index` — CANopen object index (e.g. 0x6040).
+ * - `subindex` — CANopen object subindex.
+ * - `size` — Bit width of the value (e.g. 1, 8, 16, 32).
+ * - `names` — Array of bit names. The array length should correspond to `size`,
+ *   where each element represents the label of a bit position.
+ * - `label` — Human-readable label used for display in the UI.
+ * - `smmLwVersion` — Optional SMM Launchwave version. If defined, the entry
+ *   applies only to that specific SMM version.
+ */
+export interface BitsViewEntry {
+    index: number;
+    subindex: number;
+    size: number;
+    names: string[];
+    label: string;
+    smmLwVersion?: number;
+}
+/**
+ * Finds a `BitsViewEntry` from the parameter bits view registry based on
+ * a given CANopen object index and subindex, optionally filtering by
+ * a specific parameter structure version.
+ *
+ * This function supports both standard (non-SMM) and SMM parameters:
+ * - For non-SMM lookups (no `parameterStructureVersion` provided), it returns
+ *   entries without a SMM LW version.
+ * - For SMM lookups (`parameterStructureVersion` provided), it maps the
+ *   structure version to a SMM LW version and returns the entry matching
+ *   that version.
+ *
+ * @param index - The CANopen object index of the parameter.
+ * @param subindex - The CANopen object subindex of the parameter.
+ * @param parameterStructureVersion - Optional version of the parameter structure
+ *                                    used to select the correct SMM LW entry.
+ *
+ * @returns The matching `BitsViewEntry` if found; otherwise, `undefined`.
+ */
+export declare function findBitsViewEntry(index: number, subindex: number, parameterStructureVersion?: number): BitsViewEntry | undefined;
+/**
+ * Converts a SMM parameter structure version to the corresponding Launchwave version.
+ *
+ * @param version - The SMM parameter structure version as a number.
+ * @returns The Launchwave version: returns 1 if the version is less than 0x0203, otherwise returns 2.
+ */
+export declare function smmParameterStructureVersionToLaunchwaveVersion(version: number): number;

package/src/lib/bits.js

@@ -0,0 +1,454 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.smmParameterStructureVersionToLaunchwaveVersion = exports.findBitsViewEntry = exports.parameterBitsViewEntries = exports.createSafetyStatuswordBitsViewEntries = exports.digitalOutputsBitNames = exports.digitalInputsBitNames = exports.safetyStatuswordBitsV2Array = exports.safetyStatuswordBitsV1Array = exports.circuloFeedbackEncoderStatusBitNames = exports.supportedDriveModesBitNames = exports.controlwordBitNames = exports.statuswordBitNames = void 0;
+const encoder_1 = require("./encoder");
+const smm_1 = require("./smm");
+exports.statuswordBitNames = [
+    'rtso = ready to switch on',
+    'so = switched on',
+    'oe = operation enabled',
+    'f = fault',
+    've = voltage enabled',
+    'qs = quick stop',
+    'sod = switch on disabled',
+    'w = warning',
+    'ms = manufacturer-specific',
+    'rm = remote',
+    'tr = target reached',
+    'ila = internal limit active',
+    'oms = operation-mode-specific',
+    'oms = operation-mode-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+];
+exports.controlwordBitNames = [
+    'so = switch on',
+    'ev = enable voltage',
+    'qs = quick stop',
+    'eo = enable operation',
+    'oms = operation mode specific',
+    'oms = operation mode specific',
+    'oms = operation mode specific',
+    'fr = fault reset',
+    'h = halt',
+    'oms = operation mode specific',
+    'r = reserved',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+];
+exports.supportedDriveModesBitNames = [
+    'pp = profile position mode',
+    'vl = velocity mode',
+    'pv = profile velocity mode',
+    'tq = torque mode',
+    'r = reserved',
+    'hm = homing mode',
+    'ip = interpolated position mode',
+    'csp = cyclic synchronous position mode',
+    'csv = cyclic synchronous velocity mode',
+    'cst = cyclic synchronous torque mode',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+    'ms = manufacturer-specific',
+];
+/**
+ * An array of status bit names for the Circulo feedback encoder, ordered according to the specific
+ * register sequence required by the firmware. Each entry corresponds to a bit in the encoder's status
+ * registers, with the name and description of the error if available, or 'r = reserved' if not defined.
+ * The array is padded with 'r = reserved' entries to ensure a total length of 32 bits.
+ *
+ * The bit names are constructed by iterating over the registers in the order specified by `registerOrder`
+ * ([1, 2, 0]), and for each register, iterating through its bits. If a bit has an associated error with a
+ * name and description in `circuloEncoderRegisterErrors`, it is included in the format `${error.name} = ${error.description}`.
+ * Otherwise, 'r = reserved' is used.
+ *
+ * @remarks
+ * - The ordering of registers and bits is critical to match the firmware's expected bit order.
+ * - The source of error names and descriptions is the `circuloEncoderRegisterErrors` mapping.
+ * - The final array always contains exactly 32 entries.
+ */
+exports.circuloFeedbackEncoderStatusBitNames = (() => {
+    const result = [];
+    // Due to the specific ordering in the firmware,
+    // the registers have to be ordered in a specific way
+    // to get the correct bit order in the final array.
+    const registerOrder = [1, 2, 0];
+    for (const registerIndex of registerOrder) {
+        const statusMap = encoder_1.circuloEncoderRegisterErrors[registerIndex];
+        for (let bit = 1; bit <= 0x80; bit <<= 1) {
+            const error = statusMap[bit];
+            if (error && error.name) {
+                result.push(`${error.name} = ${error.description}`);
+            }
+            else {
+                result.push('r = reserved');
+            }
+        }
+    }
+    // Push 'r = reserved' until there are 32 bits in total
+    while (result.length < 32) {
+        result.push('r = reserved');
+    }
+    return result;
+})();
+exports.safetyStatuswordBitsV1Array = [
+    'ain_valid = analog input valid',
+    'ain_diag = analog input diagnostic',
+    'safe_out2 = safe output 2',
+    'safe_out1 = safe output 1',
+    'safe_in4 = safe input 4',
+    'safe_in3 = safe input 3',
+    'safe_in2 = safe input 2',
+    'safe_in1 = safe input 1',
+    'u = unused',
+    'u = unused',
+    'u = unused',
+    'safe_speed = Safe speed valid',
+    'safe_pos = Safe position valid',
+    'temp_warn = Temperature warning',
+    'SBC = SBC command (state)',
+    'restart_ack = Restart acknowledge required',
+    'SLS4 = SLS Instance 4 state',
+    'SLS3 = SLS Instance 3 state',
+    'SLS2 = SLS Instance 2 state',
+    'SLS1 = SLS Instance 1 state',
+    'u = unused',
+    'u = unused',
+    'SS2 = SS2 state',
+    'SS1 = SS1 state',
+    'error = Error active',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'SOS = SOS state',
+    'r = reserved',
+    'r = reserved',
+    'STO = STO state', // 0
+];
+exports.safetyStatuswordBitsV2Array = [
+    'ain_valid = analog input valid',
+    'ain_diag = analog input diagnostic',
+    'safe_out2 = safe output 2',
+    'safe_out1 = safe output 1',
+    'safe_in4 = safe input 4',
+    'safe_in3 = safe input 3',
+    'safe_in2 = safe input 2',
+    'safe_in1 = safe input 1',
+    'SLT = SLT state',
+    'safe_torque_sign = Safe torque sign valid',
+    'safe_torque = Safe torque valid',
+    'safe_speed = Safe speed valid',
+    'safe_pos = Safe position valid',
+    'temp_warn = Temperature warning',
+    'SBC = SBC command (state)',
+    'restart_ack = Restart acknowledge required',
+    'SLS4 = SLS Instance 4 state',
+    'SLS3 = SLS Instance 3 state',
+    'SLS2 = SLS Instance 2 state',
+    'SLS1 = SLS Instance 1 state',
+    'u = unused',
+    'u = unused',
+    'SS2 = SS2 state',
+    'SS1 = SS1 state',
+    'error = Error active',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'SOS = SOS state',
+    'r = reserved',
+    'r = reserved',
+    'STO = STO state', // 0
+];
+exports.digitalInputsBitNames = [
+    'SNLSS = Shows Negative Limit Switch Status (1=Active, 0=Inactive)',
+    'SPLSS = Shows Positive Limit Switch Status (1=Active, 0=Inactive)',
+    'SHSS = Shows Home Switch Status (1=Active, 0=Inactive)',
+    'SILS = Shows Interlock Status (1=Drive cannot be enabled, 0=Drive can be enabled)',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'DI1 = Digital input 1',
+    'DI2 = Digital input 2',
+    'DI3 = Digital input 3',
+    'DI4 = Digital input 4',
+    'DI5 = Digital input 5',
+    'DI6 = Digital input 6',
+    'DI7 = Digital input 7',
+    'DI8 = Digital input 8',
+    'DI9 = Digital input 9',
+    'DI10 = Digital input 10',
+    'DI11 = Digital input 11',
+    'DI12 = Digital input 12',
+    'DI13 = Digital input 13',
+    'DI14 = Digital input 14',
+    'DI15 = Digital input 15',
+    'DI16 = Digital input 16',
+];
+exports.digitalOutputsBitNames = [
+    'mo_brake = Manual Brake Operation (0=Engage, 1=Disengage)',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'r = reserved',
+    'DO1 = Digital output 1',
+    'DO2 = Digital output 2',
+    'DO3 = Digital output 3',
+    'DO4 = Digital output 4',
+    'DO5 = Digital output 5',
+    'DO6 = Digital output 6',
+    'DO7 = Digital output 7',
+    'DO8 = Digital output 8',
+    'DO9 = Digital output 9',
+    'DO10 = Digital output 10',
+    'DO11 = Digital output 11',
+    'DO12 = Digital output 12',
+    'DO13 = Digital output 13',
+    'DO14 = Digital output 14',
+    'DO15 = Digital output 15',
+    'DO16 = Digital output 16',
+];
+/**
+ * Creates an array of {@link BitsViewEntry} objects describing the Safety Statusword
+ * object (0x6621) byte-wise bit fields.
+ *
+ * Each entry represents one byte (8 bits) of the Safety Statusword and contains:
+ * - CANopen object index (0x6621)
+ * - Subindex corresponding to the byte position (1-based)
+ * - Bit size (8)
+ * - Bit names for that byte
+ * - Optional SMM Launchwave version information
+ * - A generated label in the format:
+ *   "Safety Statusword Byte X" or
+ *   "Safety Statusword V<version> Byte X"
+ *
+ * If `parameterStructureVersion` is provided, it is converted to the corresponding
+ * Launchwave version using `smmParameterStructureVersionToLaunchwaveVersion()`.
+ * The resulting version is included in the returned entries and in the generated labels.
+ *
+ * If `parameterStructureVersion` is not provided, the entries are generated
+ * for non-SMM devices and no Launchwave version is associated with them.
+ *
+ * @param parameterStructureVersion - Optional SMM parameter structure version.
+ * If provided, version-specific bit names and labels are generated.
+ *
+ * @returns Array of {@link BitsViewEntry} objects representing the Safety Statusword bytes.
+ */
+function createSafetyStatuswordBitsViewEntries(parameterStructureVersion) {
+    const bytes = (0, smm_1.getSafetyStatuswordBitNames)(parameterStructureVersion);
+    let smmLwVersion = undefined;
+    let labelPrefix = 'Safety Statusword';
+    if (parameterStructureVersion) {
+        smmLwVersion = smmParameterStructureVersionToLaunchwaveVersion(parameterStructureVersion);
+        labelPrefix = `Safety Statusword V${smmLwVersion}`;
+    }
+    return bytes.map((names, i) => ({
+        index: 0x6621,
+        subindex: i + 1,
+        size: 8,
+        names,
+        smmLwVersion,
+        label: labelPrefix + ` Byte ${i + 1}`,
+    }));
+}
+exports.createSafetyStatuswordBitsViewEntries = createSafetyStatuswordBitsViewEntries;
+/**
+ * Collection of {@link BitsViewEntry} definitions describing commonly used
+ * parameter bit fields for the motion master client.
+ *
+ * Each entry specifies:
+ * - CANopen object index and subindex
+ * - Bit size (in bits)
+ * - Associated bit name array
+ * - Human-readable label used in the UI
+ *
+ * The collection includes:
+ * - Encoder feedback status objects
+ * - Safety module input diagnostics
+ * - CiA 402 Controlword (0x6040) and Statusword (0x6041)
+ * - Digital inputs and outputs (0x60FD, 0x60FE)
+ * - Supported drive modes (0x6502)
+ * - Safety Statusword (0x6621) entries
+ *
+ * Safety Statusword entries are generated dynamically using
+ * {@link createSafetyStatuswordBitsViewEntries}:
+ * - `undefined` → Non-SMM devices
+ * - `0x0041` → SMM Launchwave V1
+ * - `0x0203` → SMM Launchwave V2
+ *
+ * This array is intended to serve as the central registry of bit-field
+ * definitions used for parameter bit visualization.
+ */
+exports.parameterBitsViewEntries = [
+    {
+        index: 0x2111,
+        subindex: 0x04,
+        size: 32,
+        names: exports.circuloFeedbackEncoderStatusBitNames,
+        label: 'Encoder 1 feedback - Encoder status',
+    },
+    {
+        index: 0x2113,
+        subindex: 0x04,
+        size: 32,
+        names: exports.circuloFeedbackEncoderStatusBitNames,
+        label: 'Encoder 2 feedback - Encoder status',
+    },
+    {
+        index: 0x2611,
+        subindex: 0x01,
+        size: 1,
+        names: ['I1 - Input 1'],
+        label: 'Safety Module input diagnostics: Input 1',
+    },
+    {
+        index: 0x2611,
+        subindex: 0x02,
+        size: 1,
+        names: ['I2 - Input 2'],
+        label: 'Safety Module input diagnostics: Input 2',
+    },
+    {
+        index: 0x6040,
+        subindex: 0x00,
+        size: 16,
+        names: exports.controlwordBitNames,
+        label: 'Controlword',
+    },
+    {
+        index: 0x6041,
+        subindex: 0x00,
+        size: 16,
+        names: exports.statuswordBitNames,
+        label: 'Statusword',
+    },
+    {
+        index: 0x60fd,
+        subindex: 0x00,
+        size: 32,
+        names: exports.digitalInputsBitNames,
+        label: 'Digital Inputs',
+    },
+    {
+        index: 0x60fe,
+        subindex: 0x01,
+        size: 32,
+        names: exports.digitalOutputsBitNames,
+        label: 'Digital Outputs - Physical outputs',
+    },
+    {
+        index: 0x60fe,
+        subindex: 0x02,
+        size: 32,
+        names: exports.digitalOutputsBitNames,
+        label: 'Digital Outputs - Bit mask',
+    },
+    {
+        index: 0x6502,
+        subindex: 0x00,
+        size: 32,
+        names: exports.supportedDriveModesBitNames,
+        label: 'Supported drive modes',
+    },
+    // Safety statusword entries, generated from the bit name arrays
+    ...createSafetyStatuswordBitsViewEntries(0x0041),
+    ...createSafetyStatuswordBitsViewEntries(0x0203),
+    // NOTE: The non-SMM version of the safety statusword entries is intentionally added at the end of the array to
+    // ensure that when looking up entries with a specific SMM version, the versioned entries are found first.
+    // This allows for correct fallback behavior where if a version-specific entry is not found,
+    // the non-versioned entry can still be returned.
+    // This is useful fo UI where parameter structure version is always provided,
+    // even for non-SMM devices but can be any value.
+    ...createSafetyStatuswordBitsViewEntries(undefined),
+];
+/**
+ * Finds a `BitsViewEntry` from the parameter bits view registry based on
+ * a given CANopen object index and subindex, optionally filtering by
+ * a specific parameter structure version.
+ *
+ * This function supports both standard (non-SMM) and SMM parameters:
+ * - For non-SMM lookups (no `parameterStructureVersion` provided), it returns
+ *   entries without a SMM LW version.
+ * - For SMM lookups (`parameterStructureVersion` provided), it maps the
+ *   structure version to a SMM LW version and returns the entry matching
+ *   that version.
+ *
+ * @param index - The CANopen object index of the parameter.
+ * @param subindex - The CANopen object subindex of the parameter.
+ * @param parameterStructureVersion - Optional version of the parameter structure
+ *                                    used to select the correct SMM LW entry.
+ *
+ * @returns The matching `BitsViewEntry` if found; otherwise, `undefined`.
+ */
+function findBitsViewEntry(index, subindex, parameterStructureVersion) {
+    const requestedSmmLwVersion = parameterStructureVersion !== undefined
+        ? smmParameterStructureVersionToLaunchwaveVersion(parameterStructureVersion)
+        : undefined;
+    return exports.parameterBitsViewEntries.find((entry) => {
+        // Must match index and subindex
+        if (entry.index !== index || entry.subindex !== subindex) {
+            return false;
+        }
+        // Non-SMM: match only non-SMM entries
+        if (requestedSmmLwVersion === undefined) {
+            return entry.smmLwVersion === undefined;
+        }
+        // special case when parameter structure version is provided but the entry does not have SMM LW version defined
+        if (entry.smmLwVersion === undefined && requestedSmmLwVersion !== undefined) {
+            return true;
+        }
+        // SMM: match only entries with the same Launchwave version
+        return entry.smmLwVersion === requestedSmmLwVersion;
+    });
+}
+exports.findBitsViewEntry = findBitsViewEntry;
+/**
+ * Converts a SMM parameter structure version to the corresponding Launchwave version.
+ *
+ * @param version - The SMM parameter structure version as a number.
+ * @returns The Launchwave version: returns 1 if the version is less than 0x0203, otherwise returns 2.
+ */
+function smmParameterStructureVersionToLaunchwaveVersion(version) {
+    return version < 0x0203 ? 1 : 2;
+}
+exports.smmParameterStructureVersionToLaunchwaveVersion = smmParameterStructureVersionToLaunchwaveVersion;
+//# sourceMappingURL=bits.js.map

package/src/lib/bits.js.map

@@ -0,0 +1 @@
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package/src/lib/cia402.d.ts

@@ -1,4 +1,3 @@
-export declare const statuswordBits: string[];
 /**
  * CIA402 refers to the CANopen application profile for drives and motion control.
  * It defines various states that a CiA402-compliant device, such as a motor drive, can be in.
@@ -68,7 +67,6 @@ export declare enum Cia402State {
 export declare const cia402StateMap: Map<number, Cia402State>;
 export declare function getCia402State(value: number): Cia402State;
 export declare function isInternalLimitActive(statusword: number): boolean;
-export declare const controlwordBits: string[];
 /**
  * In the CiA402 standard for drives and motion control, the controlword is a key component
  * used to command and control the operation of a CiA402-compliant device, such as a motor drive.
@@ -191,4 +189,3 @@ export declare const modesOfOperationOptions: {
     'Cyclic synchronous velocity mode': ModesOfOperation;
     'Cyclic synchronous torque mode': ModesOfOperation;
 };
-export declare const supportedDriveModesBits: string[];