emm-stepper 1.0.0__py3-none-any.whl

emm_stepper/configs.py

@@ -0,0 +1,476 @@
+"""Emm固件步进电机配置常量.
+
+基于ZDT_X42S第二代闭环步进电机用户手册V1.0.3_251224。
+"""
+
+from dataclasses import dataclass, field
+from enum import IntEnum
+
+
+class ExtendedIntEnum(IntEnum):
+    """扩展的整数枚举，支持字节表示."""
+
+    @property
+    def bytes(self) -> bytes:
+        """返回字节表示."""
+        return self.value.to_bytes(1, "big")
+
+
+@dataclass(frozen=True)
+class SystemConstants:
+    """系统常量."""
+
+    SERIAL_TIMEOUT: float = field(default=0.1)
+    MAX_RETRIES: int = field(default=3)
+    DEFAULT_BAUDRATE: int = field(default=115200)
+
+
+class Code(ExtendedIntEnum):
+    """命令功能码 - Emm固件."""
+
+    # 触发动作命令
+    CAL_ENCODER = 0x06  # 触发编码器校准
+    RESTART = 0x08  # 重启电机
+    ZERO_POSITION = 0x0A  # 将当前位置角度清零
+    CLEAR_PROTECTION = 0x0E  # 解除堵转/过热/过流保护
+    FACTORY_RESET = 0x0F  # 恢复出厂设置
+
+    # 运动控制命令
+    MULTI_MOTOR = 0xAA  # 多电机命令
+    ENABLE = 0xF3  # 电机使能控制
+    JOG = 0xF6  # 速度模式控制(Emm)
+    POSITION = 0xFD  # 位置模式控制(Emm)
+    ESTOP = 0xFE  # 立即停止
+    SYNC_MOVE = 0xFF  # 触发多机同步运动
+
+    # 原点回零命令
+    SET_HOME_ZERO = 0x93  # 设置单圈回零的零点位置
+    HOME = 0x9A  # 触发回零
+    STOP_HOME = 0x9C  # 强制中断并退出回零操作
+    GET_HOME_STATUS = 0x3B  # 读取回零状态标志
+    GET_HOME_PARAM = 0x22  # 读取回零参数
+    SET_HOME_PARAM = 0x4C  # 修改回零参数
+
+    # 读取系统参数命令
+    TIMED_RETURN = 0x11  # 定时返回信息命令
+    GET_VERSION = 0x1F  # 读取固件版本和硬件版本
+    GET_MOTOR_RH = 0x20  # 读取相电阻和相电感
+    GET_PID = 0x21  # 读取PID参数
+    GET_INTEGRAL_STIFFNESS = 0x23  # 读取积分限幅/刚性系数
+    GET_BUS_VOLTAGE = 0x24  # 读取总线电压
+    GET_BUS_CURRENT = 0x26  # 读取总线电流
+    GET_PHASE_CURRENT = 0x27  # 读取相电流
+    GET_ENCODER = 0x31  # 读取线性化编码器值
+    GET_PULSE_COUNT = 0x32  # 读取输入脉冲数
+    GET_TARGET_POSITION = 0x33  # 读取电机目标位置
+    GET_REALTIME_TARGET = 0x34  # 读取电机实时设定的目标位置
+    GET_REALTIME_SPEED = 0x35  # 读取电机实时转速
+    GET_REALTIME_POSITION = 0x36  # 读取电机实时位置
+    GET_POSITION_ERROR = 0x37  # 读取电机位置误差
+    GET_BATTERY_VOLTAGE = 0x38  # 读取电池电压(Y42)
+    GET_TEMPERATURE = 0x39  # 读取驱动温度
+    GET_MOTOR_STATUS = 0x3A  # 读取电机状态标志
+    GET_HOME_MOTOR_STATUS = 0x3C  # 读取回零状态标志+电机状态标志
+    GET_IO_STATUS = 0x3D  # 读取引脚IO电平状态
+    GET_COLLISION_RETURN_ANGLE = 0x3F  # 读取碰撞回零返回角度
+    GET_POSITION_WINDOW = 0x41  # 读取位置到达窗口
+    GET_SYS_STATUS = 0x43  # 读取系统状态参数
+    GET_CONFIG = 0x42  # 读取驱动配置参数
+
+    # 读写驱动参数命令
+    GET_PROTECTION_THRESHOLD = 0x13  # 读取过热过流保护检测阈值
+    BROADCAST_GET_ID = 0x15  # 广播读取ID地址
+    GET_HEARTBEAT_TIME = 0x16  # 读取心跳保护功能时间
+    GET_OPTION_STATUS = 0x1A  # 读取选项参数状态
+    SET_OPEN_LOOP_CURRENT = 0x44  # 修改开环模式工作电流
+    SET_CLOSED_LOOP_CURRENT = 0x45  # 修改闭环模式最大电流
+    SET_LOOP_MODE = 0x46  # 修改开环/闭环控制模式
+    SET_CONFIG = 0x48  # 修改驱动配置参数
+    SET_PID = 0x4A  # 修改PID参数
+    SET_INTEGRAL_STIFFNESS = 0x4B  # 修改积分限幅/刚性系数
+    SET_SCALE_INPUT = 0x4F  # 修改命令速度值是否缩小10倍输入
+    SET_POWER_OFF_FLAG = 0x50  # 修改掉电标志
+    SET_COLLISION_RETURN_ANGLE = 0x5C  # 修改碰撞回零返回角度
+    SET_HEARTBEAT_TIME = 0x68  # 修改心跳保护功能时间
+    SET_MICROSTEP = 0x84  # 修改细分值
+    SET_ID = 0xAE  # 修改电机ID/地址
+    SET_LOCK_BUTTON = 0xD0  # 修改锁定按键功能
+    SET_POSITION_WINDOW = 0xD1  # 修改位置到达窗口
+    SET_PROTECTION_THRESHOLD = 0xD3  # 修改过热过流保护检测阈值
+    SET_MOTOR_DIRECTION = 0xD4  # 修改电机运动正方向
+    SET_FIRMWARE_TYPE = 0xD5  # 修改固件类型
+    SET_LOCK_PARAM = 0xD6  # 修改锁定修改参数功能
+    SET_MOTOR_TYPE = 0xD7  # 修改电机类型
+    SET_DMX512_PARAM = 0xD9  # 修改DMX512协议参数
+
+    # 上电自动运行命令
+    SET_AUTO_RUN = 0xF7  # 存储一组速度参数，上电自动运行
+
+
+class Protocol(ExtendedIntEnum):
+    """协议辅助码."""
+
+    # 触发动作命令
+    CAL_ENCODER = 0x45
+    RESTART = 0x97
+    ZERO_POSITION = 0x6D
+    CLEAR_PROTECTION = 0x52
+    FACTORY_RESET = 0x5F
+
+    # 运动控制命令
+    ENABLE = 0xAB
+    ESTOP = 0x98
+    SYNC_MOVE = 0x66
+
+    # 原点回零命令
+    SET_HOME_ZERO = 0x88
+    STOP_HOME = 0x48
+    SET_HOME_PARAM = 0xAE
+
+    # 定时返回
+    TIMED_RETURN = 0x18
+
+    # 读取配置
+    GET_CONFIG = 0x6C
+    GET_SYS_STATUS = 0x7A
+    GET_DMX512_PARAM = 0x78
+
+    # 设置命令
+    SET_MICROSTEP = 0x8A
+    SET_ID = 0x4B
+    SET_OPEN_LOOP_CURRENT = 0x33
+    SET_CLOSED_LOOP_CURRENT = 0x66
+    SET_LOOP_MODE = 0xA6
+    SET_CONFIG = 0xD1
+    SET_PID = 0xC3
+    SET_AUTO_RUN = 0x1C
+    SET_SCALE_INPUT = 0x71
+    SET_MOTOR_DIRECTION = 0x60
+    SET_FIRMWARE_TYPE = 0x69
+    SET_MOTOR_TYPE = 0x35
+    SET_LOCK_BUTTON = 0xB3
+    SET_POSITION_WINDOW = 0x07
+    SET_PROTECTION_THRESHOLD = 0x56
+    SET_HEARTBEAT_TIME = 0x38
+    SET_INTEGRAL_STIFFNESS = 0x57
+    SET_COLLISION_RETURN_ANGLE = 0xAC
+    SET_LOCK_PARAM = 0x4B
+    SET_DMX512_PARAM = 0x90
+
+
+class StatusCode(ExtendedIntEnum):
+    """状态码."""
+
+    FIXED_CHECKSUM = 0x6B  # 固定校验码
+    SUCCESS = 0x02  # 命令正确
+    AT_ZERO = 0x12  # 触发回零时当前就在零点处
+    PARAM_ERROR = 0xE2  # 命令参数错误
+    FORMAT_ERROR = 0xEE  # 命令格式错误
+    ACTION_COMPLETE = 0x9F  # 动作执行完成
+
+
+class ChecksumMode(ExtendedIntEnum):
+    """校验方式."""
+
+    FIXED = 0  # 固定0x6B
+    XOR = 1  # 异或校验
+    CRC8 = 2  # CRC-8校验
+    MODBUS = 3  # Modbus-RTU协议
+    DMX512 = 4  # DMX512协议
+
+    default = FIXED
+
+
+class Address(int):
+    """电机地址 (1-255, 0为广播地址)."""
+
+    BROADCAST = 0
+    MIN = 0
+    MAX = 255
+    DEFAULT = 1
+
+    def __new__(cls, value: int = DEFAULT) -> "Address":
+        if not cls.MIN <= value <= cls.MAX:
+            raise ValueError(f"地址必须在 {cls.MIN} 到 {cls.MAX} 之间")
+        return super().__new__(cls, value)
+
+    @property
+    def bytes(self) -> bytes:
+        return self.to_bytes(1, "big")
+
+
+class Direction(ExtendedIntEnum):
+    """运动方向."""
+
+    CW = 0  # 顺时针
+    CCW = 1  # 逆时针
+
+    default = CW
+
+
+class SyncFlag(ExtendedIntEnum):
+    """同步标志."""
+
+    IMMEDIATE = 0  # 立即执行
+    SYNC = 1  # 先缓存当前命令
+
+    default = IMMEDIATE
+
+
+class StoreFlag(ExtendedIntEnum):
+    """存储标志."""
+
+    NO_STORE = 0  # 不存储
+    STORE = 1  # 存储(掉电不丢失)
+
+    default = NO_STORE
+
+
+class EnableFlag(ExtendedIntEnum):
+    """使能标志."""
+
+    DISABLE = 0  # 不使能(松轴)
+    ENABLE = 1  # 使能(锁轴)
+
+    default = ENABLE
+
+
+class MotionMode(ExtendedIntEnum):
+    """运动模式."""
+
+    RELATIVE_LAST = 0  # 相对上一输入目标位置进行相对位置运动
+    ABSOLUTE = 1  # 相对坐标零点进行绝对位置运动
+    RELATIVE_CURRENT = 2  # 相对当前实时位置进行相对位置运动
+
+    default = RELATIVE_LAST
+
+
+class HomingMode(ExtendedIntEnum):
+    """回零模式."""
+
+    NEAREST = 0  # 单圈就近回零
+    DIRECTION = 1  # 单圈方向回零
+    COLLISION = 2  # 无限位碰撞回零
+    LIMIT_SWITCH = 3  # 限位回零
+    ABS_ZERO = 4  # 回到绝对位置坐标零点
+    LAST_POWER_OFF = 5  # 回到上次掉电位置角度
+
+    default = NEAREST
+
+
+class HomingDirection(ExtendedIntEnum):
+    """回零方向."""
+
+    CW = 0  # 顺时针
+    CCW = 1  # 逆时针
+
+    default = CW
+
+
+class ControlMode(ExtendedIntEnum):
+    """控制模式."""
+
+    OPEN_LOOP = 0  # 开环模式
+    CLOSED_LOOP = 1  # FOC闭环模式
+
+    default = CLOSED_LOOP
+
+
+class MotorType(ExtendedIntEnum):
+    """电机类型."""
+
+    DEGREE_09 = 0x19  # 0.9度步进电机
+    DEGREE_18 = 0x32  # 1.8度步进电机
+
+    default = DEGREE_18
+
+
+class FirmwareType(ExtendedIntEnum):
+    """固件类型."""
+
+    X_FIRMWARE = 0  # X固件
+    EMM_FIRMWARE = 1  # Emm固件
+    EMM_TURBO = 2  # Emm固件狂暴模式
+
+    default = EMM_FIRMWARE
+
+
+class BaudRate(ExtendedIntEnum):
+    """串口波特率."""
+
+    BAUD_9600 = 0
+    BAUD_19200 = 1
+    BAUD_25000 = 2
+    BAUD_38400 = 3
+    BAUD_57600 = 4
+    BAUD_115200 = 5
+    BAUD_256000 = 6
+    BAUD_512000 = 7
+    BAUD_921600 = 8
+
+    default = BAUD_115200
+
+    @property
+    def value_hz(self) -> int:
+        """返回实际波特率值."""
+        rates = [9600, 19200, 25000, 38400, 57600, 115200, 256000, 512000, 921600]
+        return rates[self.value]
+
+
+class CanRate(ExtendedIntEnum):
+    """CAN通讯速率."""
+
+    CAN_10K = 0
+    CAN_20K = 1
+    CAN_50K = 2
+    CAN_83K = 3
+    CAN_100K = 4
+    CAN_125K = 5
+    CAN_250K = 6
+    CAN_500K = 7
+    CAN_800K = 8
+    CAN_1M = 9
+
+    default = CAN_500K
+
+
+class ResponseMode(ExtendedIntEnum):
+    """控制命令应答方式."""
+
+    NONE = 0  # 不返回任何命令
+    RECEIVE = 1  # 只返回确认收到命令
+    REACHED = 2  # 只返回到位/回零完成命令
+    BOTH = 3  # 既返回确认收到命令，也返回动作完成命令
+    OTHER = 4  # 位置模式返回动作完成命令，其他返回确认收到命令
+
+    default = RECEIVE
+
+
+class StallProtect(ExtendedIntEnum):
+    """堵转保护."""
+
+    DISABLE = 0  # 关闭堵转保护
+    ENABLE = 1  # 使能堵转保护
+    AUTO_ZERO = 2  # 堵转后复位为零点
+
+    default = ENABLE
+
+
+class PulsePortMode(ExtendedIntEnum):
+    """脉冲端口复用模式."""
+
+    OFF = 0  # 关闭脉冲端口
+    OPEN = 1  # 开环模式
+    FOC = 2  # FOC闭环模式
+    ESI_RCO = 3  # 限位回零输入
+    PLR_ESI = 4  # 左右限位功能
+
+    default = FOC
+
+
+class SerialPortMode(ExtendedIntEnum):
+    """通讯端口复用模式."""
+
+    OFF = 0  # 关闭通讯端口
+    ESI_ALO = 1  # 限位输入+报警输出
+    UART = 2  # 串口通讯
+    CAN = 3  # CAN通讯
+    ULR_ESI = 4  # 左右限位功能
+
+    default = UART
+
+
+class EnableLevel(ExtendedIntEnum):
+    """En引脚有效电平."""
+
+    LOW = 0  # 低电平有效
+    HIGH = 1  # 高电平有效
+    HOLD = 2  # 一直有效
+
+    default = HOLD
+
+
+class DirLevel(ExtendedIntEnum):
+    """Dir引脚有效电平."""
+
+    CW = 0  # 顺时针
+    CCW = 1  # 逆时针
+
+    default = CW
+
+
+# CRC8查找表
+CRC8_TABLE = bytes([
+    0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83,
+    0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41,
+    0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E,
+    0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC,
+    0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0,
+    0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62,
+    0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D,
+    0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF,
+    0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5,
+    0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07,
+    0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58,
+    0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A,
+    0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6,
+    0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24,
+    0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B,
+    0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9,
+    0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F,
+    0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD,
+    0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92,
+    0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50,
+    0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C,
+    0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE,
+    0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1,
+    0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73,
+    0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49,
+    0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B,
+    0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4,
+    0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16,
+    0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A,
+    0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8,
+    0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7,
+    0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35,
+])
+
+
+def calculate_checksum(data: bytes, mode: ChecksumMode = ChecksumMode.FIXED) -> int:
+    """计算校验码.
+    
+    Args:
+        data: 需要计算校验的数据
+        mode: 校验模式
+        
+    Returns:
+        校验码
+    """
+    if mode == ChecksumMode.FIXED:
+        return StatusCode.FIXED_CHECKSUM
+    elif mode == ChecksumMode.XOR:
+        checksum = 0
+        for byte in data:
+            checksum ^= byte
+        return checksum
+    elif mode == ChecksumMode.CRC8:
+        crc8 = data[0]
+        for i in range(1, len(data)):
+            crc8 = CRC8_TABLE[crc8 ^ data[i]]
+        return crc8
+    else:
+        return StatusCode.FIXED_CHECKSUM
+
+
+def add_checksum(data: bytes, mode: ChecksumMode = ChecksumMode.FIXED) -> bytes:
+    """添加校验码到数据末尾.
+    
+    Args:
+        data: 原始数据
+        mode: 校验模式
+        
+    Returns:
+        带校验码的数据
+    """
+    checksum = calculate_checksum(data, mode)
+    return data + bytes([checksum])