43 lines
1.2 KiB
Python
43 lines
1.2 KiB
Python
"""来自 docs/proto.md 的协议常量"""
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# 固定从站地址和功能码。
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SLAVE_ID = 0x08
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FUNC_READ_HOLDING_REGISTERS = 0x03
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FUNC_WRITE_MULTIPLE_REGISTERS = 0x10
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# 保持寄存器绝对地址。
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ADDR_MODE_COMMAND = 0xD000
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ADDR_DEVICE_STATUS = 0xD001
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ADDR_EXTENSION_RESERVED_1_START = 0xD002
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ADDR_EXTENSION_RESERVED_1_END = 0xD009
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ADDR_CURRENT_POSE = 0xD00A
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ADDR_EXTENSION_RESERVED_2_START = 0xD018
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ADDR_EXTENSION_RESERVED_2_END = 0xD01F
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ADDR_TARGET_POSE = 0xD020
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ADDR_EXTENSION_RESERVED_3_START = 0xD02E
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ADDR_EXTENSION_RESERVED_3_END = 0xD035
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ADDR_CORRECTION = 0xD036
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ADDR_EXTENSION_RESERVED_4_START = 0xD044
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ADDR_EXTENSION_RESERVED_4_END = 0xD04B
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ADDR_CALIBRATION_RESERVED_START = 0xD04C
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ADDR_CALIBRATION_RESERVED_END = 0xD06B
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# 协议数据宽度和位姿字段顺序。
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REGISTER_COUNT_WORD = 1
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REGISTER_COUNT_TIMESTAMP = 2
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REGISTER_COUNT_AXES = 12
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REGISTER_COUNT_POSE = 14
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REGISTER_COUNT_EXTENSION_RESERVED = 8
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REGISTER_COUNT_CALIBRATION_RESERVED = 32
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AXIS_NAMES = ("x", "y", "z", "a", "b", "c")
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# 默认串口通信参数。
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DEFAULT_BAUDRATE = 115200
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DEFAULT_BYTESIZE = 8
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DEFAULT_PARITY = "N"
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DEFAULT_STOPBITS = 1
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DEFAULT_TIMEOUT_SECONDS = 0.15
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DEFAULT_RETRIES = 3
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DEFAULT_POLLING_INTERVAL_SECONDS = 0.05
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