Thomas Ales [M S E]
60 lines
1.5 KiB
Python
60 lines
1.5 KiB
Python
'''
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APT Constants and Registries
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Thomas Ales | Feb 2026
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'''
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from enum import IntFlag
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class StatusBits(IntFlag):
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MOT_SB_CWHARDLIMIT = 0x01
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MOT_SB_CCWHARDLIMIT = 0x02
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MOT_SB_INMOTIONCW = 0x10
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MOT_SB_INMOTIONCCW = 0x20
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MOT_SB_HOMING = 0x200
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MOT_SB_HOMED = 0x400
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MOT_SB_TRACKING = 0x1000
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MOT_SB_SETTLED = 0x2000
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MOT_SB_POSITIONERROR = 0x4000
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MOT_SB_INSTRERROR = 0x8000
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MOT_SB_INTERLOCK = 0x10000
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MOT_SB_OVERTEMP = 0x20000
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MOT_SB_BUSVOLTFAULT = 0x40000
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MOT_SB_COMMUTATIONERROR = 0x80000
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MOT_SB_DIGIP1 = 0x100000
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MOT_SB_OVERLOAD = 0x1000000
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MOT_SB_POWEROK = 0x10000000
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MOT_SB_ERROR = 0x40000000
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MOT_SB_ENABLED = 0x80000000
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# combined masks for checking various
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# states
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MOT_ANY_MOVE = MOT_SB_INMOTIONCW | MOT_SB_INMOTIONCCW
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MOT_ANY_ERR = (MOT_SB_OVERTEMP | MOT_SB_BUSVOLTFAULT |
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MOT_SB_COMMUTATIONERROR | MOT_SB_OVERLOAD |
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MOT_SB_ERROR | MOT_SB_INSTRERROR)
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class TriggerBitsStepper(IntFlag):
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TRIGIN_ENABLE = 0x01,
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TRIGOUT_ENABLE = 0x02,
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TRIGOUT_MODEFOLLOW = 0x04,
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TRIGOUT_MODEMOVEEND = 0x08,
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TRIG_RELMOVE = 0x10,
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TRIG_ABSMOVE = 0x20,
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TRIG_HOMEMOVE = 0x40,
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TRIGOUT_NOTRIGIN = 0x80
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class TriggerBitsServo(IntFlag):
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TRIGIN_HIGH = 0x01
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TRIGIN_RELMOVE = 0x02
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TRIGIN_ABSMOVE = 0x04
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TRIGIN_HOMEMOVE = 0x08
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TRIGOUT_HIGH = 0x10
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TRIGOUT_INMOTION = 0x20
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TRIGOUT_MOTIONCOMPLETE = 0x40
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TRIGOUT_MAXVELOCITY = 0x80
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TRIGOUT_MAXV = TRIGOUT_HIGH | TRIGOUT_MAXVELOCITY
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