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Add better hls table
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Pepijn
@@ -153,57 +153,91 @@ SCS_SERIES_CONTROL_TABLE = {
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# http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
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HLS_SERIES_CONTROL_TABLE = {
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# EPROM
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"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only
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"Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # read-only
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"Model_Number": MODEL_NUMBER, # read-only
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"ID": (5, 1),
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"Baud_Rate": (6, 1),
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"Return_Delay_Time": (7, 1),
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"Response_Status_Level": (8, 1),
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"Min_Position_Limit": (9, 2),
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"Max_Position_Limit": (11, 2),
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"Max_Temperature_Limit": (13, 1),
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"Max_Voltage_Limit": (14, 1),
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"Min_Voltage_Limit": (15, 1),
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"Max_Torque_Limit": (16, 2),
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"Phase": (18, 1),
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"Unloading_Condition": (19, 1),
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"LED_Alarm_Condition": (20, 1),
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"P_Coefficient": (21, 1),
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"D_Coefficient": (22, 1),
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"I_Coefficient": (23, 1),
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"Minimum_Startup_Force": (24, 2),
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"CW_Dead_Zone": (26, 1),
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"CCW_Dead_Zone": (27, 1),
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"Protection_Current": (28, 2),
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"Homing_Offset": (31, 2),
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"Operating_Mode": (33, 1),
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"P_Coefficient_Curr": (34, 1),
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"I_Coefficient_Curr": (35, 1),
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# SRAM
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"Torque_Enable": (40, 1),
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"Acceleration": (41, 1),
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"Goal_Position": (42, 2),
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"Target_Torque": (44, 2),
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"Goal_Velocity": (46, 2),
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"Torque_Limit": (48, 2),
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"P_Coefficient_Ring": (50, 1),
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"D_Coefficient_Ring": (51, 1),
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"I_Coefficient_Ring": (52, 1),
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"km": (53, 1),
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"Lock": (55, 1),
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# SRAM feedback
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"Present_Position": (56, 2),
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"Present_Velocity": (58, 2),
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"Present_Load": (60, 2),
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"Present_Voltage": (62, 1),
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"Present_Current": (69, 2),
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"Present_Bias": (73, 2),
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# Factory
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"Maximum_Velocity_Limit": (84, 1),
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"Maximum_Acceleration": (85, 1),
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"Acceleration_Multiplier ": (86, 1), # Acceleration multiplier in effect when acceleration is 0
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# Version Information (0-4) - read-only
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"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # (0, 1) read-only
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"Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # (1, 1) read-only
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"End_Type": (2, 1), # read-only - 0 represents little-endian storage
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"Model_Number": MODEL_NUMBER, # (3, 2) read-only
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# EPROM configuration (5-39)
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"ID": (5, 1), # Main ID - unique identifier on bus
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"Baud_Rate": (6, 1), # 0-7 for different baud rates
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"Secondary_ID": (7, 1), # Secondary ID for write instructions
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"Response_Status_Level": (8, 1), # 0: limited response, 1: full response
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"Min_Position_Limit": (9, 2), # 0-4094 (0.087 degrees per unit)
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"Max_Position_Limit": (11, 2), # 1-4095 (0.087 degrees per unit)
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"Max_Temperature_Limit": (13, 1), # 0-100 (°C)
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"Max_Voltage_Limit": (14, 1), # 0-254 (0.1V per unit)
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"Min_Voltage_Limit": (15, 1), # 0-254 (0.1V per unit)
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"Max_Torque_Limit": (16, 2), # 0-1000 (0.1% per unit)
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"Phase": (18, 1), # Special function byte for motor phase configuration
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"Unloading_Condition": (19, 1), # Bit flags for protection conditions
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"LED_Alarm_Condition": (20, 1), # Bit flags for LED alarm conditions
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"P_Coefficient": (21, 1), # Position ring P proportional coefficient
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"D_Coefficient": (22, 1), # Position ring D differential coefficient
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"I_Coefficient": (23, 1), # Position ring I integral coefficient
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"Minimum_Startup_Force": (24, 1), # 0-254 (0.1% per unit)
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"Point_Limit_Value": (25, 1), # 0-254 - maximum point value = point_limit * 4
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"CW_Dead_Zone": (26, 1), # 0-16 (0.087 degrees per unit)
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"CCW_Dead_Zone": (27, 1), # 0-16 (0.087 degrees per unit)
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"Protection_Current": (28, 2), # 0-2047 (6.5 mA per unit)
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"Angle_Resolution": (30, 1), # 1-128 - amplification coefficient
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"Homing_Offset": (31, 2), # -4095 to 4095 (0.087 degrees per unit)
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"Operating_Mode": (33, 1), # 0: position, 1: speed, 2: current, 3: PWM
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"P_Coefficient_Curr": (34, 1), # Current ring P proportional coefficient
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"I_Coefficient_Curr": (35, 1), # Current ring I integral coefficient
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# Address 36 undefined
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"Speed_P_Coefficient": (37, 1), # Speed closed-loop P proportional coefficient
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"Overcurrent_Protection_Time": (38, 1), # 0-254 (10ms per unit)
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"Speed_I_Coefficient": (39, 1), # Speed closed-loop I integral coefficient
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# SRAM control (40-55)
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"Torque_Enable": (40, 1), # 0: off, 1: on, 2: damping
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"Acceleration": (41, 1), # 0-254 (8.7 degrees/second² per unit)
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"Goal_Position": (42, 2), # -32767 to 32767 (0.087 degrees per unit)
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"Target_Torque": (44, 2), # -2047 to 2047 (6.5 mA per unit)
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"Goal_Velocity": (46, 2), # -32767 to 32767 (0.732 RPM per unit)
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"Torque_Limit": (48, 2), # 0-1000 (0.1% per unit)
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"P_Coefficient_Ring": (50, 1), # Motor position ring proportional coefficient
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"D_Coefficient_Ring": (51, 1), # Motor position ring differential coefficient
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"I_Coefficient_Ring": (52, 1), # Motor position ring integral coefficient
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"km": (53, 1), # 0: position+current dual loop, 1: position single loop
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# Address 54 undefined
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"Lock": (55, 1), # 0: close write lock, 1: open write lock
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# SRAM feedback (56-73) - read-only
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"Present_Position": (56, 2), # read-only - current absolute position
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"Present_Velocity": (58, 2), # read-only - current motor rotation speed
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"Present_Load": (60, 2), # read-only - current load (0.1% per unit)
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"Present_Voltage": (62, 1), # read-only - current voltage (0.1V per unit)
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"Present_Temperature": (63, 1), # read-only - current temperature (°C)
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"Async_Write_Flag": (64, 1), # read-only - async write instruction flag
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"Status": (65, 1), # read-only - servo status bit flags
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"Moving": (66, 1), # read-only - movement status flags
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"Target_Position": (67, 2), # read-only - current target position
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"Present_Current": (69, 2), # read-only - current motor phase current (6.5 mA per unit)
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# Address 71 undefined
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"Present_Bias": (73, 2), # read-only - current 0-point offset value
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# Factory parameters (77-86) - read-only
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"VFk_x10": (77, 1), # read-only - factory parameter
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"vKgI": (78, 1), # read-only - factory parameter
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"PFk_x10": (79, 1), # read-only - factory parameter
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"Moving_Velocity_Threshold": (80, 1), # read-only - factory parameter
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"DTs_ms": (81, 1), # read-only - factory parameter
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"eFk_x10": (82, 1), # read-only - factory parameter
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"Vk_ms": (83, 1), # read-only - factory parameter
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"Maximum_Velocity_Limit": (84, 1), # read-only - factory parameter
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"Maximum_Acceleration": (85, 1), # read-only - factory parameter
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"Acceleration_Multiplier": (86, 1), # read-only - factory parameter
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}
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# HLS series baud rate table (same as STS/SMS series)
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HLS_SERIES_BAUDRATE_TABLE = {
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1_000_000: 0,
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500_000: 1,
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250_000: 2,
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128_000: 3,
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115_200: 4,
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76_800: 5, # Note: HLS documentation mentions 76800 instead of 57600
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57_600: 6,
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38_400: 7,
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}
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STS_SMS_SERIES_BAUDRATE_TABLE = {
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@@ -258,7 +292,7 @@ MODEL_BAUDRATE_TABLE = {
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"sts3215": STS_SMS_SERIES_BAUDRATE_TABLE,
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"sts3250": STS_SMS_SERIES_BAUDRATE_TABLE,
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"scs0009": SCS_SERIES_BAUDRATE_TABLE,
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"hls3625": STS_SMS_SERIES_BAUDRATE_TABLE,
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"hls3625": HLS_SERIES_BAUDRATE_TABLE,
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}
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# Sign-Magnitude encoding bits
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@@ -268,6 +302,18 @@ STS_SMS_SERIES_ENCODINGS_TABLE = {
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"Present_Velocity": 15,
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}
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# HLS series sign-magnitude encoding bits
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HLS_SERIES_ENCODINGS_TABLE = {
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"Homing_Offset": 15, # BIT15 represents positive/negative direction
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# "Goal_Position": 15, # BIT15 represents positive/negative direction
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"Target_Torque": 15, # BIT15 represents positive/negative direction in constant current mode
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"Goal_Velocity": 15, # BIT15 represents positive/negative direction in constant speed mode
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# "Present_Position": 15, # BIT15 represents positive/negative direction
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"Present_Velocity": 15, # BIT15 represents positive/negative direction
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"Present_Current": 15, # BIT15 represents positive/negative direction
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"Present_Load": 10, # BIT10 represents positive/negative direction
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}
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MODEL_ENCODING_TABLE = {
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"sts_series": STS_SMS_SERIES_ENCODINGS_TABLE,
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"sms_series": STS_SMS_SERIES_ENCODINGS_TABLE,
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@@ -276,15 +322,7 @@ MODEL_ENCODING_TABLE = {
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"sts3250": STS_SMS_SERIES_ENCODINGS_TABLE,
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"sm8512bl": STS_SMS_SERIES_ENCODINGS_TABLE,
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"scs0009": {},
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"hls3625": {
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"Homing_Offset": 15,
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"Goal_Velocity": 15,
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"Present_Velocity": 15,
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"Target_Torque": 15,
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"Present_Position": 15,
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"Goal_Position": 15,
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"Present_Current": 15,
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},
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"hls3625": HLS_SERIES_ENCODINGS_TABLE,
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}
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SCAN_BAUDRATES = [
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@@ -317,5 +355,52 @@ MODEL_PROTOCOL = {
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"sts3250": 0,
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"sm8512bl": 0,
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"scs0009": 1,
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"hls3625": 0,
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"hls3625": 0, # Uses FT-SCS protocol
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}
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# HLS series special byte bit flag definitions
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# These are used to interpret the bit flags in Phase, Status, Unloading_Condition, and LED_Alarm_Condition
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# Phase byte (address 18) bit meanings:
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# BIT0 (1): Current driving direction phase (0: forward, 1: reverse) - invalid in firmware 3.42+
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# BIT1 (2): Current feedback direction phase (0: forward, 1: reverse)
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# BIT2 (4): Drive bridge direction phase (0: forward, 1: reverse)
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# BIT3 (8): Speed feedback direction phase (0: forward, 1: reverse)
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# BIT4 (16): Angle feedback mode (0: single-circle angle, 1: full angle)
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# BIT5 (32): Driver bridge configuration (0: independent H bridge, 1: integrated H bridge)
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# BIT6 (64): PWM frequency (0: 24kHz, 1: 16kHz)
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# BIT7 (128): Position feedback direction phase (0: forward, 1: reverse)
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# Status byte (address 65) bit meanings (0: normal, 1: abnormal):
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# BIT0 (1): Voltage status
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# BIT1 (2): Magnetic coding state
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# BIT2 (4): Temperature status
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# BIT3 (8): Current status
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# BIT4 (16): Reserved
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# BIT5 (32): Load status
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# BIT6 (64): Reserved
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# BIT7 (128): Reserved
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# Unloading_Condition byte (address 19) bit meanings (0: off, 1: on):
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# BIT0 (1): Voltage protection
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# BIT1 (2): Magnetic coding protection
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# BIT2 (4): Overheating protection
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# BIT3 (8): Overcurrent protection
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# BIT4 (16): Reserved
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# BIT5 (32): Load overload protection
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# BIT6 (64): Reserved
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# BIT7 (128): Reserved
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# LED_Alarm_Condition byte (address 20) bit meanings (0: off, 1: on):
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# BIT0 (1): Voltage alarm
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# BIT1 (2): Magnetic coding alarm
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# BIT2 (4): Overheating alarm
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# BIT3 (8): Overcurrent alarm
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# BIT4 (16): Reserved
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# BIT5 (32): Load overload alarm
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# BIT6 (64): Reserved
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# BIT7 (128): Reserved
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# Moving byte (address 66) bit meanings:
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# BIT0 (1): Motor movement status (1: moving, 0: stopped)
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# BIT1 (2): Target position status (0: reached target, 1: not reached target)
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