# When using a CAN module, Checksum needs to be recalculated.
request_command = 0
def request_callback(request):
global request_command
request_command = request.command
return request
def reply_callback(reply):
if(request_command != TMCL.COMMANDS["GET_FIRMWARE_VERSION"]):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = uart_tmcl_interface()
module = can_tmcl_interface()
bridge = TMCL_Bridge(host, [{"module":module, "request_callback":request_callback, "reply_callback":reply_callback}])
logger.info("Interfaces initialized.")
while(not(bridge.process())):
pass
logger.info("Closing interfaces ...")
host.close()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")
def request_callback(request):
global request_command
request_command = request.command
return request
def reply_callback(reply):
if (request_command != TMCL.COMMANDS["GET_FIRMWARE_VERSION"]):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = usb_vcp_tmcl_interface()
modules = [{
"module": uart_tmcl_interface()
}, {
"module": can_tmcl_interface(),
"request_callback": request_callback,
"reply_callback": reply_callback
}, {
"module": rs232_tmcl_interface()
}, {
"module": rs485_tmcl_interface()
}]
bridge = TMCL_Bridge(host, modules)
logger.info("Interfaces initialized.")
while (not (bridge.process())):
pass
@author: LK
'''
from PyTrinamicMicro import PyTrinamicMicro
from PyTrinamicMicro.connections.tmcl_host_interface import tmcl_host_interface
from PyTrinamicMicro.platforms.motionpy.connections.uart_tmcl_interface import uart_tmcl_interface
from PyTrinamicMicro.platforms.motionpy.connections.usb_vcp_tmcl_interface import usb_vcp_tmcl_interface
from PyTrinamicMicro.TMCL_Bridge import TMCL_Bridge
import logging
# Prepare Logger
PyTrinamicMicro.set_logging_console_enabled(False)
logger = logging.getLogger(__name__)
logger.info("TMCL Bridge from USB to UART")
logger.info("Initializing interfaces ...")
host = usb_vcp_tmcl_interface()
module = uart_tmcl_interface()
bridge = TMCL_Bridge(host, [{"module":module}])
logger.info("Interfaces initialized.")
while(not(bridge.process())):
pass
logger.info("Closing interfaces ...")
host.close()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")
# Constants
MODULE_ADDRESS = 1
HOST_ADDRESS = 2
MODULE_ID_STRING = "0021"
VERSION_STRING = MODULE_ID_STRING + "V100"
BUILD_VERSION = 0
# Prepare Logger
logger = logging.getLogger(__name__)
logger.info("TMCL Slave on UART interface")
# Main program
logger.info("Initializing interface ...")
con = uart_tmcl_interface()
slave = TMCL_Slave_Main(MODULE_ADDRESS, HOST_ADDRESS, VERSION_STRING,
BUILD_VERSION)
logger.info("Interface initialized.")
while (not (slave.status.stop)):
if (con.request_available()):
logger.debug("Request available.")
request = con.receive_request()
if (not (slave.filter(request))):
continue
logger.debug("Request for this slave detected.")
reply = slave.handle_request(request)
con.send_reply(reply)
logger.info("Closing interface ...")
