def __init__(self,
port,
datarate=1000000,
hostID=2,
moduleID=1,
debug=False):
if type(port) != str:
raise TypeError
if not port in _CHANNELS:
raise ValueError("Invalid port")
tmcl_interface.__init__(self, hostID, moduleID, debug)
self.__debug = debug
self.__channel = port
self.__bitrate = datarate
try:
self.__connection = can.Bus(interface="pcan",
channel=self.__channel,
bitrate=self.__bitrate)
self.__connection.set_filters([{
"can_id": hostID,
"can_mask": 0xFFFFFFFF
}])
except PcanError as e:
self.__connection = None
raise ConnectionError("Failed to connect to PCAN bus") from e
if self.__debug:
print("Opened bus on channel " + self.__channel)
def __init__(self,
comPort,
datarate=1000000,
hostID=2,
moduleID=1,
debug=True,
SerialBaudrate=115200):
if type(comPort) != str:
raise TypeError
tmcl_interface.__init__(self, hostID, moduleID, debug)
self.__debug = debug
self.__bitrate = datarate
self.__Port = comPort
self.__serialBaudrate = SerialBaudrate
try:
self.__connection = can.Bus(interface='slcan',
channel=self.__Port,
bitrate=self.__bitrate,
ttyBaudrate=self.__serialBaudrate)
self.__connection.set_filters([{
"can_id": hostID,
"can_mask": 0x7F
}])
except CanError as e:
self.__connection = None
raise ConnectionError("Failed to connect to CAN bus") from e
if self.__debug:
print("Opened slcan bus on channel " + self.__Port)
def __init__(self,
port=2,
data_rate=None,
host_id=2,
module_id=1,
debug=False,
can_mode=CanModeNormal()):
del data_rate
tmcl_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__silent = Pin(Pin.cpu.B14, Pin.OUT_PP)
self.__mode = can_mode
self.__flag_recv = False
self.__set_mode()
CAN.initfilterbanks(14)
self.__can = CAN(port, CAN.NORMAL)
# PCLK1 = 42 MHz, Module_Bitrate = 1000 kBit/s
# With prescaler = 3, bs1 = 11, bs2 = 2
# Sample point at 85.7 %, accuracy = 100 %
self.__can.init(CAN.NORMAL,
prescaler=3,
bs1=11,
bs2=2,
auto_restart=True)
self.__can.setfilter(0, CAN.LIST16, 0,
(host_id, host_id, host_id, host_id))
self.__can.rxcallback(0, self.__callback_recv)
def __init__(self,
port=None,
data_rate=None,
host_id=2,
module_id=1,
debug=False):
tmcl_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__buffer = bytearray()
def __init__(self,
port=0,
data_rate=None,
host_id=2,
module_id=1,
debug=False):
del data_rate
tmcl_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__vcp = USB_VCP(port)
self.__vcp.init()
self.__vcp.setinterrupt(-1)
def __init__(self,
port,
datarate=115200,
hostID=2,
moduleID=1,
debug=True):
"""
Opens a dummy TMCL connection
"""
if type(port) != str:
raise TypeError
del debug
tmcl_interface.__init__(self, hostID, moduleID, debug=True)
if self._debug:
print("Opened dummy TMCL interface on port '" + port + "'")
print("\tData rate: " + str(datarate))
print("\tHost ID: " + str(hostID))
print("\tModule ID: " + str(moduleID))
def __init__(self, port=3, data_rate=9600, host_id=2, module_id=1, debug=False):
tmcl_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__uart = UART(port, data_rate)
self.__uart.init(baudrate=data_rate, bits=8, parity=None, stop=1, timeout=10000, timeout_char=10000)
