def send(self, opcode, opType, motor, value, moduleID=None):
"""
Send a TMCL datagram and read back a reply. This function blocks until
the reply has been received
"""
if not (type(opcode) == type(opType) == type(motor) == type(value) ==
int):
raise TypeError("Expected integer values")
# If no module ID is given, use the default one
if not moduleID:
moduleID = self._MODULE_ID
request = TMCL_Request(moduleID, opcode, opType, motor, value)
if self._debug:
request.dump()
# Send the request
self._send(self._HOST_ID, moduleID, request.toBuffer())
# Read out the reply
reply = TMCL_Reply(self._recv(self._HOST_ID, moduleID))
if self._debug:
reply.dump()
return reply
def sendBoot(self, moduleID=None):
"""
Send the command for entering bootloader mode. This TMCL command does
result in a reply.
"""
# If no module ID is given, use the default one
if not moduleID:
moduleID = self._MODULE_ID
request = TMCL_Request(moduleID, TMCL_Command.BOOT, 0x81, 0x92, 0xA3B4C5D6)
if self._debug:
request.dump()
# Send the request
self._send(self._HOST_ID, moduleID, request.toBuffer())
def receive_request(self, host_id=None, module_id=None):
if (not host_id):
host_id = self.__host_id
if (not module_id):
module_id = self.__module_id
request = TMCL_Request.from_buffer(self._recv(host_id, module_id))
if (self.__debug):
request.dump()
return request
def send ( self, address, command, commandType, motorbank, value ):
"""
Send a message to the specified module. This is a blocking function that
will not return until a reply has been received from the module.
"""
"prepare TMCL request"
request = TMCL_Request(address, command, commandType, motorbank, value)
if self.debugEnabled:
request.dump()
"send request, wait, and handle reply"
self.serial.write(request.toBuffer())
reply = TMCL_Reply(struct.unpack(TMCL.PACKAGE_STRUCTURE, self.serial.read(TMCL.PACKAGE_LENGTH)))
if self.debugEnabled:
reply.dump()
return reply
logger = logging.getLogger(__name__)
logger.info("Latency test RS232")
logger.info("Initializing interface.")
interface = rs232_tmcl_interface(data_rate=DATA_RATE)
logger.info("Performing test.")
ticks = (WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) / 1000
prescaler = int(ticks / 0x3fffffff)
period = int((WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) /
(1000 * (prescaler + 1)))
while (n < N_SAMPLES):
timer.counter(0)
timer.init(prescaler=prescaler, period=period, callback=timeout)
for i in range(0, PAYLOAD):
interface.send_request_only(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5),
host_id=HOST_ID,
module_id=MODULE_ID)
try:
for i in range(0, PAYLOAD):
interface.receive_reply(module_id=MODULE_ID, host_id=HOST_ID)
except:
pass
timer.deinit()
if (not (tout)):
counter = timer.counter()
logger.debug("Measured delta ticks: {}".format(counter))
# update values
value = (2 * PAYLOAD) / counter
if (n == 0):
min_ticks = value
from PyTrinamicMicro.TMCL_Bridge import TMCL_Bridge
from PyTrinamic.TMCL import TMCL, TMCL_Request, TMCL_Reply
import logging
# Prepare Logger
logger = logging.getLogger(__name__)
logger.info("Test TMCL_Bridge")
logger.info("Initializing interfaces ...")
host = virtual_tmcl_interface()
modules = [{"module": virtual_tmcl_interface()}]
bridge = TMCL_Bridge(host, modules)
logger.info("Interfaces initialized.")
# Prepare requests
host.send_request_only(TMCL_Request(1, 2, 3, 4, 5))
host.send_request_only(TMCL_Request(3, 2, 3, 4, 5))
host.send_request_only(TMCL_Request(3, TMCL.COMMANDS["TMCL_UF0"], 0, 0,
0)) # stop
# Prepare replies
modules[0]["module"].send_reply(TMCL_Reply(2, 1, 1, 2, 3))
while (not (bridge.process())):
pass
if (host.data_available()):
reply = host.receive_reply()
assert ((reply.reply_address == 2) and (reply.module_address == 1)
and (reply.status == 1) and (reply.command == 2)
and (reply.value == 3)), "Received reply does not match sent reply"
logger = logging.getLogger(__name__)
logger.info("Latency test RS232")
logger.info("Initializing interface.")
interface = rs232_tmcl_interface(data_rate=DATA_RATE)
logger.info("Performing test.")
ticks = (WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) / 1000
prescaler = int(ticks / 0x3fffffff)
period = int((WORST_CASE_LATENCY * PAYLOAD * pyb.freq()[2] * 2) / (1000 * (prescaler + 1)))
while(n < N_SAMPLES):
timer.counter(0)
timer.init(prescaler=prescaler, period=period, callback=timeout)
for i in range(0, PAYLOAD):
interface.send_request_only(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5), host_id=HOST_ID, module_id=MODULE_ID)
try:
for i in range(0, PAYLOAD):
interface.receive_reply(module_id=MODULE_ID, host_id=HOST_ID)
except:
pass
timer.deinit()
if(not(tout)):
counter = timer.counter()
logger.debug("Measured delta ticks: {}".format(counter))
# update values
value = (2 * PAYLOAD) / counter
if(n == 0):
min_ticks = value
max_ticks = value
avg_ticks = value
std_dev_ticks = 0
n = 0
timer = Timer(2)
logger = logging.getLogger(__name__)
logger.info("Latency test CAN")
logger.info("Initializing interface.")
interface = can_tmcl_interface()
logger.info("Performing test.")
while (n < N_SAMPLES):
timer.counter(0)
timer.init(prescaler=0, period=16800000, callback=timeout)
# send invalid (for all modules) TMCL Request
reply = interface.send_request(TMCL_Request(MODULE_ID, 1, 2, 3, 4, 5),
host_id=HOST_ID,
module_id=MODULE_ID)
timer.deinit()
if (not (tout)):
counter = timer.counter()
logger.debug("Measured delta ticks: {}".format(counter))
# update values
value = counter
if (n == 0):
min_ticks = value
max_ticks = value
avg_ticks = value
std_dev_ticks = 0
else:
min_ticks = min(min_ticks, value)
def start_application(self):
# Request without reply
self.__interface.send_request(
TMCL_Request(self.__module_id, TMCL_Command.BOOT_START_APPL, 0, 0,
0))
def erase_firmware(self, delay=5.0):
self.__interface.send_request(
TMCL_Request(self.__module_id, TMCL_Command.BOOT_ERASE_ALL, 0, 0,
0))
time.sleep(delay)
def start_application(self):
# Request without reply
self.__interface.send_request(
TMCL_Request(self.__module_id, TMCL.COMMANDS["BOOT_START_APPL"], 0,
0, 0))
def erase_firmware(self, delay=5.0):
self.__interface.send_request(
TMCL_Request(self.__module_id, TMCL.COMMANDS["BOOT_ERASE_ALL"], 0,
0, 0))
time.sleep(delay)
from PyTrinamicMicro.TMCL_Bridge import TMCL_Bridge
from PyTrinamic.TMCL import TMCL_Command, TMCL_Request, TMCL_Reply
import logging
# Prepare Logger
logger = logging.getLogger(__name__)
logger.info("Test TMCL_Bridge")
logger.info("Initializing interfaces ...")
host = virtual_tmcl_interface()
modules = [{"module": virtual_tmcl_interface()}]
bridge = TMCL_Bridge(host, modules)
logger.info("Interfaces initialized.")
# Prepare requests
host.send_request_only(TMCL_Request(1, 2, 3, 4, 5))
host.send_request_only(TMCL_Request(3, 2, 3, 4, 5))
host.send_request_only(TMCL_Request(3, TMCL_Command.TMCL_UF0, 0, 0, 0)) # stop
# Prepare replies
modules[0]["module"].send_reply(TMCL_Reply(2, 1, 1, 2, 3))
while (not (bridge.process())):
pass
if (host.data_available()):
reply = host.receive_reply()
assert ((reply.reply_address == 2) and (reply.module_address == 1)
and (reply.status == 1) and (reply.command == 2)
and (reply.value == 3)), "Received reply does not match sent reply"
else:
import re
import struct
VERSION_PATTERN = "^\d\d\d\dV\d\d\d$"
logger = logging.getLogger(__name__)
logger.info("Test TMCL_Slave")
logger.info("Initializing virtual interface.")
host = virtual_tmcl_interface()
res = virtual_tmcl_interface()
# Add virtual commands to interface
host.send_request_only(
TMCL_Request(1, TMCL.COMMANDS["GET_FIRMWARE_VERSION"],
TMCM0960.ENUMs.VERSION_FORMAT_ASCII, 0, 0))
host.send_request_only(
TMCL_Request(1, TMCL.COMMANDS["GET_FIRMWARE_VERSION"],
TMCM0960.ENUMs.VERSION_FORMAT_BINARY, 0, 0))
host.send_request_only(
TMCL_Request(1, TMCL.COMMANDS["GET_FIRMWARE_VERSION"],
TMCM0960.ENUMs.VERSION_FORMAT_BUILD, 0, 0))
host.send_request_only(TMCL_Request(1, TMCL.COMMANDS["TMCL_UF0"], 0, 0,
0)) # stop
slave = TMCL_Slave()
c = 0
while (not (slave.status.stop)):
assert (c < 4), "TMCL_Slave did not stop on stop command"
if (host.request_available()):
import re
import struct
VERSION_PATTERN = "^\d\d\d\dV\d\d\d$"
logger = logging.getLogger(__name__)
logger.info("Test TMCL_Slave")
logger.info("Initializing virtual interface.")
host = virtual_tmcl_interface()
res = virtual_tmcl_interface()
# Add virtual commands to interface
host.send_request_only(
TMCL_Request(1, TMCL_Command.GET_FIRMWARE_VERSION,
TMCM0960.ENUMs.VERSION_FORMAT_ASCII, 0, 0))
host.send_request_only(
TMCL_Request(1, TMCL_Command.GET_FIRMWARE_VERSION,
TMCM0960.ENUMs.VERSION_FORMAT_BINARY, 0, 0))
host.send_request_only(
TMCL_Request(1, TMCL_Command.GET_FIRMWARE_VERSION,
TMCM0960.ENUMs.VERSION_FORMAT_BUILD, 0, 0))
host.send_request_only(TMCL_Request(1, TMCL_Command.TMCL_UF0, 0, 0, 0)) # stop
slave = TMCL_Slave()
c = 0
while (not (slave.status.stop)):
assert (c < 4), "TMCL_Slave did not stop on stop command"
if (host.request_available()):
logger.debug("Request available.")
